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. 由定位模型建立以膠囊位置為變數的六元高次非線性方程組，運用改進的微粒群演算法對其求解，由此實現膠囊位置的遙測。
The analysis results show that in typical cases the range positioning error of the radar-theodolite joint positioning model is basically equivalent to radar range finding error. 其結果表明，在典型情況下雷達經緯儀聯合定位模型距離定位誤差與雷達測距誤差基本相當。
