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A real-time magnetic localization method based on unscented particle filter (UPF) is proposed to solve the problem for real-time localization of underwater non-cooperative magnetic targets. The state space model of non-cooperative magnetic targets is set up according to its motion characteristic, and the state is estimated in real time by UPF. In order to improve the observability of the system, the particle state is constrained and magnetic moment is inverted by the least square method. The simulation results and ferromagnetic object localization experimental results show that the method is good in localization precision and real-time performance, which can be applied to the real-time magnetic localization in near field.
[1] Lin C S, Gong S G 2007 Ship Physical Field (Beijing: The Publishing House of Ordnance Industry) p63 (in Chinese) [林春生, 龚沈光 2007 舰船物理场 (北京: 兵器工业出版社) 第63页]
[2] Tang J F, Gong S G, Wang J G 2003 Acta Electron. Sin. 31 154 (in Chinese) [唐劲飞, 龚沈光, 王金根 2003 电子学报 31 154]
[3] Salem A, Ushijima K, Gamey T J, Ravat D 2001 Subsurf. Sens. Technol. Appl. 2 191
[4] Davis K, Li Y G, Nabighian M 2010 Geophysics 75 13
[5] Inaba T, Shima A, Konishi M, Yanagisawa H, Takada J I, Araki K 2002 Electron. Commun. Jpn. 85 23
[6] Birsan M 2011 IEEE Trans. Magn. 47 409
[7] Zhang Z Y, Xiao C H, Yan H 2009 J. Detect. Control 31 44 (in Chinese) [张朝阳, 肖昌汉, 闫辉 2009 探测与控制学报 31 44]
[8] Wang J G, Liu S D, Gong S G 2001 Mine Warfare and Ship Self-Denfence 4 8 (in Chinese) [王金根, 刘胜道, 龚沈光 2001 水雷战与舰船防护 4 8]
[9] Hu H B, Lin C S, Wu Z G, Wang J G 2002 J. Naval Univ. Eng. 14 63 (in Chinese) [胡海滨, 林春生, 吴正国, 王金根 2002 海军工程大学学报 14 63]
[10] Wei Y L, Xiao C H, Chen J C, Zhou G H 2009 J. Shanghai Jiaotong Univ. 43 1216 (in Chinese) [隗燕琳, 肖昌汉, 陈敬超, 周国华 2009 上海交通大学学报 43 1216]
[11] Bian X Y, Li Q M, Li H 2006 J. Detect. Control 28 35 (in Chinese) [边新迎, 李庆民, 李华 2006 探测与控制学报 28 35]
[12] Ning X L, Wang H L, Zhang Q, Chen L H 2010 Acta Phys. Sin. 59 4426 (in Chinese) [宁小磊, 王宏力, 张琪, 陈连华 2010 59 4426]
[13] Leng H Z, Song J Q 2013 Chin. Phys. B 22 030505
[14] Bi J, Guan W, Qi L T 2012 Chin. Phys. B 21 068901
[15] Chang C, Ansari R 2005 IEEE Signal Proc. Lett. 12 242
[16] Sheng Z, Chen J Q, Xu R H 2012 Acta Phys. Sin. 61 069301 (in Chinese) [盛峥, 陈加清, 徐如海 2012 61 069301]
[17] Leng H Z, Song J Q, Cao X Q, Yang J H 2012 Acta Phys. Sin. 61 070501 (in Chinese) [冷洪泽, 宋君强, 曹小群, 杨锦辉 2012 61 070501]
[18] Du Z C, Tang B, Liu L X 2006 Chin. Phys. B 15 2481
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[1] Lin C S, Gong S G 2007 Ship Physical Field (Beijing: The Publishing House of Ordnance Industry) p63 (in Chinese) [林春生, 龚沈光 2007 舰船物理场 (北京: 兵器工业出版社) 第63页]
[2] Tang J F, Gong S G, Wang J G 2003 Acta Electron. Sin. 31 154 (in Chinese) [唐劲飞, 龚沈光, 王金根 2003 电子学报 31 154]
[3] Salem A, Ushijima K, Gamey T J, Ravat D 2001 Subsurf. Sens. Technol. Appl. 2 191
[4] Davis K, Li Y G, Nabighian M 2010 Geophysics 75 13
[5] Inaba T, Shima A, Konishi M, Yanagisawa H, Takada J I, Araki K 2002 Electron. Commun. Jpn. 85 23
[6] Birsan M 2011 IEEE Trans. Magn. 47 409
[7] Zhang Z Y, Xiao C H, Yan H 2009 J. Detect. Control 31 44 (in Chinese) [张朝阳, 肖昌汉, 闫辉 2009 探测与控制学报 31 44]
[8] Wang J G, Liu S D, Gong S G 2001 Mine Warfare and Ship Self-Denfence 4 8 (in Chinese) [王金根, 刘胜道, 龚沈光 2001 水雷战与舰船防护 4 8]
[9] Hu H B, Lin C S, Wu Z G, Wang J G 2002 J. Naval Univ. Eng. 14 63 (in Chinese) [胡海滨, 林春生, 吴正国, 王金根 2002 海军工程大学学报 14 63]
[10] Wei Y L, Xiao C H, Chen J C, Zhou G H 2009 J. Shanghai Jiaotong Univ. 43 1216 (in Chinese) [隗燕琳, 肖昌汉, 陈敬超, 周国华 2009 上海交通大学学报 43 1216]
[11] Bian X Y, Li Q M, Li H 2006 J. Detect. Control 28 35 (in Chinese) [边新迎, 李庆民, 李华 2006 探测与控制学报 28 35]
[12] Ning X L, Wang H L, Zhang Q, Chen L H 2010 Acta Phys. Sin. 59 4426 (in Chinese) [宁小磊, 王宏力, 张琪, 陈连华 2010 59 4426]
[13] Leng H Z, Song J Q 2013 Chin. Phys. B 22 030505
[14] Bi J, Guan W, Qi L T 2012 Chin. Phys. B 21 068901
[15] Chang C, Ansari R 2005 IEEE Signal Proc. Lett. 12 242
[16] Sheng Z, Chen J Q, Xu R H 2012 Acta Phys. Sin. 61 069301 (in Chinese) [盛峥, 陈加清, 徐如海 2012 61 069301]
[17] Leng H Z, Song J Q, Cao X Q, Yang J H 2012 Acta Phys. Sin. 61 070501 (in Chinese) [冷洪泽, 宋君强, 曹小群, 杨锦辉 2012 61 070501]
[18] Du Z C, Tang B, Liu L X 2006 Chin. Phys. B 15 2481
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