MAGNETIC SENSOR SYSTEM FOR FAST-RESPONSE, HIGH RESOLUTION, HIGH ACCURACY, THREE-DIMENSIONAL POSITION MEASUREMENTS

摘要

The position, orientation, velocity and acceleration of remote sensors (3) is determined using magnetic fields. Multiple, arbitrarily oriented magnetic field transmitters (1) are placed in one reference frame (source reference frame), and multiple, arbitrarily oriented magnetic field receivers (3) are placed in a second reference frame (body reference frame). The spatially varying magnetic fields of the transmitters (1) in the source reference frame are sensed by the magnetic field receivers (3) in the body reference frame. A computer algorithm uses a physics-based extended Kalman filter to resolve the position, orientation, velocity and acceleration of the body relative to the source reference frame. The physics-based extended Kalman filter can accommodate the effects of metal in the source and body reference frames and thus allow the system to measure position, orientation, velocity and acceleration under conditions where eddy currents would normally hinder other magnetic position measuring systems.