Calibration method and apparatus for magnetic positioning system, system, device, medium, and product

Abstract

Provided in the present disclosure are a calibration method and apparatus for a magnetic positioning system, a system, a device, a medium, and a product, which relate to the technical field of computers. The calibration method for a magnetic positioning system comprises: when a magnetic sensor in a magnetic positioning system undergoes positional movement, acquiring current magnetic field environment information; determining a difference between the current magnetic field environment information and each type of candidate magnetic field environment information, the candidate magnetic field environment information being stored in a data set; and if the differences are all greater than a preset difference threshold, prompting a user to perform a calibration operation. The present disclosure enables adaptive prompting of calibration operations for a magnetic positioning system and reduces the number of calibrations.

Description

Calibration methods, devices, systems, equipment, media, and products for magnetic positioning systems

[0001] This application is based on and claims priority to Chinese Patent Application No. CN202411597433.X, filed on November 11, 2024, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of computer technology, and in particular to a calibration method, apparatus, system, device, medium and product for a magnetic positioning system. Background Technology

[0003] Magnetic positioning is a positioning technology that utilizes the properties of magnetic fields and has wide applications in the medical field. It involves setting up a magnetic field source, a magnetic sensor, and a processor within a specific space. The magnetic field source generates a magnetic field, the magnetic sensor detects information about the magnetic field environment, and the processor determines the position of the magnetic sensor within the magnetic field based on the detected information and a known magnetic field model.

[0004] Calibration is an important step in improving the accuracy and reliability of magnetic positioning results.

[0005] When to perform calibration is a question that needs to be addressed. Summary of the Invention

[0006] This disclosure provides a calibration method, apparatus, system, device, medium, and product for a magnetic positioning system.

[0007] According to one aspect of this disclosure, a calibration method for a magnetic positioning system is provided, comprising: acquiring current magnetic field environment information when the magnetic sensor in the magnetic positioning system moves; determining the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a dataset; and prompting the user to perform a calibration operation if all the differences are greater than a preset difference threshold.

[0008] According to another aspect of this disclosure, a calibration device for a magnetic positioning system is provided, comprising: an acquisition module for acquiring current magnetic field environment information when a magnetic sensor in the magnetic positioning system moves; a determination module for determining the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a dataset; and a prompting module for prompting a user to perform a calibration operation if all the differences are greater than a preset difference threshold.

[0009] According to another aspect of this disclosure, a magnetic positioning system is provided, comprising: the calibration device described in any of the preceding aspects.

[0010] According to another aspect of this disclosure, an electronic device is provided, comprising: at least one processor; and a memory communicatively connected to said at least one processor; wherein the memory stores instructions executable by said at least one processor, said instructions being executed by said at least one processor to enable said at least one processor to perform the method as described in any of the foregoing aspects.

[0011] According to another aspect of this disclosure, a non-transitory computer-readable storage medium is provided storing computer instructions, wherein the computer instructions are configured to cause the computer to perform the method according to any of the preceding aspects.

[0012] According to another aspect of this disclosure, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the method according to any of the preceding aspects.

[0013] This disclosure enables adaptive prompts for calibration operations in magnetic positioning systems.

[0014] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of this disclosure, nor is it intended to limit the scope of this disclosure. Other features of this disclosure will become readily apparent from the following description. Attached Figure Description

[0015] The accompanying drawings are provided to better understand this solution and do not constitute a limitation of this disclosure. Wherein:

[0016] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure;

[0017] Figure 2 is a schematic diagram illustrating an application scenario used to implement the embodiments of this disclosure;

[0018] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure;

[0019] Figure 4 is a schematic diagram according to a third embodiment of the present disclosure;

[0020] Figure 5 is a schematic diagram according to the fourth embodiment of the present disclosure;

[0021] Figure 6 is a schematic diagram of an electronic device used to implement the calibration method of the magnetic positioning system according to an embodiment of the present disclosure. Detailed Implementation

[0022] The exemplary embodiments of this disclosure are described below with reference to the accompanying drawings, including various details of the embodiments to aid understanding, and should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this disclosure. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0023] Figure 1 is a schematic diagram according to a first embodiment of the present disclosure. This embodiment provides a calibration method for a magnetic positioning system, as shown in Figure 1. The method includes:

[0024] 101. When the magnetic sensor moves in the magnetic positioning system, obtain the current magnetic field environment information.

[0025] 102. Determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in the dataset.

[0026] 103. If all the differences are greater than the preset difference threshold, prompt the user to perform a calibration operation.

[0027] In this process, data can be collected in advance to form a dataset, which records existing magnetic field environment information and its corresponding calibration results. To distinguish them, the magnetic field environment information and calibration results in the dataset are referred to as candidate magnetic field environment information and candidate calibration results, respectively.

[0028] When the magnetic sensor in the magnetic positioning system moves, it acquires information about the current magnetic field environment.

[0029] Other positioning devices, such as gyroscopes, can be used to determine whether the magnetic sensor has moved. For example, if the displacement of the magnetic sensor detected by the gyroscope data is greater than a preset displacement, it is determined that the magnetic sensor has moved; otherwise, no displacement has occurred.

[0030] The magnetic field environment information mentioned above is a vector, which specifically records the magnetic field strength.

[0031] After obtaining the current magnetic field environment information, the difference between the current magnetic field environment information and the candidate magnetic field environment information can be calculated. This difference can be a distance, and more specifically, a Euclidean distance.

[0032] Taking distance as an example, the distance corresponds one-to-one with the candidate magnetic field environment information and the candidate calibration result. For example, if there are N (positive integer) pairs of candidate magnetic field environment information and candidate calibration results, then N distances can be calculated.

[0033] After obtaining the distance, the calculated distance can be compared with a preset distance threshold. If both distances are greater than the preset distance threshold, a prompt message will be displayed to the user to prompt the user to perform a calibration operation.

[0034] Furthermore, after the user performs the calibration operation based on the prompt information, the current calibration result and the current magnetic field environment information can be stored in the dataset as candidate calibration results and candidate magnetic field environment information for subsequent processes.

[0035] In addition, when there is a difference smaller than the preset difference threshold, there is no need to prompt the user for calibration, which can reduce the number of calibration operations required by the user.

[0036] In this embodiment, when the magnetic sensor moves and the current magnetic field environment information differs significantly from the existing candidate magnetic field environment information, the user is prompted to perform a calibration operation. This enables adaptive prompting for the calibration operation and improves the effectiveness of the calibration operation.

[0037] Figure 2 is a schematic diagram of an application scenario used to implement the embodiments of this disclosure.

[0038] As shown in Figure 2, the magnetic positioning system includes: a magnetic field source 201, a magnetic sensor 202, a magnetic positioning device 203, and a calibration device 204.

[0039] The magnetic field source 201 is used to generate a magnetic field.

[0040] The magnetic sensor 202 is placed in the magnetic field generated by the magnetic field source to detect information about the magnetic field environment, such as the magnetic field strength.

[0041] The magnetic positioning device 203 is used to perform magnetic positioning operations based on the magnetic field environment information detected by the magnetic field sensor and the known magnetic field model. For example, the position of the magnetic sensor can be determined based on the magnetic field environment information and the magnetic field model, such as 4D positioning results.

[0042] Because there may be magnetic materials around the magnetic sensor, the actual magnetic field model may deviate from the theoretical magnetic field model, resulting in errors in the magnetic positioning results.

[0043] To improve the accuracy and reliability of magnetic positioning results, a calibration process is required. This process yields calibration results, which indicate positional deviations. Subsequently, during positioning, the initial positioning result, based on information about the magnetic field environment and a known magnetic field model, is added to the calibration result to obtain the final positioning result.

[0044] For specific calibration procedures, please refer to relevant technical documents, such as calibration using a calibration plate.

[0045] In related technologies, users typically initiate the calibration process based on subjective experience, and perform the calibration process when a clear error is found in the positioning results.

[0046] However, this method suffers from the problem that the timing of the calibration process is not precise enough, and it cannot achieve adaptive prompts.

[0047] To enable adaptive prompts for calibration operations, in this embodiment, the system further includes a calibration device.

[0048] The calibration device 204 is used to obtain current magnetic field environment information in response to the position movement of the magnetic sensor in the magnetic positioning system; determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, the candidate magnetic field environment information being stored in a dataset; and prompt the user to perform a calibration operation if all the differences are greater than a preset difference threshold.

[0049] In practice, the magnetic positioning device and the calibration device can be two modules, or both can be implemented by a processor.

[0050] After the calibration device provides prompts, the user can perform calibration operations based on the information provided, such as calibration using a calibration board, to obtain the current calibration result. Subsequently, during positioning, the original positioning result can be added to this current calibration result to obtain the final positioning result. Additionally, the current calibration result and the current magnetic field environment information can be stored in a dataset as candidate calibration results and candidate magnetic field environment information for subsequent processes.

[0051] In conjunction with the above application scenarios, this disclosure also provides the following embodiments.

[0052] Figure 3 is a schematic diagram according to a second embodiment of the present disclosure. This embodiment provides a calibration method for a magnetic positioning system, taking distance as an example. As shown in Figure 3, the method includes:

[0053] 301. Obtain the dataset, which contains records of candidate magnetic field environment information and candidate calibration results.

[0054] The dataset can record pre-collected candidate magnetic field environments and candidate calibration results. If no relevant data is collected, the dataset will be initially empty.

[0055] 302. Determine if the magnetic positioning function is running. If yes, wait for the preset time (e.g., 10 seconds) and then repeat step 302 and its subsequent steps. Otherwise, proceed to step 303.

[0056] The system can record the operating status of the magnetic positioning function. For example, after the user activates the magnetic positioning function, the operating status indicates that the magnetic positioning function is running; after the user deactivates the magnetic positioning function, the operating status indicates that the magnetic positioning function is not running. Therefore, based on this operating status, it can be determined whether the magnetic positioning function is running.

[0057] 303. Employ a magnetic sensor and use magnetic field environment information for a preset duration.

[0058] 304. Calculate the average value of the magnetic field environment information for the preset duration, and use it as the current magnetic field environment information.

[0059] For example, collect 60 seconds of magnetic field environment information, then calculate the average of the collected magnetic field environment information, and use the average as the current magnetic field environment information.

[0060] 305. Calculate the distance between the current magnetic field environment information and each candidate magnetic field environment information.

[0061] The current magnetic field environment information can be represented by M. Assuming there are N candidate magnetic field environment information, each candidate magnetic field environment information is represented by Mi (i=1,2,...,N), then the Euclidean distance di between M and Mi can be calculated respectively.

[0062] 306. Determine if there is a candidate distance less than or equal to the preset distance threshold (TH). If yes, proceed to 307; otherwise, proceed to 308.

[0063] 307. Obtain the minimum value (denoted as minimum d) among distances less than or equal to a preset distance threshold, and use the candidate calibration result corresponding to this minimum value as the target calibration result. Subsequently, during positioning, the positioning result can be calibrated using the target calibration result.

[0064] In this way, by obtaining the target calibration results from the dataset and calibrating the positioning results based on the target calibration results, useless calibration processes can be avoided and the processing effectiveness can be improved.

[0065] 308. Prompt the user to perform a calibration operation.

[0066] For example, prompts can be displayed to users via voice or text to guide them through calibration procedures.

[0067] Subsequently, after the user performs a calibration operation based on the prompt information, the resulting current calibration result and current environmental information are stored in the dataset. Furthermore, during positioning, this current calibration result can be used to calibrate the positioning results.

[0068] In this way, when the current environmental information and candidate environmental information are both far apart, prompting the user to perform a calibration operation is avoided when significant changes occur in the environmental information. This allows for timely calibration, thereby improving the accuracy of the positioning results. Furthermore, by saving the current calibration results and current environmental information, a data foundation can be provided for subsequent processes, improving the comprehensiveness of data coverage.

[0069] 309. Based on the gyroscope data, determine whether the magnetic sensor has moved. If so, repeat step 302 and its subsequent steps. Otherwise, wait for a preset time (e.g., 10 seconds) and then repeat step 309 and its subsequent steps.

[0070] For example, a gyroscope can detect angular velocity, and based on this angular velocity, the displacement of a magnetic sensor can be obtained. If the displacement is greater than a preset displacement, it indicates that the magnetic sensor has moved; otherwise, no displacement has occurred.

[0071] In addition, this embodiment uses a gyroscope as an example, but other positioning devices, such as accelerometers, Bluetooth devices, etc., can also be used to detect whether the magnetic sensor has moved.

[0072] In this way, based on other positioning devices, it is possible to automatically determine whether the magnetic sensor has moved, thereby improving the accuracy of processing.

[0073] Figure 4 is a schematic diagram according to a third embodiment of the present disclosure, which provides a calibration device for a magnetic positioning system. The device 400 includes: an acquisition module 401, a determination module 402, and a prompting module 403.

[0074] The acquisition module 401 is used to acquire the current magnetic field environment information when the magnetic sensor in the magnetic positioning system moves; the determination module 402 is used to determine the difference between the current magnetic field environment information and each candidate magnetic field environment information, wherein the candidate magnetic field environment information is stored in a dataset; the prompting module 403 is used to prompt the user to perform a calibration operation if all the differences are greater than a preset difference threshold.

[0075] In some embodiments, the dataset also stores candidate calibration results corresponding to the candidate magnetic field environment information, and the device 400 further includes:

[0076] The calibration module is used to take the candidate magnetic field environment information corresponding to the smallest difference less than or equal to the preset difference threshold as the target magnetic field environment information; take the candidate calibration result corresponding to the target magnetic field environment information as the target calibration result; and use the target calibration result to correct the original positioning result of the magnetic positioning system.

[0077] In some embodiments, the device 400 further includes:

[0078] The storage module is used to obtain the current calibration result obtained by the user after calibrating the magnetic positioning system; and to store the current calibration result and the current magnetic field environment information in the dataset.

[0079] In some embodiments, the device 400 further includes:

[0080] The judgment module is used to determine whether the magnetic sensor has moved in position based on other positioning devices besides the magnetic positioning system.

[0081] In some embodiments, the acquisition module 401 is further configured to:

[0082] When the magnetic positioning function of the magnetic positioning system is not in operation, the magnetic sensor is used to collect magnetic field environment information for a preset duration.

[0083] The average value of the magnetic field environment information for the preset duration is calculated and used as the current magnetic field environment information.

[0084] Figure 5 is a schematic diagram according to the fourth embodiment of this disclosure, which provides a magnetic positioning system. The system 500 includes a calibration device 501, as shown in Figure 4. For details, please refer to the relevant descriptions in the above embodiments.

[0085] It is understood that the same or similar content in different embodiments of this disclosure can be referred to each other.

[0086] It is understood that the terms "first" and "second" in the embodiments of this disclosure are only used for distinction and do not indicate the degree of importance or the order of events.

[0087] It is understandable that, unless otherwise specified, the order of steps in the process indicates that the temporal relationship between these steps is not limited.

[0088] The collection, storage, use, processing, transmission, provision, and disclosure of user personal information involved in the technical solution disclosed herein comply with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0089] According to embodiments of this disclosure, this disclosure also provides an electronic device, a readable storage medium, and a computer program product.

[0090] Figure 6 illustrates a schematic block diagram of an example electronic device 600 that can be used to implement embodiments of the present disclosure. The electronic device 600 is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, servers, blade servers, mainframe computers, and other suitable computers. The electronic device may also represent various forms of mobile devices, such as personal digital assistants, cellular phones, smartphones, wearable devices, and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0091] As shown in Figure 6, the electronic device 600 includes a computing unit 601, which can perform various appropriate actions and processes based on a computer program stored in a read-only memory (ROM) 602 or a computer program loaded from a storage unit 608 into a random access memory (RAM) 603. The RAM 603 can also store various programs and data required for the operation of the electronic device 600. The computing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0092] Multiple components in electronic device 600 are connected to I / O interface 605, including: input unit 606, such as keyboard, mouse, etc.; output unit 607, such as various types of displays, speakers, etc.; storage unit 608, such as disk, optical disk, etc.; and communication unit 609, such as network card, modem, wireless transceiver, etc. Communication unit 609 allows electronic device 600 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0093] The computing unit 601 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of the computing unit 601 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. The computing unit 601 performs the various methods and processes described above, such as the calibration method for a magnetic positioning system. For example, in some embodiments, the calibration method for a magnetic positioning system may be implemented as a computer software program tangibly contained in a machine-readable medium, such as storage unit 608. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 600 via ROM 602 and / or communication unit 609. When the computer program is loaded into RAM 603 and executed by the computing unit 601, one or more steps of the calibration method for a magnetic positioning system described above may be performed. Alternatively, in other embodiments, the computing unit 601 may be configured to perform the calibration method for a magnetic positioning system by any other suitable means (e.g., by means of firmware).

[0094] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0095] The program code used to implement the methods of this disclosure may be written in any combination of one or more programming languages. This program code may be provided to a processor or controller of a general-purpose computer, special-purpose computer, or other programmable data processing apparatus, such that when executed by the processor or controller, the program code causes the functions / operations specified in the flowcharts and / or block diagrams to be implemented. The program code may be executed entirely on a machine, partially on a machine, as a standalone software package partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0096] In the context of this disclosure, a machine-readable medium can be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, apparatus, or device. A machine-readable medium can be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium can be, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0097] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device for displaying information to the user (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor); and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the computer. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0098] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as a data server), or computing systems that include middleware components (e.g., an application server), or computing systems that include frontend components (e.g., a user computer with a graphical user interface or web browser through which a user can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., a communication network). Examples of communication networks include local area networks (LANs), wide area networks (WANs), and the Internet.

[0099] Computer systems can include clients and servers. Clients and servers are generally geographically separated and typically interact via communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. A server can be a cloud server, also known as a cloud computing server or cloud host, a hosting product within the cloud computing service system that addresses the shortcomings of traditional physical hosts and VPS (Virtual Private Server) services, such as high management difficulty and weak business scalability. Servers can also be servers for distributed systems or servers incorporating blockchain technology.

[0100] It should be understood that the various forms of processes shown above can be used to reorder, add, or cancel steps. For example, the steps described in this disclosure can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this disclosure can be achieved, and this is not limited herein.

[0101] The specific embodiments described above do not constitute a limitation on the scope of protection of this disclosure. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this disclosure should be included within the scope of protection of this disclosure.

Claims

1. A calibration method for a magnetic positioning system, characterized in that, include: When the magnetic sensor moves in the magnetic positioning system, it acquires information about the current magnetic field environment. The difference between the current magnetic field environment information and each candidate magnetic field environment information is determined, and the candidate magnetic field environment information is stored in the dataset; If all the differences are greater than a preset difference threshold, the user will be prompted to perform a calibration operation.

2. The method according to claim 1, characterized in that, The dataset also stores candidate calibration results corresponding to the candidate magnetic field environment information, and the method further includes: The candidate magnetic field environment information corresponding to the smallest difference less than or equal to the preset difference threshold is taken as the target magnetic field environment information; The candidate calibration results corresponding to the target magnetic field environment information are used as the target calibration results; The original positioning results of the magnetic positioning system are corrected using the target calibration results.

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

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

5. The method according to claim 1, characterized in that, The acquisition of current magnetic field environment information includes: When the magnetic positioning function of the magnetic positioning system is not in operation, the magnetic sensor is used to collect magnetic field environment information for a preset duration. The average value of the magnetic field environment information for the preset duration is calculated and used as the current magnetic field environment information.

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

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

8. The apparatus according to claim 6, characterized in that, Also includes: The storage module is used to obtain the current calibration result obtained by the user after calibrating the magnetic positioning system; The current calibration result and the current magnetic field environment information are stored in the dataset.

9. The apparatus according to claim 6, characterized in that, Also includes: The judgment module is used to determine whether the magnetic sensor has moved in position based on other positioning devices besides the magnetic positioning system.

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

11. A magnetic positioning system, characterized in that, include: The calibration apparatus as described in any one of claims 6-10.

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

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

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

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