A mathematical model for localization and tracking of telemetry capsules using RSSI signals

Khalil Arshak; Francis Adepoju

doi:10.1117/12.721299

22 May 2007 A mathematical model for localization and tracking of telemetry capsules using RSSI signals

Khalil Arshak, Francis Adepoju

Proceedings Volume 6592, Bioengineered and Bioinspired Systems III; 65920B (2007) https://doi.org/10.1117/12.721299
Event: Microtechnologies for the New Millennium, 2007, Maspalomas, Gran Canaria, Spain

Abstract

In this paper we consider the problem of tracking the real-time positions of a diagnostic capsule in the gastrointestinal (GI) tract. Our solution is a fully developed estimation algorithm that utilizes radio frequency signals converted to voltage on the received signal strength indicator (RSSI) output of an array of transceivers. We employed a modified form of the traditional radio-map based deterministic model that requires an estimate of initial position vector. Data capture was implemented with commercial off-the-shelf transceivers featuring RSSI outputs. At the intermediate processing stages, trilateration was employed as a mathematical tool to determine the approximate 2-D coordinates of unknown capsule locations by linearizing the resulting equations. This approach facilitates a PC-based implementation of fully automated real-time position measurements by eliminating the need to measure angles. In the final algorithm based on non linear least squares approximations, the Newton's iteration of the resulting Jacobian matrices were used to generate a more accurate position coordinates. Test Results from laboratory experiments demonstrate the accuracy of the solution in the centimeter range. This results in a position tracking measurements with an average value error of less than 25%. This kind of results guarantees that our solution can be adapted into telemetry capsules for use in diagnosing intestinal malfunctions.

Citation Download Citation

Khalil Arshak and Francis Adepoju "A mathematical model for localization and tracking of telemetry capsules using RSSI signals", Proc. SPIE 6592, Bioengineered and Bioinspired Systems III, 65920B (22 May 2007); https://doi.org/10.1117/12.721299

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