CN106937860A - Know the capsule endoscope system and its method of work of real-time pose - Google Patents
Know the capsule endoscope system and its method of work of real-time pose Download PDFInfo
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- CN106937860A CN106937860A CN201710242028.XA CN201710242028A CN106937860A CN 106937860 A CN106937860 A CN 106937860A CN 201710242028 A CN201710242028 A CN 201710242028A CN 106937860 A CN106937860 A CN 106937860A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00131—Accessories for endoscopes
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/041—Capsule endoscopes for imaging
Abstract
The present invention proposes a kind of capsule endoscope system and its method of work for knowing real-time pose, comprises the following steps：S1, inertial sensor data is gathered from the radio-frequency communication equipment of capsule endoscope, by the data of acquisition calculation process on the remote server, is passed through remote server and is carried out Noise reducing of data, removes irregular sensing data；S2, the acceleration obtained according to the MEMS inertial sensor of capsule endoscope, angular velocity data carry out pose solution, obtain the real time position and attitude information of capsule endoscope；S3, error compensation is carried out by obtained real-time pose information, obtained position and attitude information value is adjusted by computing, so that capsule endoscope positioning and orientation is more accurate.
Description
Technical field
The present invention relates to medicine equipment automation field, more particularly to a kind of capsule endoscope system for knowing real-time pose
System and its method of work.
Background technology
Capsule endoscope is a kind of alimentary tract endoscope system of the similar capsule pill of shape size, after those who are investigated swallow,
Capsule endoscope will carry out shooting inspection along gastrointestinal motor to alimentary canal inwall on the way, and by wireless telecommunications by the figure of shooting
As transmitting to exterior terminal, doctor is diagnosed by the image document of shooting.
Capsule endoscope product in the market is all to wriggle to carry out random motion naturally by human body alimentary canal, tested
After the person of looking into swallows, capsule endoscope belongs to blind area in human body, and doctor can not learn the real-time position of capsule endoscope in checking process
Put and attitude information, can only according to check finish after image information, by the experience of doctor come to focus carry out positioning and
Diagnosis, such detection methods add the probability failed to pinpoint a disease in diagnosis with mistaken diagnosis, therefore can know capsule endoscope in those who are investigated's body in real time
Interior motion state and relative position information, are extremely important for diagnosis, this also causes capsule endoscope in human body
Position attitude measurement method turn into the technical field study hotspot.The determining on capsule endoscope proposed in theory at this stage
Position and the method for attitude measurement, mainly use Magnetic oriented principle, and Magnetic Sensor, external work station are embedded by capsule endoscope
Magnet array is set up, calculating magnetic field theoretical model is determined according to the actual magnetic field strength sensed and theoretical magnetic field model to realize
Position, such a method is serious by external interference, and performance difficulty, also has using the ranging of X-ray rays to carry out capsule position in addition
It is determined that, but this method not can determine that capsule attitude and X-ray rays to there is emissivity harmful.This just needs ability badly
Field technique personnel solve corresponding technical problem.
The content of the invention
It is contemplated that at least solving technical problem present in prior art, especially innovatively propose one kind and know reality
Shi Weizi capsule endoscope system and its method of work.
In order to realize the above-mentioned purpose of the present invention, the invention provides a kind of capsule endoscope system for knowing real-time pose
Being provided with inside system, including capsule endoscope, data processing platform (DPP), capsule endoscope is used to obtain capsule movement state information
MEMS inertial sensor 1-4, the capsule endoscope and data processing platform (DPP) wireless communication connection.
The described capsule endoscope system for knowing real-time pose, it is preferred that the data processing platform (DPP) includes：
Wireless communication data transceiver module, for obtaining inertial sensor number from the radio-frequency communication equipment of capsule endoscope
According to and view data, and issue command information etc.；
Capsule motion pose solves module, for the motion state obtained according to the MEMS inertial sensor of capsule endoscope
Data, carry out the solution of position and attitude and error are compensated, obtain the real time position and attitude information of capsule endoscope.
Described capsule endoscope system, preferably：Also including the movement situation and track for showing capsule endoscope
Aobvious control platform.
The described capsule endoscope system for knowing real-time pose, preferably：The data processing platform (DPP) also includes will place
Data message after reason is sent to aobvious control platform and the communication module of command information is obtained from aobvious control platform.
Described capsule endoscope system, preferably：The movement state information that the MEMS inertial sensor is obtained is three
Axis acceleration information and/or three axis angular rate information.
Invention additionally discloses a kind of method of work for the capsule endoscope system for knowing real-time pose, comprise the following steps：
S1, obtains data：Obtain the data of capsule endoscope inertial sensor and carry out noise reduction process；
S2, pose is solved：Data after being handled according to S1 solve the real time position and attitude information of capsule endoscope；
S3, error compensation：The posture information obtained to S2 carries out error compensation and obtains accurate posture information value.
The described method of work based on the capsule endoscope system for knowing real-time pose, preferably：Also include S4：By S3
Data output after error compensation is to aobvious control platform.
The described method of work based on the capsule endoscope system for knowing real-time pose, preferably：The S2 includes：
S2-1, attitude matrix is calculated by the output acceleration and angular speed information of MEMS inertial sensor in real time
From attitude matrixIt is middle to extract the attitude information for obtaining capsule endoscope, including yaw angle, the angle of pitch and roll angle；
S2-2, is converted acceleration output valve using attitude matrix, obtains the acceleration magnitude after posture changing；
S2-3, after M integrated acceleration renewal speed, does a location updating, positional information is determined, according to continuous
The positional information of renewal, the movement locus for completing capsule endoscope is described.
The described method of work based on the capsule endoscope system for knowing real-time pose, preferably：Also include to attitude
The step of deviation of information is compensated.
The method of work of the described capsule endoscope system that real-time pose is known based on MEMS inertial sensor, preferably
, the S2-1 includes：
First with inertial acceleration sensing data ax、ay、azSolve initial attitude angle and the initial velocity of determination now
And initial position, initial quaternary number q is determined according to the initial angle of pitch, roll angle, yaw angle0、q1、q2、q3；Then using used
Property gyro sensor measurement angular velocity information ωx、ωy、ωzQuaternary number is updated to obtainThen according to more
Quaternary number after new calculates the attitude matrix updatedFormula is finally utilized from attitude matrixMiddle extraction is obtained in capsule
The attitude information of mirror, including yaw angle, the angle of pitch and roll angle.
The method of work of the described capsule endoscope system for knowing real-time pose, it is preferred that using with appropriate gain
EKF method the deviation of attitude information is compensated, specifically include：
Initial X0 positions are being obtained, process equation is being carried out and calculates xk=Fk,k-1xk-1+wk,
In formula, the vector x of M × 1kExpression system is in discrete time k state vector, and it is unobservable；M × Metzler matrix
Fk,k-1Referred to as state-transition matrix, description dynamical system time k state to the transfer between k+1 state；Pass through above formula
Predicted state, then passes throughState operation is updated, so that the x after being updatedk；
Kalman filter equation is based on by stochastic linear system as follows：
A, one-step prediction equation time update：
B, one-step prediction mean square error matrix：
C, kalman gain：
D, state vector filtering output：
E, filtering covariance matrix：
In summary, by adopting the above-described technical solution, the beneficial effects of the invention are as follows：
Embedded MEMS inertial sensor, not by external environmental interference, can pass through in those who are investigated's body in capsule endoscope
The acceleration and angular speed information independently perceived, obtains attitude, course, speed and position using a series of inertial navigation algorithms and believes
Breath, this system does not change capsule endoscope overall structure, only need to embed small integrated inertia sensing device, be easy to implement.
Position and attitude of the capsule endoscope in human body are obtained, passes through human-computer interaction interface graphical drawing capsule endoscope appearance
The information such as state, course, position, speed；And by the continuous real-time measuring data of system, capsule endoscope is continuously depicted tested
Movement locus in the person's of looking into body, the image information shot with reference to the later stage makes doctor fast and easily determine lesion region, reduction leakage
Examine and mistaken diagnosis probability.
It is used as the processing center of data using data processing platform (DPP), improves system real time, use aobvious control platform graphics
Change and show that software intuitively shows capsule motion conditions in those who are investigated's body.
The additional aspect and advantage of the present invention will be set forth in part in the description, and will partly become from the following description
Obtain substantially, or recognized by the practice of the present invention.
Brief description of the drawings
The above-mentioned and/or additional aspect and advantage of the present invention will become from description of the accompanying drawings below to embodiment is combined
Substantially and be readily appreciated that, wherein：
Fig. 1 is general illustration of the present invention；
Fig. 2 is capsule schematic diagram of the present invention；
Fig. 3 is work system schematic diagram of the present invention；
Fig. 4 is running orbit schematic diagram of the present invention；
Fig. 5 is course of work schematic diagram of the present invention.
Embodiment
Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein from beginning to end
Same or similar label represents same or similar element or the element with same or like function.Below with reference to attached
The embodiment of figure description is exemplary, is only used for explaining the present invention, and is not considered as limiting the invention.
In the description of the invention, it is to be understood that term " longitudinal direction ", " transverse direction ", " on ", " under ", "front", "rear",
The orientation or position relationship of the instruction such as "left", "right", " vertical ", " level ", " top ", " bottom ", " interior ", " outer " is based on accompanying drawing institutes
The orientation or position relationship shown, is for only for ease of the description present invention and simplifies description, rather than indicate or imply signified dress
Put or element there must be specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to the limit of the present invention
System.
In the description of the invention, unless otherwise prescribed with limit, it is necessary to explanation, term " installation ", " connected ",
" connection " should be interpreted broadly, for example, it may be mechanically connect or electrical connection or the connection of two element internals, can
To be to be joined directly together, it can also be indirectly connected to by intermediary, for the ordinary skill in the art, can basis
Concrete condition understands the concrete meaning of above-mentioned term.
As shown in figure 1, the capsule endoscope real-time pose measuring system based on MEMS inertial sensor is made up of three parts,
The capsule endoscope body, outside embedded data processing platform, the aobvious control platforms of PC of MEMS inertial sensor are respectively embedded with, this three
Part is as follows in the major function of the system：
It is embedded with the capsule endoscope body of MEMS inertial sensor
Capsule endoscope body is mainly completed to check the work such as shooting, and it is mainly constituted as shown in Fig. 2 by 1-1 high-definition cameras
The part groups such as miniature MCU, 1-3 battery of device, 1-2,1-4MEMS inertial sensors, 1-5 radio-frequency communications equipment, 1-6 capsule shells
Into.
It is that the MEMS inertia being embedded in inside capsule endoscope is passed to perceive capsule endoscope core of motion state in human body
Sensor, this patent system chooses 6 axle Inertial Measurement Unit sensors, its integrated XYZ three axis accelerometer and XYZ three axis accelerometers
Instrument, size meets capsule endoscope requirement, and the major function of MEMS inertial sensor is sensitive capsule endoscope in those who are investigated
Internal 3-axis acceleration information and three axis angular rate information, these data are sent out in real time by the wireless launcher of capsule endoscope
Give external device.
Outside embedded data processing platform
Because the motion sensor data of capsule endoscope is sent to external, therefore in order to ensure to be in real time by wireless device
The real-time of system, this patent system chooses the embedded data processing platform based on ARM, and this platform mainly completes wireless data receipts
Hair, athletic posture and movement locus are resolved and the communication task with the aobvious control platforms of PC, and wherein wireless data transceiving includes two
Divide, respectively inertial sensor data and view data；It is that capsule endoscope completes pose measurement that athletic posture and track, which are resolved,
Core, mainly includes signal filtering smoothing processing, pose resolving, error compensation etc.；Data, which are calculated after processing is completed, passes through USB
Communication mode is transferred to the aobvious control platforms of PC, and human-computer interaction interface is presented in real time.
The aobvious control platforms of PC
In order to allow doctor more intuitively to observe situation of the capsule endoscope in those who are investigated's body, including capsule endoscope
The track moved in those who are investigated's body of attitude, relative position and capsule, this patent chooses PC display and control terminals to complete this
The task of one man-machine interaction, capsule endoscope motion state is shown by graphic software platform software synchronization, and doctor combines capsule endoscope
The image information of shooting, can easily judge whether inspection area is complete, the position of quick diagnosis focus.
2nd, capsule endoscope attitude and position derivation algorithm are introduced
The present invention perceives capsule in those who are investigated's body by being embedded in 6 axle MEMS inertial sensors of capsule endoscope
Movement state information, including three axial-movement acceleration and three shaft angle angular velocity of satellite motion information, strapdown is passed through by above- mentioned information
Inertial navigation algorithm calculates the attitude and positional information of capsule endoscope, and its basic resolving principle is as shown in Figure 3：
As shown in figure 3, the pose measurement for doing capsule endoscope using inertia device is a very complicated algorithm model, wherein
The more new algorithm of attitude matrix is crucial, it is assumed that capsule endoscope body coordinate system is b, and the coordinate system that we are used to observe measurement is
N, then be by the b transformation matrix of coordinates for being tied to n systemsThe referred to as attitude matrix of capsule endoscope, posture renewal is exactly to be used to by MEMS
The output of property device is calculated in real timeMatrix.This patent calculates renewal attitude matrix using Quaternion Algorithm, and it is basic
Algorithmic procedure：First with inertial acceleration sensing data ax、ay、azSolve initial attitude angle and the initial speed of determination now
Degree and initial position, initial quaternary number q is determined according to the initial angle of pitch, roll angle, yaw angle0、q1、q2、q3, then utilize
The angular velocity information ω of inertial gyroscope sensor measurementx、ωy、ωzQuaternary number is updated to obtain Then root
The attitude matrix updated is calculated according to the quaternary number after renewalFormula is finally utilized from attitude matrixMiddle extraction obtains glue
The attitude information of intracapsular mirror, including yaw angle, the angle of pitch and roll angle.
The attitude matrix of capsule endoscope is determinedAfter, acceleration output valve is converted using attitude matrix, glue
Intracapsular mirror can be expressed as in the differential equation of observation measurement coordinate system medium velocity：
In above formula,It is the numerical value obtained after acceleration magnitude in b systems converts through attitude, in absolute ideal environment
In,It is acceleration of the capsule endoscope in measurement coordinate system, but by institute under the sensitive earth environment of inertial sensor
Some acceleration, so must go to except harmful acceleration, what is be subtracted in above formula is Coriolis acceleration respectivelyGround to
AccelerationAnd gravity acceleration gn。
If the update cycle of speed is T, n times sampling is done in each update cycle inner opposite angle speed and acceleration.To formula
1-1 is integrated, and obtains tmSpeed of the moment capsule endoscope in measurement coordinate system n：
In above formula,WithRespectively tmAnd tm-1The speed of moment capsule endoscope；It is tm-1The attitude square at moment
Battle array.
After M speed updates, a location updating is done, according to formula 1-3：
WhereinAs long as determiningIt just can determine that capsule endoscope at a time believe by position
Breath, according to the positional information of continuous renewal, we are that the movement locus that can complete capsule endoscope is described, as shown in figure 4, capsule
The speed that endoscope position data update is faster, and track is described more directly perceived.
Because capsule endoscope belongs to high dynamic environment in those who are investigated's body, be complex space angular movement and line motion answer
Close, therefore have in algorithm model to consider error compensation model, this patent for attitude and angular speed deviation by with
The polymorphic Kalman filtering of appropriate gain obtains optimal estimation, it is adaptable to the working environment of capsule endoscope, improves attitude, boat
To, speed and the calculation accuracy of position.
It is theoretical from the attitude measurement of upper summary, although gyroscope combines the attitude that can obtain carrier with accelerometer
Angle, but the sensor of attitude measurement respectively has advantage and disadvantage.Gyroscope dynamic response characteristic is good, but can be produced when calculating attitude tired
Count error；Although accelerometer and magnetometer measurement in a closed series attitude are without cumulative errors, its identified attitude angle is only fitted
For static carrier, because the projection of gravitational vectors and geomagnetic fieldvector on body axis system now is thick-and-thin,
But for current intelligence, the accelerometer of carrier will be sensitive to carrier it is motor-driven caused by coriolis acceleration, so must be to it
Compensate.It therefore, it can the output using accelerometer and magnetometer as a reference data, when being updated to quaternary number,
The cumulative errors of its integration are corrected, the data fusion of sensor are realized, so as to improve the dynamic of attitude measurement accuracy and system
Energy.The Error Compensation Algorithm that the present invention is used for expanded Kalman filtration algorithm, by description state vector process equation and retouch
The observational equation for stating observation vector is represented jointly.
As shown in figure 5, process equation
xk=Fk,k-1xk-1+wk
In formula, the vector x of M × 1kExpression system is in discrete time k state vector, and it is unobservable；M × Metzler matrix
Fk,k-1Referred to as state-transition matrix, describes dynamical system in time k state to the transfer between k+1 state, it should be
It is known；And the vector w of M × 1kFor process noise vector, it describes the additive noise or error in the middle of state transfer.Process equation
Also referred to as state equation.
Measure equation
zk=Hkxk+vk (3.51)
In formula, zkRepresent N × 1 observation vector of the dynamical system in time k；N × Metzler matrix HkReferred to as calculation matrix describes shape
State becomes observable by its effect, it is desirable to which it is also known；vkRepresent observation noise vector, its dimension and observation vector
It is identical.For the convenience of analysis, process noise w is often assumed thatkWith observation noise vkFor the white noise mistake of orthogonal zero-mean
Journey, represents system process noise and observation noise, correspondence covariance matrix is respectively Q respectivelykAnd Rk。
It is as follows that stochastic linear system is based on Kalman filter equation：
a.The one-step prediction equation time updates：
b.One-step prediction mean square error matrix：
c.Kalman gain：
d.State vector filtering output：
e.Filter covariance matrix：
The upper right corner is predicted value with "-" label in above formula.
Above step constitutes a single cycle flow of Kalman filtering.As long as given original state x0With initial association side
Poor matrix P0, according to the observation z at k momentk, it is possible to obtain the optimal of k moment using formula (3.52)~formula (3.55) recurrence calculation
State estimation xk。
It is as shown in Figure 5 according to the structure chart of above-mentioned steps Kalman filtering.Kalman filter is a kind of linear discrete
Limited time maintains system, thus can only handle linear system.But, real system be constantly present it is different degrees of non-linear, because
This is improved Kalman filtering algorithm, introduces expanded Kalman filtration algorithm.
The thought of EKF method processing nonlinear system is to carry out nonlinear function near estimation point
Taylor expansion, and be equivalent to the approximate matrix of conventional Kalman filtering equations to replace nonlinear function with one, i.e., by non-thread
It is standard Kalman filtering method after the linearisation of first order Taylor approximately after Additive White Noise that property equation, which is approximately considered,.
The embedded MEMS Inertial Measurement Units in capsule endoscope, can lead in those who are investigated's body, not by external environmental interference
The acceleration and angular speed information independently perceived is crossed, attitude, course, speed and position are obtained using a series of inertial navigation algorithms
Information, this system does not change capsule endoscope overall structure, only need to embed small integrated inertia sensing device, be easy to implement.
Position and attitude of the capsule endoscope in human body are obtained, is bowed by human-computer interaction interface graphical drawing capsule endoscope
The information such as attitude, course, position, speed；And by the continuous real-time measuring data of system, capsule endoscope is continuously depicted in quilt
Movement locus in examiner's body, the image information shot with reference to the later stage, makes doctor fast and easily determine lesion region, reduces
Fail to pinpoint a disease in diagnosis and mistaken diagnosis probability.
It is used as the processing center of data using outside embeded processor, improves system real time, use PC computers
Graphic software platform software intuitively shows capsule motion conditions in those who are investigated's body.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means to combine specific features, structure, material or the spy that the embodiment or example are described
Point is contained at least one embodiment of the present invention or example.In this manual, to the schematic representation of above-mentioned term not
Necessarily refer to identical embodiment or example.Moreover, specific features, structure, material or the feature of description can be any
One or more embodiments or example in combine in an appropriate manner.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that：Not
In the case of departing from the principle and objective of the present invention a variety of change, modification, replacement and modification can be carried out to these embodiments, this
The scope of invention is limited by claim and its equivalent.
Claims (11)
1. a kind of capsule endoscope system for knowing real-time pose, including capsule endoscope, data processing platform (DPP), its feature exist
In：It is provided with inside capsule endoscope in the MEMS inertial sensor (1-4) for being used for obtaining capsule movement state information, the capsule
Sight glass and data processing platform (DPP) wireless communication connection.
2. the capsule endoscope system according to claim 1 for knowing real-time pose, it is characterised in that the data processing
Platform includes：
Wireless communication data transceiver module, for from the radio-frequency communication equipment of capsule endoscope obtain inertial sensor data and
View data, and issue command information etc.；
Capsule motion pose solves module, for the motion state number obtained according to the MEMS inertial sensor of capsule endoscope
According to the solution of progress position and attitude is simultaneously compensated to error, obtains the real time position and attitude information of capsule endoscope.
3. the capsule endoscope system according to claim 1 or 2 for knowing real-time pose, is characterised by：Also include being used for
Show the aobvious control platform of the movement situation and track of capsule endoscope.
4. the capsule endoscope system according to claim 3 for knowing real-time pose, it is characterised in that：The data processing
Platform also includes the data message after processing being sent to aobvious control platform and the communication module of command information is obtained from aobvious control platform.
5. capsule endoscope system according to claim 1 or 2, it is characterised in that：The MEMS inertial sensor is obtained
Movement state information be 3-axis acceleration information and/or three axis angular rate information.
6. a kind of method of work for the capsule endoscope system for knowing real-time pose, it is characterised in that comprise the following steps：
S1, obtains data：Obtain the data of capsule endoscope inertial sensor and carry out noise reduction process；
S2, pose is solved：Data after being handled according to S1 solve the real time position and attitude information of capsule endoscope；
S3, error compensation：The posture information obtained to S2 carries out error compensation and obtains accurate posture information value.
7. the method for work of the capsule endoscope system of real-time pose is known according to claim 6, it is characterised in that：Also wrap
Include S4：By the data output after S3 error compensations to aobvious control platform.
8. the method for work based on the capsule endoscope system for knowing real-time pose according to claim 6 or 7, its feature
It is that the S2 includes：
S2-1, attitude matrix is calculated by the output acceleration and angular speed information of MEMS inertial sensor in real timeFrom appearance
State matrixIt is middle to extract the attitude information for obtaining capsule endoscope, including yaw angle, the angle of pitch and roll angle；
S2-2, is converted acceleration output valve using attitude matrix, obtains the acceleration magnitude after posture changing；
S2-3, after M integrated acceleration renewal speed, does a location updating, positional information is determined, according to continuous renewal
Positional information, complete capsule endoscope movement locus describe.
9. the method for work according to claim 8 based on the capsule endoscope system for knowing real-time pose, its feature exists
In：The step of also including compensating the deviation of attitude information.
10. the work of the capsule endoscope system according to claim 8 that real-time pose is known based on MEMS inertial sensor
Make method, it is characterised in that the S2-1 includes：
First with inertial acceleration sensing data ax、ay、azSolve initial attitude angle and determine initial velocity now and just
Beginning position, initial quaternary number q is determined according to the initial angle of pitch, roll angle, yaw angle0、q1、q2、q3；Then utilize inertia top
The angular velocity information ω of spiral shell instrument sensor measurementx、ωy、ωzQuaternary number is updated to obtainThen according to renewal after
Quaternary number calculate the attitude matrix that is updatedFormula is finally utilized from attitude matrixMiddle extraction obtains capsule endoscope
Attitude information, including yaw angle, the angle of pitch and roll angle.
11. the method for work of the capsule endoscope system according to claim 9 for knowing real-time pose, it is characterised in that
The deviation of attitude information is compensated using the EKF method with appropriate gain, specifically included：
Initial X0 positions are being obtained, process equation is being carried out and calculates xk=Fk,k-1xk-1+wk,
In formula, the vector x of M × 1kExpression system is in discrete time k state vector, and it is unobservable；M × Metzler matrix Fk,k-1
Referred to as state-transition matrix, description dynamical system time k state to the transfer between k+1 state；Predicted by above formula
State, then passes throughState operation is updated, so that the x after being updatedk；
Kalman filter equation is based on by stochastic linear system as follows：
A, one-step prediction equation, update according to the time：
B, one-step prediction mean square error matrix：
C, kalman gain：
D, state vector filtering output：
E, filtering covariance matrix：
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| CN112741586B (en) * | 2020-12-23 | 2022-04-01 | 武汉大学 | Position acquisition method based on capsule endoscopy human body internal position acquisition system |
| CN112741586A (en) * | 2020-12-23 | 2021-05-04 | 武汉大学 | Position acquisition method based on capsule endoscopy human body internal position acquisition system |
| WO2022193411A1 (en) * | 2021-03-18 | 2022-09-22 | 深圳硅基智控科技有限公司 | Capsule endoscope system and magnetic positioning method for capsule endoscope of the system |
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| CN113729599A (en) * | 2021-09-27 | 2021-12-03 | 重庆金山医疗技术研究院有限公司 | Detection method and system of magnetic control capsule endoscope |
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