计算机实时监测的电磁定位系统的研究
|
摘要
电磁定位系统来源于头盔显示/瞄准系统中的瞄准具部分。其中,瞄准线的计算方法一直是实现目标定位和跟踪的重点和难点,能否精确的计算出瞄准线的方位是关键所在。
本文采用电磁场法来测量接收天线的运动位置,其检测瞄准线的传统方法是采用交流的发射信号与欧拉角为计算参数,但是它出现45°附近计算结果畸变严重的问题。论文在深入研究现有算法存在问题的基础上,采用了一种广泛用于刚体定位的数学参数算法——四元数法。用四元数描述任意方位的刚体旋转,用它构成的迭代矩阵具有良好的特性,实验结果表明采用四元数算法具有结果准确,收敛速度快的优点,并且在45°附近计算结果没有明显的畸变。除了采用四元数算法外,另一方面,此设计的发射信号采用了直流脉冲信号代替了原来的交流信号,解决了采用交流信号使周围金属物体中感应的涡流场导致的计算结果不准确的问题。
信号的发射采集都应用了基于PCI总线的数据采集卡实现。数据采集模块用动态链接库的模式调用驱动程序来实现对采集卡硬件的访问,实现了数据采集功能,有效地提高了A/D板和计算机之间的数据传输率;数据处理模块应用基于COM组件的VB与Matlab的接口编程,实现了上层应用软件的数据分析计算功能,达到实时计算监测的目的。
The measuring method of electromagnetic time-division is used in the electromagnetic orientation system which comes from the HMD/HMS applied in the battleplane and detects the orientation of the pilot's head. The algorithm of LOS (line of sight) is a difficulty in this research field, whose key problem is working out position of the LOS precisely.
This system measures the position and orientation of the sensor using electromagnetic method. The traditional equipment adopted AC electric current as transmitting signal and Euler angle as calculation parameters. The problem of the equipment is that the calculation results appear distortion when angle is near to 45°. Based on deeply analyzing the method, this paper describes the quaternion which is widely used in locating rigid body. The results show the outcome precision and rate of convergence of the quaternion algorithm with quaternion is better than the traditional one. And this system adopts DC pulse transmitting signal to avoid the eddy current in metal objects nearly.
This system chooses the data acquisition card for sending and acquisition tool, builds the data acquisition system. This module transferred the driver to realize the accessing of card using dynamic link library technology. It can improve effectively the transfer speed between the data acquisition card and computer. It adopts Matlab software as data processing tool. The interface programming between VB and Matlab is based on COM groupware. The system can achieve the request of real-time monitoring.
本文采用电磁场法来测量接收天线的运动位置,其检测瞄准线的传统方法是采用交流的发射信号与欧拉角为计算参数,但是它出现45°附近计算结果畸变严重的问题。论文在深入研究现有算法存在问题的基础上,采用了一种广泛用于刚体定位的数学参数算法——四元数法。用四元数描述任意方位的刚体旋转,用它构成的迭代矩阵具有良好的特性,实验结果表明采用四元数算法具有结果准确,收敛速度快的优点,并且在45°附近计算结果没有明显的畸变。除了采用四元数算法外,另一方面,此设计的发射信号采用了直流脉冲信号代替了原来的交流信号,解决了采用交流信号使周围金属物体中感应的涡流场导致的计算结果不准确的问题。
信号的发射采集都应用了基于PCI总线的数据采集卡实现。数据采集模块用动态链接库的模式调用驱动程序来实现对采集卡硬件的访问,实现了数据采集功能,有效地提高了A/D板和计算机之间的数据传输率;数据处理模块应用基于COM组件的VB与Matlab的接口编程,实现了上层应用软件的数据分析计算功能,达到实时计算监测的目的。
The measuring method of electromagnetic time-division is used in the electromagnetic orientation system which comes from the HMD/HMS applied in the battleplane and detects the orientation of the pilot's head. The algorithm of LOS (line of sight) is a difficulty in this research field, whose key problem is working out position of the LOS precisely.
This system measures the position and orientation of the sensor using electromagnetic method. The traditional equipment adopted AC electric current as transmitting signal and Euler angle as calculation parameters. The problem of the equipment is that the calculation results appear distortion when angle is near to 45°. Based on deeply analyzing the method, this paper describes the quaternion which is widely used in locating rigid body. The results show the outcome precision and rate of convergence of the quaternion algorithm with quaternion is better than the traditional one. And this system adopts DC pulse transmitting signal to avoid the eddy current in metal objects nearly.
This system chooses the data acquisition card for sending and acquisition tool, builds the data acquisition system. This module transferred the driver to realize the accessing of card using dynamic link library technology. It can improve effectively the transfer speed between the data acquisition card and computer. It adopts Matlab software as data processing tool. The interface programming between VB and Matlab is based on COM groupware. The system can achieve the request of real-time monitoring.
引文
[1]王永年,祝梁生.头盔显示/瞄准系统[M].北京:国防工业出版社.1994.3
[2]徐游.电磁学[M].第二版.北京:科学出版社.2004.5:197-229,304-349
[3]日义井AIL景著.胡超,郑保山泽.磁工学[M].北京:国防工业出版社.1997
[4]周宗锡,刚体姿态控制及其在机器人控制中的应用研究,西北工业大学博士论文,2002.711-26
[5]Jack Kuipers,METHOD AND APPARATUS FOR DETERMINING REMOTE OBJECT ORITATION AND POSITION[J]United State Patent 4,737,794 1988.12
[6]Anderson,PULSED-DC POSITION AND ORIETATION MEASUREMENT SYSTEM[J]United State Patent 5,453,686 1995.9
[7]张求知,左明.电磁式时分制头盔显示器瞄准算法的改进[J].电光与控制.2002.1Vol.9(1):23-27
[8]唐劲飞,龚沈光,王金根.磁偶极子信号检测和参数估计[J].海军工程大学学报.2001.Vol.13 No.2:54-58
[9]Fawwaz T.Ulaby著,尹华杰译,应用电磁学基础[M].第四版.北京:人民邮电出版社.2007.1:176-243
[10]杨尔滨,杨欢红,刘蓉晖,陆文雄.工程电磁场基础与应用[M].北京:中国电力出版社.2005.8:88-133
[11]贾书惠.刚体动力学[M].北京:高等教育出版社.1987.9.16-51
[12]黄静萍,陈代娱,头盔瞄准器数据采集系统硬件设计[J].数据采集与处理.1999.12.Vol14:No.4.496-500
[13]刘延柱,洪嘉振,杨海兴.多刚体系统动力学[M].北京:高等教育出版社.1989.3:6-63
[14]B.H勃拉涅茨等著,梁振和译.四元数在刚体定位问题中的应用[M].北京:国防工业出版社.1977.3-89
[15]肖尚彬.四元数及其应用[J].力学进展.1993.23(2).249-260
[16]叶佳.中文Visual Basic 6.0编程实用教程[M].北京:中国水利水电出版社.1999.9.1-182
[17]冯璐.刚体姿态控制及其应用.博士学位论文.西北工业大学.1999
[18]樊兆均.光电跟踪系统中的刚体姿态控制.硕士学位论文.西北工业大学.2001.1-20
[19]潘朝霞,殷慧中,王毅.基于Atmega16单片机的电磁敏感测量系统的研究[J].仪器仪表与检测技术.2006.24(2).63-65.
[20]王海晏,寇英信,隋永华,周志刚.头盔瞄准具中目标指示线的测量计算方法研究[J].红外技术.2005.27(2)
[21]P.K.Hansen,Method and apparatus for position and orientation measurement using a magnetic field and retransmission,U.S.Patent 4,642,786 1987.2
[22]Eugene Paperno,Ichiro Sasada,and Eduard Leonovich.A New Method for Magnetic Position and Orientation Tracking,IEEE.2001:1938-1940
[23]H.P.Kalmus,"A new guiding and tracking system," IRE Trans.Aerosp.Navig.Electron.,1962.vol.9,pp.7-10
[24]楼顺天.基于MATLAB的系统分析与设计—信号处理[M].西安:西安电子科技大学出 版社.1998
[25]D.D.Frantz,A.D.Wiles,S.E.Leis,and S.R.Kirsch,"Accuracy assessment protocols for electromagnetic tracking systems," Phys.Med.Biol.,2003.vol.48,pp.2241-2251.
[26]F.H.Raab,E.B.Blood,T.O.Steiner,and H.R.Jones,Magnetic position and orientation tracking system[J].IEEE.1979.vol.AES-15,no.5.pp.709-717
[27]V.V.Kindratenko,A survey of electromagnetic position tracker calibration techniques,Virtual Reality:Research,Development,and Applications[J],2000.vol.5,no.3,pp.169-182
[28]李庆扬,王能超,易大义.数值分析[M].第四版,北京,清华大学出版社、施普林格出版社,2001.8 161-287
[29]张洪,赵培杰.用VB和MATLAB软件开发数据采集分析系统[J].工业控制计算机.2005.18(9).27-28
[30]岳玉芳,尤忠生.基于COM的VB与MATLAB混合编程.计算机工程与设计.2005.26(1).61-63
[31]张学典,赵学玲,许家群,唐任远.Matlab与VB、VC高级语言的接口方法[J].沈阳工业大学学报.200 1.23(6期).493-496
[32]刘志环,晏光辉,余虹,姜东光.磁偶极子的远场[J].物理与工程.2006.Vol.16No.4.24-25
[33]刘敏,魏灵.MATLAB通信仿真与应用[M].国防工业出版社.2001.
[34]马明建,周长城.数据采集与处理技术[M].西安:西安交通大学出版社.1999
[35]刘晖等译.PCI系统结构[M].第四版.北京:电子工业出版社.1998
[36]胡广书,宗空德.数字信号处理—理论、算法和实现[M].北京:清华大学出版社.1997
[37]杨修志等.基于PCL总线的高速高精度A/D采集系统[J].数据采集与处理.2001.9(4)20-22
[38]维纳.K.恩格尔,约翰.G普罗克斯著,刘树棠译.数字信号处理——使用MATLAB[M].西安:西安交通大学出版社.2002
[39]黄锡泉.基于COM组件的VB与MATLAB接口编程[J].电脑编程技巧与维护.2004.(8)19-21
[40]范逸之,廖锦棋.VB硬件设计与开发——数据采集卡控制[M].北京:清华大学出版社.2004
[2]徐游.电磁学[M].第二版.北京:科学出版社.2004.5:197-229,304-349
[3]日义井AIL景著.胡超,郑保山泽.磁工学[M].北京:国防工业出版社.1997
[4]周宗锡,刚体姿态控制及其在机器人控制中的应用研究,西北工业大学博士论文,2002.711-26
[5]Jack Kuipers,METHOD AND APPARATUS FOR DETERMINING REMOTE OBJECT ORITATION AND POSITION[J]United State Patent 4,737,794 1988.12
[6]Anderson,PULSED-DC POSITION AND ORIETATION MEASUREMENT SYSTEM[J]United State Patent 5,453,686 1995.9
[7]张求知,左明.电磁式时分制头盔显示器瞄准算法的改进[J].电光与控制.2002.1Vol.9(1):23-27
[8]唐劲飞,龚沈光,王金根.磁偶极子信号检测和参数估计[J].海军工程大学学报.2001.Vol.13 No.2:54-58
[9]Fawwaz T.Ulaby著,尹华杰译,应用电磁学基础[M].第四版.北京:人民邮电出版社.2007.1:176-243
[10]杨尔滨,杨欢红,刘蓉晖,陆文雄.工程电磁场基础与应用[M].北京:中国电力出版社.2005.8:88-133
[11]贾书惠.刚体动力学[M].北京:高等教育出版社.1987.9.16-51
[12]黄静萍,陈代娱,头盔瞄准器数据采集系统硬件设计[J].数据采集与处理.1999.12.Vol14:No.4.496-500
[13]刘延柱,洪嘉振,杨海兴.多刚体系统动力学[M].北京:高等教育出版社.1989.3:6-63
[14]B.H勃拉涅茨等著,梁振和译.四元数在刚体定位问题中的应用[M].北京:国防工业出版社.1977.3-89
[15]肖尚彬.四元数及其应用[J].力学进展.1993.23(2).249-260
[16]叶佳.中文Visual Basic 6.0编程实用教程[M].北京:中国水利水电出版社.1999.9.1-182
[17]冯璐.刚体姿态控制及其应用.博士学位论文.西北工业大学.1999
[18]樊兆均.光电跟踪系统中的刚体姿态控制.硕士学位论文.西北工业大学.2001.1-20
[19]潘朝霞,殷慧中,王毅.基于Atmega16单片机的电磁敏感测量系统的研究[J].仪器仪表与检测技术.2006.24(2).63-65.
[20]王海晏,寇英信,隋永华,周志刚.头盔瞄准具中目标指示线的测量计算方法研究[J].红外技术.2005.27(2)
[21]P.K.Hansen,Method and apparatus for position and orientation measurement using a magnetic field and retransmission,U.S.Patent 4,642,786 1987.2
[22]Eugene Paperno,Ichiro Sasada,and Eduard Leonovich.A New Method for Magnetic Position and Orientation Tracking,IEEE.2001:1938-1940
[23]H.P.Kalmus,"A new guiding and tracking system," IRE Trans.Aerosp.Navig.Electron.,1962.vol.9,pp.7-10
[24]楼顺天.基于MATLAB的系统分析与设计—信号处理[M].西安:西安电子科技大学出 版社.1998
[25]D.D.Frantz,A.D.Wiles,S.E.Leis,and S.R.Kirsch,"Accuracy assessment protocols for electromagnetic tracking systems," Phys.Med.Biol.,2003.vol.48,pp.2241-2251.
[26]F.H.Raab,E.B.Blood,T.O.Steiner,and H.R.Jones,Magnetic position and orientation tracking system[J].IEEE.1979.vol.AES-15,no.5.pp.709-717
[27]V.V.Kindratenko,A survey of electromagnetic position tracker calibration techniques,Virtual Reality:Research,Development,and Applications[J],2000.vol.5,no.3,pp.169-182
[28]李庆扬,王能超,易大义.数值分析[M].第四版,北京,清华大学出版社、施普林格出版社,2001.8 161-287
[29]张洪,赵培杰.用VB和MATLAB软件开发数据采集分析系统[J].工业控制计算机.2005.18(9).27-28
[30]岳玉芳,尤忠生.基于COM的VB与MATLAB混合编程.计算机工程与设计.2005.26(1).61-63
[31]张学典,赵学玲,许家群,唐任远.Matlab与VB、VC高级语言的接口方法[J].沈阳工业大学学报.200 1.23(6期).493-496
[32]刘志环,晏光辉,余虹,姜东光.磁偶极子的远场[J].物理与工程.2006.Vol.16No.4.24-25
[33]刘敏,魏灵.MATLAB通信仿真与应用[M].国防工业出版社.2001.
[34]马明建,周长城.数据采集与处理技术[M].西安:西安交通大学出版社.1999
[35]刘晖等译.PCI系统结构[M].第四版.北京:电子工业出版社.1998
[36]胡广书,宗空德.数字信号处理—理论、算法和实现[M].北京:清华大学出版社.1997
[37]杨修志等.基于PCL总线的高速高精度A/D采集系统[J].数据采集与处理.2001.9(4)20-22
[38]维纳.K.恩格尔,约翰.G普罗克斯著,刘树棠译.数字信号处理——使用MATLAB[M].西安:西安交通大学出版社.2002
[39]黄锡泉.基于COM组件的VB与MATLAB接口编程[J].电脑编程技巧与维护.2004.(8)19-21
[40]范逸之,廖锦棋.VB硬件设计与开发——数据采集卡控制[M].北京:清华大学出版社.2004
© 2004-2018 中国地质图书馆版权所有 京ICP备05064691号 京公网安备11010802017129号 地址：北京市海淀区学院路29号 邮编：100083 电话：办公室：(+86 10)66554848；文献借阅、咨询服务、科技查新：66554700 |