中文摘要：

提出了一种基于三轴磁阻传感器芯片HMC5883L和以8051系列单片机为核心的多路方向角测量方法,主要应用于体内手术、微创手术等不可视环境。通过绑定在运动器械上的三轴磁阻传感器实时测量地球磁场产生的磁感应强度。利用磁偶极子模型,对测量结果数值分析、处理得到各自绑定的运动器械的方向角角度值。实验证明：这种低成本的解决方法对低速运动的器械测量具有较高稳定性和可靠性。

英文摘要：

A multi-path direction angle measuring method based on 3-axis magneto-resistive sensor chip HMC5883L and 8051 series SCM,which is mainly used in invasive surgeries is presented.The magnetic induction of the earth can be detected by the 3-axis magneto-resistive sensor which is bound on the surgical instrument.The direction angle value of the surgical instrument can be acquired through using the magnetic dipole model to analyze and process the measured results.The experimenal results indicate that the low-cost solution method for measuring the direction angle of surgical instrument has high stability and reliability.