Starting Maxwell’s equations, we derive a sensor model for three-axis magnetometers

suitable for localization and tracking applications. The model depends

on the relative position between the sensor and the target, orientation of the target

and its magnetic signature. Both point targets and extended target models

are provided. The models are validated on data taken various road vehicles.

The suitability of magnetometers for tracking is analyzed in terms of local observability

and Cramér Rao lower bound as a function of the sensor positions in a

two sensor scenario. Also the signal to noise ratio is computed to determine the

effective range of the magnetometer. Results field test data indicate excellent

tracking of position and velocity of the target, as well as identification of the

magnetic target model suitable for target classification.-Starting　Maxwell’s equations, we derive a sensor model for three-axis magnetometers

suitable for localization and tracking applications. The model depends

on the relative position between the sensor and the target, orientation of the target

and its magnetic signature. Both point targets and extended target models

are provided. The models are validated on data taken　various road vehicles.

The suitability of magnetometers for tracking is analyzed in terms of local observability

and Cramér Rao lower bound as a function of the sensor positions in a

two sensor scenario. Also the signal to noise ratio is computed to determine the

effective range of the magnetometer. Results　field test data indicate excellent

tracking of position and velocity of the target, as well as identification of the

magnetic target model suitable for target classification.