Orientation Tracking Method based on Angular Displacement for Wireless Capsule Endoscope

각변위 방식을 이용한 캡슐의 오리엔테이션 측정 방법

  • 유영선 (충북대학교 정보통신공학과) ;
  • 김명유 (충북대학교 정보통신공학과) ;
  • 유영갑 (충북대학교 정보통신공학과)
  • Published : 2008.02.28


In this paper, we propose an orientation tracking method and a digestion path model based on angular displacement. The proposed method expresses a capsule's orientation as 3-dimension vectors and its rotation angle. Errors in roll, pitch, and yaw representing capsule's orientation information is down to $1.6^{\circ}$. Using the proposed method we can measure a roll which is not Possible to be measured using the magnetic field method. We reduce algorithm complexity lower than a previous methods based on Euler angle.


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