Movable type location method based on magnetic gradient tensor and geomagnetic vector measurement

The invention belongs to the technical field of magnetic measurement, and particularly relates to a movable type location method based on magnetic gradient tensor and geomagnetic vector measurement. The method comprises the following steps: (S1) setting a magnetic sensor array and an inertial navigation system; (S2) in a nonmagnetic abnormal area, acquiring a measured value of a magnetic sensor and calculating a geomagnetic vector value in a geographic coordinate system; (S3) allowing a nonmagnetic moving device to move in a magnetic target area to acquire the measured value of the magnetic sensor and an attitude angle output by the inertial navigation system; (S4) calculating a geomagnetic field component value in an array coordinate system; (S5) calculating the magnetic gradient tensor and a magnetic abnormal component in the array coordinate system; and (S6) calculating the position of a magnetic target in the array coordinate system according to the magnetic gradient tensor and the magnetic abnormal component in the array coordinate system. The method disclosed by the invention can be used for achieving movable type real-time location, overcoming the requirement for immobility of the array in static location and acquiring the projection of a magnetic field in a magnetic sensor coordinate system more accurately by attitude conversion.