High performance DOA/TOA-based Endoscopy Capsule localization and tracking via 2D circular arrays and inertial measurement unit

This paper investigates the performance of Wireless Capsule Endoscopy (WCE) tracking within the irregular environment of digestion system by incorporating the Directional-of-Arrival (DOA), Time-of-Arrival (TOA) and Inertial Measurement Unit (IMU) measurements with the Extended Kalman Filter (EKF). The emitter sends a signal to the WCE, and the WCE replies the signal back to the antenna arrays. Then, the round trip TOA, and the DOA of the signals transmitted from the emitter to the WCE are measured. An EKF is designed to integrate the DOA, TOA and IMU measurements to improve the WCE localization. Simulations are conducted to investigate the EKF localization performance as a function of the number of antenna arrays and TOA estimation accuracy. The impact of IMU on the localization performance will also be studied. Simulations confirm the feasibility of the WCE tracking by integrating the DOA, TOA and IMU measurements with Kalman Filter.