Multiple Underwater Objects Localization With Magnetic Gradiometry

Magnetic object localization techniques have significant applications in automated surveillance and security systems, such as aviation aircrafts or underwater vehicles. In this letter, a practical localization algorithm was presented to determine the center coordinates and magnetic moments of multiple underwater magnetic objects using a combination of the magnetic field vector and its gradient tensor data. It formulates the localization of underwater magnetic objects into a nonlinear problem, which was solved by the Levenberg–Marquardt algorithm. The regularization parameters in the nonlinear problem were adaptively varied in terms of information of the Jacobian matrix. Good initial values of the center coordinates and magnetic moments of this nonlinear problem were automatically determined by a novel and analytical single-object localization algorithm based on magnetic field vector and its gradient tensor. Simulations with two and three underwater objects were adopted to study the feasibility of the magnetic gradiometry technique in multiple underwater objects localization. We have demonstrated that our algorithm can produce reliable results to locate multiple underwater magnetic objects.

[1]  A. Chwala,et al.  Magnetic full-tensor SQUID gradiometer system for geophysical applications , 2006 .

[2]  S. Ando,et al.  A Closed-Form Formula for Magnetic Dipole Localization by Measurement of Its Magnetic Field and Spatial Gradients , 2006, IEEE Transactions on Magnetics.

[3]  David A. Clark,et al.  The magnetic gradient tensor: Its properties and uses in source characterization , 2006 .

[4]  Kok-Meng Lee,et al.  Magnetic Tensor Sensor for Gradient-Based Localization of Ferrous Object in Geomagnetic Field , 2016, IEEE Transactions on Magnetics.

[5]  C. P. Du,et al.  Detection of a Moving Magnetic Dipole Target Using Multiple Scalar Magnetometers , 2017, IEEE Geoscience and Remote Sensing Letters.

[6]  M Birsan,et al.  Recursive Bayesian Method for Magnetic Dipole Tracking With a Tensor Gradiometer , 2011, IEEE Transactions on Magnetics.

[7]  Bülent Oruç,et al.  Location and depth estimation of point-dipole and line of dipoles using analytic signals of the magnetic gradient tensor and magnitude of vector components , 2010 .

[8]  Liming Fan,et al.  A Fast Linear Algorithm for Magnetic Dipole Localization Using Total Magnetic Field Gradient , 2018, IEEE Sensors Journal.

[9]  M. Wynn,et al.  Advanced superconducting gradiometer/Magnetometer arrays and a novel signal processing technique , 1975 .

[10]  L. B. Pedersen,et al.  The gradient tensor of potential field anomalies: Some implications on data collection and data processing of maps , 1990 .

[11]  Mao Li,et al.  A New Tracking System for Three Magnetic Objectives , 2010, IEEE Transactions on Magnetics.

[12]  Steeve Zozor,et al.  Generalization of GLRT-based magnetic anomaly detection , 2015, 2015 23rd European Signal Processing Conference (EUSIPCO).

[13]  P. Ramuhalli,et al.  Sequential Monte Carlo Methods for Electromagnetic NDE Inverse Problems—Evaluation and Comparison of Measurement Models , 2009, IEEE Transactions on Magnetics.

[14]  Cong Zhou,et al.  Analytical Formulas for Underwater and Aerial Object Localization by Gravitational Field and Gravitational Gradient Tensor , 2017, IEEE Geoscience and Remote Sensing Letters.

[15]  Jingtian Tang,et al.  Localization of Multiple Underwater Objects With Gravity Field and Gravity Gradient Tensor , 2018, IEEE Geoscience and Remote Sensing Letters.

[16]  Hansruedi Maurer,et al.  Fast 3‐D large‐scale gravity and magnetic modeling using unstructured grids and an adaptive multilevel fast multipole method , 2017 .

[17]  Valéria C. F. Barbosa,et al.  Fast nonlinear gravity inversion in spherical coordinates with application to the South American Moho , 2017 .

[18]  Yu Huang,et al.  Underwater Continuous Localization Based on Magnetic Dipole Target Using Magnetic Gradient Tensor and Draft Depth , 2014, IEEE Geoscience and Remote Sensing Letters.

[19]  Jingtian Tang,et al.  Closed-form formula of magnetic gradient tensor for a homogeneous polyhedral magnetic target: A tetrahedral grid example , 2017 .

[20]  Fredrik Gustafsson,et al.  Magnetometer Modeling and Validation for Tracking Metallic Targets , 2014, IEEE Transactions on Signal Processing.

[21]  Chong Kang,et al.  Real-Time Tracking Method for a Magnetic Target Using Total Geomagnetic Field Intensity , 2016, Pure and Applied Geophysics.

[22]  Shuang Song,et al.  Multiple Objects Positioning and Identification Method Based on Magnetic Localization System , 2016, IEEE Transactions on Magnetics.

[23]  K. Pan,et al.  Gravity anomalies of arbitrary 3D polyhedral bodies with horizontal and vertical mass contrasts up to cubic order , 2018 .

[24]  Cathy P. Foley,et al.  GETMAG – a SQUID Magnetic Tensor Gradiometer for Mineral and Oil Exploration , 2004 .

[25]  Max Q.-H. Meng,et al.  Efficient magnetic localization and orientation technique for capsule endoscopy , 2005, IROS.

[26]  James P. Sethna,et al.  Improvements to the Levenberg-Marquardt algorithm for nonlinear least-squares minimization , 2012, 1201.5885.

[27]  David A. Clark,et al.  New methods for interpretation of magnetic vector and gradient tensor data I: eigenvector analysis and the normalised source strength , 2012 .

[28]  Douglas W. Oldenburg,et al.  3-D inversion of magnetic data , 1996 .