The invention provides a positioning method, a vehicle-mounted device and a computer readable storage medium, and the method comprises the steps that a positioning device carries out the forward and reverse calculation of sensor data, carries out the fusion filtering, and obtains a first combined positioning result, and the first combined positioning result indicates the vehicle motion states of a vehicle at a plurality of moments, the motion state comprises a vehicle position, a vehicle speed and a vehicle posture; the positioning device obtains the initial state variable estimation value of the vehicle, the position information of the vehicle at multiple moments and the difference value of the motion state increment of the vehicle according to the first combined positioning result; and the positioning device corrects the first combined positioning result according to the initial state variable estimation value of the vehicle, the position information of the vehicle at the multiple moments and the difference value of the motion state increment of the vehicle to obtain a target combined positioning result. By implementing the method, the post-processing positioning precision can be improved, and the high-precision and high-reliability positioning requirements of the vehicle when the GNSS signal is interfered are met.

    本申请提供了一种定位方法、车载装置及计算机可读存储介质,该方法包括:定位装置对传感器数据进行正反向解算并进行融合滤波后得到第一组合定位结果,该第一组合定位结果指示了车辆在多个时刻下的车辆运动状态,所述运动状态包括车辆位置、车辆速度和车辆姿态;该定位装置根据第一组合定位结果得到车辆的起始状态变量估计值、车辆在多个时刻的位置信息和车辆的运动状态增量的差值;该定位装置根据车辆的起始状态变量估计值、车辆在多个时刻的位置信息和车辆的运动状态增量的差值,对第一组合定位结果进行修正,得到目标组合定位结果。实施本申请,可提高后处理定位精度,满足车辆在GNSS信号受干扰时的高精度和高可靠性定位要求。


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    Title :

    Positioning method, vehicle-mounted device and computer readable storage medium


    Additional title:

    一种定位方法、车载装置及计算机可读存储介质


    Contributors:
    YANG XIAOLONG (author) / WU YONG (author)

    Publication date :

    2022-12-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    H04W WIRELESS COMMUNICATION NETWORKS , Drahtlose Kommunikationsnetze / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS




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