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中文摘要：
为了对微型诊查胶囊进入人体消化道后的三维位置进行测量，提出了不可见状态下的非接触式永磁定位新方法。具体做法是：根据等效磁荷的原理，建立永磁体空间磁场与空间方位的简化定位模型；根据定位模型确定具体的定位方案；并对磁传感器的输出数据进行差分处理，消除了静态和准静态环境磁场干扰。实验证明定位模型能满足精度要求，定位方案正确可行，此定位法可投入实际应用。
英文摘要：
In order to determine the position of an intra-body microcapsule in human＇ s gastrointestinal tract, a novel localization method based on the field of permanent magnet was presented. Aiming at invisible conditions, this method can realize a remote measurement. Firstly based on the principle of equivalent magnetic charge, a simple model was acquired to indicate the relationship between the magnitude of magnetic field and the spatial position. Then a detailed plan was developed for tracking the position and orientation of the microcapsule. Besides, some slowly changing background fields were almost eliminated by taking the difference of the output from magnetic sensors. The experiment demonstrated the localization method was feasible and could be put into use.
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