Optical-magnetic cascade combined navigation system and coordinate unification method

Abstract

The application discloses a kind of optical magnetic cascade combination navigation system and coordinate uniform method, comprising: optical positioning system is as global coordinate system;According to the Y-shaped optical mark on optical target to be measured, the pose of optical target to be measured is obtained;Local coordinate system is established based on X-shaped optical mark on magnetic field generator;Establish and calibrate the coordinate transformation matrix between local coordinate system and electromagnetic positioning coordinate system, marked as to be calibrated matrix;X-shaped optical mark is measured using optical positioning system, and the transformation matrix of global coordinate system and local coordinate system is established;Based on electromagnetic positioning system, the pose of electromagnetic target to be measured in magnetic field space is measured;Combined with to be calibrated matrix, the pose of electromagnetic target to be measured under global coordinate system is obtained.The method can cascade optical positioning workspace and electromagnetic positioning workspace, and the electromagnetic positioning workspace can be flexibly adjusted during work, to realize the mutual complement of optical positioning and magnetic field positioning of target to be measured in workspace.

Description

Technical Field

[0001] This invention relates to the field of optical-magnetic hybrid navigation technology, and more specifically to an optical-magnetic cascaded integrated navigation system and a coordinate unification method. Background Technology

[0002] Optical-magnetic hybrid navigation technology has the ability to measure target pose and perform surgical navigation without contact. It is often used in specific surgeries and robotic-assisted surgeries to measure and track the pose of the patient's affected area and surgical instruments. However, existing optical-magnetic hybrid navigation technologies have drawbacks such as limited workspace, interference from surgical instruments with electromagnetic positioning, and the ease with which the tracked surgical instruments can be obstructed.

[0003] To avoid interfering with surgical procedures, the position of the tracking device needs to be adjusted according to the surgical site to achieve a more accurate positioning effect. To unify the optical-magnetic coordinate system with the computer CT or MR coordinate system, it is necessary to use a probe to take points around the affected area and use a computer to run surface registration to obtain a transformation matrix, so as to achieve coordinate system transformation and unification.

[0004] To unify the optical navigation coordinate system, electromagnetic navigation coordinate system, and patient CT or MR coordinates, the following methods are currently mainly used:

[0005] (1) For example, in the invention patent application with publication number CN110101452A entitled "An Optical-Magnetic Integrated Positioning and Navigation Method for Surgical Operation", the optical-magnetic integrated marker is fixed to the patient, and the optical-magnetic integrated probe is used to extract physiological feature points around the patient's affected area and perform point cloud registration to achieve the unification of the three coordinate systems in the optical-magnetic hybrid navigation system. However, it is necessary to install optical markers and electromagnetic sensors on the probe and all surgical tools at the same time. In surgical operations, the metal surgical tools have a greater impact on the accuracy of electromagnetic positioning.

[0006] (2) For example, in the invention patent application with publication number CN110584781A entitled "An Optical-Magnetic Integrated Percutaneous Endoscopic Lumbar Discectomy Navigation Platform", optical markers and electromagnetic probes are used to register the optical coordinate system with the patient's CT or MR coordinates and the electromagnetic coordinate system with the patient's CT or MR coordinates, respectively, to obtain optical transformation matrix and electromagnetic transformation matrix. The optical spatial coordinates are converted into optical virtual reference coordinates and the electromagnetic spatial coordinates are converted into electromagnetic virtual reference coordinates, respectively, to achieve hybrid navigation. However, this system is limited by the fact that the optical and electromagnetic positioning systems must remain fixed during operation. Otherwise, the system will fail if the relative pose changes. The surgical space is limited to the small working range of electromagnetic positioning.

[0007] (3) For example, in the invention patent application with publication number CN118285916 A entitled "An Optical-Magnetic Integrated Surgical Navigation System and Composite Positioning Marker", the coordinate system of the optical navigation module and the electromagnetic navigation module is unified by pre-calibrating the coordinate system transformation matrix of the optical navigation module and the electromagnetic navigation module. However, it does not actually explain the calibration method and process, and the implementation method is not rigorous.

[0008] Therefore, how to cascade optical positioning workspaces and electromagnetic positioning workspaces, and expand the electromagnetic positioning workspace, while simultaneously achieving decoupled measurement of optical positioning and magnetic field positioning, is a problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0009] In view of the above problems, the present invention provides an optical-magnetic cascaded integrated navigation system and a coordinate unification method for cascading optical positioning workspace and electromagnetic positioning workspace, and expanding the electromagnetic positioning workspace, while realizing decoupled measurement of optical positioning and magnetic field positioning, so as to at least solve some of the technical problems mentioned in the background art.

[0010] To achieve the above objectives, the present invention adopts the following technical solution:

[0011] This invention provides an optical-magnetic cascaded integrated navigation system and a coordinate unification method, comprising the following steps:

[0012] The optical positioning system is fixed, and the optical positioning coordinate system corresponding to the optical positioning system is used as the global reference coordinate system; the pose of the optical target under the global reference coordinate system is measured according to the Y-shaped optical mark on the optical target under test.

[0013] An X-shaped optical marker is fixed to the magnetic field generator, and a local coordinate system is established based on the X-shaped optical marker.

[0014] There is a pose relationship between the local coordinate system and the electromagnetic positioning coordinate system corresponding to the magnetic field generator. The calibration matrix of the pose relationship is established.

[0015] The magnetic field generator is fixed, and the working position and viewing angle of the electromagnetic positioning system based on the magnetic field generator are adjusted by force traction so that the X-shaped optical mark is visible within the effective working space of the optical positioning system, and at the same time the electromagnetic target to be measured is visible within the effective working space of the electromagnetic positioning system.

[0016] An optical positioning system is used to measure an X-shaped optical mark, and a transformation matrix between the global reference coordinate system and the local coordinate system is established. The pose of the electromagnetic target under test in the effective working space of the electromagnetic positioning system is measured based on the electromagnetic positioning coordinate system. Combined with the calibration matrix, the pose of the electromagnetic target under test is transformed from the electromagnetic positioning coordinate system to the global reference coordinate system, and the pose of the electromagnetic target under test in the global reference coordinate system is obtained.

[0017] Furthermore, fixing the optical positioning system specifically includes:

[0018] The optical positioning system is fixedly connected to the bracket, and the working position and viewing angle of the optical positioning system are determined and fixed, and kept unchanged throughout the working process.

[0019] Furthermore, the origin of the local coordinate system is the center of the X-shaped optical mark; the XOY plane of the local coordinate system is the plane of the X-shaped optical mark.

[0020] Furthermore, the calibration matrix for establishing the pose relationship specifically includes:

[0021] Step 1: Place the magnetic field generator at position i within the effective working space of the optical positioning system, where i = 1, ..., M, and M represents the total number of positions within the effective working space of the optical positioning system; place the marker plate within the optimal working space of the electromagnetic positioning system.

[0022] Step 2: Use optical probes and electromagnetic probes to obtain the coordinates of N marker points on the marker board in the optical positioning system space and the electromagnetic positioning system space when the magnetic field generator is at position i in the effective working space of the optical positioning system; and obtain the pose matrix of the X-shaped optical marker in the optical positioning system.

[0023] Step 3: Repeat steps 1 to 2 until all magnetic field coordinate data and optical coordinate data of N marker points are obtained when the magnetic field generator is at M positions within the effective working space of the optical positioning system;

[0024] Step 4: Based on the magnetic field coordinate data and optical coordinate data of N marker points corresponding to the magnetic field generators at M locations, and combined with the pose matrix of the X-shaped optical marker in the optical positioning system, establish a system of linear equations to obtain the matrix to be calibrated; expressed as:

[0025]

[0026] in, This represents the pose matrix of the X-shaped optical marker in the optical positioning system when the magnetic field generator is at position i within the effective working space of the optical positioning system. This represents the homogeneous coordinate data matrix of N marker points in the optical coordinate system when the magnetic field generator is at position i within the effective working space of the optical positioning system. T represents the homogeneous coordinate data matrix of N marker points in the magnetic field coordinate system when the magnetic field generator is at position i within the effective working space of the optical positioning system; {EM}→{LM} This represents the matrix to be calibrated.

[0027] Furthermore, the transformation of the electromagnetic target's pose from the electromagnetic positioning coordinate system to the global reference coordinate system is expressed as:

[0028]

[0029] in, T represents the homogeneous coordinates of the electromagnetic target under test in the global reference coordinate system, i.e., the pose of the electromagnetic target under test in the global reference coordinate system; {LM}→{W} T represents the transformation matrix between the global reference coordinate system and the local coordinate system. {EM}→{LM} Represents the matrix to be calibrated; This represents the homogeneous coordinates of the electromagnetic target under test in the electromagnetic coordinate system.

[0030] As can be seen from the above technical solution, compared with the prior art, the present invention discloses an optical-magnetic cascaded integrated navigation system and coordinate unification method, which has the following beneficial effects:

[0031] This invention uses the optical positioning system in a hybrid optical-magnetic navigation system as a fixed global coordinate system, while the electromagnetic navigation system can move arbitrarily and finely adjust its working area as needed during operation. This adapts to the precise navigation requirements of different parts of the patient during surgery, effectively expanding the working area of ​​electromagnetic positioning during surgery and improving the overall flexibility of the system. Since the working range of the optical positioning system is larger than that of the electromagnetic positioning system, for parts outside the electromagnetic positioning working area within the larger working range of the global optical coordinate system, the working area of ​​the electromagnetic positioning system can be changed by moving the magnetic field generator, and the pose of the electromagnetic positioning coordinate system in the global reference coordinate system of the optical positioning system can be updated in real time. This determines the pose of the target to be detected, overcoming the limitations of the electromagnetic positioning system's immobility and the inability of the tracked target to be magnetically guided in traditional hybrid optical-magnetic navigation. This facilitates the wider application of hybrid optical-magnetic navigation in surgical procedures.

[0032] The technical solution of the present invention will be further described in detail below with reference to the accompanying drawings and embodiments. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0034] Figure 1 This is a schematic diagram of the optical-magnetic cascaded integrated navigation system and coordinate unification method provided in an embodiment of the present invention.

[0035] Figure 2This is a schematic diagram of the coordinate systems of the optical positioning system and the electromagnetic positioning system provided in the embodiments of the present invention.

[0036] Figure 3 This is a schematic diagram of a calibration plate provided in an embodiment of the present invention.

[0037] In the diagram: 1-Optical positioning system; 2-Electromagnetic positioning system; 3-X-shaped optical marker; 4-Global optical positioning system support; 5-Self-locking traction robotic arm; 6-Overweight movable base. Detailed Implementation

[0038] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0039] This invention discloses an optical-magnetic cascaded integrated navigation system and a coordinate unification method. (See also...) Figure 1 As shown, it includes the following steps:

[0040] S1. Fix the optical positioning system and use the optical positioning coordinate system corresponding to the optical positioning system as the global reference coordinate system; measure the pose of the optical target under the global reference coordinate system according to the Y-shaped optical mark on the optical target to be measured.

[0041] S2. Fix the X-shaped optical mark to the magnetic field generator and establish a local coordinate system based on the X-shaped optical mark;

[0042] S3. The local coordinate system and the electromagnetic positioning coordinate system corresponding to the magnetic field generator have a pose relationship. Establish the calibration matrix of the pose relationship.

[0043] S4. Fix the magnetic field generator, and adjust the working position and viewing angle of the electromagnetic positioning system based on the magnetic field generator by force traction, so that the X-shaped optical mark is visible in the effective working space of the optical positioning system, and at the same time, the electromagnetic target to be measured is visible in the effective working space of the electromagnetic positioning system.

[0044] S5. Use an optical positioning system to measure the X-shaped optical mark and establish the transformation matrix between the global reference coordinate system and the local coordinate system; measure the pose of the electromagnetic target under test in the effective working space of the electromagnetic positioning system based on the electromagnetic positioning coordinate system; combine the calibration matrix to realize the transformation of the pose of the electromagnetic target under test from the electromagnetic positioning coordinate system to the global reference coordinate system, and obtain the pose of the electromagnetic target under test in the global reference coordinate system.

[0045] The labels S1-S5 above are for ease of explanation only and do not specify the order of operations between the steps. Next, each of the above steps will be explained separately.

[0046] Step S1 above specifically includes:

[0047] (1) Fix the optical positioning system 1:

[0048] The optical positioning system 1 is fixedly connected to the bracket. After determining the working position and viewing angle of the optical positioning system 1, it is fixed in place and remains unchanged throughout the working process. See details below. Figure 2 As shown, the optical positioning system 1 will be an NDIPolaris infrared binocular pose sensing system. Depending on the surgical needs, the optical positioning system 1 will be fixed to the global optical positioning system bracket 4 on the side of the operating table. A suitable working position and viewing angle will be selected, and the bracket will be locked. The bracket can use a three-joint hydraulic locking and adjusting robotic arm. The type of bracket is not limited here, but it is necessary to ensure that the optical positioning system 1 remains stable.

[0049] (2) The optical positioning coordinate system corresponding to optical positioning system 1 is used as the global reference coordinate system {W}:

[0050] The coordinate system O0-X0Y0Z0 of the left eye camera in optical positioning system 1 is taken as the global reference coordinate system in the physical world and denoted as {W}.

[0051] (3) Based on the optical target X OPT Y-shaped optical mark on The optical target X in the global reference coordinate system is measured. OPT The pose is denoted as the pose of the optical target.

[0052] In step S2 above, the X-shaped optical marker 3 is fixed to the magnetic field generator, and a local coordinate system is established based on the X-shaped optical marker 3; the X-shaped optical marker 3 is denoted as Marker. EM In this embodiment of the invention, the X-shaped optical marker is composed of passive reflective marker spheres.

[0053] A schematic diagram of the local coordinate system is shown below. Figure 2 As shown, the X-shaped optical marker is... EM Using the center of the coordinate system as the origin of the local coordinate system, the X-shaped optical marker is... EM The plane is used as the XOY plane of the local coordinate system, thus establishing the local coordinate system O. LM -X LM Y LM Z LM For ease of explanation, the local coordinate system will be denoted as {LM}.

[0054] Among them, the X-shaped optical marker EM The model is composed of multiple non-collinear passive reflective spheres in a planar shape, possessing uniqueness, namely, the X-shaped optical marker fixed to the magnetic field generator. EM Unlike the reflective markings on probes and surgical instruments, these markings are used to distinguish them during optical positioning.

[0055] In step S3 above, the local coordinate system {LM} and the electromagnetic positioning coordinate system {EM} corresponding to the magnetic field generator have a pose relationship, and the calibration matrix of this pose relationship is established; specifically including:

[0056] Step 1: Place the magnetic field generator at position i within the effective working space of the optical positioning system, where i = 1, ..., M, and M represents the total number of positions within the effective working space of the optical positioning system; place the marker plate within the optimal working space of the electromagnetic positioning system 2; a schematic diagram of the marker plate is shown below. Figure 3 As shown, the marking plate has N marking points, denoted as P1,...,P, corresponding to the positions of the optical probe and the electromagnetic probe. N , where P n This represents the nth (n = 1, ..., N) marker point; in this embodiment of the invention, the NDI Aurora electromagnetic positioning system is selected.

[0057] Step 2: Using optical and electromagnetic probes respectively, obtain the coordinates of N marker points on the marker board within the optical positioning system space and within the electromagnetic positioning system space when the magnetic field generator is at position i within the effective working space of the optical positioning system; and obtain the X-shaped optical marker. EM The pose matrix under optical positioning system 1;

[0058] When the aforementioned magnetic field generator is at position i within the effective working space of the optical positioning system, the magnetic field coordinate data corresponding to the N marker points are... Represented as: in, This represents the magnetic field coordinate data of the nth (n=1,…,N) marker point corresponding to the magnetic field generator at position i within the effective working space of the optical positioning system.

[0059] When the aforementioned magnetic field generator is at position i within the effective working space of the optical positioning system, the optical coordinate data corresponding to the N marker points are... Represented as: in, The optical coordinate data of the nth (n=1,…,N) marker point corresponding to the magnetic field generator at position i within the effective working space of the optical positioning system.

[0060] The above-mentioned X-shaped optical marker EM The pose matrix under optical positioning system 1 is denoted as...

[0061] Step 3: Repeat steps S3.1-S3.2 until all magnetic field coordinate data and optical coordinate data of N marker points are obtained when the magnetic field generator is at M positions within the effective working space of the optical positioning system;

[0062] Step 4: Based on the magnetic field coordinate data and optical coordinate data of the N marker points corresponding to the magnetic field generators at M locations, and combined with the pose matrix of the X-shaped optical marker under optical positioning system 1, substitute the following formula to construct a system of linear equations, and solve for the calibration matrix T using quaternions or SVD. {EM}→{LM} ;

[0063]

[0064] in, This represents the pose matrix of the X-shaped optical marker in the optical positioning system when the magnetic field generator is at position i within the effective working space of the optical positioning system. This represents the homogeneous coordinate data matrix of N marker points in the optical coordinate system when the magnetic field generator is at position i within the effective working space of the optical positioning system. T represents the homogeneous coordinate data matrix of N marker points in the magnetic field coordinate system when the magnetic field generator is at position i within the effective working space of the optical positioning system; {EM}→{LM} This represents the matrix to be calibrated.

[0065] Step S4 above specifically includes:

[0066] (1) Fix the magnetic field generator:

[0067] The magnetic field generator is fixedly connected to the movable base 6 via a bracket, which facilitates movement and adjustment of the working range. The type of bracket can be set according to actual needs, such as choosing a self-locking traction robotic arm 5. The weight of the movable base must reach a preset value to ensure the stability of the bracket.

[0068] (2) Adjust the working position and viewing angle of the electromagnetic positioning system 2 based on the magnetic field generator by force traction, so that the X-shaped optical marker Marker EM Visible within the effective working space of the optical positioning system 1, while simultaneously making the electromagnetic target X visible within the effective working space of the electromagnetic positioning system.

[0069] Step S5 above specifically includes:

[0070] (1) Measure the X-shaped optical marker using optical positioning system 1 EMThe position and orientation of the target object are obtained by determining its position in the global reference coordinate system {W}, and the transformation matrix between the global reference coordinate system {W} and the local coordinate system {LM} is obtained, denoted as T. {LM}→{W} .

[0071] (2) The position of the electromagnetic target X within the effective working space of the electromagnetic positioning system is measured based on the electromagnetic positioning coordinate system {EM}, and denoted as X. {EM} ;

[0072] (3) Based on the transformation matrix T {LM}→{W} The position X of the electromagnetic target X within the effective working space of the electromagnetic positioning system. {EM} Based on the above-obtained calibration matrix T {EM}→{LM} This enables the transformation of the electromagnetic target's pose from the electromagnetic positioning coordinate system to the global reference coordinate system; specifically, it is expressed as:

[0073]

[0074] in, This represents the homogeneous coordinates of the electromagnetic target X in the global reference coordinate system {W}, i.e., the pose of the electromagnetic target X in the global reference coordinate system. This represents the homogeneous coordinates of the electromagnetic target X in the electromagnetic coordinate system {EM}; It is X = [xyz] T The homogeneous coordinates of the electromagnetic target X are: (x, y, z) represents the coordinates of the electromagnetic target X in the electromagnetic three-dimensional coordinate system.

[0075] In summary, this invention provides a cascaded optical-magnetic navigation system and a coordinate unification method. The optical navigation system, with a larger working range, is fixed as a global vision system, while the electromagnetic navigation system, with a smaller working range, can be moved and its working range adjusted as needed during operation. This effectively expands the workspace of the electromagnetic positioning system and enhances the flexibility of the optical-magnetic hybrid navigation system. For large-scale electromagnetic positioning during surgery, the working range can be adjusted by moving the magnetic field generator, overcoming the limitation of traditional optical-magnetic hybrid navigation systems where the optical-magnetic coordinate system cannot adjust its pose during operation, thus broadening the system's application range. For metal surgical instruments, the cascaded optical and electromagnetic positioning, along with the decoupling of the optical and magnetic target, allows the instrument's position in the global coordinate system and computer CT or MR coordinates to be obtained through optical positioning, preventing the influence of the metal instrument on the electromagnetic positioning. Applying this invention to operating room instrument navigation offers advantages such as low cost, flexible workspace, and high positioning accuracy.

[0076] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0077] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for unifying coordinates in an optical-magnetic cascaded integrated navigation system, characterized in that, Includes the following steps: The optical positioning system is fixed, and the optical positioning coordinate system corresponding to the optical positioning system is used as the global reference coordinate system. The pose of the optical target under the global reference coordinate system is measured according to the Y-shaped optical mark on the optical target under test. An X-shaped optical marker is fixed to the magnetic field generator, and a local coordinate system is established based on the X-shaped optical marker. There is a pose relationship between the local coordinate system and the electromagnetic positioning coordinate system corresponding to the magnetic field generator. The calibration matrix of the pose relationship is established. The magnetic field generator is fixed, and the working position and viewing angle of the electromagnetic positioning system based on the magnetic field generator are adjusted by force traction so that the X-shaped optical mark is visible within the effective working space of the optical positioning system, and at the same time the electromagnetic target to be measured is visible within the effective working space of the electromagnetic positioning system. An X-shaped optical mark is measured using an optical positioning system, and a transformation matrix between the global reference coordinate system and the local coordinate system is established. The pose of the electromagnetic target under test in the effective working space of the electromagnetic positioning system is measured based on the electromagnetic positioning coordinate system. Combined with the calibration matrix, the pose of the electromagnetic target under test is transformed from the electromagnetic positioning coordinate system to the global reference coordinate system, and the pose of the electromagnetic target under test in the global reference coordinate system is obtained. The calibration matrix for establishing the pose relationship specifically includes: Step 1: Place the magnetic field generator within the effective working space of the optical positioning system. i Among them i =1,..., M , M This indicates that the effective working space of the optical positioning system has a total of M One location; place the marker plate within the optimal working space of the electromagnetic positioning system; Step 2: Use optical probes and electromagnetic probes respectively to obtain the position of the magnetic field generator within the effective working space of the optical positioning system. i At that time, on the marking board N The coordinates of the marker points in the optical positioning system space and the coordinates in the electromagnetic positioning system space; and the pose matrix of the X-shaped optical marker in the optical positioning system; Step 3: Repeat steps 1 and 2 until the magnetic field generator is found to be within the effective working space of the optical positioning system. M At each position N All magnetic field coordinate data and optical coordinate data of each marker point; Step 4: Based on M The magnetic field generator at each location corresponds to N Using the magnetic field coordinates and optical coordinates of each marker point, combined with the pose matrix of the X-shaped optical marker in the optical positioning system, a system of linear equations is established to obtain the matrix to be calibrated; expressed as: in, This indicates the position of the magnetic field generator within the effective working space of the optical positioning system. i At that time, the pose matrix of the X-shaped optical marker under the optical positioning system; This indicates the position of the magnetic field generator within the effective working space of the optical positioning system. i At that time, N A homogeneous coordinate data matrix of each marker point in the optical positioning coordinate system; This indicates the position of the magnetic field generator within the effective working space of the optical positioning system. i At that time, N A homogeneous coordinate data matrix of each marker point in the electromagnetic positioning coordinate system; This represents the matrix to be calibrated.

2. The coordinate unification method for an optical-magnetic cascaded integrated navigation system according to claim 1, characterized in that, The process of fixing the optical positioning system specifically includes: The optical positioning system is fixedly connected to the bracket, and the working position and viewing angle of the optical positioning system are determined and fixed, and kept unchanged throughout the working process.

3. The coordinate unification method for an optical-magnetic cascaded integrated navigation system according to claim 1, characterized in that, The origin of the local coordinate system is the center of the X-shaped optical mark; the XOY plane of the local coordinate system is the plane of the X-shaped optical mark.

4. The coordinate unification method for an optical-magnetic cascaded integrated navigation system according to claim 1, characterized in that, The transformation of the electromagnetic target's pose from the electromagnetic positioning coordinate system to the global reference coordinate system is expressed as: in, This represents the homogeneous coordinates of the electromagnetic target under test in the global reference coordinate system, that is, the pose of the electromagnetic target under test in the global reference coordinate system. Represents the transformation matrix between the global reference coordinate system and the local coordinate system; Represents the matrix to be calibrated; This represents the homogeneous coordinates of the electromagnetic target under test in the electromagnetic positioning coordinate system.

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