本文關(guān)鍵詞：六自由度電磁定位跟蹤系統(tǒng)　出處：《天津大學(xué)》2012年碩士論文　論文類(lèi)型：學(xué)位論文

  更多相關(guān)文章： 電磁跟蹤 磁偶極子模型 四元數(shù) 有限元分析

【摘要】：六自由度電磁跟蹤系統(tǒng)作為定位裝置被廣泛應(yīng)用于增強(qiáng)現(xiàn)實(shí)、便攜式激光掃描儀、計(jì)算機(jī)輔助醫(yī)療系統(tǒng)、微創(chuàng)手術(shù)、醫(yī)學(xué)教學(xué)、醫(yī)學(xué)圖像等領(lǐng)域。隨著定位技術(shù)的發(fā)展，人們與計(jì)算機(jī)之間的溝通也變得更加靈活。電磁跟蹤系統(tǒng)因?yàn)闊o(wú)遮擋、靈活等優(yōu)點(diǎn)較之其他定位系統(tǒng)使用更加廣泛。本文設(shè)計(jì)一個(gè)電磁跟蹤系統(tǒng)，提出交變方波驅(qū)動(dòng)信號(hào)，實(shí)時(shí)的除去渦流。文中進(jìn)一步改進(jìn)了定位算法。 本文對(duì)比圓形線(xiàn)圈模型與正方形線(xiàn)圈模型磁場(chǎng)，進(jìn)一步證明方形線(xiàn)圈可近似為磁偶極子，并分析了方形線(xiàn)圈隨距離變化的誤差變化。用Ansoft Maxwell有限元分析軟件對(duì)線(xiàn)圈進(jìn)行仿真，得出線(xiàn)圈的電流、磁場(chǎng)分布和矢量圖、關(guān)鍵點(diǎn)處的磁場(chǎng)情況，為跟蹤系統(tǒng)提供理論基礎(chǔ)。 對(duì)比歐拉角法和四元數(shù)法，并分析了基于各向異性參數(shù)的歐拉角法和四元數(shù)法�；诟飨虍愋詤�(shù)模型，采用了同時(shí)求解位置和姿態(tài)參數(shù)的四元數(shù)法，簡(jiǎn)化求解步驟，減小求解時(shí)間。 對(duì)電磁跟蹤系統(tǒng)硬件進(jìn)行設(shè)計(jì)，包括發(fā)射線(xiàn)圈及信號(hào)的產(chǎn)生、驅(qū)動(dòng)電路、微控制器、接收傳感器、放大電路、A/D轉(zhuǎn)換電路。其中在發(fā)射線(xiàn)圈的設(shè)計(jì)中，對(duì)比了有磁芯線(xiàn)圈與空心線(xiàn)圈的異同，，確定空心線(xiàn)圈發(fā)射方案。結(jié)合接收傳感器和發(fā)射信號(hào)的特點(diǎn)，計(jì)算最終接收值。 最后給出實(shí)驗(yàn)數(shù)據(jù)和示波器其所接收到的波形圖，并給出三種方法的算法流程圖，并對(duì)比分析幾種算法的計(jì)算結(jié)果。 本文提出的交變方波驅(qū)動(dòng)信號(hào)，使系統(tǒng)能實(shí)時(shí)減去外界干擾磁場(chǎng)與地磁場(chǎng)的干擾，更能有效地除去外界變化磁場(chǎng)的干擾。對(duì)線(xiàn)圈模型分析，并對(duì)其進(jìn)行建模仿真，為電磁跟蹤系統(tǒng)提供理論支撐。
[Abstract]:Six degree of freedom electromagnetic tracking system as the positioning device is widely used in augmented reality, portable laser scanner, computer aided medical system, minimally invasive surgery, medical teaching, the field of medical image. With the development of location technology, the communication between people and computer has become more flexible. The electromagnetic tracking system because of the advantages of flexible with no shelter, the other positioning system is more widely used. The design of an electromagnetic tracking system in this paper, the square wave drive signal in real time. The removal of eddy current to further improve the positioning algorithm.
This paper compared the circular coil model and square coil model for the magnetic field, further proof of square coil can be approximated as magnetic dipole, and analyzes the error of distance change with square coil change. The simulation of coil with Ansoft finite element analysis software Maxwell, the coil current, magnetic field and magnetic field vector diagram, the key points, provide the theoretical foundation for the tracking system.
The Euler angle method and the four element number method are compared. The Euler angle method and the four element number method based on the anisotropic parameter are analyzed. Based on the anisotropic parameter model, the four element method is used to solve the position and attitude parameters simultaneously, which simplifies the solving steps and reduces the solving time.
The electromagnetic tracking system hardware design, including the transmitting coil and signal generation, drive circuit, micro controller, sensor, amplifier circuit, A/D conversion circuit. In the design of the transmitting coil, compared with a magnetic core coil and the hollow coil, determine the hollow coil launch scheme. According to the characteristics of sensor and signal receiving the calculation of the final value received.
Finally, the experimental data and the oscillograph received by the oscilloscope are given, and the algorithm flow chart of the three methods is given, and the calculation results of several algorithms are compared and analyzed.
The alternating square wave driving signal proposed in this paper can make the system subtract the interference from external interference magnetic field and geomagnetic field in real time, and effectively remove the interference of external magnetic field. Analyze and model the coil model, and provide theoretical support for electromagnetic tracking system.

【學(xué)位授予單位】：天津大學(xué)
【學(xué)位級(jí)別】：碩士
【學(xué)位授予年份】：2012
【分類(lèi)號(hào)】：R312

【引證文獻(xiàn)】

相關(guān)碩士學(xué)位論文 前1條

1 白洋;六自由度電磁定位矢量信號(hào)收發(fā)技術(shù)研究[D];吉林大學(xué);2015年

本文編號(hào)：1356063