Modelling and solving the position tracking problem of remote-controlled gastrointestinal drug-delivery capsules.

•Dual magnetic vector detection method for tracking drug-release capsules is proposed.•A tracking model is constructed using the Biot–Savart law and quaternion theory.•In artificial bee colony algorithm, chaos sequence diversifies the initial solution.•The Levenberg-Marquardt algorithm accelerates convergence at later stage of solution.•The tracking method shortens the tracking time and improves the solution accuracy.