Prof. Francis Adepoju Profile

Prof. Francis Adepoju

at Univ of Limerick

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Proceedings Article | 22 May 2007 Paper

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

Khalil Arshak, Francis Adepoju

Proceedings Volume 6592, 65920B (2007) https://doi.org/10.1117/12.721299

KEYWORDS: Receivers, Mathematical modeling, Transmitters, Signal processing, Detection and tracking algorithms, Radio propagation, Non-line-of-sight propagation, Algorithm development, Received signal strength, Transceivers

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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.

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