本文提出了一种基于角位移的胶囊内窥镜定向跟踪方法和消化道路径模型。该方法将胶囊的朝向表示为三维向量，旋转角度误差降低到1.6°。通过此方法，可以测量到使用磁场方法无法测量的翻滚角，同时降低了算法复杂度，比基于欧拉角的前序方法更为简洁。
摘要：
3 . , 1.6° . . .
In this paper, we propose an orientation tracking method and a digestion path model based on angular displacement. The proposed method expresses a capsule's orientation as 3-dimension vectors and its rotation angle. Errors in roll, pitch, and yaw representing capsule's orientation information is down to 1.6°. Using the proposed method we can measure a roll which is not possible to be measured using the magnetic field method. We reduce algorithm complexity lower than a previous methods based on Euler angle.
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