| 摘要 |
A method for locating a moving magnetic object, comprising: determining the position or the orientation of the magnetic object from measurements of an array of N (an integer greater than 5) tri-axial magnetometers mechanically linked to one another with no degree, the method also comprises the reiteration of the following steps. Estimating the position of the magnetic object relative to the array of magnetometers from measurements of the magnetometers made in a preceding iteration or from a measurement of a sensor distinct from the magnetometers of the array of magnetometers so that this estimation is obtained before making a new measurement using the magnetometers of the array; computing the distance between each magnetometer and the estimated position of the magnetic object; eliminating the Ni magnetometers closest to this estimated position, where Ni is a positive integer number strictly less than N; making a new measurement, by each non-eliminated magnetometer, of the magnetic field generated or modified by the magnetic object; and determining a new position or a new orientation of the magnetic object from the new measurements of the magnetometers which have not been eliminated and without taking into account new measurements made by the eliminated magnetometers, so as to obtain a new location of the magnetic object. |
