Calibration method, device and system and electronic equipment

Abstract

The invention provides a calibration method, device and system and electronic equipment. The calibration method comprises the following steps: determining a first calibration position of a first registration point on each magnetic field emission module in a corresponding magnetic field emission module coordinate system in the magnetic field emitter; acquiring a first measurement position of a first registration point on each magnetic field emission module in a first measurement equipment coordinate system; and according to the first calibration position and the first measurement position, determining a conversion relation between the coordinate systems of the magnetic field emission modules. The position of each magnetic field transmitting module can be calibrated according to the conversion relation between the coordinate systems, and then the pose relation between the magnetic field transmitting modules can be determined.

Description

Technical Field

[0001] This application belongs to the field of electromagnetic navigation, and particularly relates to a calibration method, device, system, and electronic device. Background Art

[0002] The principle of navigation using an Electro-magnetic Tracking System (EMTS) is as follows: A time-varying magnetic field is generated by a field emitter, and after the time-varying magnetic field is detected by a magnetic sensor, the magnetic sensor is positioned according to the detection result of the magnetic sensor. To achieve accurate positioning, multiple magnetic field emission modules are included inside the field emitter of the EMTS, and the multiple magnetic field emission modules jointly generate a time-varying magnetic field for the positioning of the magnetic sensor.

[0003] In a scenario where multiple magnetic field emission modules perform positioning, the positioning accuracy of the magnetic sensor depends on the relative pose relationship between the magnetic field emission modules and the magnetic parameters of the magnetic field emission modules. A small position error will also be amplified in the positioning calculation, resulting in poor positioning accuracy.

[0004] Therefore, it is necessary to calibrate the poses and magnetic parameters of the magnetic field emission modules in the magnetic field emitter. Summary of the Invention

[0005] In view of this, embodiments of this application provide a calibration method, device, system, and electronic device for calibrating the poses and magnetic parameters of the magnetic field emission modules in the magnetic field emitter.

[0006] The first aspect of the embodiments of this application provides a calibration method, including:

[0007] Determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system in the magnetic field emitter;

[0008] Obtain the first measurement position of the first registration points on each magnetic field emission module in the first measurement device coordinate system;

[0009] Determine the conversion relationship between the magnetic field emission module coordinate systems according to the first calibration position and the first measurement position.

[0010] In an embodiment, determining the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system in the magnetic field emitter includes:

[0011] Determine the initial calibration position of the first registration points on each magnetic field emission module in the calibration device coordinate system in the magnetic field emitter, and each initial calibration position is determined according to the same position of each magnetic field emission module on the calibration device;

[0012] Based on the initial calibration position, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, and each of the magnetic field emission module coordinate systems is the same as the calibration device coordinate system.

[0013] In one embodiment, determining the initial calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the calibration device coordinate system includes:

[0014] Obtain the second measurement position of the second registration point on the calibration device in the second measurement device coordinate system and the second calibration position of the second registration point in the calibration device coordinate system;

[0015] Based on the second measurement position and the second calibration position, determine the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system;

[0016] Based on the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system and the initial measurement position of the first registration point in the second measurement device coordinate system, determine the initial calibration position.

[0017] In one embodiment, based on the first calibration position and the first measurement position, determining the conversion relationship between each of the magnetic field emission module coordinate systems includes:

[0018] Based on the first calibration position and the first measurement position corresponding to each magnetic field emission module, determine the conversion relationship between each magnetic field emission module coordinate system and the first measurement device coordinate system;

[0019] Based on the conversion relationship between each magnetic field emission module coordinate system and the first measurement device coordinate system, determine the conversion relationship between each magnetic field emission module coordinate system.

[0020] In one embodiment, determining the first calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the corresponding magnetic field emission module coordinate system includes:

[0021] When it is determined that the off-axis offsets corresponding to each magnetic field emission module in the magnetic field emitter are all less than a preset value, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, where the off-axis offset represents the positional relationship between the actual rotation axis and the theoretical rotation axis of the magnet in the magnetic field emission module.

[0022] In one embodiment, after determining the conversion relationship between each of the magnetic field emission module coordinate systems based on the first calibration position and the first measurement position, the method further includes:

[0023] According to the conversion relationship between the coordinate systems of the magnetic field emission modules, the first registration points on each of the magnetic field emission modules are unified into the same coordinate system.

[0024] In one embodiment, the method further includes:

[0025] Obtain the magnetic calibration data of each of the magnetic field emission modules detected by the magnetic sensor in the calibration device coordinate system. The magnetic calibration data includes the array data corresponding to each of the target angles when the rotation angle of the magnet in the magnetic field emission module is a plurality of target angles, and the array data includes the magnetic field values corresponding to a plurality of target positions around the magnetic field emission module;

[0026] Determine the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system according to the magnetic calibration data. Each of the magnetic calibration data is determined according to the same position of each of the magnetic field emission modules on the calibration device;

[0027] Determine the magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system according to the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system. Each of the magnetic field emission module coordinate systems is the same as the calibration device coordinate system.

[0028] In one embodiment, after determining the magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system according to the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system, the method further includes:

[0029] Unify the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between the coordinate systems of each of the magnetic field emission modules.

[0030] A second aspect of the embodiments of the present application provides a calibration method, including:

[0031] Obtain the initial measurement position of the first registration point on the magnetic field emission module in the second measurement device coordinate system;

[0032] Obtain the second measurement position of the second registration point on the calibration device in the second measurement device coordinate system, and the second calibration position of the second registration point in the calibration device coordinate system;

[0033] Determine the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position;

[0034] Determine the initial calibration position of the first registration point in the calibration device coordinate system according to the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system, and the initial measurement position;

[0035] Determine the first calibration position of the first registration point in the magnetic field emission module coordinate system according to the initial calibration position.

[0036] A third aspect of the embodiments of the present application provides a calibration method, including:

[0037] Obtain magnetic calibration data detected by a magnetic sensor in the calibration device coordinate system, where the magnetic calibration data includes array data corresponding to each target angle when the rotation angle of the magnet in the magnetic field emission module is a plurality of target angles, and the array data includes magnetic field values corresponding to a plurality of target positions around the magnetic field emission module;

[0038] Determine the magnetic parameters of the magnetic field emission module in the calibration device coordinate system according to the magnetic calibration data;

[0039] Determine the magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system according to the magnetic parameters of the magnetic field emission module in the calibration device coordinate system.

[0040] A fourth aspect of the embodiments of the present application provides a calibration method, including:

[0041] Obtain the conversion relationship between the magnetic field emission module coordinate systems corresponding to each magnetic field emission module in the magnetic field emitter, and obtain the magnetic parameters of each magnetic field emission module in the corresponding magnetic field emission module coordinate system;

[0042] Unify the magnetic parameters of each magnetic field emission module into the same coordinate system according to the magnetic parameters of each magnetic field emission module and the conversion relationship between the magnetic field emission module coordinate systems.

[0043] A fifth aspect of the embodiments of the present application provides a calibration device, including:

[0044] A first determination module, configured to determine the first calibration position of the first registration point on each magnetic field emission module in the corresponding magnetic field emission module coordinate system in the magnetic field emitter;

[0045] A first acquisition module, configured to acquire the first measurement position of the first registration point on each magnetic field emission module in the first measurement device coordinate system;

[0046] A second determination module, configured to determine the conversion relationship between the magnetic field emission module coordinate systems according to the first calibration position and the first measurement position.

[0047] The sixth aspect of the embodiment of the present application provides a calibration device, including:

[0048] A second acquisition module, configured to acquire an initial measurement position of a first registration point on a magnetic field emission module in a second measurement device coordinate system;

[0049] A third acquisition module, configured to acquire a second measurement position of a second registration point on the calibration device in the second measurement device coordinate system, and a second calibration position of the second registration point in the calibration device coordinate system;

[0050] A third determination module, configured to determine a conversion relationship between the second measurement device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position;

[0051] A fourth determination module, configured to determine an initial calibration position of the first registration point in the calibration device coordinate system according to the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system, and the initial measurement position;

[0052] A fifth determination module, configured to determine a first calibration position of the first registration point in the magnetic field emission module coordinate system according to the initial calibration position;

[0053] The seventh aspect of the embodiment of the present application provides a calibration device, including:

[0054] A fourth acquisition module, configured to acquire magnetic calibration data detected by a magnetic sensor in a calibration device coordinate system, where the magnetic calibration data includes array data corresponding to each of a plurality of target angles when the rotation angle of a magnet in a magnetic field emission module is the plurality of target angles, and the array data includes magnetic field values corresponding to a plurality of target positions around the magnetic field emission module;

[0055] A sixth determination module, configured to determine magnetic parameters of the magnetic field emission module in the calibration device coordinate system according to the magnetic calibration data;

[0056] A seventh determination module, configured to determine magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system according to the magnetic parameters of the magnetic field emission module in the calibration device coordinate system;

[0057] The eighth aspect of the embodiment of the present application provides a calibration device, including:

[0058] A first calibration module, configured to acquire a conversion relationship between magnetic field emission module coordinate systems corresponding to respective magnetic field emission modules in a magnetic field emitter, and acquire magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate systems;

[0059] A second calibration module, configured to unify the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between the coordinate systems of each of the magnetic field emission modules.

[0060] In a ninth aspect of the embodiments of the present application, an electronic device is provided, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, the methods described in the first aspect, the second aspect, the third aspect, or the fourth aspect above are implemented.

[0061] In a tenth aspect of the embodiments of the present application, a calibration system is provided, including a calibration device, a measurement device, and the electronic device described in the ninth aspect above.

[0062] In an eleventh aspect of the embodiments of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the methods described in the first aspect, the second aspect, the third aspect, or the fourth aspect above are implemented.

[0063] In a twelfth aspect of the embodiments of the present application, a computer program product is provided. When the computer program product runs on an electronic device, the electronic device is enabled to execute the methods described in the first aspect, the second aspect, the third aspect, or the fourth aspect above.

[0064] The beneficial effects of the embodiments of the present application compared with the prior art are as follows: By obtaining the first calibration position of the first registration point on each magnetic field emission module in the coordinate system of its own magnetic field emission module and the first measurement position in the coordinate system of the measurement device in the magnetic field emitter, and determining the conversion relationship between the coordinate systems of each magnetic field emission module according to the first calibration position and the first measurement position, the pose relationship between each magnetic field emission module can be determined according to the conversion relationship between the coordinate systems. Since the position of the first registration point on the magnetic field emission module remains fixed, a more stable conversion relationship can be obtained according to the first calibration position of the first registration point, and thus the accuracy of the obtained pose relationship can be improved.

[0065] By obtaining the second measurement position of the second registration point on the calibration device in the measurement device coordinate system and the second calibration position in the calibration device coordinate system, the conversion relationship between the measurement device coordinate system and the calibration device coordinate system is determined. Then, based on the conversion relationship between the measurement device coordinate system and the calibration device coordinate system, the initial measurement position, and the initial measurement position of the first registration point on the magnetic field emission module, the initial calibration position of the first registration point in the calibration device coordinate system is determined. Finally, based on the initial calibration position, the first calibration position of the first registration point in the magnetic field emission module coordinate system is determined, thereby completing the calibration of the single magnetic field emission module coordinate system. Subsequently, based on the first calibration position of the first registration point, the relative pose relationship between multiple magnetic field emission modules can be determined.

[0066] By obtaining the magnetic calibration data detected by the magnetic sensor in the calibration device coordinate system, the magnetic parameters of the magnetic field emission module in the calibration device coordinate system are determined according to the magnetic calibration data. The magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system are determined based on the magnetic parameters of the magnetic field emission module in the calibration device coordinate system, thereby establishing an association between the magnetic parameters and the magnetic field emission module coordinate system and improving the stability of the obtained magnetic parameters.

[0067] According to the conversion relationship between the coordinate systems of the magnetic field emission modules in the magnetic field emitter and the magnetic parameters of the magnetic field emission module in the corresponding magnetic field emission module coordinate system, the magnetic parameters are unified into the same coordinate system, thereby establishing an association between the magnetic parameters of each magnetic field emission module. Furthermore, it makes the magnetic field emitter easier to be integrated and simplifies the maintenance process of the magnetic field emitter. BRIEF DESCRIPTION OF THE DRAWINGS

[0068] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments or the description of the prior art.

[0069] Figure 1 is a schematic diagram of a calibration system provided by an embodiment of the present application;

[0070] Figure 2 is a schematic diagram of the implementation process of a calibration method provided by an embodiment of the present application;

[0071] Figure 3 is a schematic diagram of the implementation process of a calibration method provided by another embodiment of the present application;

[0072] Figure 4 is a schematic diagram of the position of the first registration point on the magnetic field emission module provided by an embodiment of the present application;

[0073] Figure 5 is a schematic diagram of the implementation process of a calibration method provided by another embodiment of the present application;

[0074] Figure 6 It is a schematic diagram of a magnetic field emitter provided by an embodiment of the present application;

[0075] Figure 7 It is a schematic diagram of a magnet rotation model provided by an embodiment of the present application;

[0076] Figure 8 It is a schematic diagram of the magnetic field signal of a magnetic field emission module provided by an embodiment of the present application;

[0077] Figure 9 It is a schematic diagram of the implementation process of a calibration method provided by another embodiment of the present application;

[0078] Figure 10 It is a schematic diagram of a calibration device provided by an embodiment of the present application;

[0079] Figure 11 It is a schematic diagram of a calibration device provided by another embodiment of the present application;

[0080] Figure 12 It is a schematic diagram of a calibration device provided by another embodiment of the present application;

[0081] Figure 13 It is a schematic diagram of a calibration device provided by another embodiment of the present application;

[0082] Figure 14 It is a schematic diagram of the structure of an electronic device provided by an embodiment of the present application. Detailed implementation manners

[0083] In the following description, specific details such as specific system architectures and technologies are presented for the purpose of illustration rather than limitation, so as to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from interfering with the description of the present application.

[0084] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0085] It should also be understood that the terms used in this specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in this specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0086] It should be further understood that the term "and / or" used in the specification and appended claims of the present application refers to any combination and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0087] In addition, in the description of the present application, the terms "first", "second", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0088] In the scenario of positioning a magnetic sensor by a field emitter including multiple magnetic field emission modules, the poses and magnetic parameters of each magnetic field emission module have a great influence on the positioning accuracy.

[0089] For this reason, the present application provides a calibration method. By the initial measurement position of the first registration point on the magnetic field emission module in the coordinate system of the second measurement device and the conversion relationship between the coordinate system of the second measurement device and the coordinate system of the calibration device, the initial calibration position of the first registration point in the coordinate system of the calibration device is determined. Then, according to the initial calibration position, the first calibration position of the first registration point in the coordinate system of the magnetic field emission module is determined to perform mechanical calibration on a single magnetic field emission module. By obtaining the magnetic calibration data of the magnetic field emission module in the coordinate system of the calibration device, the magnetic parameters of the magnetic field emission module in the coordinate system of the calibration device are determined, and then the magnetic parameters of the magnetic field emission module in the coordinate system of the magnetic field emission module are determined to establish the correlation between the magnetic parameters and the coordinate system of the magnetic field emission module, and complete the calibration of the magnetic parameters of a single magnetic field emission module. In a magnetic field emitter composed of multiple magnetic field emission modules, according to the first calibration position of the first registration point of each magnetic field emission module in the coordinate system of the magnetic field emission module and the first measurement position in the coordinate system of the first measurement device, the conversion relationship between the coordinate systems of each magnetic field emission module is determined, so that the pose relationship between each magnetic field emission module can be determined according to the conversion relationship between the coordinate systems.

[0090] The calibration method provided by the present application will be described in detail below. The calibration method provided by the present application is applied to a calibration system. Exemplarily, such as Figure 1As shown in the figure, a calibration system provided by an embodiment of the present application includes a calibration device 11, a measurement device 12, and an electronic device. The calibration device 11 is a three-dimensional high-precision translation stage. The translation error of the translation stage is ≤0.02 mm, and the perpendicularity error is <0.05°. The calibration device 11 is used to place the magnetic field emission module 13. The calibration device 11 can perform position detection, and then determine the registration points on the calibration device 11 and the positions of the registration points on the magnetic field emission module 13 in the calibration device coordinate system. A magnetic sensor 111 is also provided on the calibration device 11. The magnetic sensor 111 can be arranged at the end of the calibration device 11. The magnetic sensor 111 is used to measure the magnetic field data around the magnetic field emission module 13. The measurement device 12 can perform position detection, and then determine the registration points on the calibration device 11 and the positions of the registration points on the magnetic field emission module 13 in the measurement device coordinate system. Exemplarily, the measurement device 12 includes a measurement arm 121 and a probe 122. By moving the measurement arm 121, the probe 122 can extend to multiple positions. The electronic device is communicatively connected to the calibration device 11 and the measurement device 12. The electronic device can be integrated into the calibration device 11 or the measurement device 12, or can be independently provided. The electronic device can be a computing device such as a desktop computer, a notebook, a handheld computer, and a cloud server.

[0091] The calibration method provided by an embodiment of the present application is executed on an electronic device.

[0092] As Figure 2 shown in the figure, a calibration method provided by an embodiment of the present application includes:

[0093] S201: Obtain magnetic calibration data detected by a magnetic sensor in a calibration device coordinate system. The magnetic calibration data includes array data corresponding to each of a plurality of target angles when the rotation angle of the magnet in the magnetic field emission module is the plurality of target angles. The array data includes magnetic field values corresponding to a plurality of target positions around the magnetic field emission module.

[0094] Specifically, the magnetic sensor can be a fluxgate sensor or a high-precision magnetoresistive sensor. The magnetic sensor can be arranged on the calibration device, so that it can move with the calibration device or move on the calibration device. Set the rotation angle of the magnet in the magnetic field emission module to different target angles. For each target angle θ i , the calibration device drives the magnetic sensor to traverse an array around the magnetic field emission module. The array includes a plurality of target positions. Collect the magnetic field values of each target position to obtain the array data corresponding to the target angle θ i . The array data corresponding to each target angle is the magnetic calibration data, and this magnetic calibration data is also the magnetic calibration data in the calibration device coordinate system.

[0095] Among them, the origin of the calibration device coordinate system can be located at a specified position or set according to actual requirements, and this application does not limit this.

[0096] By detecting the magnetic field value through the same magnetic sensor on the calibration device, the consistency of the obtained magnetic field value can be improved, thereby reducing the error of the obtained magnetic calibration data. And using the same magnetic sensor for detection can reduce the equipment cost.

[0097] S202: Determine the magnetic parameters of the magnetic field emission module in the calibration device coordinate system according to the magnetic calibration data.

[0098] Among them, the magnetic parameters include the screw of the rotation axis of the magnetic field emission module, the initial homogeneous pose of the magnetic moment, and the magnetic moment intensity.

[0099] In one embodiment, by solving the optimal solution of the function , the magnetic parameters can be obtained. Among them, c S represents the screw of the rotation axis of the magnetic field emission module in the calibration device coordinate system, c T 0 represents the initial homogeneous pose of the magnetic moment in the calibration device coordinate system, |m| represents the magnetic moment intensity, |m| is a scalar; θ(n) represents the nth target angle of the magnet in the magnetic field emission module, c P ai represents the ith target position of the magnetic sensor in the calibration device coordinate system, is the exponential expression of the homogeneous transformation matrix, represents the t moment, c P ai represents the modulus of the magnetic field at the position of b B i (n)|| represents the modulus of the measured magnetic field.

[0100] S203: Determine the magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system according to the magnetic parameters of the magnetic field emission module in the calibration device coordinate system.

[0101] In one embodiment, since the magnetic field emission module is placed on the calibration device, the coordinate system {c 1} of the magnetic field emission module can be set to coincide with the coordinate system {c} of the calibration device, that is, the homogeneous transformation matrix from the coordinate system {c 1} of the magnetic field emission module to the coordinate system {c} of the calibration device is the identity matrix, and the magnetic parameters in the magnetic field emission module coordinate system are the same as the magnetic field parameters in the calibration device coordinate system, thereby reducing the calculation amount in the coordinate transformation process.

[0102] In another embodiment, the magnetic field emission module can also be placed at a set position on the calibration device. According to the positional relationship between the set position and the origin of the calibration device coordinate system, the transformation matrix between the magnetic field emission module coordinate system and the calibration device coordinate system is determined, and then the magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system are determined.

[0103] In the above embodiment, by determining the magnetic field parameters of the magnetic field emission module in the magnetic field emission module coordinate system, the correlation between the magnetic field emission module coordinate system and the magnetic parameters can be established. Writing the magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system into the configuration file of the corresponding magnetic field emission module can be used for the positioning of multiple subsequent magnetic field emission modules.

[0104] As Figure 3 shown, a calibration method provided by an embodiment of the present application includes:

[0105] S301: Obtain the initial measurement position of the first registration point on the magnetic field emission module in the second measurement device coordinate system.

[0106] Among them, the first registration point is a position pre-marked on the magnetic field emission module. For example, as Figure 1 shown, P 1 , P 2 , P 3 , P i are all first registration points. The position obtained by the measurement device measuring the first registration point is the initial measurement position in the second measurement device coordinate system.

[0107] Among them, the origin of the second measurement device coordinate system can be located at a specified position or set according to actual needs, and the present application does not limit this.

[0108] In one embodiment, in order to improve the reliability of the data and ensure the subsequent calibration accuracy, multiple first registration points are not in the same plane, or multiple first registration points are not on the same straight line. For example, as Figure 4 shown, the magnetic field emission module 13 includes a mounting base 131, a housing 132, and a power interface 133. The power interface 133 is located inside the housing 132, and the housing 132 is mounted on the mounting base 131. The first registration points 134 are distributed on the mounting base 131 and the housing 132, so that the multiple first registration points 134 are not coplanar.

[0109] S302: Obtain the second measurement position of the second registration point on the calibration device in the second measurement device coordinate system, and the second calibration position of the second registration point in the calibration device coordinate system.

[0110] Among them, the second registration point is a position pre-marked on the calibration device. For example, as Figure 1 shown, Q1 and Q 2 and Q 3 and Q 4 and Q i are all the second registration points. According to the positions of the second registration points on the calibration device, the second calibration positions of the second registration points in the calibration device coordinate system can be obtained. The positions obtained by the measuring device measuring the second registration points are the second measurement positions in the second measuring device coordinate system.

[0111] S303: Determine the conversion relationship between the second measuring device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position.

[0112] Specifically, the conversion relationship can be the conversion matrix between the two coordinate systems. Exemplarily, according to each second measurement position r Q j and the corresponding second calibration position c Q j , the conversion matrix between the second measuring device coordinate system {r} and the calibration device coordinate system {c} can be determined by the point pair registration method (such as the singular value decomposition algorithm). For example, represents the conversion matrix.

[0113] S304: Determine the initial calibration position of the first registration point in the calibration device coordinate system according to the conversion relationship between the second measuring device coordinate system and the calibration device coordinate system, and the initial measurement position.

[0114] Exemplarily, the conversion relationship is the conversion matrix, and the initial measurement position is the position of the first registration point in the second measuring device coordinate system. By performing the conversion through the conversion matrix, the initial calibration position of the first registration point in the calibration device coordinate system can be obtained. For example, according to the formula to determine the initial calibration position, c P i represents the initial calibration position, r P i represents the initial measurement position.

[0115] S305: Determine the first calibration position of the first registration point in the magnetic field emission module coordinate system according to the initial calibration position.

[0116] Since the magnetic field emission module is placed on the calibration device, it can be set that the coordinate system {c 1} of the magnetic field emission module coincides with the coordinate system {c} of the calibration device. Then, the first calibration position of the first registration point in the magnetic field emission module coordinate system is the same as the initial calibration position of the first registration point in the calibration device coordinate system.

[0117] In the above embodiments, by setting a second registration point on the calibration device, according to the second measurement position of the second registration point in the second measurement device coordinate system and the second calibration position of the second registration point in the calibration device coordinate system, the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system is determined. According to the conversion relationship and the initial measurement position of the first registration point on the magnetic field emission module in the second measurement device coordinate system, the initial calibration position of the first registration point in the calibration device coordinate system is determined, and then the first calibration position of the first registration point in the magnetic field emission module coordinate system is determined to calibrate a single magnetic field emission module. The first calibration position in the magnetic field emission module coordinate system is written into the configuration file of the corresponding magnetic field emission module, and the relative pose relationship between multiple magnetic field emission modules can be determined according to the configuration file subsequently.

[0118] As Figure 5 shown, a calibration method provided by an embodiment of the present application includes:

[0119] S501: Determine the first calibration position of the first registration point on each magnetic field emission module in the corresponding magnetic field emission module coordinate system.

[0120] Specifically, the magnetic field emitter includes multiple magnetic field emission modules, and each magnetic field emission module is distributed at different positions. Among them, according to the usage scenario of the magnetic field emitter, each magnetic field emission module can be assembled according to a certain principle to obtain a magnetic field emitter adapted to the scenario. For example, as Figure 6 shown, in different scenarios, each magnetic field emitter 61 can be distributed at different positions on the magnetic field emitter frame 62. Among them, the magnetic field emitter includes at least two magnetic field emission modules and the magnetic rotation axes of the magnetic field emission modules are orthogonal, which can improve the positioning accuracy of the magnetic field emitter.

[0121] The electronic device can obtain the first calibration position by reading the configuration file of each magnetic field emission module.

[0122] In one embodiment, the method for determining the first calibration position is as follows. Obtain the second measurement position of the second registration point on the calibration device in the second measurement device coordinate system and the second calibration position of the second registration point in the calibration device coordinate system. According to the one-to-one correspondence between the second measurement position and the second calibration position, the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system can be determined.

[0123] For each magnetic field emission module, based on the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system, and the initial measurement position of the first registration point in the second measurement device coordinate system, the initial calibration position of the first registration point in the calibration device coordinate system can be determined. After that, based on the initial calibration position, the first calibration position of the first registration point in the corresponding magnetic field emission module coordinate system can be determined. After determining the first calibration positions of all magnetic field emission modules, the first calibration positions are stored in the configuration files of the corresponding magnetic field emission modules.

[0124] In one embodiment, the magnetic field emission module coordinate system is the same as the calibration device coordinate system, that is, the origin positions are the same, that is, the first calibration position and the initial calibration position are the same, so that the computational amount in the coordinate conversion process can be reduced when determining the first calibration position.

[0125] In one embodiment, for each magnetic field emission module, when determining the initial calibration position, the magnetic field emission modules are all placed at the same position on the calibration device. For example, the magnetic field emission modules are all placed at the origin position of the calibration device coordinate system, so that the consistency of the obtained first calibration positions can be improved, and thus the calibration accuracy can be improved.

[0126] It should be noted that the specific implementation process of determining the first calibration position is the same as the specific implementation processes of S301 to S305 above, and will not be elaborated here.

[0127] S502: Obtain the first measurement positions of the first registration points on each of the magnetic field emission modules in the first measurement device coordinate system.

[0128] Specifically, after the magnetic field emission modules of the magnetic field emitter are assembled, a measurement device is used to measure the first registration points of each magnetic field emission module, and thus the first measurement positions in the first measurement device coordinate system can be obtained. Among them, the first test device coordinate system and the second measurement device coordinate system can be the same or different.

[0129] S503: Determine the conversion relationship between the coordinate systems of the magnetic field emission modules according to the first calibration position and the first measurement position.

[0130] Specifically, for each magnetic field emission module, according to the one-to-one correspondence between the first calibration position and the first measurement position of the first registration point, a point pair registration algorithm can be used to obtain the conversion relationship between the magnetic field emission module coordinate system and the first measurement device coordinate system.

[0131] After obtaining the conversion relationships between the coordinate systems of the magnetic field emission modules and the first measurement device coordinate system, according to the conversion relationships between the coordinate systems of the magnetic field emission modules and the first measurement device coordinate system, the conversion relationships between any magnetic field emission module coordinate systems can be determined.

[0132] Among them, the conversion relationship can be a conversion matrix. For example, for the first registration points P 1i and P 2i on two of the magnetic field emission modules, and respectively represent the first calibration positions of the two first registration points in the coordinate systems of the corresponding magnetic field emission modules, f P 1i and f P 2i respectively represent the first measurement positions of the first registration points on the two magnetic field emission modules in the coordinate system of the first measurement device, and respectively represent the conversion matrices between the coordinate systems of the corresponding magnetic field emission modules and the coordinate system of the first measurement device.

[0133] According to the above two conversion matrices and the formula the conversion matrix between the coordinate systems of the two magnetic field emission modules can be obtained

[0134] In the above embodiments, the conversion relationship between the coordinate systems of the magnetic field emission modules is determined by the first calibration positions of the first registration points on each magnetic field emission module in the coordinate systems of the corresponding magnetic field emission modules and the corresponding first measurement positions. According to this conversion relationship, the relative pose relationship of each magnetic field emission module can be determined.

[0135] In one embodiment, after determining the conversion relationship between the coordinate systems of the magnetic field emission modules, according to the conversion relationship between the coordinate systems of the magnetic field emission modules, the first registration points on each magnetic field emission module are unified into the same coordinate system, and then each magnetic field emission module can be unified into the same coordinate system. This coordinate system can be the coordinate system of any one of the magnetic field emission modules, and thus the pose relationship between multiple modules can be determined in the same coordinate system.

[0136] In one embodiment, the calibration method further includes the calibration of magnetic parameters. Specifically, the electronic device obtains the magnetic calibration data of each magnetic field emission module detected by the magnetic sensor in the coordinate system of the calibration device. The magnetic calibration data includes the array data corresponding to each target angle when the rotation angle of the magnet in the magnetic field emission module is multiple target angles, and the array data includes the magnetic field values corresponding to multiple target positions around the magnetic field emission module. Then, according to each magnetic calibration data, the magnetic parameters of each magnetic field emission module in the coordinate system of the calibration device are determined, and then according to the magnetic parameters of each magnetic field emission module in the coordinate system of the calibration device, the magnetic parameters of each magnetic field emission module in the coordinate system of the corresponding magnetic field emission module are determined. After determining the magnetic parameters of each magnetic field emission module, the magnetic parameters can be stored in the configuration file of the corresponding magnetic field emission module.

[0137] In one embodiment, the coordinate system of the magnetic field emission module is the same as that of the calibration device. Then, the magnetic parameters of each magnetic field emission module in the calibration device coordinate system are the same as those in the corresponding magnetic field emission module coordinate system, thereby reducing the computational complexity in the coordinate conversion process.

[0138] In one embodiment, for each magnetic field emission module, when determining the magnetic calibration data, the magnetic field emission module is placed at the same position on the calibration device, that is, each magnetic calibration data is determined according to the same position of each magnetic field emission module on the calibration device, thereby improving the consistency of the obtained magnetic parameters and further improving the calibration accuracy.

[0139] It should be noted that the specific implementation process of determining the magnetic parameters is the same as that of S201 to S203 above, and will not be elaborated here.

[0140] In one embodiment, after determining the magnetic parameters of each magnetic field emission module, according to the conversion relationship between the coordinate systems of each magnetic field emission module, the magnetic parameters of each magnetic field emission module can be unified into the same coordinate system.

[0141] The first calibration position is a mechanical parameter, and the first calibration position is a parameter in the magnetic field emission module coordinate system. For each magnetic field emission module, after determining the magnetic parameters in the magnetic field emission module coordinate system, the mechanical parameter and the magnetic parameter can be unified in the same coordinate system, establishing the connection between the mechanical parameter and the magnetic parameter, thereby simplifying the coordinate conversion operation between multiple magnetic field emission modules, improving the calculation accuracy and calculation speed. For the magnetic field emitter, according to the mechanical parameter to determine the conversion relationship between the coordinate systems of each magnetic field emission module, the correlation relationship between the magnetic parameters of each magnetic field emission module can be determined according to the conversion relationship between the coordinate systems of each magnetic field emission module, thereby simplifying the process of establishing the correlation relationship of the magnetic parameters, facilitating the integrated design of the magnetic field emitter, and simplifying the maintenance cost of the magnetic field emitter.

[0142] In one embodiment, before calibrating each magnetic field emission module, a preliminary detection is performed on each magnetic field emission module. After the preliminary detection passes, the first calibration position of the first registration point on the magnetic field emission module in the corresponding magnetic field emission module coordinate system is determined.

[0143] Specifically, for each magnetic field emission module, the magnetic field signal at a fixed position during the rotation of the magnet of the magnetic field emission module is acquired, and the off-axis offset is determined according to the harmonic component ratio in the magnetic field signal.

[0144] Among them, as Figure 7 shown in (a) of, ideally, the equivalent magnetic moment M of the magnet rotating around the axis is pressed on the rotation axis S and is perpendicular to it for rotation.

[0145] As Figure 7 shown in (b) of [reference], for the magnet of the actual magnetic field emission module, the magnetic moment M is not perpendicular to the rotation axis S, and the magnetic moment M rotates along a conical surface, that is, there is an off-axis offset between the magnetic moment M and the rotation axis S. The off-axis offset will generate harmonic signals in the magnetic field signal, reducing the filtering effect and increasing the difficulty of signal decoupling. For example, in an ideal case, the spectrum of one component of the magnetic field signal obtained by rotating the magnet is as shown in Figure 8 (a) of [reference], and the spectrum of one component of the magnetic field signal with off-axis offset is as shown in Figure 8 (b) of [reference]. The spectrum of the magnetic field signal includes harmonic components.

[0146] After obtaining the magnetic field signal, if the proportion of the harmonic components is greater than or equal to a preset proportion, it is determined that the off-axis offset is large. If the proportion of the harmonic components is less than the preset proportion, it is determined that the off-axis offset is less than the preset value, and then it is determined that the magnetic field emission module passes the preliminary detection. By passing the preliminary detection, unqualified magnetic field emission modules can be screened out to avoid subsequent ineffective calibration.

[0147] In the above embodiments, by calibrating the magnetic parameters and mechanical parameters of each magnetic field emission module, the magnetic field emitter in any combined form can be calibrated according to the calibration results of a single magnetic field emission module, and the magnetic field emitter can be quickly calibrated when replacing the magnetic field emission module in the magnetic field emitter, which is convenient for users to set magnetic field emitters in various combined forms for different scenarios.

[0148] As Figure 9 shown, the calibration method provided by an embodiment of the present application includes:

[0149] S901: Obtain the conversion relationship between the magnetic field emission module coordinate systems corresponding to the magnetic field emission modules in the magnetic field emitter, and obtain the magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system.

[0150] Specifically, the magnetic field emitter includes a plurality of magnetic field emission modules, and the magnetic field emission modules are distributed at different positions. The electronic device can obtain the magnetic parameters of each magnetic field emission module by reading the configuration files of the magnetic field emission modules.

[0151] In an embodiment, the electronic device pre-calibrates the magnetic parameters of each magnetic field emission module to obtain the magnetic parameters of each magnetic field emission module.

[0152] The calibration method of magnetic parameters is as follows. The electronic device obtains the magnetic calibration data of each magnetic field emission module detected by the magnetic sensor in the calibration device coordinate system. The magnetic calibration data includes the array data corresponding to each target angle when the rotation angle of the magnet in the magnetic field emission module is a plurality of target angles. The array data includes the magnetic field values corresponding to a plurality of target positions around the magnetic field emission module. Then, according to each magnetic calibration data, the magnetic parameters of each magnetic field emission module in the calibration device coordinate system are determined. Then, according to the magnetic parameters of each magnetic field emission module in the calibration device coordinate system, the magnetic parameters of each magnetic field emission module in the corresponding magnetic field emission module coordinate system are determined. After determining the magnetic parameters of each magnetic field emission module, the magnetic parameters can be stored in the configuration file of the corresponding magnetic field emission module.

[0153] In one embodiment, the magnetic field emission module coordinate system is the same as the calibration device coordinate system. Then, the magnetic parameters of each magnetic field emission module in the calibration device coordinate system are the same as the magnetic parameters of the corresponding magnetic field emission module coordinate system, so that the computational complexity of the coordinate conversion process can be reduced.

[0154] In one embodiment, for each magnetic field emission module, when determining the magnetic calibration data, the magnetic field emission module is placed at the same position on the calibration device, that is, each magnetic calibration data is determined according to the same position of each magnetic field emission module on the calibration device, so that the consistency of the obtained magnetic parameters can be improved, and then the calibration accuracy can be improved.

[0155] It should be noted that the specific implementation process of determining the magnetic parameters is the same as the specific implementation process of S201 to S203 above, and will not be elaborated here.

[0156] The conversion relationship between the magnetic field emission module coordinate systems corresponding to each magnetic field emission module is determined according to the first calibration position of the first registration point on each magnetic field emission module in the magnetic field emission module coordinate system and the first measurement position of the first registration point in the first measurement device coordinate system.

[0157] It should be noted that the specific implementation process of determining the conversion relationship between the magnetic field emission module coordinate systems is the same as the specific implementation process of S501 to S503 above, and will not be elaborated here.

[0158] S902: According to the magnetic parameters of each magnetic field emission module and the conversion relationship between the magnetic field emission module coordinate systems, unify the magnetic parameters of each magnetic field emission module into the same coordinate system.

[0159] Among them, the magnetic parameters of each magnetic field emission module can be unified into any one of the magnetic field emission module coordinate systems.

[0160] Exemplarily, the first coordinate system is one of the coordinate systems of the magnetic field emission modules. According to the conversion relationships between the coordinate systems of the magnetic field emission modules and the first coordinate system, the magnetic parameters in the coordinate systems of the magnetic field emission modules are converted to obtain the magnetic parameters in the first coordinate system, so that the magnetic parameters of each magnetic field emission module are converted into the magnetic field parameters in the first coordinate system.

[0161] In the above embodiments, the conversion relationships between the coordinate systems of the magnetic field emission modules corresponding to each magnetic field emission module are determined according to the mechanical registration points on each magnetic field emission module. According to the conversion relationships between the coordinate systems of the magnetic field emission modules corresponding to each magnetic field emission module, by unifying the magnetic parameters into the same coordinate system, the magnetic parameters can be associated with the mechanical parameters, and the magnetic parameters of each magnetic field emission module can be associated, thereby making it easier to integrate the magnetic field emitter and simplifying the maintenance process of the magnetic field emitter.

[0162] It should be understood that the magnitudes of the sequence numbers of the steps in the above embodiments do not mean the order of execution. The order of execution of each process should be determined according to its function and internal logic, and should not constitute any limitation to the implementation process of the embodiments of the present application.

[0163] Corresponding to the calibration method described in the above embodiments, Figures 10 - 13 The structural block diagram of the calibration device provided by the embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiment of the present application are shown.

[0164] As Figure 10 shown, the calibration device provided by an embodiment of the present application includes:

[0165] A first determination module 1001, configured to determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system in the magnetic field emitter;

[0166] A first acquisition module 1002, configured to acquire the first measurement position of the first registration points on each magnetic field emission module in the measurement device coordinate system;

[0167] A second determination module 1003, configured to determine the conversion relationship between the coordinate systems of each magnetic field emission module according to the first calibration position and the first measurement position.

[0168] In an embodiment, the first determination module 1001 is specifically configured to:

[0169] Determine the initial calibration positions of the first registration points on each magnetic field emission module in the calibration device coordinate system in the magnetic field emitter, and each of the initial calibration positions is determined according to the same positions of each magnetic field emission module on the calibration device;

[0170] Based on the initial calibration position, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, and each of the magnetic field emission module coordinate systems is the same as the calibration device coordinate system.

[0171] In one embodiment, the first determination module 1001 is specifically configured to:

[0172] Obtain the second measurement position of the second registration point on the calibration device in the measurement device coordinate system, and the second calibration position of the second registration point in the calibration device coordinate system;

[0173] Determine the conversion relationship between the measurement device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position;

[0174] Determine the initial calibration position according to the conversion relationship between the measurement device coordinate system and the calibration device coordinate system and the initial measurement position of the first registration point in the measurement device coordinate system.

[0175] In one embodiment, the second determination module 1003 is specifically configured to:

[0176] Determine the conversion relationship between each magnetic field emission module coordinate system and the measurement device coordinate system according to the corresponding first calibration position and the first measurement position of each magnetic field emission module;

[0177] Determine the conversion relationship between each magnetic field emission module coordinate system according to the conversion relationship between each magnetic field emission module coordinate system and the measurement device coordinate system.

[0178] In one embodiment, the first determination module 1001 is specifically configured to:

[0179] When it is determined that the off-axis offsets corresponding to each magnetic field emission module in the magnetic field emitter are all less than a preset value, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, where the off-axis offset represents the positional relationship between the actual rotation axis and the theoretical rotation axis of the magnet in the magnetic field emission module.

[0180] In one embodiment, the second determination module 1003 is further configured to:

[0181] Unify the first registration points on each magnetic field emission module to the same coordinate system according to the conversion relationship between each magnetic field emission module coordinate system.

[0182] In one embodiment, the second determination module 1003 is further configured to:

[0183] Obtain the magnetic calibration data of each of the magnetic field emission modules detected by the magnetic sensor in the calibration device coordinate system. The magnetic calibration data includes the array data corresponding to each of the target angles when the rotation angle of the magnet in the magnetic field emission module is a plurality of target angles. The array data includes the magnetic field values corresponding to a plurality of target positions around the magnetic field emission module.

[0184] Determine the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system according to each of the magnetic calibration data. Each of the magnetic calibration data is determined according to the same position of each of the magnetic field emission modules on the calibration device.

[0185] Determine the magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system according to the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system. Each of the magnetic field emission module coordinate systems is the same as the calibration device coordinate system.

[0186] In one embodiment, the second determination module 1003 is further configured to:

[0187] Unify the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between each of the magnetic field emission module coordinate systems.

[0188] As Figure 11 shown, the calibration device provided in another embodiment of the present application includes:

[0189] A second acquisition module 1101, configured to acquire the initial measurement position of the first registration point on the magnetic field emission module in the measurement device coordinate system.

[0190] A third acquisition module 1102, configured to acquire the second measurement position of the second registration point on the calibration device in the measurement device coordinate system, and the second calibration position of the second registration point in the calibration device coordinate system.

[0191] A third determination module 1103, configured to determine the conversion relationship between the measurement device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position.

[0192] A fourth determination module 1104, configured to determine the initial calibration position of the first registration point in the calibration device coordinate system according to the conversion relationship between the measurement device coordinate system and the calibration device coordinate system, and the initial measurement position.

[0193] A fifth determination module 1105, configured to determine the first calibration position of the first registration point in the magnetic field emission module coordinate system according to the initial calibration position.

[0194] AsFigure 12 As shown in the figure, the calibration device provided by another embodiment of the present application includes:

[0195] A fourth acquisition module 1201, configured to acquire magnetic calibration data detected by a magnetic sensor in a calibration device coordinate system, where the magnetic calibration data includes array data corresponding to each of a plurality of target angles when the rotation angle of a magnet in a magnetic field emission module is the plurality of target angles, and the array data includes magnetic field values corresponding to a plurality of target positions around the magnetic field emission module;

[0196] A sixth determination module 1202, configured to determine magnetic parameters of the magnetic field emission module in the calibration device coordinate system according to the magnetic calibration data;

[0197] A seventh determination module 1203, configured to determine magnetic parameters of the magnetic field emission module in the magnetic field emission module coordinate system according to the magnetic parameters of the magnetic field emission module in the calibration device coordinate system.

[0198] As Figure 13 shown in the figure, the calibration device provided by another embodiment of the present application includes:

[0199] A first calibration module 1301, configured to acquire a conversion relationship between magnetic field emission module coordinate systems corresponding to each magnetic field emission module in a magnetic field emitter, and acquire magnetic parameters of each magnetic field emission module in the corresponding magnetic field emission module coordinate system;

[0200] A second calibration module 1302, configured to unify the magnetic parameters of each magnetic field emission module into the same coordinate system according to the magnetic parameters of each magnetic field emission module and the conversion relationship between the magnetic field emission module coordinate systems.

[0201] It should be noted that for the information interaction, execution process, etc. between the above-mentioned device / units, since they are based on the same concept as the method embodiment of the present application, their specific functions and the technical effects brought thereby can be specifically referred to in the method embodiment part, and will not be elaborated here.

[0202] Figure 14 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0203] As Figure 14 shown in the figure, the electronic device of this embodiment includes: a processor 1401, a memory 1402, and a computer program 1403 stored in the memory 1402 and executable on the processor 1401. When the processor 1401 executes the computer program 1403, it implements the steps in the above-mentioned calibration method embodiment, such as Figure 2 the steps S201 to S203 shown in the figure, Figure 3 the steps S301 to S305 shown in the figure,Figure 5 as shown in S501 to S503, Figure 9 as shown in S901 to S902. Alternatively, when the processor 1401 executes the computer program 1403, it realizes the functions of each module / unit in the above device embodiments. For example, Figure 10 as shown in the first determination module 1001 to the second determination module 1003, Figure 11 as shown in the second acquisition module 1101 to the fifth determination module 1105, Figure 12 as shown in the fourth acquisition module 1201 to the seventh determination module 1203, or Figure 13 the functions of the first calibration module 1301 to the second calibration module 1302 as shown.

[0204] Exemplarily, the computer program 1403 can be divided into one or more modules / units. The one or more modules / units are stored in the memory 1402 and executed by the processor 1401 to complete this application. The one or more modules / units can be a series of computer program instruction segments capable of performing specific functions, and these instruction segments are used to describe the execution process of the computer program 1403 in the electronic device.

[0205] Those skilled in the art can understand that Figure 14 merely examples of the electronic device, which do not constitute a limitation to the electronic device. It may include more or fewer components than shown in the figure, or combine some components, or different components. For example, the electronic device may further include input / output devices, network access devices, buses, etc.

[0206] The processor 1401 may be a central processing unit (CPU), or may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0207] The memory 1402 may be an internal storage unit of the electronic device, such as a hard disk or memory of the electronic device. The memory 1402 may also be an external storage device of the electronic device, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device. Further, the memory 1402 may also include both an internal storage unit and an external storage device of the electronic device. The memory 1402 is used to store the computer program and other programs and data required by the electronic device. The memory 1402 may also be used to temporarily store data that has been output or is to be output.

[0208] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device is divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated here.

[0209] In the above embodiments, the descriptions of the various embodiments have their own emphases. For parts not detailed or recorded in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0210] In the embodiments provided in this application, it should be understood that the disclosed device / electronic device and method can be implemented in other ways. For example, the device / electronic device embodiments described above are only illustrative. For example, the division of the module or unit is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed coupling or direct coupling or communication connection to each other can be through some interfaces. The indirect coupling or communication connection of the device or unit can be in electrical, mechanical or other forms.

[0211] The unit described as a separation component may or may not be physically separated. The component displayed as a unit may or may not be a physical unit, that is, it may be located in one place, or may be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0212] In addition, each functional unit in various embodiments of the present application may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of software functional units.

[0213] If the integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above embodiment methods of the present application, it can also be completed by a computer program instructing relevant hardware. The computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above various method embodiments can be implemented. Among them, the computer program includes computer program code, and the computer program code can be in the form of source code, object code, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electrical carrier signal, telecommunication signal, and software distribution medium, etc.

[0214] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed herein can be implemented by electronic hardware, or by a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present application.

[0215] The above-described embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A calibration method, characterized in that, it includes: Determine the first calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the corresponding magnetic field emission module coordinate system; Obtain the first measurement position of the first registration points on each of the magnetic field emission modules in the first measurement device coordinate system; Determine the conversion relationship between the coordinate systems of the magnetic field emission modules according to the first calibration position and the first measurement position.

2. The method according to claim 1, characterized in that, Determining the first calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the corresponding magnetic field emission module coordinate system includes: Determine the initial calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the calibration device coordinate system, and each of the initial calibration positions is determined according to the same position of each magnetic field emission module on the calibration device; According to the initial calibration position, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, and each of the magnetic field emission module coordinate systems is the same as the calibration device coordinate system.

3. The method according to claim 2, characterized in that, Determining the initial calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the calibration device coordinate system includes: Obtain the second measurement position of the second registration point on the calibration device in the second measurement device coordinate system, and the second calibration position of the second registration point in the calibration device coordinate system; Determine the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system according to the second measurement position and the second calibration position; Determine the initial calibration position according to the conversion relationship between the second measurement device coordinate system and the calibration device coordinate system and the initial measurement position of the first registration point in the second measurement device coordinate system.

4. The method according to claim 1, characterized in that, Determining the conversion relationship between the coordinate systems of the magnetic field emission modules according to the first calibration position and the first measurement position includes: Determine the conversion relationship between each magnetic field emission module coordinate system and the first measurement device coordinate system according to the first calibration position and the first measurement position corresponding to each magnetic field emission module; Determine the conversion relationship between the coordinate systems of the magnetic field emission modules according to the conversion relationship between each magnetic field emission module coordinate system and the first measurement device coordinate system.

5. The method according to claim 1, characterized in that, Determining the first calibration position of the first registration points on each magnetic field emission module in the magnetic field emitter in the corresponding magnetic field emission module coordinate system includes: When it is determined that the off-axis offset corresponding to each magnetic field emission module in the magnetic field emitter is less than a preset value, determine the first calibration position of the first registration points on each magnetic field emission module in the corresponding magnetic field emission module coordinate system, where the off-axis offset represents the positional relationship between the actual rotation axis and the theoretical rotation axis of the magnet in the magnetic field emission module.

6. The method according to claim 1, wherein, after determining the conversion relationship between the coordinate systems of the magnetic field emission modules according to the first calibration position and the first measurement position, the method further includes: unifying the first registration points on each of the magnetic field emission modules into the same coordinate system according to the conversion relationship between the coordinate systems of the magnetic field emission modules.

7. The method according to claim 1, wherein, the method further includes: acquiring magnetic calibration data of each of the magnetic field emission modules detected by a magnetic sensor in a calibration device coordinate system, the magnetic calibration data including array data corresponding to each of a plurality of target angles when the rotation angle of the magnet in the magnetic field emission module is the plurality of target angles, and the array data including magnetic field values corresponding to a plurality of target positions around the magnetic field emission module; determining magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system according to the magnetic calibration data, and the magnetic calibration data being determined according to the same positions of the magnetic field emission modules on the calibration device; determining magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system according to the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system, and each of the magnetic field emission module coordinate systems being the same as the calibration device coordinate system.

8. The method according to claim 7, wherein, after determining magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system according to the magnetic parameters of each of the magnetic field emission modules in the calibration device coordinate system, the method further includes: unifying the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between the coordinate systems of the magnetic field emission modules.

9. A calibration method, wherein, it includes: acquiring the conversion relationship between the coordinate systems of the magnetic field emission modules corresponding to the magnetic field emitters, and acquiring magnetic parameters of each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system; unifying the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between the coordinate systems of the magnetic field emission modules.

10. A calibration device, wherein, it includes: a first determination module, configured to determine a first calibration position of a first registration point on each of the magnetic field emission modules in the corresponding magnetic field emission module coordinate system; a first acquisition module, configured to acquire a first measurement position of the first registration point on each of the magnetic field emission modules in a first measurement device coordinate system; a second determination module, configured to determine the conversion relationship between the coordinate systems of the magnetic field emission modules according to the first calibration position and the first measurement position.

11. A calibration device, wherein, it includes: The first calibration module is configured to obtain the conversion relationship between the coordinate systems of the magnetic field emission modules corresponding to the respective magnetic field emission modules in the magnetic field emitter, and to obtain the magnetic parameters of each of the magnetic field emission modules in the corresponding coordinate system of the magnetic field emission module; The second calibration module is configured to unify the magnetic parameters of each of the magnetic field emission modules into the same coordinate system according to the magnetic parameters of each of the magnetic field emission modules and the conversion relationship between the coordinate systems of the magnetic field emission modules.

12. An electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein, when the processor executes the computer program, the method according to any one of claims 1 to 9 is implemented.

13. A calibration system, wherein, it includes a calibration device, a measurement device, and the electronic device according to claim 12.

Images