基于Lin-GA的磁性示踪粒子六自由度检测技术

Six-degree-of-freedom detection technology of magnetictracer particles based on Lin-GA

针对基于永磁体和磁传感器阵列的磁定位系统中定位算法存在执行速度慢、定位精度低等问题,提出基于线性算法和遗传算法(linear algorithm-genetic algorithms, Lin-GA)的混合搜索算法。利用自制定位装置中的三轴隧道磁阻(TMR)传感器阵列采集磁性示踪粒子在空间产生的弱磁信号,首先通过线性算法利用磁场绝对向量信息进行粗定位,再利用遗传算法对示踪粒子的六自由度参数进行并行寻优,最终实现对磁性示踪粒子三维位置和三维方向的空间信息反演。实验结果表明,基于Lin-GA的混合搜索算法具有更高的定位精度和更短的执行时间,平均定位误差为(0.55±0.10) mm,平均定向误差为(0.68±0.30)°,平均执行时间为(30.49±4.89) s。

Aiming at the problems of slow execution speed and low positioning accuracy of positioning algorithm in magnetic positioning system based on permanent magnet and magnetic sensor array,a hybrid search algorithm based on linear algorithm-genetic algorithms(Lin-GA)is proposed.The three-axis tunnel magnetoresistance(TMR)sensor array in the self-made positioning device is used to collect the weak magnetic signal of the tracer particles.Firstly,the linear algorithm is used to roughly locate the magnetic field absolute vector information,and then the genetic algorithm is used to optimize the six degree of freedom parameters of the tracer particles in parallel.Finally,the inversion of the three-dimensional position and three-dimensional direction spatial information of the magnetic tracer particles is realized.The experimental results show that the hybrid search algorithm based on Lin-GA has higher positioning accuracy and shorter execution time.The average positioning error is(0.55±0.10)mm,the average orientation error is(0.68±0.30)°,and the average execution time is(30.49±4.89)s.