Ultra Low Frequency Electromagnetic Wave Localization and Application to Pipeline Robot

The paper analyzes the magnetic field distribution of emitter, and studies the localization technique based on ultra low frequency electromagnetic wave sensors. As the electromagnetic detection is sensitive to transform medium, which is related to its dielectric coefficient and magnetic inductive capacity, the paper presents a magnetic dipole model to simplify this problem and studies a new localization method for pipeline robot application. In order to improve the position precision, multi sensors are installed in the system. Based on constraint satisfaction problem method, an electromagnetic wave localization algorithm is presented, and the localization error is analyzed. Experiments are designed to verify the analysis and model. The experimental results show that the localization method based on ULF electromagnetic wave has a satisfied precision for the pipeline robot application