MAGELLAN: A Python-based End-to-End Simulator for Magnetic Localization Systems Using Magpylib

This paper presents MAGELLAN, a Python-based simulator enabling rapid modeling of AC-driven magnetic localization systems. By leveraging the analytical capabilities of Magpylib, it circumvents the heavy computational overhead of FEM-based tools. A user-friendly, web-based GUI supports customizable coil placements, environmental conditions, and noise models, along with multiple position-estimation algorithms. Experimental validation with five transmitting coils and a bi-axial receiving coil confirms reliable localization at depths up to 2 meters underground, consistent with typical robotic dimensions. Computation times remain practical at around $\mathbf{4 1. 2 0}$ seconds per run. Overall, MAGELLAN operates as an efficient digital twin for versatile magnetic positioning applications.