Scalable tracking algorithms for magnetic sensor arrays

Magnetic sensors are unaffected by rolling terrain, by vegetation and by weather phenomena, so provide a consistent and predictable performance. Most magnetic tracking algorithms work best for a limited span of closest approach distances between the target and any sensor array node and have specific requirements in terms of the relative node placement. Unlike demonstration fields, where the nodes are carefully manually placed, proposed field deployment methods cannot reliably achieve specific spacings. We propose a novel algorithm that is insensitive to variations in spacing, thereby eliminating the limit on closest approach distances, so that the sensor array can locally adapt the algorithm to the array configuration. This local adaptation also enables scalability for whole-array tracking.