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.

A dedicated Genetic Algorithm (GA) has been developed to localize the trajectory of ferromagnetic moving objects within a bounded perimeter. Localization of moving ferromagnetic objects is an important tool because it can be employed in situations when the object is obscured. This work is innovative for two main reasons: first, the GA has been tuned to provide an accurate and fast solution to the inverse magnetic field equations problem. Second, the algorithm has been successfully tested using real-life experimental data. Very accurate trajectory localization estimations were obtained over a wide range of scenarios.