Dual-Frequency Orthogonal Rotating Magnet Localization System for High-Precision 6-DoF Pose Tracking

With the increasing demand for short-range, high-precision localization in medical navigation and industrial robotics, conventional magnetic localization systems often suffer from complex calibration procedures and limited resistance to external interference. To overcome these limitations, we present a six-degree-of-freedom (6-DoF) localization system based on a dual-frequency orthogonal rotating permanent magnet (DF-ORPM) field. The proposed system combines an optimized magnetic source design with an orthogonal basis projection-based signal separation algorithm, enabling robust and decoupled magnetic signal extraction. Furthermore, a pose estimation framework is developed by integrating elliptical magnetic field feature extraction with spatial geometric constraints. Simulation results initially indicate that, at a signal-to-noise ratio (SNR) above 15 dB, the system attains millimeter-level positional accuracy and angular errors below 0.6° within a single sampling cycle. A prototype dual-magnet localization platform was constructed, and experimental validation demonstrated a dynamic positioning accuracy of 2.14± 1.61 mm and subdegree orientation accuracy, consistent with simulation predictions. These results verify the feasibility and robustness of the proposed dual-frequency approach, providing a promising solution for high-precision magnetic localization systems.