Anti-Noise Electromagnetic Positioning Algorithm Based on Magnetic Dipole Model

The electromagnetic positioning technology is a good method to obtain the position and attitude of magnetic micro-robots, which has high positioning accuracy and is easy to realize. Analytic solutions of position information can be obtained by using magnetic dipole model directly, but the positioning error is large in the magnetic interference environment. The model established in this paper takes into account the error caused by noise interference, and the simulation results show that compared with the direct positioning algorithm without denoising, the accuracy is greatly improved, the positioning error is less than 1 mm, and the attitude error is less than 1 degrees.