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The new improved method is based on the magnetic field generating by excitation sources and two sensors sensing. The excitation sources are three orthogonal coils and the coils create the variable magnetic field. The two sensors can receive the information of the magnetic field and they are fixed with an included angle (a constant value less than 90 degree) in order to minimize the size of sensor. The set of excitation sources and sensing coils can determine needed equations which contain the 6-D parameters(x, y, z, ψ, θ, ϕ) of position and orientation information. Then, a suitable nonlinear algorithm is selected to solve these equations. The simulation results are also given which show that we can obtain nearly the same or even higher accuracy of position and orientation through this new method compared to our previous work. How the included angle impacting the localization results has been researched and given a simulation result, too.
Tian et al. (Wed,) studied this question.