Simultaneous Estimation of WCE Moving Distance and Heading Direction Based on RSSI-based Localization

In this paper, we propose a simultaneous moving distance and heading direction estimation method for wireless capsule endoscope (WCE) system only with RSSI measurement data, which can be obtained as a fundamental function of wireless communications. This paper first focuses on an RSSI-based WCE location tracking method with a particle filter algorithm. Then, in order to accurately estimate the moving distance and heading direction, the proposed method detects the waypoints (pass points) based on the time-series estimated WCE location information, on which the WCE moving in gastrointestinal tract. Consequently, both estimation can be realized with connecting the estimated waypoints. From our computer simulation results, the proposed method can achieve good estimation performances of the moving distance and heading direction with the accuracies of several centimeters and several degrees, respectively, without specific additional sensor devices