5D Magnetic Localization for Wireless Capsule Endoscopy Using the Levenberg-Marquardt Method and Artificial Bee Colony Algorithm

In this study, magnetic positioning process is performed by WCE method which is mostly preferred in recent years. In order to make 5D magnetic positioning possible, two different algorithms were used to solve nonlinear mathematical dipole equations; Artificial Bee Colony algorithm and Levenberg-Marquardt method. In case of using both algorithms separately and hybrid, performance comparison was made and the effect of noise on positioning error was investigated. As a result, we obtained a position error of less than 0.65 mm and orientation error of less than 0.8° in the absence of noise and in case of noise addition, we had an average position error of 6.45 mm and a 9% angle error.