Detection of ferromagnetic target based on mobile magnetic gradient tensor system

Attitude change of mobile magnetic gradient tensor system critically affects the precision of gradient measurements, thereby increasing ambiguity in target detection. This paper presents a rotational invariant-based method for locating and identifying ferromagnetic targets. Firstly, unit magnetic moment vector was derived based on the geometrical invariant, such that the intermediate eigenvector of the magnetic gradient tensor is perpendicular to the magnetic moment vector and the source–sensor displacement vector. Secondly, unit source–sensor displacement vector was derived based on the characteristic that the angle between magnetic moment vector and source–sensor displacement is a rotational invariant. By introducing a displacement vector between two measurement points, the magnetic moment vector and the source–sensor displacement vector were theoretically derived. To resolve the problem of measurement noises existing in the realistic detection applications, linear equations were formulated using invariants corresponding to several distinct measurement points and least square solution of magnetic moment vector and source–sensor displacement vector were obtained. Results of simulation and principal verification experiment showed the correctness of the analytical method, along with the practicability of the least square method. •Ferromagnetic target detection method is proposed based on rotational invariants•Intermediate eigenvector is perpendicular to magnetic moment and displacement vector•Angle between magnetic moment and displacement vector is a rotational invariant•Magnetic moment and displacement vector are derived based on invariants of two points