Ferromagnetic Mass Localization in Check Point Configuration Using a Levenberg Marquardt Algorithm.docVIP

Sensors 2009, 9, 8852-8862; doi:10.3390/OPEN ACCESS sensors ISSN 1424-8220 /journal/sensors Article Ferromagnetic Mass Localization in Check Point Configuration Using a Levenberg Marquardt Algorithm Roger Alimi, Nir Geron, Eyal Weiss * and Tsuriel Ram-Cohen Propulsion Physics Division, Soreq NRC, Yavne 81800, Israel; E-Mails: roger@.il (R.A.); nirg@.il (N.G.); tsuriel@.il (T.R.C.) * Author to whom correspondence should be addressed; E-Mail: eyal_we@.il; Tel.: +972-8-943-4406; Fax: +972-8-943-4227. Received: 25 August 2009; in revised form: 30 September 2009 / Accepted: 10 October 2009 / Published: 4 November 2009 Abstract: A detection and tracking algorithm for ferromagnetic objects based on a two stage Levenberg Marquardt Algorithm (LMA) is presented. The procedure is applied to localization and magnetic moment estimation of ferromagnetic objects moving in the vicinity of an array of two to four 3-axis magnetometers arranged as a check point configuration. The algorithms first stage provides an estimation of the target trajectory and moment that are further refined using a second iteration where only the position vector is taken as unknown. The whole procedure is fast enough to provide satisfactory results within a few seconds after the target has been detected. Tests were conducted in Soreq NRC assessing various check point scenarios and targets. The results obtained from this experiment show good localization performance and good convivial with “noisy” environment. Small targets can be localized with good accuracy using either a vertical “doorway” two to four sensors configuration or ground level two to four sensors configuration. The calculated trajectory was not affected by nearby magnetic interference such as moving vehicles or a combat soldier inspecting the gateway. Keywords: magnetic moment localization; m