胶囊内窥镜磁定位算法改进及实验研究

摘要

In order to solve the problems of complex magnetic field calculation model and poor real-time performance,a backstepping magnetic localization algorithm is put forward.The mathematical model of the magnetic positioning system is established based on the magnetic dipole model.A rapid positioning algorithm is adopted,which constructs the magnetic positioning objective function.According to the output voltage of the magnetic resistance sensors,an initial value of the position and direction parameters of the capsule endoscopy permanent magnet is calculated by the linear algorithm,the optimal solutions of the capsule endoscopy permanent magnet are derived by the nonlinear iterative algorithm,the complexity of the localization algorithm is simplified,and the real-time positioning is improved.The endoscope magnetic positioning system is established,the results show that the design of the capsule positioning system is feasible and effective.%针对胶囊内窥镜磁定位磁场计算模型复杂和实时性较差的问题,提出了一种逆推定位算法.在胶囊内窥镜磁偶极子模型基础上,建立了磁定位系统数学模型,采用一种快速的定位求解算法,以最小二乘法构建磁定位目标函数,根据阵列磁阻传感器的输出电压,通过线性算法计算出胶囊内窥镜中永磁体位置和方向的一个初值,使用非线性算法进行迭代,求解胶囊内窥镜永磁体位姿最优解,简化了定位算法的复杂度,实时性得到大大提高.同时搭建胶囊内窥镜磁定位系统,实验结果表明该设计是可行和有效的.