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Magnetic object tracking based on direct observation of magnetic sensor measurements

  • US 6,269,324 B1
  • Filed: 10/19/1998
  • Issued: 07/31/2001
  • Est. Priority Date: 10/19/1998
  • Status: Expired due to Term
First Claim
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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.

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