  In this paper we extend our previous work on UAV localization based on the
magnetic field strength. The method is based on a magnetic flux density
distribution in vicinity of two very long, thin and parallel transmission
lines. An UAV is equipped with 4 magnetometers, positioned so that obtained
measurements give unique solution to an optimization problem used to find
relative position and orientation of the UAV with respect to conductors.
Several sets of experiments, undertaken on a laboratory setup, confirmed
validity of the method for both solutions - analytical and numerical
optimization. Obtained results, compared with high precision motion capture
system, are within range of standard RTK positioning.
