Calibrator and navigator data processing method

Abstract

The embodiment of the invention provides a calibrator and a navigator data processing method, and the calibrator comprises an upper frame body which is used for accommodating a navigator, and the navigator comprises a standard device and a measurer; the lower frame body is connected with the upper frame body and used for supporting the upper frame body, a plurality of supporting faces are formed at the bottom of the lower frame body, and the supporting faces are different in angle and direction relative to the upper frame body. The calibrator provided by the invention is used for assisting the navigator in data verification and assisting in effectively improving the force line measurement and evaluation accuracy in the knee joint operation.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of orthopedic medical devices, and in particular to a calibration device and a navigator data processing method. Background Art

[0002] In knee replacement surgery, restoring the normal force line of the knee joint is crucial to ensure the success of the operation. The force line of the knee joint usually refers to a straight line from the center of the hip joint to the center of the ankle joint, which should pass through the center of the knee joint. If the force line deviates from the normal position, it may cause excessive wear of the joint, uneven load distribution during knee joint movement, knee pain, joint dysfunction, and thus lead to surgical failure.

[0003] Traditional knee replacement surgery usually relies on the surgeon's vision and experience to determine the osteotomy position and prosthesis placement, so the overall error is large. Due to individual anatomical differences and potential errors during surgery, it is difficult for the surgeon to accurately restore the normal force line of the knee joint every time. This uncertainty will greatly lead to unsatisfactory alignment of the femur and tibia, or prosthesis, in the knee joint after surgery, which will affect the surgical results in the long term.

[0004] Currently, low-cost MEMS attitude sensors are used for navigation in knee replacement surgery to determine the force line of the knee joint. However, the single-sensor-based knee joint navigation in the navigator has large errors. Navigation based on dual sensors can improve accuracy, but dual-sensor navigation involves mutual correction between the two sensors. The general dual-machine navigation calibration method has many error links and cannot eliminate the errors in the dual-machine navigation of knee replacement, including the installation errors of the two sensors and the correction of angle output distortion caused by cross-axis coupling problems. Summary of the invention

[0005] The present invention provides a calibration device and a navigator data processing method for navigator data verification and processing, which can effectively improve the accuracy of force line measurement and evaluation during knee joint surgery.

[0006] In order to solve the above technical problems, an embodiment of the present invention provides a calibration device, including: The upper frame is used to accommodate the navigator, and the navigator includes a reference device and a measuring device; The lower frame is connected to the upper frame and is used to support the upper frame. A plurality of supporting surfaces are formed at the bottom of the lower frame, and the plurality of supporting surfaces have different angles and orientations relative to the upper frame.

[0007] In some embodiments, the upper frame is a cube with a rectangular cross-section.

[0008] In some embodiments, the lower frame is a cube with an isosceles trapezoidal longitudinal section, the larger bottom surface of the lower frame is connected to the upper frame, and the angle between the inclined surfaces on both sides of the lower frame and the plane where the upper frame is located is 45°.

[0009] Another embodiment of the present invention also provides a navigator data processing method, comprising: Obtaining attitude data collected by a reference device and a measuring device in a navigator at different orientations, wherein the reference device and the measuring device are simultaneously placed in a calibration device as described in any one of the embodiments above, and the attitude data is collected by the reference device and the measuring device when the reference device and the measuring device are simultaneously placed in different orientations based on the calibration device; Calculate the angle deviation between the measuring device and the reference device at each orientation based on the posture data; Determine the target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis and z-axis based on the angular deviations corresponding to different orientations; Obtaining force line data measured by the reference device; The force line data is subjected to error compensation and vector transfer in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device.

[0010] In some embodiments, the step of obtaining the attitude data collected by the reference device and the measuring device in the navigator at different positions includes: The attitude data collected by the reference device and the measuring device in the horizontal orientation, the vertical orientation and the orientation at an angle of 45° to the horizontal plane are obtained, and the attitude data at least includes acceleration variable data of the x-axis, the y-axis and the z-axis.

[0011] In some embodiments, the step of calculating the angle deviation between the measuring device and the reference device at each orientation based on the posture data includes: Calculate the angular deviation between the measuring device and the reference device in each axial direction in the horizontal and vertical directions based on the acceleration variable data of the x-axis, y-axis and z-axis; The angular deviations between the measuring device and the reference device in each axis in the horizontal and vertical directions are calculated based on the following formula: Each axial angle deviation = 57.3*arcsin (reference device x / y axis data - measuring device x / y axis data).

[0012] In some embodiments, the step of calculating and determining target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis, and z-axis based on the angular deviations corresponding to different orientations includes: Select and determine candidate angular deviations in each axial direction from the angular deviations between the measuring device and the reference device in each axial direction in the horizontal orientation and the vertical orientation; Constructing a first conversion matrix based on the candidate angle deviations, wherein the first conversion matrix is ​​used to convert the data collected by the measuring device in its coordinate system to the coordinate system of the reference device; The candidate angle deviation is verified based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane. If the verification is successful, the candidate angle deviation is determined as the target deviation value.

[0013] In some embodiments, the verifying the candidate angle deviation based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane includes: Based on the first transformation matrix, coordinate system transformation is performed on the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane; Calculating the angular deviation between the converted acceleration variable data of the measuring device and the acceleration variable data collected by the reference device at an angle of 45° to the horizontal plane; If the angle deviation is within a preset range, the characterization verification is passed.

[0014] In some embodiments, the step of performing error compensation and vector transfer on the force line data in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device includes: Obtaining the pitch angle and the roll angle collected by the reference device, and calculating the first attitude matrix of the reference device based on the pitch angle and the roll angle collected by the reference device; Obtaining the pitch angle and the roll angle collected by the measuring device, and calculating a second posture matrix of the measuring device based on the pitch angle and the roll angle collected by the measuring device; Calculating and determining the z-axis output error compensation of the reference device based on the pitch angle and roll angle collected by the reference device, the pitch angle and roll angle collected by the measuring device, and the target deviation value corresponding to the z-axis; Based on the z-axis output error compensation, the first posture matrix, the second posture matrix, the target deviation values ​​corresponding to the x-axis and the y-axis, and the first conversion matrix, the x-axis and y-axis output errors of the reference device are compensated, and the angle between the projection of the force line data on the x-axis and the x-axis, and the angle between the projection of the force line data on the y-axis and the y-axis are calculated; The force line data is vector-transferred based on each of the angles.

[0015] In some embodiments, the vector transfer of the force line data based on each of the angles includes: Constructing a second transformation matrix based on each of the angles; The force line data is vector-transferred based on the second transformation matrix.

[0016] Another embodiment of the present invention further provides an electronic device, comprising: one or more processors; a memory configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the navigator data processing method as described in any one of the embodiments above.

[0017] Based on the disclosure of the above embodiments, it can be known that the beneficial effect of the embodiments of the present invention is that the proposed method can simultaneously realize the calibration of the dual sensors in the knee joint navigator and the vector transfer of force line data, so that the system calculates the anterior-posterior inclination angle and the valgus and valgus angle between the osteotomy surface and the force line based on the calibrated force line data, significantly improving the processing accuracy, reducing the error chain links in the dual-machine navigation process, improving the accuracy of intraoperative force line measurement and evaluation, helping doctors adjust the positioning of the knee joint and the alignment of the prosthesis, ensuring the functional recovery of the patient's knee joint and the correctness of the force line after surgery, extending the service life of the prosthesis, and reducing postoperative complications.

[0018] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or be understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the written description, claims, and drawings.

[0019] The technical solution of the present application is further described in detail below through the accompanying drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0021] Figure 1 Schematic diagram of the structure of the calibration device in the embodiment of the present invention.

[0022] Figure 2 Schematic diagram of the application structure of the calibration device in the embodiment of the present invention.

[0023] Figure 3 Schematic diagram of the flow of the navigator data processing method in an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, but are not intended to limit the present invention.

[0025] It should be understood that various modifications may be made to the embodiments disclosed herein. Therefore, the following description should not be considered as limiting, but merely as an example of an embodiment. Other modifications within the scope of the present disclosure will occur to those skilled in the art.

[0026] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0027] These and other characteristics of the invention will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the accompanying drawings.

[0028] It should also be understood that, although the invention has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the invention that have the characteristics recited in the claims and are therefore within the scope of protection defined thereby.

[0029] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0030] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the disclosed embodiments are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details disclosed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0031] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0032] The embodiments of the present invention are described in detail below with reference to the accompanying drawings.

[0033] like Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a calibration device, including: The upper frame 1 is used to accommodate the navigator, and the navigator includes a reference device 3 and a measuring device 4; The lower frame 2 is connected to the upper frame and is used to support the upper frame 1. A plurality of supporting surfaces 5 are formed at the bottom of the lower frame 2. The plurality of supporting surfaces 5 have different angles and orientations relative to the upper frame 1.

[0034] In this embodiment, the upper frame 1 is a cube with a rectangular cross section. The upper frame 1 can be boxed as a whole, closed on all sides, or a frame body with all sides open. The lower frame 2 is a cube with an isosceles trapezoidal longitudinal section. The larger bottom surface of the lower frame 2, i.e., the lower bottom corresponding to the trapezoid, is connected to the bottom of the upper frame 1. The angle between the inclined surfaces on both sides of the lower frame 2 and the plane where the upper frame 1 is located is 45°. Of course, it can also be other angles, which can be flexibly configured and the scheme is not fixed. In this embodiment, 45° is used as an example for explanation.

[0035] In one embodiment, the calibration device needs to meet the following conditions: It can accommodate two sensors at the same time, such as a measuring device 4 and a reference device 3, and make the positions of the two sensors fixed relative to the calibration device, that is, it can stably accommodate the two sensors, and ensure that the two sensors remain relatively fixed in position when placed on a horizontal support surface (the navigator is placed horizontally), placed horizontally on an inclined surface (the navigator is placed at an angle of 45° to the horizontal plane), and the calibration device is placed vertically based on the upper frame 1 (the navigator is placed vertically). That is, after the positions of each sensor are fixed when placed horizontally, the position of the sensor relative to the device remains unchanged no matter how the calibration device is placed.

[0036] Restoring the force line of the knee joint is one of the core goals of total knee arthroplasty (TKA). Good force line alignment directly affects postoperative function and the life of the prosthesis. However, due to individual anatomical differences, imaging limitations and other factors, it is difficult to accurately determine the force line of the patient's lower limbs during surgery. To solve this problem, a navigator is usually used to assist in force line determination. The navigator usually includes a MEMS attitude sensor, which specifically includes a gyroscope, an accelerometer, an electronic compass, etc. When using dual-machine (dual sensor) navigation, the reference device uses the MEMS attitude sensor to shake the femur to obtain the center coordinates of the femoral head, and determines the force line accordingly. The data processing device or the measuring device can calculate the internal and external valgus angle and the anteroposterior tilt angle required for osteotomy based on the angle between the position of the measuring device and the force line. In order to ensure the accuracy of the angle output, it is necessary to analyze the error components that may occur and eliminate them. In addition to the calculation error caused by the navigation algorithm, the error also includes at least: the output error of the low-cost MEMS attitude sensor, the angle error of the IMU installed on the circuit board, and the angle error of the circuit board installed on the navigator housing.

[0037] Usually, the marble platform leveling method is used to eliminate installation errors. That is, the measuring device and the reference device are placed on a marble platform. The marble platform has been adjusted to a horizontal level with a level ruler. At this time, the measured angles BX and BY in the two directions are recorded. In the subsequent algorithm calculation, the original angles are subtracted from BX and BY to complete the error calibration process. However, this method is suitable for measuring in an approximately horizontal direction. In knee replacement surgery, the two machines are installed at the distal end of the patient's knee joint, and the angle reaches 45°, which will cause cross-axis coupling. Therefore, the existing method cannot eliminate the error in the dual-machine navigation of knee replacement. In order to solve this technical problem, Figure 3 As shown, another embodiment of the present invention also provides a navigator data processing method, including: S1: obtaining attitude data collected by a reference device and a measuring device in a navigator at different orientations, wherein the reference device and the measuring device are simultaneously placed in a calibration device as described above, and the attitude data are collected by the reference device and the measuring device when the reference device and the measuring device are simultaneously placed in different orientations based on the calibration device; S2: Calculating the angle deviation between the measuring device and the reference device at each orientation based on the posture data; S3: Determine the target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis and z-axis based on the angular deviations corresponding to different orientations; S4: Obtaining force line data measured by the reference device; S5: performing error compensation and vector transfer on the force line data in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device.

[0038] The step of obtaining the attitude data collected by the reference device and the measuring device in the navigator at different positions includes: S6: Obtaining posture data collected by the reference device and the measuring device in the horizontal orientation, the vertical orientation and the orientation at an angle of 45° to the horizontal plane, wherein the posture data at least includes acceleration variable data of the x-axis, the y-axis and the z-axis.

[0039] That is, three groups of data corresponding to the reference device and three groups of data of the measuring device are obtained. The data collected by the reference device is recorded as M{X, Y, Z}, and the data collected by the measuring device is recorded as S{X, Y, Z}. The subscripts of M{X, Y, Z} and S{X, Y, Z} are different for different groups. For example, in the horizontal orientation, the data collected by the reference device and the measuring device are recorded as M1{X, Y, Z} and S1{X, Y, Z}, in the vertical orientation, the data collected by the reference device and the measuring device are recorded as M2{X, Y, Z} and S2{X, Y, Z}, and in the 45° orientation, the data collected by the reference device and the measuring device are recorded as M3{X, Y, Z} and S3{X, Y, Z}.

[0040] The step of calculating the angle deviation between the measuring device and the reference device at each orientation based on the posture data includes: S7: Calculating the angular deviations of the measuring device and the reference device in each axial direction in the horizontal and vertical directions based on the acceleration variable data of the x-axis, y-axis and z-axis; The angular deviations between the measuring device and the reference device in each axis in the horizontal and vertical directions are calculated based on the following formula: S8: Axial angle deviation = 57.3 arcsin (reference x / y axis data - measuring x / y axis data).

[0041] For example, in the horizontal orientation (the X-axis is placed horizontally), the first set of deviation angles calculated based on M1{X, Y, Z} and S1{X, Y, Z} is: αX=57.3 arcsin (M1X-S1X) αY=57.3 arcsin (M1Y-S1Y) αZ=57.3 arcsin (M1Z-S1Z) In the vertical orientation (with the X-axis facing upward), the second set of deviation angles is calculated based on M2{X, Y, Z} and S2{X, Y, Z}: βX = 57.3 arcsin (M2X-S2X) βY = 57.3 arcsin (M2Y-S2Y) βZ = 57.3 arcsin (M2Z-S2Z) The third set of data M3{X, Y, Z}, S3{X, Y, Z}, i.e., the data corresponding to the 45° angle, is used to verify the above six deviation angles and determine the actual deviation angle, that is, to determine the target deviation value.

[0042] The method of calculating and determining target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis, and z-axis based on the angular deviations corresponding to different orientations includes: S9: selecting and determining candidate angular deviations in each axial direction from the angular deviations between the measuring device and the reference device in each axial direction in the horizontal orientation and the vertical orientation; S10: constructing a first conversion matrix based on the candidate angle deviation, wherein the first conversion matrix is ​​used to convert the data collected by the measuring device in its coordinate system to the coordinate system of the reference device; S11: verifying the candidate angle deviation based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane, and if the verification is successful, determining the candidate angle deviation as the target deviation value.

[0043] The verifying of the candidate angle deviation based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane includes: S12: performing coordinate system transformation on the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane based on the first transformation matrix; S13: calculating the angle deviation between the converted acceleration variable data of the measuring device and the acceleration variable data collected by the reference device at an angle of 45° to the horizontal plane; S14: If the angle deviation is within a preset range, the characterization verification is passed.

[0044] For example, the six deviation angles can be selected according to the spatial analytical geometry and coordinate system selection rules to determine the candidate angle deviation, or they can be combined one by one to form the candidate angle deviation. In this embodiment, the candidate angle deviation is determined based on the coordinate system analysis of the x-axis and y-axis horizontally and the z-axis downwardly: φ X = βX, φ Y = β Z, φ Z=αY Then, based on the candidate angle deviation, a first transformation matrix is ​​constructed to transform the data collected by the measuring device in its coordinate system to the coordinate system of the reference device, and the transformation matrix is ​​used to transform the data collected by the measuring device at a 45° angle. Then, the transformed data is subtracted from the data collected by the reference device at a 45° angle to determine the deviation value Δα of the three coordinate axes. x , Δα y , Δα z , please refer to the following formula for details:

[0045] in, etc. as measuring instruments ( S )、Benchmark( M )The data of each axis collected at 45°. After obtaining the deviation value Δα x , Δα y , Δα z After that, it can be determined whether they are all within the threshold range of (-0.01, 0.01). If so, the candidate angle deviation is characterized as the target deviation value, that is, the target angle deviation used for subsequent calibration.

[0046] After the deviation angle is determined, the navigator can be put into use. Through the cooperation of the measuring device and the reference device, the reference device can obtain the force line data. The force line data and the posture data of the reference device and the measuring device collected during the force line measurement process are uploaded simultaneously, so that the system (such as the system of the calibration machine and other data processing devices) can perform error compensation and vector transfer processing of the force line data.

[0047] Specifically, performing error compensation and vector transfer on the force line data in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device includes: S15: Obtaining the pitch angle and the roll angle collected by the reference device, and calculating the first attitude matrix of the reference device based on the pitch angle and the roll angle collected by the reference device; S16: Obtaining the pitch angle and the roll angle collected by the measuring device, and calculating a second posture matrix of the measuring device based on the pitch angle and the roll angle collected by the measuring device; S17: calculating and determining the z-axis output error compensation of the reference device based on the pitch angle and roll angle collected by the reference device, the pitch angle and roll angle collected by the measuring device, and the target deviation value corresponding to the z-axis; S18: Based on the z-axis output error compensation, the first posture matrix, the second posture matrix, the target deviation values ​​corresponding to the x-axis and the y-axis, and the first conversion matrix, the x-axis and y-axis output errors of the reference device are compensated, and the angle between the projection of the force line data on the x-axis and the x-axis, and the angle between the projection of the force line data on the y-axis and the y-axis are calculated; S19: performing vector transfer on the force line data based on each of the angles.

[0048] Wherein, the vector transfer of the force line data based on each of the angles includes: S20: constructing a second conversion matrix based on each of the angles; S21: Perform vector transfer on the force line data based on the second transformation matrix.

[0049] For example, the reference device pitch angle of reference device a and measuring device b is obtained: , reference device roll angle , Measuring device pitch angle , Measuring device roll angle Then, the first posture matrix of the corresponding reference device is constructed based on the obtained angle data. , the second attitude matrix corresponding to the measuring device :

[0050] Then, based on the angles of the reference device and the measuring device and the previously obtained target deviation value of the corresponding z-axis, the z-axis output error compensation is calculated in combination with the following z-axis error formula:

[0051] Next, the following matrix is ​​constructed based on the z-axis output error compensation , and based on the matrix , the first posture matrix, the second posture matrix, the first conversion matrix and the target deviation values ​​corresponding to the x-axis and the y-axis are used to perform output compensation of the reference device on the x-axis and the y-axis, and obtain the angle between the projection of the force line data on the x-axis after error compensation and the x-axis β , and the angle between the projection of the force line data on the y-axis and the y-axis α :

[0052] After the error-compensated included angle is obtained, a second conversion matrix can be constructed based on it. The second conversion matrix is ​​used to convert the force line data output by the reference device, that is, the force line vector Transferred to the measuring device, that is, the force line vector in the coordinate system of the osteotomy surface :

[0053] In this way, the error correction and vector transfer of the force line data navigated by the reference device are completed.

[0054] According to the force line vector , the anterior and posterior inclination angle between the current osteotomy surface and the force line can be calculated Varus angle , the calculation formula is as follows:

[0055] Furthermore, another embodiment of the present invention also provides a navigation system, comprising: Navigators, including reference devices and survey devices; A processing device is used to execute the navigator data processing method as described in any of the above embodiments according to the data uploaded by the reference device and the surveying device.

[0056] Furthermore, another embodiment of the present invention also provides an electronic device, comprising: one or more processors; a memory configured to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the navigator data processing method as described in any one of the embodiments above.

[0057] Furthermore, an embodiment of the present invention also provides a storage medium on which a computer program is stored, and when the program is executed by a processor, the navigator data processing method described above is implemented. It should be understood that each solution in this embodiment has the corresponding technical effect in the above method embodiment, which will not be repeated here.

[0058] Furthermore, an embodiment of the present invention also provides a computer program product, which is tangibly stored on a computer-readable medium and includes computer-readable instructions, which, when executed, enable at least one processor to perform a navigator data processing method such as that in the embodiment described above.

[0059] It should be noted that the computer storage medium of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, system or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access storage medium (RAM), a read-only storage medium (ROM), an erasable programmable read-only storage medium (EPROM or flash memory), an optical fiber, a portable compact disk read-only storage medium (CD-ROM), an optical storage medium, a magnetic storage medium, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can send, propagate or transmit a program configured to be used by or in conjunction with an instruction execution system, system or device. The program code contained on the computer-readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, antenna, optical cable, RF, etc., or any suitable combination of the above.

[0060] In addition, it should be understood by those skilled in the art that the embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage and optical storage, etc.) containing computer-usable program codes.

[0061] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A system that specifies the functions of a box or multiple boxes.

[0062] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory produce a product including an instruction system, which is implemented in the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0063] The above embodiments are only exemplary embodiments of the present invention and are not intended to limit the present invention. The protection scope of the present invention is defined by the claims. Those skilled in the art may make various modifications or equivalent substitutions to the present invention within the essence and protection scope of the present invention, and such modifications or equivalent substitutions shall also be deemed to fall within the protection scope of the present invention.

Claims

1. A calibration device, characterized in that: include: The upper frame is used to accommodate the navigator, and the navigator includes a reference device and a measuring device; The lower frame is connected to the upper frame and is used to support the upper frame. A plurality of supporting surfaces are formed at the bottom of the lower frame, and the plurality of supporting surfaces have different angles and orientations relative to the upper frame.

2. The calibration device according to claim 1, characterized in that: The upper frame body is a cube with a rectangular cross section.

3. The calibration device according to claim 1, characterized in that: The lower frame is a cube with an isosceles trapezoidal longitudinal section. The larger bottom surface of the lower frame is connected to the upper frame. The angle between the inclined surfaces on both sides of the lower frame and the plane where the upper frame is located is 45°.

4. A navigator data processing method, characterized in that: include: Obtaining attitude data collected by a reference device and a measuring device in a navigator at different orientations, wherein the reference device and the measuring device are simultaneously placed in a calibration device as described in any one of claims 1 to 3, and the attitude data is collected by the reference device and the measuring device when the reference device and the measuring device are simultaneously placed in different orientations based on the calibration device; Calculate the angle deviation between the measuring device and the reference device at each orientation based on the posture data; Determine the target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis and z-axis based on the angular deviations corresponding to different orientations; Obtaining force line data measured by the reference device; The force line data is subjected to error compensation and vector transfer in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device.

5. The navigator data processing method according to claim 4, characterized in that: The step of obtaining the attitude data collected by the reference device and the measuring device in the navigator at different positions includes: The attitude data collected by the reference device and the measuring device in the horizontal orientation, the vertical orientation and the orientation at an angle of 45° to the horizontal plane are obtained, and the attitude data at least includes acceleration variable data of the x-axis, the y-axis and the z-axis.

6. The navigator data processing method according to claim 5, characterized in that: The step of calculating the angle deviation between the measuring device and the reference device at each orientation based on the posture data includes: Calculate the angular deviation between the measuring device and the reference device in each axial direction in the horizontal and vertical directions based on the acceleration variable data of the x-axis, y-axis and z-axis; The angular deviations between the measuring device and the reference device in each axis in the horizontal and vertical directions are calculated based on the following formula: Each axial angle deviation = 57.3 arcsin (reference x / y axis data - measuring x / y axis data).

7. The navigator data processing method according to claim 5, characterized in that: The method of calculating and determining target deviation values ​​between the reference device and the measuring device on the x-axis, y-axis, and z-axis based on the angular deviations corresponding to different orientations includes: Select and determine candidate angular deviations in each axial direction from the angular deviations between the measuring device and the reference device in each axial direction in the horizontal orientation and the vertical orientation; Constructing a first conversion matrix based on the candidate angle deviations, wherein the first conversion matrix is ​​used to convert the data collected by the measuring device in its coordinate system to the coordinate system of the reference device; The candidate angle deviation is verified based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane. If the verification is successful, the candidate angle deviation is determined as the target deviation value.

8. The navigator data processing method according to claim 7, characterized in that: The verifying the candidate angle deviation based on the first conversion matrix and the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane includes: Based on the first transformation matrix, coordinate system transformation is performed on the acceleration variable data collected by the measuring device at an angle of 45° to the horizontal plane; Calculating the angular deviation between the converted acceleration variable data of the measuring device and the acceleration variable data collected by the reference device at an angle of 45° to the horizontal plane; If the angle deviation is within a preset range, the characterization verification is passed.

9. The navigator data processing method according to claim 7, characterized in that: The step of performing error compensation and vector transfer on the force line data in combination with the target deviation value to obtain the force line data under the coordinates of the measuring device includes: Obtaining the pitch angle and the roll angle collected by the reference device, and calculating the first attitude matrix of the reference device based on the pitch angle and the roll angle collected by the reference device; Obtaining the pitch angle and the roll angle collected by the measuring device, and calculating a second posture matrix of the measuring device based on the pitch angle and the roll angle collected by the measuring device; Calculating and determining the z-axis output error compensation of the reference device based on the pitch angle and roll angle collected by the reference device, the pitch angle and roll angle collected by the measuring device, and the target deviation value corresponding to the z-axis; Based on the z-axis output error compensation, the first posture matrix, the second posture matrix, the target deviation values ​​corresponding to the x-axis and the y-axis, and the first conversion matrix, the x-axis and y-axis output errors of the reference device are compensated, and the angle between the projection of the force line data on the x-axis and the x-axis, and the angle between the projection of the force line data on the y-axis and the y-axis are calculated; The force line data is vector-transferred based on each of the angles.

10. The navigator data processing method according to claim 9, characterized in that: The vector transfer of the force line data based on each of the angles includes: Constructing a second transformation matrix based on each of the angles; The force line data is vector-transferred based on the second transformation matrix.

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