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电磁位置和方向追踪器的校准和表征
Robert A MacLachlan1, Claudia Pelle2, Ralph L Hollis1
1Robotics Institute, Carnegie Mellon University, Pittsburgh, PA 15213 USA.
概括
电磁追踪器 (EMT) 的准确校准对于准确的空间数据至关重要. 本研究提出了一种改进的磁性校准模型和方法,为EMT实现了更高的精度.
科学领域:
- 电磁主义 电磁主义
- 机器人技术 机器人技术 机器人技术
- 生物医学工程 生物医学工程
背景情况:
- 电磁追踪器 (EMT) 需要精确的校准,以便将磁场测量转换为空间位置和方向数据.
- 描述这些系统的准确性对于理解它们的性能限制至关重要.
研究的目的:
- 开发和验证用于电磁追踪器的可扩展磁性校准矩阵模型.
- 评估定位错误对校准准确性的影响,并探索设计中的权衡.
- 用新型线圈设计和校准变化来描述EMT的校准精度.
主要方法:
- 实现磁性校准矩阵模型,可适应各种线圈配置.
- 使用详细数据表示的校准程序的优化.
- 通过对不同源线圈设计和校准参数进行实验来描述系统准确性.
- 分析局部测量非线性,以预测跨小运动和交叉合效应的精度.
主要成果:
- 最好的校准配置实现了208μm/0.27°的不确定性,超过了商业EMT的公布精度.
- 该研究量化了定位错误对整体校准准确度的影响.
- 局部测量非线性被确定为描述小动作准确性的关键因素.
结论:
- 拟议的磁性校准模型为电磁跟踪器的准确性提供了显著的改进.
- 这些发现为设计和校准高精度定位系统提供了宝贵的见解.
- 开源软件有助于采用和进一步开发这些校准技术.
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