Design of A Three-dimensional Magnetic Sensing Array Localization System for Precise Positioning of the Intracavity Environment

Intracavity environmental localization technology plays a critically important role in the field of medical diagnosis and treatment. Magnetic localization methods, owing to their convenient setup and high speed, have garnered widespread attention in recent years. To meet the precision positioning requirements in clinical applications, this article optimized the spatial arrangement of magnetic sensor arrays and designed a three-dimensional magnetic sensor array localization system consisting of 8 Anisotropic Magnetoresistive (AMR) magnetometers. Following optimization of measurement data through Kalman filtering, the system utilized an optimization algorithm to real-time estimate the position of magnetic objects, achieving precise localization within a spatial range of 80mm*80mm*80mm. Experimental results demonstrate that a cylindrical permanent magnet with a base diameter (D) of 2mm and length (L) of 4mm exhibited average positioning errors of 0.079mm, 0.140mm, and 0.128mm in the X, Y, and Z directions, respectively, with an total average positioning error of 0.236mm. Additionally, the localization system exhibited a high sampling frequency of 40Hz, and its position calculation speed was fast, enabling accurate and continuous tracking of the movement path of permanent magnets within the intracavity environment.