Localization technique research of a pipeline robot based on the magnetic-dipole model |
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| Authors: | Junyuan LI Hongjun CHEN Shengfeng LI Xiaohua ZHANG |
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| Affiliation: | (1) Department of Electrical Engineer, Harbin Institute of Technology, Weihai, 264209, China;(2) Department of Electrical Engineer, Harbin Institute of Technology, Harbin, 150001, China;(3) Department of Physics, Harbin Institute of Technology, Weihai, 264209, China |
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| Abstract: | The magnetic field distribution of an emission antenna is studied in this paper. When the slenderness ratio of the emission antenna is high, the emission antenna can be simplified as a magnetic dipole for practical application. The numerical results of the magnetic dipole magnetic field show that the magnetic magnitude distribution has a hump-shape, whose direction is perpendicular with the antenna axis direction. A localization method based on the hump-shape signal detection is presented. The experimental result shows that the precision can reach a value of ±5 cm. The method can be used to localize a pipeline robot working in a metal pipe. __________ Translated from Chinese Journal of Radio Science, 2006, 21(4): 553–557 [译自: 电波科学学报] |
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| Keywords: | low frequency electromagnetic wave magnetic dipole localization pipeline robot |
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