Real-time spatial precise magnetic positioning device, radiographic imaging system and magnetic positioning method

A real-time spatial magnetic positioning method, comprising following steps:

• S21, arranging a magnetic field generating device coaxially with a first object, setting a reference area to be aligned on a second object, and determining a center point of the reference area;
• and arranging a plurality of magnetic sensors on the second object, and acquiring a position relationship between each magnetic sensor and the center point;
• S22, generating an alternating magnetic field by the magnetic field generating device, and independently detecting magnetic induction intensity in real time by the magnetic sensors;
• S23, calculating a position coordinate of the each magnetic sensor relative to the magnetic field generating device according to detection data of the magnetic induction intensity;
• S24, excluding one or less than half of the magnetic sensors as an interfered magnetic sensor if the position coordinate of the one or less than half of the magnetic sensors deviate from a plane determined by the position coordinates of remaining magnetic sensors, and obtaining the position coordinate of the center point relative to the first object only according to the position coordinates of the remaining magnetic sensors relative to the magnetic field generating device and position relationships between the remaining magnetic sensors and the center point;
• S25, determining that the first object at a current position is aligned with the reference area on the second object if in a three-dimensional coordinate of x/y/z coordinate axes of the center point relative to the first object, the coordinates of two coordinate axes parallel to a plane where the first object is located are 0 or within a preset range close to 0, and ending positioning;
• otherwise, proceeding S26;
• S26, adjusting position of the first object and/or the second object, and repeating Steps S22-S25.