A differential magnetic localization method for bionic micro-machine guided by external magnetic field

In this study, we propose a differential magnetic localization method for the bionic micro-machine guided by external magnetic field. The external magnetic field influences magnetic localization of the bionic micro-machine. In order to remove the influence, two magnetic sensors are respectively placed at two spatial points where the guide magnetic fields are the same. The hardware system for localization of bionic micro-machine is designed. We used eight magnetic sensor groups and each magnetic sensor group measured only one direction of magnetic field. So there are eight channels with differential circuit of each group. Through the measurement, the position and orientation of permanent magnet block are inversed by differential magnetic localization algorithm. Experiments' results show that the position and orientation of bionic micro-machine are inversed well. Furthermore, this magnetic localization method is suitable for the localization of micro-machine driven by external magnetic field.