Method for locating at least one movable magnetic object and associated system
AssigneeIskn
InventorsTristan Hautson, Rabeb Aloui
Life of this patent
Estimating the term…
Abstract
A method for locating at least one movable magnetic object with respect to an array of at least N triaxial magnetometers comprises steps consisting in: subtracting a weighted average from each of the measurements to obtain modified measurement; loading the modified measurements and a location of the one or more movable magnetic objects at the current time as input into a filtering operation for locating the one or more movable magnetic objects; implementing the location filtering operation, this comprises steps consisting in: subtracting a weighted average from each of the estimated data; and delivering as output a location of the one or more movable magnetic objects at a subsequent time.
Claims6
A method for locating at least one movable magnetic object with respect to an array of at least N triaxial magnetometers that are mechanically connected to one another with no degree of freedom in order to preserve a known relative position of these magnetometers, N being an integer at least equal to 2, comprising steps consisting in:
- loading the measurements of the magnetometers, at a current time;
- calculating a weighted average of said measurements of the magnetometers representing an average terrestrial magnetic field and an average magnetic field due to the movable magnetic object(s);
- subtracting said weighted average from each of said measurements in order to obtain modified measurements;
- loading said modified measurements and a location of the one or more movable magnetic objects at the current time as input into a filtering operation for locating the one or more movable magnetic objects;
- implementing the location filtering operation, this comprising steps consisting in:
- calculating a weighted average of estimations of data delivered by said magnetometers;
- subtracting said weighted average from each of said estimated data;
- and
- delivering as output a location of the one or more movable magnetic objects at a subsequent time.
A system for locating at least one movable magnetic object comprising:
- an array of at least N triaxial magnetometers that are mechanically connected to one another with no degree of freedom in order to preserve a known relative position of these magnetometers, N being an integer at least equal to 2;
- an electronic processing unit suitable for determining the location of the one or more movable magnetic objects from measurements delivered by the magnetometers of the array and a location filter;
- said electronic processing unit comprising:
- means for loading measurements of the magnetometers, at a current time;
- means for calculating a weighted average of said measurements of the magnetometers representing an average terrestrial magnetic field and an average magnetic field due to the movable magnetic object(s);
- and
- means for subtracting said weighted average from each of said measurements in order to obtain modified measurements;
- the location filter FL) comprising:
- means for loading said modified measurements and a location of the one or more movable magnetic objects at the current time as input into a filtering operation for locating the movable magnetic object;
- means for calculating a weighted average of estimations of data delivered by said magnetometers;
- means for subtracting said weighted average from each of said estimated data;
- and
- means for delivering as output a location of the one or more movable magnetic objects at a subsequent time.
Dependencies are inferred from the claim text.