Table 1.

Sensor models used in this study. N is the number of integration points r, w is the weight of each point and σ is the noise level.

Sensor type

r(x, y, z) [mm]

OPM

(±1.25, ±1.25, 1.25)

1/8

6 f T / \sqrt{H z}

(±1.25, ±1.25, 3.75)

1/8

SQUID gradiometer

(±8.4, 0, 0.3)

±1/16.8 mm

3 f T / (c m \sqrt{H z})

SQUID magnetometer

(±6.45, ±6.45, 0.3)

1/4

3 f T / \sqrt{H z}