METHOD AND DEVICE FOR DETERMINING A 3D ORIENTATION AND A 3D POSITION ON THE BASIS OF A SINGLE-AXIS COIL AND AN MARG SENSOR

摘要

The invention relates to a method for determining the 3D orientation and 3D position of objects using a device, having a reference module with a single-axis coil and an MARG sensor. The coil is supplied with a sinusoidally modulated excitation current in order to generate a harmonic magnetic field signal with a constant frequency. The device also has a sensor module with an MARG sensor. The reference module is used as a spatial reference for determining the orientation and position of the sensor module. The 3D orientation of each module is determined algorithmically in a cyclical manner from the data of the MARG sensors in the reference module and the sensor module. The MARG sensor of the sensor module detects a mixed signal which is composed of the harmonic magnetic field generated by the coil of the reference module and all of the other magnetic fields in the surroundings of the device. Thus, not just the value information but also the phase information of the coil signal is used to extract the coil signal from the mixed signal ascertained by the MARG sensor of the sensor module, whereby the amplitudes of the magnetic field components of the coil signal are ascertained complete with sign, and the unique spatial position of the sensor module relative to the reference module is determined from the ascertained amplitudes in a cyclical manner on the basis of the measurement data solely of the MARG sensor on the sensor module.