A Method to Remotely Track a Magnetic Target Using a Scalar Magnetometer Array

Algorithm 1

PSO algorithm pseudocode.

// Initialization

Initialize the position and velocity of each particle with a uniformly distributed

random vector, respectively. ,

where denotes the minimum boundary of searching space or solution space and

denotes the maximum boundary of searching space or solution space.

// Obtain the measured field from the magnetometers

for do

read from measured data

end for

Calculate the fitness of each particle.

Initialize the best position of each particle and the best position of the

swarm 

// Main PSO algorithm loop

while the criterion is not met do

 for each particle do

  Update the velocity of each particle:

  Update the position of each particle:

  If then

   Update the particle’s best position:

   end if

  If then

    Update the particle’s best position:

  end if

 end for

end while

Output the estimated parameters of the mobile target

// Evaluate the solution calculated by the optimization method

Calculate the quality index , and determine whether to accept or reject the solution

Output the final parameters