Underwater Vector-magnetometer Located by Using Magnetic Dipole Sources in the Offing

Aming at the shortages of the method that using ship's magnetic field to locate the underwater vector-magnetometers,a method on determination of the position of the sensors by using a current coils in the offing,which was taken as magnetic dipole sources.The magnetic flux density of the coils was equivalent to several magnetic dipoles.On the basis of integrating the measuring values of water depth and magnetic flux density,the position determination problem was converted to a non-linear unconstrained optimization problem with the sensor's position as its parameters.And the Lenvenberg-Marquardt algorithm was applied to find the weighted least square(WLS) solution,and achieved the localization successfully.The results of the model and simulation experiments showed that the method could realize the location of the vector-magnetometer,and the method was still effective when the angle of rotation between the coils plane and geomagnetism coordinate systemswas less than 5 degrees which caused by wave.