Journal of Zhejiang University

ENGINEERING Information Technology & Electronic Engineering

Accepted manuscript available online (unedited version)

A measurement-oriented magnetic pose tracking framework for biaxial rotating permanent-magnet systems

Author(s): Taili WANG, Zhidong WU^*, Bin YANG, Liangwei YANG, Ding WANG, Zheng LIU, Chengrun WU
Affiliation(s): 1School of Information System Engineering, Information Engineering University, Zhengzhou 450001, China; more
Corresponding email(s): Zhidong WU, 3092004009wzd@163.com
Key Words: Magnetic localization, Kalman filter, Biaxial rotating permanent magnets, Trust-region optimization, Internet of Things

Taili WANG, Zhidong WU^*, Bin YANG, Liangwei YANG, Ding WANG, Zheng LIU, Chengrun WU. A measurement-oriented magnetic pose tracking framework for biaxial rotating permanent-magnet systems[J]. Journal of Zhejiang University Science ,in press.Frontiers of Information Technology & Electronic Engineering,in press.https://doi.org/10.1631/ENG.ITEE.2026.0100

@article{title="A measurement-oriented magnetic pose tracking framework for biaxial rotating permanent-magnet systems",
author="Taili WANG, Zhidong WU^*, Bin YANG, Liangwei YANG, Ding WANG, Zheng LIU, Chengrun WU",
journal="Journal of Zhejiang University Science ",
year="in press",
publisher="Zhejiang University Press & Springer",
doi="https://doi.org/10.1631/ENG.ITEE.2026.0100"
}

%0 Journal Article
%T A measurement-oriented magnetic pose tracking framework for biaxial rotating permanent-magnet systems
%A Taili WANG
%A Zhidong WU^*
%A Bin YANG
%A Liangwei YANG
%A Ding WANG
%A Zheng LIU
%A Chengrun WU
%J Journal of Zhejiang University SCIENCE
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%@ 2095-9184
%D in press
%I Zhejiang University Press & Springer
doi="https://doi.org/10.1631/ENG.ITEE.2026.0100"

TY - JOUR
T1 - A measurement-oriented magnetic pose tracking framework for biaxial rotating permanent-magnet systems
A1 - Taili WANG
A1 - Zhidong WU^*
A1 - Bin YANG
A1 - Liangwei YANG
A1 - Ding WANG
A1 - Zheng LIU
A1 - Chengrun WU
J0 - Journal of Zhejiang University Science
SP -
EP -
%@ 2095-9184
Y1 - in press
PB - Zhejiang University Press & Springer
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doi="https://doi.org/10.1631/ENG.ITEE.2026.0100"

Abstract
Chinese Summary
Academic Network
Reviewer Comment

Abstract: High-precision magnetic positioning has been widely used in surgical navigation, capsule endoscopy, and other medical engineering applications, and has become an important topic in the Internet of Things. According to the magnetic source, localization systems can be classified into alternating-current coil-based and permanent-magnet-based schemes. Owing to their compact structure, permanent-magnet-based systems are more suitable for portable and embedded applications. Compared with single-rotating permanent magnets, biaxial rotating permanent magnets provide richer magnetic field information and greater potential for six-degree-of-freedom pose tracking. However, accurate estimation in such systems remains difficult because of the nonlinear magnetic field model, symmetry-induced ambiguity, initialization sensitivity, and time-varying measurement uncertainty. To address these issues, this paper develops a measurement-oriented framework for biaxial rotating permanent-magnet pose tracking, including an observability-enhanced excitation scheme, a physically consistent initialization strategy, and an adaptive recursive reconstruction method based on trust-region optimization and residual-corrected unscented Kalman filtering. The proposed method is validated through Monte Carlo simulations, COMSOL-based finite-element analysis, and prototype experiments. The results demonstrate improved convergence reliability, reduced sensitivity to initialization and environmental uncertainty, and better repeatability and robustness in complex tracking scenarios.

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On-line Access: 2026-11-03

Received: 2026-04-20

Revision Accepted: 2026-09-27

Crosschecked: 0000-00-00

Cited: 0

Clicked: 22

Citations: Bibtex RefMan EndNote GB/T7714

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