电磁跟踪系统磁传感器三轴非理想正交的快速校正算法

Fast calibration arithmetic for incompletely orthogonal three-axis magnetic sensor of electromagnetic tracking system

六自由度电磁跟踪系统由于磁传感器三轴非理想正交,系统引入误差导致参数定位精度降低。为了克服传统的基于共轭次梯度算法和神经网络模型校正方法存在的算法复杂、计算耗时较长、精度较低的缺点,提出了以误差校正矩阵P为基础的快速校正算法,同时实现了非正交参数的提取和系统误差的校正。通过系统特定参数的跟踪模型,构造了包含非正交参数的线性方程组,求解出误差校正矩阵。数值模拟结果表明,该方法具有算法简单、计算量小、快速准确的优点,可以有效校正电磁跟踪系统由于磁传感器三轴非理想正交而引入的参数误差,提高了系统定位精度。

In the electromagnetic tracker system,as a result of the incompletely orthogonal three-axis magnetic sensor,the parameters precision is degraded.The precious method based on conjugated approximation gradient algorithm and artificial neural network model has the disadvantages of complexity,time-consuming and bad precision.A fast correction arithmetic is presented based on the correction matrix.Linear equations are constructed based on the special parameters tracker models,from which the correction matrix is deduced.Numerical simulation results indicate that the incompletely orthogonal parameters could be calculated efficiently and correctly.The parameters precision of the tracker system is improved.