A Robust Tracking Method for Multiple Moving Targets Based on Equivalent Magnetic Force

A ferromagnetic vehicle, such as a submarine, magnetized by the Earth’s magnetic field produces a magnetic anomaly field, and the tracking of moving targets can be realized through real-time analysis of magnetic data. At present, there are few tracking methods based on magnetic field vectors and their gradient tensor. In this paper, the magnetic field vector and its gradient tensor are used to calculate equivalent magnetic force. It shows the direction of the vector between the detector and the tracking targets for controlling the direction of motion of the detector and achieving the purpose of tracking. Compared with existing positioning methods, the proposed method is relatively less affected by instrument resolution and noise and maintains robustness when the velocity vectors of multiple magnetic targets change randomly.

[1]  R. Stolz,et al.  Commercial operation of a SQUID-based airborne magnetic gradiometer , 2022, The Leading Edge.

[2]  S. Keenan,et al.  Method for full magnetic gradient tensor detection from a single HTS gradiometer , 2022, Superconductor Science and Technology.

[3]  Qiang Han,et al.  Application of SAS Algorithm in Responsive Submarine-searching Path Planning , 2021, Journal of Physics: Conference Series.

[4]  Jian Sun,et al.  Magnetic sensors-A review and recent technologies , 2021, Engineering Research Express.

[5]  Chunsheng Lin,et al.  Two-point magnetic field positioning algorithm based on rotating magnetic dipole , 2021 .

[6]  Nina Mahmoudian,et al.  Compact Quantum Magnetometer System on an Agile Underwater Glider , 2021, Sensors.

[7]  R. Stolz,et al.  Superconducting sensors and methods in geophysical applications , 2021 .

[8]  D. A. Dunnett Classical Electrodynamics , 2020, Nature.

[9]  Huan Liu,et al.  An overview of sensing platform-technological aspects for vector magnetic measurement: A case study of the application in different scenarios , 2020, Measurement.

[10]  Andrew Pietruszka,et al.  Magnetic survey and autonomous target reacquisition with a scalar magnetometer on a small AUV , 2020, J. Field Robotics.

[11]  G. Yin,et al.  A closed-form formula for magnetic dipole localization by measurement of its magnetic field vector and magnetic gradient tensor , 2020 .

[12]  Guo Hui,et al.  Investigation on optimal path for submarine search by an unmanned underwater vehicle , 2019, Comput. Electr. Eng..

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

[14]  Takaaki Nara,et al.  Moore-Penrose generalized inverse of the gradient tensor in Euler's equation for locating a magnetic dipole , 2014 .

[15]  Juan Ramos-Castro,et al.  Design of the magnetic diagnostics unit onboard LISA Pathfinder , 2012, 1202.2732.

[16]  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.

[17]  J. Lenz,et al.  Magnetic sensors and their applications , 2006, IEEE Sensors Journal.

[18]  R. O. Hansen,et al.  Multiple-source Euler deconvolution , 2002 .

[19]  R. Fox,et al.  Classical Electrodynamics, 3rd ed. , 1999 .

[20]  J. Lenz A review of magnetic sensors , 1990, Proc. IEEE.

[21]  J. Bradley Nelson,et al.  Calculation of the magnetic gradient tensor from total field gradient measurements and its application to geophysical interpretation , 1988 .

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

[23]  Gao Qingwei,et al.  Study on the Answer Submarine Search Efficiency of Aerial Magnetic Detection , 2008 .

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

[25]  A. Reid,et al.  Euler Deconvolution: Past, Present, And Future-A Review , 1995 .

[26]  J. G. Simmonds A brief on tensor analysis , 1982 .