Real time algorithm for magnet´s localization in capsule endoscope

To track the movement of a wireless capsule, a magnetic localization and orientation system is designed. In this system, a permanent magnet is enclosed in the capsule, which generates a magnetic field around. With the magnetic sensor array arranged out of the human body, we can measure the magnet´s magnetic signals, and compute the capsule´s 3D localization and 2D orientation parameters by applying an appropriate algorithm. In this paper, we presented a real time localization algorithm that consists of the Levenberg-Marquardt (LM) algorithm and the Least Squares Curve Fitting Method. The experimental results show that this algorithm has good accuracy, high speed and high robustness.