METHOD FOR TRACKING A MAGNET WITH AN ARRAY OF MAGNETOMETERS, COMPRISING A PHASE OF IDENTIFYING THE PRESENCE OF THE MAGNET AND OF A MAGNETIC DISTURBANCE

摘要

The present disclosure relates to a method for estimating the position of a magnet using a tracking device comprising an array of magnetometers (M_i), comprising phases of determining an initial state vector associated with the magnet, of measuring a useful magnetic field emitted by a magnetic element, of estimating a magnetic field generated by the magnet, of calculating a bias between the estimated magnetic field and the measured magnetic field, and of updating the state vector on the basis of the bias. The method also comprises an identifying phase comprising a step of identifying the absence of the magnet with respect to the array of magnetometers and, where appropriate, a step of identifying the magnetic element as being a magnetic disturbance.