Localization Method for Underwater Magnetic Sensors Based on the Optimization of Magnetic Field Gradients

Key elements of the magnetic silencing facility are the magnetic sensor arrays at a ranging site, which directly influence the accuracy of magnetic field measurement. This article presents a localization method for underwater magnetic sensors based on the optimization of magnetic field gradients (MFGs). In this localization system, a dc current-carrying solenoid coil serves as a magnetic source and the sensors measure the magnetic field. Then, the relative positions of the magnetic source to the magnetic sensors change and a localization model is established. To improve the accuracy of the location, a strategy is proposed to optimize three teams of relative positions of the magnetic source to the magnetic sensors based on MFGs in the three directions of
${x}$
-,
${y}$
-, and
${z}$
-axes, respectively. A novel multiswarm particle swarm optimization method is applied to solve three components of the position vector. Experimental results show that the proposed method possesses preferable accuracy and engineering value.