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  • Location and Orientation of Capsule without Magnetic Field

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    beefong7680
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    This document discusses algorithms for determining the location and orientation of a capsule without an outer magnetic field. It provides equations for representing the magnet and capsule positions as vectors. It recommends the Levenberg-Marquardt method for solving the nonlinear least squares problem, which combines Gauss-Newton algorithms and gradient descent iterations. The method should be fast, robust to sensor noise, and able to enable real-time implementation.

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    2014.11.26估咪

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    This document discusses algorithms for determining the location and orientation of a capsule without an outer magnetic field. It provides equations for representing the magnet and capsule positions as vectors. It recommends the Levenberg-Marquardt method for solving the nonlinear least squares problem, which combines Gauss-Newton algorithms and gradient descent iterations. The method should be fast, robust to sensor noise, and able to enable real-time implementation.

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    14 views6 pages

    Location and Orientation of Capsule without Magnetic Field

    Uploaded by

    beefong7680
    This document discusses algorithms for determining the location and orientation of a capsule without an outer magnetic field. It provides equations for representing the magnet and capsule positions as vectors. It recommends the Levenberg-Marquardt method for solving the nonlinear least squares problem, which combines Gauss-Newton algorithms and gradient descent iterations. The method should be fast, robust to sensor noise, and able to enable real-time implementation.

    Copyright:

    © All Rights Reserved
    Download as PPTX, PDF, TXT or read online from Scribd
    Flag for inappropriate content
    of 6

    Location and Orientation

    about the capsule


    (without outer magnetic field)
    :
    :

    P be the vector that represents a spatial point


    p=(xl, yl, zl)T
    the magnet position
    (a, b, c)T

    Two norm error

    A good Algorithms
    1) initial guess of the parameters, or their bounds of the initial
    guess of the parameters.
    2) The minimization algorithm should be fast enough to enable
    real time implementation.
    3)Robust to the noises in the sensor data.

    Levenberg-Marquardt method
    Gauss-Newton algorithms & gradient iterations
    Matlab:
    lsqnonlin least squares solution
    Fsolve

    roots of the nonlinear equations

    Donald W. Marquardt, An Algorithm for Least-Squares Estimation of

    Nonlinear Parameters, Journal of the Society for Industrial and Applie


    d
    Mathematics, Vol.11, No.2, 1963, pp.431~441.

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