Ultrasonic profiling probe attitude self-calibration method, system and device for teleoperation

The invention relates to an ultrasonic profiling probe attitude self-calibration method, system and device for teleoperation. The method comprises the steps: enabling an ultrasonic profiling probe to swing on a touchpad, and obtaining real-time attitude data of an IMU sensor and real-time translation data sensed by the touchpad; converting the real-time attitude data into an Euler angle form; calculating a translation direction vector according to the real-time translation data; according to the real-time attitude data in the Euler angle form and the translation direction vector, judging a swing axis, a swing direction and a quadrant where the translation direction vector is located; and performing self-calibration on the course angle of the IMU sensor by using an attitude calibration model corresponding to the swing axis, the swing direction and the quadrant where the translation direction vector is located. According to the method, the drift of the course angle of the IMU sensor can be inhibited, so that th