In order to reduce the influence of position,direction and sensitivity coefficient errors of magnetic sensors on the positioning and orientation accuracy of permanent magnet positioning systems,a two-step iterative(TSI)calibration method based on the least squares method is proposed.Firstly,the orientation and sensitivity coefficients of the magnetic sensors are calibrated.Then the position is calibrated,and the stable calibration parameters can be obtained after several iterations.Secondly,using the particle swarm optimization(PSO)algorithm combined with sequential quadratic programming(SQP)for iterative solutions,three sets of unknown constraints are added to improve the solving accuracy.Finally,the positioning and orientation accuracy of the permanent magnet positioning system using different calibration methods is compared.The test results show that the proposed calibration method improves the positioning accuracy by 20.48%and the orientation accuracy by 35.55%compared with the traditional calibration method based on least squares.
permanent magnet positioning systemmagnetic sensorerror calibrationpositioning and orientation accuracy
NETL
NSTL
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