Magnetic object tracking based on direct observation of magnetic sensor measurements
First Claim
Patent Images
1. A magnetic object tracking algorithm for providing kinematic tracking of objects that generate a magnetic field using observed magnetic field strength measurements derived from one or more vector magnetometers, said algorithm comprising the steps of:
- providing an array of observed magnetic field strength measurements derived from detecting the object'"'"'s magnetic field using the one or more magnetometers;
selecting state variables including a dipole moment associated with the object that is to be tracked;
providing a Kalman filter defined by a plant equation that describes the evolution of a state vector of the object defined by the state variables and an observation equation that describes a relationship between the observed magnetic field strength measurements and the state vector that is tracked; and
processing the array of magnetometer measurements using the Kalman filter to track the object.
1 Assignment
0 Petitions
Accused Products
Abstract
A magnetic object tracking algorithm, that may be implemented as an apparatus or a method, that permits kinematic tracking of magnetized objects, or targets, using magnetic field strength measurements derived from one or more vector magnetometers. The magnetic object tracking algorithm effectively tracks a maneuvering magnetic dipole target using an extended Kalman filter directly observing (processing) real magnetic field strength data.
-
Citations
20 Claims
-
1. A magnetic object tracking algorithm for providing kinematic tracking of objects that generate a magnetic field using observed magnetic field strength measurements derived from one or more vector magnetometers, said algorithm comprising the steps of:
-
providing an array of observed magnetic field strength measurements derived from detecting the object'"'"'s magnetic field using the one or more magnetometers;
selecting state variables including a dipole moment associated with the object that is to be tracked;
providing a Kalman filter defined by a plant equation that describes the evolution of a state vector of the object defined by the state variables and an observation equation that describes a relationship between the observed magnetic field strength measurements and the state vector that is tracked; and
processing the array of magnetometer measurements using the Kalman filter to track the object. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11)
-
-
12. Magnetic object tracking apparatus for providing kinematic tracking of objects that generate a magnetic field using observed magnetic field strength measurements, said apparatus comprising:
-
one or more vector magnetometers for providing an array of observed magnetic field strength measurements derived from detecting the object'"'"'s magnetic field;
a Kalman filter defined by a plant equation that describes the evolution of a state vector of the object defined by the state variables, including its magnetic dipole moment, associated with the object that is to be tracked and an observation equation that describes a relationship between the observed magnetic field strength measurements and the state vector that is tracked; and
a processor for processing the array of magnetometer measurements using the Kalman filter to track the object. - View Dependent Claims (13, 14, 15, 16, 17, 18, 19, 20)
-
Specification