Permanent Magnet Localization Method Based on Improved Sparrow Search Algorithm

Aiming at the problem that the capsule endoscopy robot cannot accurately obtain the position and orientation information of the capsule robot after it enters the human body, this paper investigates the optimization algorithm to solve the position and orientation information of the permanent magnet based on the magnetic dipole model. Improved on the basis of Sparrow Search Algorithm (SSA), this paper proposes an Improved Sparrow Search Algorithm (ISSA). And a set of permanent magnet positioning experimental device is built by using the Hall effect-based IST8310 three-axis magnetic sensor from iSentek, and the standard positioning experimental board is customized to verify the accuracy and stability of the ISSA algorithm through the permanent magnet positioning experiment. The experimental results show that compared with the SSA algorithm, the ISSA algorithm has a great improvement in the positioning and orientation accuracy as well as the convergence speed, and it is also superior to many other optimization algorithms. Using the ISSA algorithm for permanent magnet localization experiments, the positioning error can be stabilized at about 1 mm and the orientation error at about 2° within tens of milliseconds, which greatly improves the positioning and orientation accuracy as well as the positioning speed of the permanent magnet, and provides a reliable method for accurately obtaining the position and orientation information of the capsule robot.