基于低频磁信标的全天时自主定位方法

All-Day Autonomous Localization Method Based on Beacons of Low Frequency Magnetic Field

关键词:  低频磁信标  GNSS  自主定位方法

Key words:  Beacons of low frequency magnetic field  GNSS  Autonomous localization method

摘要:

由于以GPS、北斗为代表的GNSS信号容易受到天气和位置的影响，单纯使用GNSS在某些条件下会有较大的定位误差，甚至无法提供定位服务。针对这种情况研究了基于低频磁信标的自主定位方法，分析了电磁学中的毕奥-萨伐尔定律等原理，建立了基于低频磁信标定位的系统模型，给出了分离式双信标定位方法。通过实验分析了信标安装的误差特性，最后通过仿真和实际实验验证了该定位方法的有效性，对于室内机器人导航、地下生物探索、水下跟踪定位等单独采用GNSS定位影响较大的场景下的自主定位与导航具有重要的工程应用价值。

Abstract:

Since the GNSS signals represented by GPS and Beidou can be easily affected by weather and location, the use of GNSS alone may have large positioning errors under certain conditions and may not even provide positioning services. Aiming at this problem, the autonomous positioning method based on low frequency magnetic beacon is studied, the principle of Biot-Savart law in electromagnetism is analyzed, a system model based on low frequency magnetic beacon positioning is established, and a separate double beacon positioning method, which is used to analyze the error characteristics of the beacon installation, is given. Finally, the effectiveness of the positioning method is verified by simulation and experiments. It has important engineering application value for autonomous positioning and navigation in many situations, such as indoor robot navigation, underground biological exploration, underwater tracking and positioning, where the results of GNSS positioning may be greatly influenced.