“…The two electromagnets are situated symmetrically around the center of magnetometer, and the distance between them is l. The axes of the two electromagnets are parallel, while the current in the coils run in opposite directions, creating magnetic moments in the two magnetic sources equal in magnitude and opposite in direction. Therefore, the total magnetic field's intensity as detected by triaxial magnetometer is 0 when there is no other outer magnetic field, ensuring that the electromagnetic collision avoidance system provides a relatively strong magnetizing field without affecting the measurement by triaxial magnetometer (Diao et al, 2011;Liu and Wang, 2011;Finlay et al, 2010;Macmillan et al, 2009;Lousberg et al, 2009). Assuming that the radius and turn of the coil are R and n 1 , respectively, and the magnetic moment of the coil is amplified by the iron core up to n 2 times the original value.…”