Method and device for determining positioning precision of electromagnetic positioning system

Abstract

The invention discloses a positioning precision determination method and device of an electromagnetic positioning system, and belongs to the technical field of positioning navigation. The method comprises the following steps: controlling an electromagnetic sensing unit and a second optical marking unit to move according to a pre-constructed measurement moving path; acquiring a first positioning coordinate through an electromagnetic positioning module, and acquiring a second positioning coordinate through an optical positioning module; and determining the positioning precision of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate. According to the technical scheme, the first positioning coordinate of the preset measurement position is obtained through the electromagnetic positioning system, the second positioning coordinate of the preset measurement position is obtained through the optical positioning module, and the positioning precision of the electromagnetic positioning system is determined according to the first positioning coordinate and the second positioning coordinate. Based on the characteristics of high precision and high reliability of the optical positioning system, a datum reference can be provided for the electromagnetic positioning system, and quantitative evaluation of the positioning error of the electromagnetic positioning system is realized.

Description

Technical Field

[0001] This application belongs to the technical field of positioning and navigation, and particularly relates to a method and device for determining the positioning accuracy of an electromagnetic positioning system. Background Art

[0002] Due to advantages such as not being restricted by line-of-sight occlusion and easy integration of sensors, electromagnetic positioning systems are widely used in various positioning scenarios. Before applying an electromagnetic positioning system to a specific scenario, it is particularly crucial to accurately evaluate whether its positioning accuracy meets the usage requirements.

[0003] Currently, the commonly used method for measuring the accuracy of an electromagnetic positioning system mainly adopts the mechanical tooling method, which requires pre-designing and building a high-precision mechanical framework, fixing the transmitting end and receiving end of the electromagnetic positioning system on the framework according to specific rules, moving the receiving end to different preset positions, and manually measuring the positions using tools such as rulers or micrometers to determine the positioning accuracy of the electromagnetic positioning system. However, the number of measurement points of this method is limited, resulting in the test results being difficult to comprehensively reflect the performance of the electromagnetic positioning system and lacking statistical significance; the test process is complex and cumbersome, time-consuming, and relies on a large number of manual operations, which is extremely likely to introduce additional measurement errors and affect the accuracy of the test results; it requires a large amount of open space resources, restricting the popularization and application of this type of test method.

[0004] Therefore, how to achieve the automation and standardization of electromagnetic positioning system accuracy measurement is an urgent problem to be solved by those skilled in the art. Summary of the Invention

[0005] The embodiments of this application provide a method and device for determining the positioning accuracy of an electromagnetic positioning system, aiming to provide a reference benchmark for the electromagnetic positioning system based on the high-precision and high-reliability characteristics of the optical positioning system, and realizing the quantitative evaluation of the positioning error of the electromagnetic positioning system.

[0006] In a first aspect, the embodiments of this application provide a method for determining the positioning accuracy of an electromagnetic positioning system. The electromagnetic positioning system includes an electromagnetic generating unit, an electromagnetic sensing unit, and an electromagnetic positioning module. The electromagnetic generating unit is fixedly connected to a first optical marking unit, and the electromagnetic sensing unit is fixedly connected to a second optical marking unit. The method includes: Controlling the electromagnetic sensing unit and the second optical marking unit to move according to a pre-constructed measurement movement path; wherein, the measurement movement path includes at least two preset measurement positions; During the movement, for each preset measurement position, obtaining a first positioning coordinate through the electromagnetic positioning module and obtaining a second positioning coordinate through the optical positioning module; wherein, the first positioning coordinate and the second positioning coordinate form a set of positioning coordinates based on the same preset measurement position; Determine the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate.

[0007] In a second aspect, an embodiment of the present application provides a device for determining the positioning accuracy of an electromagnetic positioning system. The device includes: A positioning reference component, including an electromagnetic generating unit and a first optical marking unit; wherein, the electromagnetic generating unit is fixedly connected to the first optical marking unit; A positioning measurement component, including an electromagnetic sensing unit and a second optical marking unit; wherein, the electromagnetic sensing unit is fixedly connected to the second optical marking unit; An electromagnetic positioning module, configured to position the electromagnetic sensing unit; An optical positioning module, configured to position the first optical marking unit and the second optical marking unit; A calculation and processing module, configured to determine the positioning accuracy of the electromagnetic positioning system according to the positioning result of the electromagnetic positioning module and the positioning result of the optical positioning module.

[0008] In the embodiment of the present application, control the electromagnetic sensing unit and the second optical marking unit to move along a pre-constructed measurement movement path; wherein, the measurement movement path includes at least two preset measurement positions; during the movement, for each preset measurement position, obtain a first positioning coordinate through the electromagnetic positioning module, and obtain a second positioning coordinate through the optical positioning module; wherein, the first positioning coordinate and the second positioning coordinate form a set of positioning coordinates based on the same preset measurement position; determine the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate. The above method for determining the positioning accuracy of the electromagnetic positioning system obtains the first positioning coordinate of the preset measurement position through the electromagnetic positioning system and obtains the second positioning coordinate of the preset measurement position through the optical positioning module, and determines the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate, which can provide a reference for the electromagnetic positioning system based on the high-precision and high-reliability characteristics of the optical positioning system, and realize the quantitative evaluation of the positioning error of the electromagnetic positioning system. Description of the Drawings

[0009] Figure 1 is a schematic flowchart of a method for determining the positioning accuracy of an electromagnetic positioning system provided in Embodiment 1 of the present application; Figure 2 is a structural example diagram of a positioning reference component provided in Embodiment 1 of the present application; Figure 3 is a structural example diagram of a positioning measurement component provided in Embodiment 1 of the present application; Figure 4It is a structural example diagram of the positioning accuracy determination device of the electromagnetic positioning system provided in the first embodiment of the present application; Figure 5 It is a schematic flowchart of the process of pre - constructing the measurement movement path provided in the second embodiment of the present application; Figure 6 It is a structural schematic diagram of the positioning accuracy determination device of the electromagnetic positioning system provided in the third embodiment of the present application. Specific embodiments

[0010] In order to make the objectives, technical solutions, and advantages of the present application clearer, the following further describes the specific embodiments of the present application in detail with reference to the accompanying drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, rather than limiting the present application. Additionally, it should be noted that for the convenience of description, only parts related to the present application are shown in the drawings, rather than all the content. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although the flowcharts describe the operations (or steps) as sequential processes, many of the operations can be implemented in parallel, concurrently, or simultaneously. In addition, the order of the operations can be rearranged. When the operations are completed, the process can be terminated, but there can also be additional steps not included in the drawings. The process can correspond to a method, function, procedure, sub - routine, sub - program, etc.

[0011] The following will clearly describe the technical solutions in the embodiments of the present application with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all of them. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art belong to the scope of protection of the present application.

[0012] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are usually of the same category, and do not limit the number of objects. For example, the first object can be one or multiple. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0013] The following will, with reference to the accompanying drawings, through specific embodiments and their application scenarios, elaborate in detail on the positioning accuracy determination method, device, and medium of the electromagnetic positioning system provided in the embodiments of the present application.

[0014] Embodiment 1 Figure 1 It is a schematic flowchart of a method for determining the positioning accuracy of the electromagnetic positioning system provided in the first embodiment of this application. As Figure 1 shown, it specifically includes the following steps: S101, controlling the electromagnetic sensing unit and the second optical marking unit to move along a pre-constructed measurement movement path; wherein, the measurement movement path includes at least two preset measurement positions; First, this application is applicable to scenarios where the positioning accuracy of the electromagnetic positioning system is unknown. Specifically, the movement control of the electromagnetic sensing unit and the second optical marking unit, etc. can be executed by an intelligent terminal, and the obtained positioning accuracy of the electromagnetic positioning system can help determine the usage scenario of this electromagnetic positioning system.

[0015] Based on the above applicable scenarios, it can be understood that the execution subject of this application can be the intelligent terminal, such as a desktop computer, a laptop computer, a mobile phone, a tablet computer, and an interactive multimedia device, etc., and no excessive limitation is made here.

[0016] The electromagnetic positioning system can be a system for measuring the spatial position of an object based on electromagnetic signals, and can include an electromagnetic generating unit, an electromagnetic sensing unit, and an electromagnetic positioning module. Among them, the electromagnetic generating unit is the electromagnetic signal transmitting end in the electromagnetic positioning system, and the electromagnetic generating unit can be a coil array; the electromagnetic sensing unit is the electromagnetic signal receiving end in the electromagnetic positioning system, and the electromagnetic sensing unit can include micro-coils for measuring any angle, such as three mutually perpendicular micro-coils; the electromagnetic positioning module can be a calculation module that locates the electromagnetic sensing unit based on the principle of electromagnetic induction, according to parameters such as the signal intensity and phase collected by the electromagnetic sensing unit, combined with the known position and emission characteristics of the electromagnetic generating unit.

[0017] The first optical marking unit and the second optical marking unit can be devices that can be recognized and positioned by the optical positioning module. The first optical marking unit, the second optical marking unit, and the optical positioning module constitute an optical positioning system. The first optical marking unit and the second optical marking unit can each include four marking balls. Among them, the optical positioning module can be a device capable of performing real-space positioning, such as a binocular. Specifically, the binocular is an instrument and equipment designed based on the binocular vision principle. The binocular is equipped with two lenses, and by simulating the visual mode of human eyes, it simultaneously obtains the image information of the target real space from different angles, and then uses the parallax principle to calculate the depth information of the object, realizing functions such as three-dimensional perception, measurement, and positioning of the object.

[0018] The fixed connection between the electromagnetic generating unit and the first optical marking unit can make the spatial reference for positioning of the electromagnetic positioning system and the optical positioning system consistent. Among them, the distance between the electromagnetic generating unit and the first optical marking unit should be less than a preset distance threshold; the preset distance threshold can be a pre-set error distance that can be ignored for determining the positioning accuracy. Figure 2 It is a structural schematic diagram of the positioning reference component provided in the first embodiment of the present application. As Figure 2 shown, the first optical marking unit uses four marking balls, and the electromagnetic generating unit is fixedly connected to the first optical marking unit.

[0019] The fixed connection between the electromagnetic sensing unit and the second optical marking unit can help synchronously output the first positioning coordinate and the first positioning coordinate for the same preset measurement position. Among them, the distance between the electromagnetic sensing unit and the second optical marking unit should be less than a preset distance threshold; the preset distance threshold can be a pre-set error distance that can be ignored for determining the positioning accuracy. Figure 3 It is a structural schematic diagram of the positioning measurement component provided in the first embodiment of the present application. As Figure 3 shown, the second optical marking unit uses four marking balls, the electromagnetic generating unit uses a micro coil, and the installation position of the micro coil is relatively fixed with respect to the positions of the four marking balls, that is, the electromagnetic sensing unit is fixedly connected to the second optical marking unit.

[0020] Figure 4 It is a structural schematic diagram of the positioning accuracy determination device of the electromagnetic positioning system provided in the first embodiment of the present application. As Figure 4 shown, the positioning accuracy determination device of the electromagnetic positioning system includes an electromagnetic generating unit, an electromagnetic sensing unit, an optical positioning module (binocular), a first optical marking unit, and a second optical marking unit. The electromagnetic generating unit is fixedly connected to the first optical marking unit, the electromagnetic sensing unit is fixedly connected to the second optical marking unit, and the first optical marking unit and the second optical marking unit are both located within the positioning space range of the optical positioning module.

[0021] The measurement movement path can be a pre-constructed spatial movement trajectory for measuring the positioning accuracy of the electromagnetic positioning system, and the measurement movement path can include at least two preset measurement positions. Among them, the preset measurement position can refer to the key spatial points on the measurement movement path, which are the comparison reference points between the electromagnetic positioning system and the optical positioning system.

[0022] The method of controlling the electromagnetic sensing unit and the second optical marking unit to move along a pre-constructed measurement movement path can be to manually move the electromagnetic sensing unit and the second optical marking unit based on the pre-constructed measurement movement path; it can also be that the electromagnetic sensing unit, the second optical marking unit and the end of the robotic arm are fixedly connected, and the robotic arm is used to control the electromagnetic sensing unit and the second optical marking unit to move along the pre-constructed measurement movement path.

[0023] S102. During the movement, for each preset measurement position, obtain the first positioning coordinate through the electromagnetic positioning module and obtain the second positioning coordinate through the optical positioning module; wherein, the first positioning coordinate and the second positioning coordinate form a set of positioning coordinates based on the same preset measurement position. The first positioning coordinate may refer to the position coordinate of the preset measurement position obtained through the electromagnetic positioning system. Specifically, the first positioning coordinate is manifested as the relative position coordinate of the electromagnetic sensing unit with respect to the electromagnetic generating unit. The method of obtaining the first positioning coordinate through the electromagnetic positioning module can be that after the electromagnetic generating unit is powered on, an alternating electromagnetic field is generated, the electromagnetic sensing unit cuts the magnetic induction line to generate an induced electromotive force, and the electromagnetic positioning module analyzes and obtains the first positioning coordinate according to the intensity and phase of the electromotive force.

[0024] The second positioning coordinate may refer to the position coordinate of the preset measurement position obtained through the optical positioning module. Specifically, the second positioning coordinate is manifested as the relative position coordinate of the second optical marking unit with respect to the first optical marking unit. The method of obtaining the second positioning coordinate through the optical positioning module can be to obtain the first optical positioning coordinate of the first optical marking unit and the second optical positioning coordinate of the second optical marking unit through the optical positioning module, and determine the second positioning coordinate according to the first optical positioning coordinate and the second optical positioning coordinate.

[0025] In this technical solution, optionally, obtaining the second positioning coordinate through the optical positioning module includes: Obtain the first optical positioning coordinate of the first optical marking unit and the second optical positioning coordinate of the second optical marking unit through the optical positioning module; Determine the second positioning coordinate according to the first optical positioning coordinate and the second optical positioning coordinate.

[0026] The first optical positioning coordinate may refer to the position coordinate of the first optical marking unit obtained through the optical positioning module, and the second optical positioning coordinate may refer to the position coordinate of the second optical marking unit obtained through the optical positioning module.

[0027] The method of obtaining the first optical positioning coordinate of the first optical marking unit through the optical positioning module can be as follows: If the optical positioning module is a binocular instrument, obtain the pixel positions of the first optical marking unit in different images of the binocular instrument, and calculate the first optical positioning coordinate of the first optical marking unit by combining the pixel position differences and the calibration parameters of the binocular instrument. Similarly, the second optical positioning coordinate of the second optical marking unit is obtained through the optical positioning module.

[0028] The method of determining the second positioning coordinate based on the first optical positioning coordinate and the second optical positioning coordinate can be to subtract the first optical positioning coordinate from the second optical positioning coordinate to obtain the second positioning coordinate.

[0029] The advantage of this solution is that the positioning accuracy of the optical positioning system is generally higher than that of the electromagnetic positioning system. By obtaining the first optical positioning coordinate of the first optical marking unit and the second optical positioning coordinate of the second optical marking unit through the optical positioning module, and determining the second positioning coordinate based on the first optical positioning coordinate and the second optical positioning coordinate, it can provide a data reference for determining the positioning accuracy of the electromagnetic positioning system.

[0030] S103. Determine the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate.

[0031] The positioning accuracy of the electromagnetic positioning system can refer to the degree of proximity between the target position measured by the electromagnetic positioning system and the target true position, reflecting the accuracy and reliability of the positioning result of the electromagnetic positioning system.

[0032] The method of determining the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate can be to calculate the relative error between the first positioning coordinate and the second positioning coordinate in each group of positioning coordinates, and calculate the average value of each relative error as the positioning accuracy of the electromagnetic positioning system; it can also be to calculate the relative error between the first positioning coordinate and the second positioning coordinate in each group of positioning coordinates, determine the root mean square value and the preset quantile value of the relative error, and obtain the positioning accuracy of the electromagnetic positioning system.

[0033] In this technical solution, optionally, determining the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate includes: Calculate the relative error between the first positioning coordinate and the second positioning coordinate in each group of positioning coordinates; Determine the root mean square value and the preset quantile value of the relative error to obtain the positioning accuracy of the electromagnetic positioning system.

[0034] The relative error between the first positioning coordinate and the second positioning coordinate can refer to the degree of deviation between the first positioning coordinate and the second positioning coordinate. The method of calculating the relative error between the first positioning coordinate and the second positioning coordinate can be to calculate the Euclidean distance between the first positioning coordinate and the second positioning coordinate as the relative error. Among them, the calculation formula of the Euclidean distance is:

[0035] Among them, is the Euclidean distance of the i-th group of positioning coordinates, is the X coordinate of the first positioning coordinate in the i-th group of positioning coordinates, is the X coordinate of the second positioning coordinate in the i-th group of positioning coordinates, is the Y coordinate of the first positioning coordinate in the i-th group of positioning coordinates, is the Y coordinate of the second positioning coordinate in the i-th group of positioning coordinates, is the Z coordinate of the first positioning coordinate in the i-th group of positioning coordinates, is the Z coordinate of the second positioning coordinate in the i-th group of positioning coordinates.

[0036] The root mean square value is a statistic used to measure the overall fluctuation amplitude or effective value of a set of data. The method of determining the root mean square value of the relative error can use the following calculation formula:

[0037] Among them, is the root mean square value, and n is the number of preset measurement positions.

[0038] The preset quantile value can refer to the boundary value of the data under the preset probability after sorting a set of data from small to large. If the preset probability is 95%, the preset quantile value is the relative error at the 95% position after sorting the relative errors from small to large.

[0039] The advantage of setting the scheme like this is that by calculating the root mean square value and the preset quantile value of the relative error between the first positioning coordinate and the second positioning coordinate in each group of positioning coordinates as the positioning accuracy of the electromagnetic positioning system, the positioning performance of the electromagnetic positioning system can be comprehensively quantified from two dimensions: the average error level and the extreme error boundary.

[0040] In an embodiment of the present application, the electromagnetic sensing unit and the second optical marking unit are controlled to move along a pre-constructed measurement movement path; wherein, the measurement movement path includes at least two preset measurement positions; during the movement, for each preset measurement position, a first positioning coordinate is obtained through the electromagnetic positioning module, and a second positioning coordinate is obtained through the optical positioning module; wherein, the first positioning coordinate and the second positioning coordinate form a set of positioning coordinates based on the same preset measurement position; according to the first positioning coordinate and the second positioning coordinate, the positioning accuracy of the electromagnetic positioning system is determined. For the above method for determining the positioning accuracy of the electromagnetic positioning system, by obtaining the first positioning coordinate of the preset measurement position through the electromagnetic positioning system and obtaining the second positioning coordinate of the preset measurement position through the optical positioning module, and determining the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate, it is possible to provide a reference for the electromagnetic positioning system based on the high-precision and high-reliability characteristics of the optical positioning system, and realize the quantitative evaluation of the positioning error of the electromagnetic positioning system.

[0041] Embodiment 2 Figure 5 FIG. is a schematic flow chart of the process of pre-constructing a measurement movement path provided in Embodiment 2 of the present application. This solution makes a better improvement to the above embodiment. The specific improvement is as follows: The process of pre-constructing a measurement movement path includes: obtaining the required positioning space range of the electromagnetic positioning system; constructing a measurement movement path according to the required positioning space range; wherein, the path type of the measurement movement path includes at least one of a straight trajectory path, a broken line trajectory path, and a curved trajectory path.

[0042] As Figure 5 shown, it specifically includes the following steps: S501, obtain the required positioning space range of the electromagnetic positioning system; The required positioning space range may refer to the three-dimensional space area where the electromagnetic positioning system needs to perform target positioning in actual applications. For example, in a medical operation, the operation space of the surgical instrument is the required positioning space range; in industrial assembly, the assembly operation space of the components is the required positioning space range. The required positioning space range defines the spatial boundary where the electromagnetic positioning system plays a role.

[0043] The method for obtaining the required positioning space range of the electromagnetic positioning system can be to delimit the space by the user based on actual application requirements to obtain the required positioning space range of the electromagnetic positioning system.

[0044] S502, construct a measurement movement path according to the required positioning space range; wherein, the path type of the measurement movement path includes at least one of a straight trajectory path, a broken line trajectory path, and a curved trajectory path.

[0045] The path type can be different trajectory categories classified according to attributes such as the geometric shape and direction change law of the path, and can include a straight-line trajectory path, a broken-line trajectory path, and a curved-line trajectory path, etc. Specifically, the straight-line trajectory path can refer to a trajectory path composed of only one straight line; the broken-line trajectory path can refer to a trajectory path composed of multiple straight-line segments connected in sequence; the curved-line trajectory path can refer to a trajectory path composed of curves (such as arcs or helices, etc.).

[0046] The method of constructing a measurement movement path according to the space range of demand positioning can adopt the spatial shape of the space range of demand positioning and the correlation relationship between the pre-constructed spatial shape and the spatial division rule to determine the target spatial division rule, divide the space range of demand positioning into at least two spatial units based on the target spatial division rule, and determine the central position of each spatial unit as the preset measurement position, and connect each preset measurement position to obtain the measurement movement path.

[0047] In this technical solution, optionally, determining the measurement movement path according to the space range of demand positioning includes: Determining the target spatial division rule according to the spatial shape of the space range of demand positioning and the correlation relationship between the pre-constructed spatial shape and the spatial division rule; Dividing the space range of demand positioning into at least two spatial units based on the target spatial division rule, and determining the central position of each spatial unit as the preset measurement position; Connecting each preset measurement position to obtain the measurement movement path.

[0048] The spatial shape of the space range of demand positioning can refer to the geometric shape of the space range of demand positioning, which is an abstract expression of the spatial boundary and contour. The spatial shape of the space range of demand positioning can include a cube, a sphere, a cylinder, etc.

[0049] The spatial division rule can refer to the specific method of dividing the space range of demand positioning into multiple spatial units. The correlation relationship between the spatial shape and the spatial division rule can be a mapping relationship used to bind different spatial shapes to the corresponding spatial division rules. For example, if the spatial shape is a cube, the spatial division rule is to equally divide it into multiple small cubes along the length, width, and height directions of the cube as spatial units; if the spatial shape is a sphere, the spatial division rule is to divide it based on the longitude and latitude grid of the spherical coordinate system, and divide the sphere into spatial units presented as irregular cubes according to the latitude and longitude intervals; if the spatial shape is a cylinder, the spatial division rule is to cut it equidistantly along the axis and equally divide it along the circumferential angle to obtain multi-layered fan-shaped ring-shaped spatial units.

[0050] According to the spatial shape of the space range located according to requirements and the correlation between the pre-constructed spatial shape and the space division rules, the method for determining the target space division rules can be to use the spatial shape of the space range located according to requirements as a query condition to query the stored data of the correlation between the spatial shape and the space division rules, and the obtained query result includes the target space division rules.

[0051] The spatial unit can be a sub-space range obtained by dividing the space range located according to requirements according to the target space division rules. The method for determining the central position of each spatial unit as the preset measurement position can be to determine the centroid of each spatial unit according to the boundary function of each spatial unit, and determine the centroid of each spatial unit as the central position of each spatial unit to obtain the preset measurement position.

[0052] The method for connecting each preset measurement position to obtain the measurement movement path can be to use algorithms such as the straight-line connection method, curve fitting method, shortest path algorithm, grid path planning method, or path optimization method based on spatial geometry to connect each preset measurement position to obtain the measurement movement path.

[0053] The advantage of this solution is that by determining the target space division rules according to the spatial shape of the space range located according to requirements and the correlation between the pre-constructed spatial shape and the space division rules, dividing the space range located according to requirements into at least two spatial units based on the target space division rules, and determining the central position of each spatial unit as the preset measurement position, and connecting each preset measurement position, a measurement movement path with spatial shape adaptability, comprehensive coverage, and path efficiency can be obtained, ensuring that the measurement coverage is without dead angles and reducing the redundant movement distance.

[0054] The advantage of this solution is that by constructing a measurement movement path according to the space range required by the electromagnetic positioning system, it can ensure that the measurement movement path covers the actual working area of the electromagnetic positioning system; the path types of the measurement movement path include straight trajectory paths, broken line trajectory paths, and curve trajectory paths, etc., and can verify the positioning accuracy of the electromagnetic positioning system from multiple dimensions when the target object moves with different geometric shapes, movement directions, and curvature changes.

[0055] Embodiment III Figure 6 It is a schematic structural diagram of the positioning accuracy determination device of the electromagnetic positioning system provided in Embodiment III of the present application. As Figure 6 shown, the device includes: A positioning reference component 610, including an electromagnetic generating unit 6101 and a first optical marking unit 6102; wherein, the electromagnetic generating unit 6101 is fixedly connected to the first optical marking unit 6102; The positioning and measuring component 620 includes an electromagnetic sensing unit 6201 and a second optical marking unit 6202; wherein, the electromagnetic sensing unit 6201 is fixedly connected to the second optical marking unit 6202; The electromagnetic positioning module 630 is used to position the electromagnetic sensing unit 6201; The optical positioning module 640 is used to position the first optical marking unit 6102 and the second optical marking unit 6202; The calculation and processing module 650 is used to determine the positioning accuracy of the electromagnetic positioning system according to the positioning results of the electromagnetic positioning module 630 and the positioning results of the optical positioning module 640.

[0056] The calculation and processing module can be an MCU (Microcontroller Unit), which has high integration, low power consumption and programmability. The calculation and processing module can calculate the relative error between the two positioning results, and calculate the average value of each relative error as the positioning accuracy of the electromagnetic positioning system; it can also calculate the relative error between the two positioning results, determine the root mean square value of the relative error and the preset quantile value to obtain the positioning accuracy of the electromagnetic positioning system.

[0057] In this technical solution, optionally, the device further includes: A robotic arm for controlling the positioning and measuring component to move along a pre-constructed measurement movement path; Correspondingly, the positioning and measuring component is fixedly connected to the end of the robotic arm.

[0058] The robotic arm can be a mechatronic device with anthropomorphic arm, wrist and hand functions, and is a widely used automated mechanical device in the field of robotics. The positioning and measuring component can be directly fixed to the end of the robotic arm, and the movement of the positioning and measuring component is driven by the movement of the robotic arm.

[0059] The method of controlling the positioning and measuring component to move along a pre-constructed measurement movement path by the robotic arm can be to determine the rotation component and position component of the robotic arm corresponding to each preset measurement position according to the pre-constructed measurement movement path, and control the movement of the robotic arm based on the rotation component and position component.

[0060] In this technical solution, optionally, the end of the robotic arm is fixedly connected to an extension rod, and the positioning and measuring component is fixedly connected to the end of the extension rod.

[0061] The extension rod can be an auxiliary component for increasing the working range or operating distance of the robotic arm. As Figure 4 shown, the end of the robotic arm is fixedly connected to the extension rod, and the positioning and measuring component is fixedly connected to the end of the extension rod.

[0062] The advantage of this solution is that the end of the robotic arm is fixedly connected to the extension rod, and the positioning and measuring assembly is fixedly connected to the end of the extension rod, which enables the electromagnetic sensing unit and the second optical marking unit to move within a larger space range, making it easier to plan regular and equally spaced measurement movement paths, so as to obtain the positioning coordinates of sufficient and uniform preset measurement positions.

[0063] The advantage of this solution is that by controlling the electromagnetic sensing unit and the second optical marking unit to move along the pre-constructed measurement movement path through the robotic arm, the jitter error and path deviation caused by manual operation can be avoided, ensuring that the acquisition conditions of each set of positioning coordinates are consistent, and improving the reliability and repeatability of the positioning accuracy evaluation of the electromagnetic positioning system.

[0064] In this technical solution, optionally, the first optical marking unit includes at least four marking balls located in the same plane, and the second optical marking unit includes at least four marking balls located in the same plane.

[0065] Optionally, the four marking balls located in the same plane can be distributed in a square.

[0066] For example Figure 2 As shown, the first optical marking unit includes four marking balls located in the same plane; for example Figure 3 As shown, the second optical marking unit includes four marking balls located in the same plane.

[0067] The advantage of this solution is that the first optical marking unit includes at least four marking balls located in the same plane, and the second optical marking unit includes at least four marking balls located in the same plane, which can provide spatial geometric constraints through the quadrilateral structure, meeting both the requirements of the optical positioning algorithm for redundant observation points and simplifying the coordinate transformation model using the plane characteristics.

[0068] In this technical solution, optionally, the electromagnetic sensing unit includes at least three micro-coils, and the setting directions of the micro-coils include a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other.

[0069] Optionally, the first direction can be perpendicular to the plane where the marking balls included in the second optical marking unit are located, and the second direction and the third direction can be parallel to the plane where the marking balls included in the second optical marking unit are located.

[0070] Furthermore, optionally, in the case where the marking balls are distributed in a square, the second direction and the third direction can be parallel to two adjacent sides of the square respectively.

[0071] The advantage of this solution is that the electromagnetic sensing unit includes at least three micro-coils. The setting directions of the micro-coils include a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other, which can simplify the attitude calculation model and enhance the positioning stability under complex postures.

[0072] In the embodiment of the present application, the positioning reference component includes an electromagnetic generating unit and a first optical marking unit; wherein, the electromagnetic generating unit is fixedly connected to the first optical marking unit; the positioning measurement component includes an electromagnetic sensing unit and a second optical marking unit; wherein, the electromagnetic sensing unit is fixedly connected to the second optical marking unit; the electromagnetic positioning module is used to position the electromagnetic sensing unit; the optical positioning module is used to position the first optical marking unit and the second optical marking unit; the calculation and processing module is used to determine the positioning accuracy of the electromagnetic positioning system according to the positioning result of the electromagnetic positioning module and the positioning result of the optical positioning module. The positioning accuracy determination device of the above electromagnetic positioning system can provide a reference for the electromagnetic positioning system based on the high-precision and high-reliability characteristics of the optical positioning system, and realize the quantitative evaluation of the positioning error of the electromagnetic positioning system.

[0073] It should be noted that in this article, the term "including", "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or further includes elements inherent to such process, method, article or device. Without more limitations, an element defined by the statement "including a..." does not exclude the existence of additional identical elements in the process, method, article or device including that element. In addition, it should be pointed out that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, the features described with reference to certain examples may be combined in other examples.

[0074] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-described example methods can be implemented by means of software plus a necessary general hardware platform. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, can be embodied in the form of a computer software product. The computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disc) and includes several instructions for causing a terminal (which can be a mobile phone, computer, server, or network device, etc.) to execute the methods described in various embodiments of the present application.

[0075] The embodiments of the present application have been described above with reference to the accompanying drawings. However, the present application is not limited to the above specific implementation manners. The above specific implementation manners are merely illustrative and not restrictive. Under the inspiration of the present application, those of ordinary skill in the art can also make many forms without departing from the purpose of the present application and the scope protected by the claims, and all of them belong to the protection scope of the present application.

[0076] The above is only the preferred embodiment of the present application and the technical principles applied. The present application is not limited to the specific embodiments described herein. Various obvious changes, re-adjustments, and substitutions that can be made by those skilled in the art will not depart from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments. Without departing from the concept of the present application, it can also include more other equivalent embodiments, and the scope of the present application is determined by the scope of the claims.

Claims

1. A method for determining the positioning accuracy of an electromagnetic positioning system, characterized in that, The electromagnetic positioning system includes an electromagnetic generating unit, an electromagnetic sensing unit, and an electromagnetic positioning module. The electromagnetic generating unit is fixedly connected to a first optical marking unit, and the electromagnetic sensing unit is fixedly connected to a second optical marking unit. The method includes: Controlling the electromagnetic sensing unit and the second optical marking unit to move along a pre-constructed measurement movement path; wherein the measurement movement path includes at least two preset measurement positions; During the movement, for each preset measurement position, obtaining a first positioning coordinate through the electromagnetic positioning module and obtaining a second positioning coordinate through the optical positioning module; wherein the first positioning coordinate and the second positioning coordinate form a set of positioning coordinates based on the same preset measurement position; Determining the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate.

2. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 1, wherein Obtaining the second positioning coordinate through the optical positioning module includes: Obtaining a first optical positioning coordinate of the first optical marking unit and a second optical positioning coordinate of the second optical marking unit through the optical positioning module; Determining the second positioning coordinate according to the first optical positioning coordinate and the second optical positioning coordinate.

3. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 1, wherein Determining the positioning accuracy of the electromagnetic positioning system according to the first positioning coordinate and the second positioning coordinate includes: Calculating the relative error between the first positioning coordinate and the second positioning coordinate in each set of positioning coordinates; Determining the root mean square value and the preset quantile value of the relative error to obtain the positioning accuracy of the electromagnetic positioning system.

4. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 1, characterized in that, The process of pre-constructing the measurement movement path includes: Obtaining the required positioning space range of the electromagnetic positioning system; Constructing a measurement movement path according to the required positioning space range; wherein the path type of the measurement movement path includes at least one of a straight trajectory path, a broken line trajectory path, and a curve trajectory path.

5. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 4, characterized in that, Determining the measurement movement path according to the required positioning space range includes: Determining a target space division rule according to the spatial shape of the required positioning space range and the associated relationship between the pre-constructed spatial shape and the spatial division rule; Dividing the required positioning space range into at least two spatial units based on the target space division rule, and determining the central position of each spatial unit as a preset measurement position; Connecting each preset measurement position to obtain a measurement movement path.

6. A positioning accuracy determination device for an electromagnetic positioning system, characterized in that, The device includes: A positioning reference component, including an electromagnetic generating unit and a first optical marking unit; wherein the electromagnetic generating unit is fixedly connected to the first optical marking unit; A positioning measurement component, including an electromagnetic sensing unit and a second optical marking unit; wherein the electromagnetic sensing unit is fixedly connected to the second optical marking unit; An electromagnetic positioning module for positioning the electromagnetic sensing unit; An optical positioning module for positioning the first optical marking unit and the second optical marking unit; A calculation and processing module for determining the positioning accuracy of the electromagnetic positioning system according to the positioning result of the electromagnetic positioning module and the positioning result of the optical positioning module.

7. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 6, wherein The device further includes: A robotic arm for controlling the positioning and measurement component to move along a pre-constructed measurement movement path; Correspondingly, the positioning and measurement component is fixedly connected to the end of the robotic arm.

8. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 7, characterized in that, The end of the robotic arm is fixedly connected to an extension rod, and the positioning and measurement component is fixedly connected to the end of the extension rod.

9. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 6, characterized in that, The first optical marking unit includes at least four marking balls located in the same plane, and the second optical marking unit includes at least four marking balls located in the same plane.

10. The method for determining the positioning accuracy of the electromagnetic positioning system according to claim 6, characterized in that, The electromagnetic sensing unit includes at least three micro-coils, and the setting directions of the micro-coils include a first direction, a second direction, and a third direction, and the first direction, the second direction, and the third direction are perpendicular to each other.

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