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Research on sensors arrangement for capsule endoscope microrobot magnetic localization

The position and attitude of a capsule endoscope microrobot are essential for its application, but there are few methods to evaluate them without nuclear radiation. Magnetic localization is one of most feasible methods. It is obvious that the magnetic sensors arrangement directly influence the accuracy of the position and attitude. So, I do some work on optimizing the sensors arrangement using 3D magnetic sensors from simulation. It is supposed that a cylindrical permanent magnet is embedded into the capsule microrobot. The typical arrangement simulation results show that the best accuracy of position and attitude can be obtained using the sensor data of the eight vertexes of the cubic of motion space.