Patent Document ID: 20110238399
Application ID: 13129781
Patent Flag: 0

Claim One:
1. A system for mapping a magnetic field in a volume of interest, the system comprising: a magnetic field transmitter, including at least one magnetic field generator, generating a magnetic field in the volume of interest; at least one freestanding magnetic field detector, including at least one magnetic field sensor, operative to freely move within said volume of interest, said at least one freestanding magnetic field detector acquiring measurements of the flux of said magnetic field at a plurality of poses; and a processor, coupled with said magnetic field detector, said processor re-estimating parameters characterizing said magnetic field model according to deviations between said measurements of said flux of said magnetic field and according to predictions of said flux, said predictions being determined according to a stored magnetic field model, thereby, said processor estimating a new magnetic field model, wherein the number of the generators times the number of the sensors is larger then the number of degrees of freedom required to track an object in said volume of interest, and wherein, the combined number of said at least one magnetic field generator and said least one magnetic field sensor is at least three.