6DOF Electromagnetic Tracker Signal to Noise Requirements Calculation

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: