According to Biot-Savart law and Lenz law, a positioning model describing the relation between the induced electromotive force and the 3D position is derived.

• 由定位模型建立以胶囊位置为变量的六元高次非线性方程组，运用改进的微粒群算法对其求解，由此实现胶囊位置的遥测。