Localization in 2D using beacons of low frequency magnetic field

Arie Sheinker, Boris Ginzburg, Nizan Salomonski, Lev Frumkis, Ben Zion Kaplan

Research output: Contribution to journalArticlepeer-review

42 Scopus citations


In this work we propose methods for object localization in 2D using beacons of low frequency quasi-static magnetic field. From a practical point of view, localization in 2D is sufficient for many applications, requiring much less calculations than in 3D, making it more robust and easier to implement in real-time low power applications. The low frequency magnetic field may penetrate foliage, soil, buildings, and many other types of media. This is an important advantage over traditional localization methods such as sonar or radar, where effective operation requires line-of-sight. Another advantage of the low frequency magnetic fields is that there is no direct influence by bad weather conditions and diurnal variations. Opposite to traditional electromagnetic methods, where operational range is usually more than a wavelength, low frequency induction approach results in a relatively limited localization range. Each beacon comprises a coil generating a magnetic field of a unique frequency in the ULF band. The generated magnetic fields are sensed by a search-coil magnetometer. The magnetometer readings are processed to estimate the magnitude and phase of the received beacons signals, which are used to localize the magnetometer. For a moving object, we propose to combine localization together with tracking algorithm using a data fusion approach. The proposed methods have been tested using numerous computer simulations, showing accurate localization results. A prototype was developed and used in field experiments, validating simulation results. The good accuracy together with a simple implementation makes the proposed methods attractive to many real-time low power field applications.

Original languageEnglish
Article number6316084
Pages (from-to)1020-1030
Number of pages11
JournalIEEE Journal of Selected Topics in Applied Earth Observations and Remote Sensing
Issue number2
StatePublished - 1 Jan 2013


  • Localization
  • low frequency magnetic field
  • magnetic sensor
  • tracking

ASJC Scopus subject areas

  • Computers in Earth Sciences
  • Atmospheric Science


Dive into the research topics of 'Localization in 2D using beacons of low frequency magnetic field'. Together they form a unique fingerprint.

Cite this