Moore-Penrose generalized inverse of the gradient tensor in Euler's equation for locating a magnetic dipole

Euler's equation provides us with a system of linear equations for localizing a magnetic dipole from measurements of the magnetic field and its gradients. However, so far, the condition for the coefficient matrix of the linear equations to be singular has not been shown. In this paper, we show that the matrix is singular if and only if the dipole moment is perpendicular to the dipole position vector, where the observation point is set at the origin. Moreover, we show that, even in this case, the true position can be uniquely reconstructed by using the Moore–Penrose generalized inverse of the gradient tensor.