Calibration method, device, system and equipment of magnetic positioning system, medium and product

Abstract

The invention provides a calibration method, device, system and equipment of a magnetic positioning system, a medium and a product, and relates to the technical field of computers.The calibration method of the magnetic positioning system comprises the steps that when a magnetic sensor in the magnetic positioning system moves, current magnetic field environment information is obtained; determining the difference between the current magnetic field environment information and each kind of candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a data set; and if the differences are greater than a preset difference threshold value, prompting a user to carry out calibration operation. According to the invention, the adaptive prompt of the calibration operation of the magnetic positioning system can be realized, and the calibration times can be reduced.

Description

Technical Field

[0001] The present disclosure relates to the field of computer technology, and in particular to a calibration method, device, system, equipment, medium and product of a magnetic positioning system. Background Art

[0002] Magnetic positioning is a technology that uses magnetic field characteristics for positioning and is widely used in the medical field. It sets a magnetic field source, a magnetic sensor and a processor in a specific space; the magnetic field source generates a magnetic field, the magnetic sensor detects the magnetic field environment information, and the processor determines the position of the magnetic field sensor in the magnetic field based on the magnetic field environment information detected by the magnetic sensor and the known magnetic field model.

[0003] In order to improve the accuracy and reliability of magnetic positioning results, calibration is an important link.

[0004] When to perform calibration is the question that needs to be addressed. Summary of the invention

[0005] The present disclosure provides a calibration method, device, system, equipment, medium and product for a magnetic positioning system.

[0006] According to one aspect of the present disclosure, a calibration method for a magnetic positioning system is provided, comprising: acquiring current magnetic field environment information when a magnetic sensor in the magnetic positioning system moves; determining the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a data set; and prompting a user to perform a calibration operation if the differences are all greater than a preset difference threshold.

[0007] According to another aspect of the present disclosure, a calibration device for a magnetic positioning system is provided, comprising: an acquisition module, used to acquire current magnetic field environment information when a magnetic sensor moves in the magnetic positioning system; a determination module, used to determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a data set; and a prompt module, used to prompt a user to perform a calibration operation if the differences are all greater than a preset difference threshold.

[0008] According to another aspect of the present disclosure, a magnetic positioning system is provided, comprising: the calibration device described in any one of the above aspects.

[0009] According to another aspect of the present disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method as described in any of the above aspects.

[0010] According to another aspect of the present disclosure, a non-transitory computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable the computer to execute any one of the methods according to any one of the above aspects.

[0011] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the computer program implements any one of the methods described in any one of the above aspects.

[0012] The present disclosure can implement adaptive prompting for calibration operations of a magnetic positioning system.

[0013] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0015] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0016] Figure 2 is a schematic diagram of an application scenario for implementing an embodiment of the present disclosure;

[0017] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure;

[0018] Figure 4 is a schematic diagram according to a third embodiment of the present disclosure;

[0019] Figure 5 is a schematic diagram according to a fourth embodiment of the present disclosure;

[0020] Figure 6 It is a schematic diagram of an electronic device used to implement the calibration method of the magnetic positioning system of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0021] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0022] Figure 1is a schematic diagram according to the first embodiment of the present disclosure. This embodiment provides a calibration method for a magnetic positioning system, such as Figure 1 As shown, the method includes:

[0023] 101. When the magnetic sensor moves in the magnetic positioning system, the current magnetic field environment information is obtained.

[0024] 102. Determine a difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a data set.

[0025] 103. If the differences are all greater than a preset difference threshold, prompt the user to perform a calibration operation.

[0026] Among them, data can be collected in advance to form a data set, which records existing magnetic field environment information and its corresponding calibration results. For the purpose of distinction, the magnetic field environment information and calibration results in the data set are respectively referred to as candidate magnetic field environment information and candidate calibration results.

[0027] When the magnetic sensor in the magnetic positioning system moves, the current magnetic field environment information is obtained.

[0028] Among them, other positioning devices such as gyroscopes can be used to determine whether the magnetic sensor moves. For example, if the displacement of the magnetic sensor detected based on gyroscope data is greater than a preset displacement, it is determined that the magnetic sensor moves, otherwise no movement occurs.

[0029] The above magnetic field environment information is a vector, which can specifically record the magnetic field strength.

[0030] After the current magnetic field environment information is acquired, the difference between the current magnetic field environment information and the candidate magnetic field environment information may be calculated. The difference may specifically be a distance, and further, may specifically be a Euclidean distance.

[0031] Taking distance as an example, the distance corresponds one-to-one to the candidate magnetic field environment information and the candidate calibration result. For example, if there are N (positive integer) pairs of candidate magnetic field environment information and candidate calibration results, then N distances can be calculated.

[0032] After obtaining the distance, the calculated distance can be compared with a preset distance threshold. If both are greater than the preset distance threshold, a prompt message is displayed to the user to prompt the user to perform a calibration operation.

[0033] Furthermore, after the user performs a calibration operation based on the prompt information, the current calibration result and the current magnetic field environment information may be correspondingly stored in the data set as candidate calibration results and candidate magnetic field environment information for subsequent processes.

[0034] In addition, when there is a difference smaller than a preset difference threshold, there is no need to prompt the user for calibration, which can reduce the number of calibration operations performed by the user.

[0035] In this embodiment, when the magnetic sensor moves and the current magnetic field environment information differs greatly from the existing candidate magnetic field environment information, the user is prompted to perform a calibration operation, which can implement adaptive prompts for the calibration operation and improve the effectiveness of the calibration operation.

[0036] Figure 2 It is a schematic diagram of an application scenario for implementing the embodiment of the present disclosure.

[0037] like Figure 2 As shown, the magnetic positioning system includes: a magnetic field source 201 , a magnetic sensor 202 , a magnetic positioning device 203 and a calibration device 204 .

[0038] The magnetic field source 201 is used to generate a magnetic field.

[0039] The magnetic sensor 202 is disposed in the magnetic field generated by the magnetic field source, and is used to detect magnetic field environment information, such as magnetic field intensity.

[0040] The magnetic positioning device 203 is used to perform magnetic positioning operations according to the magnetic field environment information detected by the magnetic field sensor and a known magnetic field model. For example, the position of the magnetic sensor can be determined based on the magnetic field environment information and the magnetic field model, such as a 4D positioning result.

[0041] Since there may be magnetic materials around the magnetic sensor, there may be deviations between the actual magnetic field model and the theoretical magnetic field model, which may lead to errors in the magnetic positioning results.

[0042] In order to improve the accuracy and reliability of magnetic positioning results, a calibration process needs to be introduced. Through the calibration process, a calibration result can be obtained, and the calibration result is used to indicate the position deviation. Afterwards, during positioning, the initial positioning result obtained based on the magnetic field environment information and the known magnetic field model can be added to the above calibration result to obtain the final positioning result.

[0043] For the specific calibration process, please refer to the relevant technology, such as using a calibration plate for calibration.

[0044] In the related art, the user usually initiates the calibration process based on subjective experience, and executes the calibration process when a clear error is found in the positioning result.

[0045] However, this method has the problem that the timing of starting the calibration process is not accurate enough and adaptive prompting cannot be achieved.

[0046] In order to implement adaptive prompting of calibration operation, in this embodiment, the system further includes: a calibration device.

[0047] The calibration device 204 is used to obtain current magnetic field environment information in response to the position movement of the magnetic sensor in the magnetic positioning system; determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, and the candidate magnetic field environment information is stored in a data set; if the differences are greater than a preset difference threshold, prompt the user to perform a calibration operation.

[0048] In specific implementation, the magnetic positioning device and the calibration device may be two modules, or both may be implemented by a processor.

[0049] After the calibration device gives a prompt, the user can perform calibration operations according to the prompt information, such as calibrating based on the calibration plate to obtain the current calibration result. Afterwards, when positioning, the original positioning result can be added to the current calibration result to obtain the final positioning result. In addition, the current calibration result and the current magnetic field environment information can also be stored in the data set as candidate calibration results and candidate magnetic field environment information for subsequent processes.

[0050] In combination with the above application scenarios, the present disclosure also provides the following embodiments.

[0051] Figure 3 is a schematic diagram according to the second embodiment of the present disclosure. This embodiment provides a calibration method for a magnetic positioning system, and this embodiment takes the difference as an example. Figure 3 As shown, the method includes:

[0052] 301. Obtain a data set, wherein the data set correspondingly records candidate magnetic field environment information and candidate calibration results.

[0053] The pre-collected candidate magnetic field environments and candidate calibration results may be recorded in the data set. If no relevant data is collected, the initial state of the data set is empty.

[0054] 302. Determine whether the magnetic positioning function is running. If so, wait for a preset time (such as 10 seconds) and repeat 302 and subsequent steps. Otherwise, execute 303.

[0055] The operation status of the magnetic positioning function can be recorded. For example, after the user starts the magnetic positioning function, the operation status indicates that the magnetic positioning function is running; after the user turns off the magnetic positioning function, the operation status indicates that the magnetic positioning function is not running. Therefore, based on the operation status, it can be determined whether the magnetic positioning function is running.

[0056] 303. Use a magnetic sensor to obtain magnetic field environment information of a preset duration.

[0057] 304. Calculate the average value of the magnetic field environment information of the preset time length as the current magnetic field environment information.

[0058] For example, the magnetic field environment information is collected for 60 seconds, and then the average of the collected multiple magnetic field environment information is calculated, and the average is used as the current magnetic field environment information.

[0059] 305. Calculate the distance between the current magnetic field environment information and each candidate magnetic field environment information.

[0060] The current magnetic field environment information can be represented by M. Assuming that there are N candidate magnetic field environment information, each candidate magnetic field environment information is represented by M. i (i=1,2...,N) means that M and M can be calculated respectively. i The Euclidean distance d i .

[0061] 306. Determine whether there is a candidate distance that is less than or equal to a preset distance threshold (TH). If so, execute 307; otherwise, execute 308.

[0062] 307. Obtain the minimum value (expressed as minimum d) among the distances that are less than or equal to the preset distance threshold, and use the candidate calibration result corresponding to the minimum value as the target calibration result. Afterwards, during positioning, the positioning result can be calibrated using the target calibration result.

[0063] In this way, by obtaining the target calibration result from the data set and calibrating the positioning result based on the target calibration result, useless calibration process can be avoided and processing effectiveness can be improved.

[0064] 308. Prompt the user to perform calibration operation.

[0065] For example, prompt information may be displayed to the user via voice, text, or the like, and the prompt information is used to prompt the user to perform a calibration operation.

[0066] Afterwards, after the user performs a calibration operation based on the prompt information, the current calibration result and the current environment information are stored in the data set accordingly. Also, during positioning, the current calibration result can be used to calibrate the positioning result.

[0067] In this way, when the current environment information is far away from the candidate environment information, the user is prompted to perform calibration operations to avoid major changes in the environment information, so that the calibration operation can be performed in time, thereby improving the accuracy of the positioning results. In addition, by saving the current calibration results and current environment information, a data basis can be provided for subsequent processes, improving the comprehensiveness of data coverage.

[0068] 309. Determine whether the magnetic sensor moves based on the gyroscope data. If so, repeat 302 and subsequent steps. Otherwise, wait for a preset time (such as 10 seconds) and then repeat 309 and subsequent steps.

[0069] For example, a gyroscope can detect an angular velocity, and based on the angular velocity, the displacement of the magnetic sensor can be obtained. If the displacement is greater than a preset displacement, it indicates that the magnetic sensor has moved; otherwise, no position movement has occurred.

[0070] In addition, this embodiment takes a gyroscope as an example, and other positioning devices, such as accelerometers, Bluetooth devices, etc., may also be used to detect whether the magnetic sensor moves.

[0071] In this way, based on other positioning devices, it is possible to automatically determine whether the magnetic sensor has moved, thereby improving processing accuracy.

[0072] Figure 4 4 is a schematic diagram of a third embodiment of the present disclosure, which provides a calibration device for a magnetic positioning system. The device 400 includes: an acquisition module 401 , a determination module 402 and a prompt module 403 .

[0073] The acquisition module 401 is used to obtain the current magnetic field environment information when the magnetic sensor moves in the magnetic positioning system; the determination module 402 is used to determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, and the candidate magnetic field environment information is stored in a data set; the prompt module 403 is used to prompt the user to perform a calibration operation if the differences are all greater than a preset difference threshold.

[0074] In some embodiments, the data set further stores candidate calibration results corresponding to the candidate magnetic field environment information, and the apparatus 400 further includes:

[0075] The correction module is used to use the candidate magnetic field environment information corresponding to the minimum difference less than or equal to the preset difference threshold as the target magnetic field environment information; use the candidate calibration result corresponding to the target magnetic field environment information as the target calibration result; and use the target calibration result to correct the original positioning result of the magnetic positioning system.

[0076] In some embodiments, the apparatus 400 further includes:

[0077] The storage module is used to obtain the current calibration result obtained after the user calibrates the magnetic positioning system; and store the current calibration result and the current magnetic field environment information in the data set accordingly.

[0078] In some embodiments, the apparatus 400 further includes:

[0079] The judging module is used to judge whether the magnetic sensor moves based on other positioning devices other than the magnetic positioning system.

[0080] In some embodiments, the acquisition module 401 is further used to:

[0081] When the magnetic positioning function of the magnetic positioning system is not in operation, using the magnetic sensor to collect magnetic field environment information for a preset time period;

[0082] The average value of the magnetic field environment information of the preset time length is calculated as the current magnetic field environment information.

[0083] Figure 5 is a schematic diagram of a fourth embodiment of the present disclosure, which provides a magnetic positioning system. The system 500 includes a calibration device 501, which is as follows: Figure 4 For details, please refer to the relevant description of the above embodiment.

[0084] It can be understood that in the embodiments of the present disclosure, the same or similar contents in different embodiments can be referenced to each other.

[0085] It can be understood that the “first”, “second”, etc. in the embodiments of the present disclosure are only used for distinction and do not indicate the degree of importance, time sequence, etc.

[0086] It is understandable that, unless otherwise specified, the sequence of steps in the process indicates that the timing relationship between these steps is not limited.

[0087] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0088] According to an embodiment of the present disclosure, the present disclosure also provides an electronic device, a readable storage medium and a computer program product.

[0089] Figure 6 A schematic block diagram of an example electronic device 600 that can be used to implement an embodiment of the present disclosure is shown. The electronic device 600 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smart phones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0090] like Figure 6As shown, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. In the RAM 603, various programs and data required for the operation of the electronic device 600 can also be stored. The computing unit 601, the ROM 602, and the RAM 603 are connected to each other via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0091] Multiple components in the electronic device 600 are connected to the I / O interface 605, including: an input unit 606, such as a keyboard, a mouse, etc.; an output unit 607, such as various types of displays, speakers, etc.; a storage unit 608, such as a disk, an optical disk, etc.; and a communication unit 609, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 609 allows the electronic device 600 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0092] The computing unit 601 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 601 performs the various methods and processes described above, such as the calibration method of the magnetic positioning system. For example, in some embodiments, the calibration method of the magnetic positioning system may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the calibration method of the magnetic positioning system described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the calibration method of the magnetic positioning system by any other appropriate means (e.g., by means of firmware).

[0093] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0094] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0095] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0096] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0097] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0098] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0099] It should be understood that the various forms of processes shown above can be used to reorder, add or cancel steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0100] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A calibration method for a magnetic positioning system, characterized in that: include: When the magnetic sensor moves in the magnetic positioning system, the current magnetic field environment information is obtained; Determining a difference between the current magnetic field environment information and each candidate magnetic field environment information, the candidate magnetic field environment information being stored in a data set; If the differences are all greater than the preset difference threshold, the user is prompted to perform a calibration operation.

2. The method according to claim 1, characterized in that The data set also stores candidate calibration results corresponding to the candidate magnetic field environment information, and the method further includes: The candidate magnetic field environment information corresponding to the minimum difference that is less than or equal to the preset difference threshold is used as the target magnetic field environment information; Taking the candidate calibration result corresponding to the target magnetic field environment information as the target calibration result; The target calibration result is used to correct the original positioning result of the magnetic positioning system.

3. The method according to claim 1, characterized in that Also includes: Obtaining a current calibration result obtained by a user after calibrating the magnetic positioning system; The current calibration result and the current magnetic field environment information are stored in the data set accordingly.

4. The method according to claim 1, characterized in that Also includes: Based on other positioning devices other than the magnetic positioning system, it is determined whether the magnetic sensor moves.

5. The method according to claim 1, characterized in that: The obtaining of current magnetic field environment information includes: When the magnetic positioning function of the magnetic positioning system is not in operation, using the magnetic sensor to collect magnetic field environment information for a preset time period; The average value of the magnetic field environment information of the preset time length is calculated as the current magnetic field environment information.

6. A calibration device for a magnetic positioning system, characterized in that: include: An acquisition module is used to acquire current magnetic field environment information when the magnetic sensor moves in the magnetic positioning system; a determination module, configured to determine a difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a data set; The prompting module is used to prompt the user to perform a calibration operation if the differences are all greater than a preset difference threshold.

7. The device according to claim 6, characterized in that The data set also stores candidate calibration results corresponding to the candidate magnetic field environment information, and the device further includes: The correction module is used to use the candidate magnetic field environment information corresponding to the minimum difference less than or equal to the preset difference threshold as the target magnetic field environment information; use the candidate calibration result corresponding to the target magnetic field environment information as the target calibration result; and use the target calibration result to correct the original positioning result of the magnetic positioning system.

8. The device according to claim 6, characterized in that Also includes: A storage module, used to obtain a current calibration result obtained after a user calibrates the magnetic positioning system; The current calibration result and the current magnetic field environment information are stored in the data set accordingly.

9. The device according to claim 6, characterized in that Also includes: The judging module is used to judge whether the magnetic sensor moves based on other positioning devices other than the magnetic positioning system.

10. The device according to claim 6, characterized in that The acquisition module is further used for: When the magnetic positioning function of the magnetic positioning system is not in operation, using the magnetic sensor to collect magnetic field environment information for a preset time period; The average value of the magnetic field environment information of the preset time length is calculated as the current magnetic field environment information.

11. A magnetic positioning system, characterized in that: include: A calibration device as claimed in any one of claims 6 to 10.

12. An electronic device comprising: at least one processor; as well as a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1 to 5.

13. A non-transitory computer-readable storage medium storing computer instructions, wherein: The computer instructions are used to cause the computer to execute the method according to any one of claims 1-5.

14. A computer program product, comprising a computer program, which, when executed by a processor, implements the method according to any one of claims 1 to 5.

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