ABSTRACT
ABSTRACT: Accurate position of Wireless Capsule Endoscope (WCE) is essential for function improving of current passive moving WCE. This article proposes that a magnet ring with about a length of 18 mm and thickness of 1 mm is looped around the capsule. The magnetic sensors around the human body measure the magnetic fields. With these data and quaternion describing rotation, the model about the capsule position and orientation is established. The optimization algorithm Levenberg-Marquardt (LM) is used to search for the solution of the model. Experiment states that the algorithm has good precision, high speed, strong initial guess error tolerance, and anti-noise ability.
