中文摘要：

基于永磁体空间磁场检测的定位方法是用于消化道微型诊疗系统动态定位与跟踪的重要方法之一。本文介绍了一种用于磁定位的非线性方法,该方法基于磁偶极子的磁场分布模型和非线性最优化算法。实验结果表明该方法能够实现对Ф8mm×h8mm圆柱N35钕铁硼永磁体空间位置、方向以及磁矩大小的确定,平均定位误差小于10mm,平均定向误差小于6°,磁矩计算误差小于10.5%,定位算法的运算时间小于600ms,说明该方法能够满足消化道内微型装置实时定位与跟踪的需要。

英文摘要：

Magnetic localization method based on magnetic field measurement of permanent magnet is an important method in tracking and localization of micro diagnosis and treatment devices in human gastrointestinal tract （GI-tract）. This paper introduces a nonlinear method used for magnetic localization, this method is based on magnetic dipoles model and nonlinear optimization algorithm. The practical experiments show that this method can be used to get the position, orientation and magnetic moment parameters of a Ф8mm × h8mm cylindrical NdFeB magnet, the average localization error is less than 10mm, average orientation error is less than 6 degree, magnetic moment error is less than 10.5% , and the computing time is less than 600 ms, which mean that this method is able to localize and track the micro diagnosis and treatment devices in human GI-tract.