六自由度电磁跟踪系统位置参数求解算法的改进

Improvement of position parameters calculation arithmetic in six-degree-of-freedom electromagnetic tracking system

为了获得精度较高、稳定性较好的六自由度电磁跟踪系统目标参数求解算法,在分析原参数求解算法误差产生原理的基础上,引入特征值和特征向量的概念,提出了一种结合特征向量法和单位指向矢最大分量跟踪法的改进算法来求解目标的位置参数,并对改进算法的稳定性进行了分析。通过数值模拟和实验验证,算法很好地解决了原跟踪算法在位置参数α、β角度较小区域将误差放大的问题,提高了算法的稳定性和系统定位计算的精度。

To promote the precision and stability of calculating an object＇s parameters in the six-degree-of-freedom electromagnetic tracking system,a new improved arithmetic was presented on the basis of analyzing the error principle of the former tracking arithmetic.The improved arithmetic is a hybrid of the maximal ponderance of unit pointing vector tracking arithmetic and the eigenvector arithmetic.The stability of the new arithmetic was also analyzed.By numerical simulation and experimental validation,the problem of magnifying calculation error in some α and β angle area of former arithmetic was solved,which promotes the stability and precision of tracking arithmetic.