[1] [1] LIANG X L,ZHENG X L,HOU W SH, et al.. A design for locating the micro-medical device in human alimentary canal using nuclear imaging technology[J]. China Journal of Medical Imaging Technology, 2006,22(10):1592-1594.(in Chinese)

[2] [2] JIAN P P,YAN G ZH,WAN W X. Researches on invasive micro-system for whole GI tract physiological parameters monitoring[J]. Robot Technology and Application,2003(4):33-35.(in Chinese)

[3] [3] FISCHER D, SCHREIBER R, LEVI D, et al.. Capsule endoscope: the localization system[J]. Gastrointestinal Endoscopy Clinics of North America, 2004(14):25-31.

[4] [4] JIANG P P, YAN G ZH,GUO X D, et al.. Electro-magnetic tracking system for capsule-typed telemetric device[J]. Opt. Precision Eng.,2007,15(8):1247-1252.(in Chinese)

[5] [5] LI H W,YAN G ZH,HU F F. Portable positioning system for micro gastrointestinal invasive diagnosing device[J]. Opt. Precision Eng.,2008,16(3):192-499.(in Chinese)

[6] [6] WANG X N, MENG M Q, HU C. A localization method using 3-axis magnetoresistive sensors for tracking of capsule endoscope [C]. Proc. of the 28th IEEE EMBS, 2006:2522-2525.

[7] [7] HU C, MENG M Q.-H, Mandal M. Efficient Linear Algorithm for Magnetic Localization and Orientation in Capsule Endoscopy [C]. Proc. of the 2005 IEEE, 27th EMBC,2005:162-167.

[8] [8] HOU W SH, ZENG X L, PENG CH L,et al.. Study of simplified magnetic location model for micro medical device inside human body[J]. Chinese Journal of Scientific Instrument, 2005,26(9):895-897.(in Chinese)

[9] [9] FENG C ZH. Electromagnetic Field[M]. Beijing: Higher Education Press, 1983. (in Chinese)

[10] [10] FAN SH W, ZHANG X ZH. Study of the global optimal method self adaptation simulated annealing genetic algorithm[J]. Opt. Precision Eng.,1999,7(4):16-21.(in Chinese)