6DOF Electromagnetic Tracker Signal to Noise Requirements Calculation
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This paper covers the electromagnetics, and includes sensitivity matrices as part of its iterative method of tracking position and orientation:
- Frederick H. Raab, Ernest B. Blood, Terry O. Steiner, Herbert R. Jones, "Magnetic Position and Orientation Tracking System", IEEE Transactions on Aerospace and Electronic systems, Vol. AES-15, No. 4, September 1979, pages 709-718.
"range" is used here as the distance between transmitter coil trio and receiver coil trio.
The paper uses (range, alpha, beta) three-dimensional polar coordinates for position. This separation of range from position angles, is electromagnetically sensible: