Magnetic Dipole Object Tracking Algorithm Based on Magnetometer Array in Geomagnetic Background

In order to solve the problem of geomagnetic interference and model nonlinearity in the tracking process of magnetic dipole under geomagnetic background, Monte Carlo Kalman Filter (MCKF) tracking method based on differential magnetic anomaly is proposed in this paper. The new tracking method takes the difference of magnetic field measured by sensor array as the observation signal, and uses Monte Carlo Kalman Filtering (MCKF) algorithm to solve the nonlinear problem of the model to realize the real-time tracking of magnetic dipole targets. The simulation results show that the proposed method is more accurate than the traditional Extended Kalman Filter (EKF) or Untracked Kalman Filter (UKF) in the stable tracking process. The results of real geomagnetic background tracking experiments show that the proposed algorithm has better tracking performance under low SNR.