The invention discloses a self-moving device positioning method and device and a self-moving device, and belongs to the technical field of self-moving device positioning. The first positioning data of the self-moving device and the second positioning data generated by the double-antenna RTK system are acquired, fusion processing is performed on the first positioning data and the second positioning data, the positioning data to be used are determined, and the positioning data to be used are used as the current motion basis data of the self-moving device. The problems that a positioning system of the self-moving equipment is prone to failure in complex and diversified environments such as snowfields and tree shades, position data and direction data at the current moment cannot be obtained in time, so that the next-step moving position and direction are difficult to determine, the self-moving equipment collides with obstacles or falls off, and the positioning accuracy is poor are solved. And the safety of the action of the self-moving equipment is reduced.

    本申请公开了一种自移动设备定位方法、装置及自移动设备,属于自移动设备定位技术领域。本申请通过获取所述自移动设备的第一定位数据和所述双天线RTK系统生成的第二定位数据,对所述第一定位数据和所述第二定位数据进行融合处理,确定待用定位数据,将所述待用定位数据作为自移动设备当前的运动依据数据。解决了自移动设备在雪地、树荫等复杂多样的环境下定位系统易失效,不能及时获得当前时刻的位置数据和方向数据,因此难以确定下一步的移动位置和方向,造成自移动设备与障碍物发生碰撞或发生跌落,导致自移动设备动作的安全性降低的问题。


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    Titel :

    Self-moving equipment positioning method and device and self-moving equipment


    Weitere Titelangaben:

    自移动设备定位方法、装置及自移动设备


    Beteiligte:
    HUANG YANG (Autor:in) / ZHANG WEI (Autor:in) / QIAO QINGQING (Autor:in) / YE HANWEN (Autor:in)

    Erscheinungsdatum :

    2023-12-08


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Chinesisch


    Klassifikation :

    IPC:    G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / B62D MOTOR VEHICLES , Motorfahrzeuge / G01S RADIO DIRECTION-FINDING , Funkpeilung



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