Calibration method and calibration system for ultrasonic probe comprising magnetic sensor array

The invention provides a calibration method and a calibration system for an ultrasonic probe comprising a magnetic sensor array, and relates to a calibration device, in the calibration device, a calibration support body is used for placing the ultrasonic probe, electromagnets are fixed on the calibration support body and are uniformly distributed around the magnetic sensor array, and the magnetic sensor array is fixed on the calibration support body within the imaging range of the ultrasonic probe. An N-type line and a sound conducting medium are installed. In the method, firstly, correction coefficients of all magnetic sensors are calculated based on an ellipsoid fitting method, then electromagnets are started one by one, magnetic field vectors are obtained, the relative pose relation of all the magnetic sensors in a magnetic sensor array is calculated based on a least square method, and finally, coordinates of the center of the section of the N-shaped line in different coordinate systems are registered. And