If monopoles discovered one would be able to write an equation for the magnetic field similar to the definition of the electric field:
$$\mathbf{H} =\frac{\mathbf{F}_m}{q_m} \tag{1}$$.
However, as magnetic monopoles have not been discovered yet, but very probably exist due to Dirac's argument, these monopoles are probably very far away from the earth in the universe related with some exotic phenomena. So writing down this equation is therefore of very little interest. One can find such an equation sometimes in textbooks if the symmetry of the Maxwell equations is discussed apart from this it is of no practical use.
In this respect consider the Lorentz force as definition for the magnetic field as already done by @Feynman_00.
In order to clear up the question on the difference of $\mathbf{B}$ and $\mathbf{H}$, they are both related by the magnetisation of some magnetic material (for instance a bar magnet):
$$\mathbf{B} = \mu\mu_0 \mathbf{H} + \mathbf{M} \tag{2} $$
So if no magnetic material (with some non-zero magnetisation) is around $\mathbf{B}$ and $\mathbf{H}$ are the same apart from the scaling factor which is the product of $\mu_0$ the vacuum permeability and $\mu$ the permeability of the matter in which we observe the magnetic fields (for air $\mu \approx 1$ in very good approximation).
One has to be careful when the fields $\mathbf{B}$ and $\mathbf{H}$ are considered inside a magnetized material (as a bar magnet), in this case $\mathbf{B}$ and $\mathbf{H}$ take on very different values. In such a constellation as the bar magnet $\mathbf{B}$ and $\mathbf{H}$ show further differences. The $\mathbf{H}$ sees the bound (!) magnetic charges of at the ends of the bar magnet, but $\mathbf{B}$ stays completely divergence-free. Nevertheless as the relationship (2) is local, outside the magnetic material (e.g. the bar magnet) $\mathbf{H}$ and $\mathbf{B}$ are the same (apart from the permeability scaling factor).
Bound charges are created if a "normally" neutral material gets polarized. The material can then be seen as an assembly of many little dipoles which are orientated (if it is not a permanent one for instance in case of a bar magnet) along the field lines of the external electrical or magnetic field. The charges of the little dipoles inside the material are mutually compensated, but the outest layer of charge at the surface has no further layer of opposite charge. So these bound charges (necessarily opposite to the bound charge of the other end of the material which in total is completely neutral) have an effect on the field $\mathbf{H}$ which has to be taken into account.
So bound magnetic charges also exist and play an important role as source of the $\mathbf{H}$ field. (But $\nabla \cdot \mathbf B =0$ always).