Description: Starting Maxwell’s equations, we derive a sensor model for three-axis magnetometers
suitable for localization and tracking applications. The model depends
on the relative position between the sensor and the target, orientation of the target
and its magnetic signature. Both point targets and extended target models
are provided. The models are validated on data taken various road vehicles.
The suitability of magnetometers for tracking is analyzed in terms of local observability
and Cramér Rao lower bound as a function of the sensor positions in a
two sensor scenario. Also the signal to noise ratio is computed to determine the
effective range of the magnetometer. Results field test data indicate excellent
tracking of position and velocity of the target, as well as identification of the
magnetic target model suitable for target classification.
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Target Tracking using Maxwell’s Equations.pdf
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