AI 中文总结
该研究针对单IMU系统易受伪影干扰的问题，提出双IMU系统，结合传感器融合算法可有效区分胃肠道动力与身体运动，实现精确胃肠道动力跟踪。
AI 中文摘要
胃肠道（GI）动力障碍会损害食物在消化道中的协调运动。无线动力胶囊被开发出来，通过记录胃肠道内的压力、pH值和温度来间接评估胃肠道动力。尽管惯性测量单元（IMU）能够实现精确直接的运动跟踪，但单IMU系统极易受到身体运动和呼吸产生的伪影影响。为解决这一局限，我们提出一种双IMU系统，用于区分内在胃肠道动力与外在身体运动：一个IMU集成于可摄入胶囊内以监测内部运动，另一个IMU佩戴在体外以捕捉全身动态。实验验证采用转盘模拟随机身体运动，用0.1Hz振荡的Stewart平台模拟胃肠道动力。我们对三种传感器融合算法（包括扩展卡尔曼滤波器、Madgwick滤波器和Mahony滤波器）进行基准测试，通过四元数分析计算两个IMU之间的实时相对姿态。结果显示，该双IMU系统可有效区分平台运动与转盘运动，具备分离胃肠道特异性动力的潜力；基线与降噪后的动力信号之间的皮尔逊相关系数大于0.8，表明二者具有强一致性且噪声抑制效果显著。
英文摘要
Gastrointestinal (GI) motility disorders impair the coordinated movement of food through the digestive tract. The Wireless Motility Capsule was developed to indirectly assess GI motility by recording pressure, pH, and temperature along the GI tract. Although an inertial measurement unit (IMU) enables precise and direct motion tracking, a single-IMU system is highly susceptible to artifacts caused by body movement and respiration. To address this limitation, we propose a dual-IMU system designed to distinguish intrinsic GI motility from extrinsic body motion. One IMU is integrated into an ingestible capsule to monitor internal movement, while a second IMU is worn externally to capture whole-body dynamics. Experimental validation was conducted using a turntable to simulate random body movements and a Stewart platform oscillating at 0.1 Hz to emulate GI motility. Three sensor fusion algorithms, including the Extended Kalman Filter, Madgwick Filter, and Mahony Filter, were benchmarked to calculate the real-time relative orientation between the two IMUs using quaternion analysis. The results show that the dual-IMU system effectively differentiates platform motion from turntable motion, demonstrating its potential to isolate GI-specific motility. Pearson correlation coefficients greater than 0.8 between the baseline and noise-cancelled motility signals indicate strong agreement and effective noise suppression.
