The invention belongs to the technical field of
orthopedic surgery navigation, discloses a communication and positioning integrated
orthopedic surgery navigation method and
system based on multi-dimensional
perception, and aims to solve the problems that in an existing orthopedic navigation technology,
optical navigation is prone to being shielded,
multipath interference of UWB positioning is serious, and real-time performance is insufficient. Comprising the steps of obtaining measurement values including positioning data of a UWB positioning module,
ranging data of a
laser ranging module and an attitude angle of an IMU module; according to the method, extended Kalman filtering is adopted, positioning data of a UWB positioning module,
ranging data of a
laser ranging module and an attitude angle of an IMU module are taken as state vectors, dynamic adjustment of credibility is realized by adjusting a
process noise matrix of a state equation and a measurement
noise matrix of a measurement equation according to task characteristics, and the credibility of the UWB positioning module is improved according to data of different credibility. And resolving the
pose state of the
tail end of the
surgical instrument. The method has the advantages of high positioning precision, high response speed, high environmental adaptability and high
resource efficiency.