194results about How to "Reduce positioning errors" patented technology

The invention discloses a visual locating system of spherical robot and a visual locating method thereof. The visual locating system is composed of a binocular visual system, a one-dimensional gyroscope, a spherical robot body, a core control system and a wireless communication module. The locating system carries out locating through cooperation of a camera and the gyroscope, and a locating algorithm is realized on line in the core control system. Data for locating are subjected to remote transmission through the wireless communication module. And a use can realize remote real time monitoring of a robot position. The locating method comprises: conducting real-time acquisition of left and right image sequences by a binocular camera, calculating the posture and location changes of the spherical robot by a binocular visual mileage calculation method, compensating a feature locating error caused by an unstable spherical robot platform through the gyroscope, and finally performing state updating by a Kalman filtering method. The whole process iterates continuously so as to realize real time calculation of the posture and location of a robot.

The invention discloses an automatic calibration system of the diameter of a vehicle wheel based on satellite positioning, and a method thereof. The system of the invention comprises five modules and a map database, wherein, the map database is used for storing relevant information of train operation lines; the five modules are respectively a positioning module, a map matching module, a data recording module, a communication module and a main processor. By introducing a satellite positioning technology, the automatic calibration of the diameter of the vehicle wheel in a positioning system is realized by GNSS positioning information so as to reduce positioning errors caused by the diameter change of the wheel due to the wheel wear, thereby improving the precision of the train positioning.

The invention relates to a locking control method of a large-travel nano-displacement and positioning macro-motion table as well as a system thereof. The method comprises the operating steps: (1) a communication interface of a computer (upper computer ) sends an instruction for controlling, firstly, a macro-positioning system is started up to drive the macro-motion table and a micro-motion worktable to move together, and the macro-positioning is finished when the detected positioning error is smaller than the switching threshold value; (2) the computer controls and locks the macro-motion worktable, and is switched to a micro-positioning system dynamically in the meanwhile; and (3) the micro-positioning system controls the micro-motion worktable to further reach the target location required by the system and complete the positioning. The system mainly comprises: the macro-motion table and the micro-motion worktable as well as corresponding driving systems; a grating feedback system; a PMAC controller; a laser interferometer calibration system; a computer system; and a vibration isolation and noise elimination device (an air floatation vibration isolation platform) and the like. The hardware structure of the existing system is configured (a piezoelectric ceramic driving device) by adopting the method as required, when the macro-motion table meets the positioning requirements and stops the movement, piezoelectric ceramics lock the table, thereby improving the positioning accuracy of the system.

The invention discloses a wearable indoor positioning system based on a radio frequency identification technology and a method thereof, wherein the method comprises: using an RFID electronic tag as a receiving end infrastructure and burying on the ground of a known environment, establishing the one-to-one mapping between the ID mark of each RFID electronic tag and the coordinate information of the position where the RFID electronic tag is; sewing a transmitting end reader-writer and a reader-writer antenna on the clothes of a user; firstly reading a mapping relationship list of the ID mark of the RFID electronic tags in the known environment and geographic information stored in a tag user area recorded on a map after the user enters the known environment, reading the ID mark information of the RFID electronic tag in the known environment in the actuating range of the reader-writer antenna by using a fixed sampling period, calculating the position where the user is at present in real time, and displaying the position on the map of a display unit so as to provide the solution for indoor positioning with real-time response, high precision and low cost for the user.

The invention belongs to the field of electric automobile battery change and relates to a chassis type automatic electric automobile battery changing station. The chassis type automatic electric automobile battery changing station comprises a battery changing robot, a transfer machine, a charging frame and a charging machine. The battery changing robot is located on one side of the charging frame, and the charging machine is located on the other side of the charging frame. A transfer track in the advancing direction of an electric automobile is arranged between the battery changing robot and the charging frame. The transfer machine is located on the transfer track. The chassis type automatic electric passenger vehicle battery changing station can automatically take down batteries lack of electricity from an electric automobile, put in batteries full of electricity and automatically charge the batteries lack of electricity. Especially for large-scale and heavy-type batteries, the problem that the batteries can be charged but cannot be changed is solved, the batteries are protected, and a reference basis is provided for development of new energy automobile battery changing modes.

The embodiment of the invention discloses a method and a device for positioning based on a grid map. The method comprises the following steps of creating the grid map, and calculating the position information and image information corresponding to each grid according to the position information and image information of each coordinate point in each grid; obtaining the image of the current position, and respectively calculating the corresponding matching probability of the image and each grid according to the image information of the image and the image information of each grid in the grid map; respectively updating the matching probability in real time, and determining the target grid corresponding to the image according to the updated matching probability; according to the position information of the target grid, determining the current position. The method has the advantages that the positioning is performed on the basis of created grid map, a more accurate result can be quickly obtained, the probability of complete positioning failure is reduced, and the positioning error is reduced; the target grid is matched via the image information, so that the result with better robustness is obtained under the scenes of low texture, camera focal dispersing, movement fuzzy and the like.

The invention provides a three dimensional locating method of underwater wireless sensor network nodes; first, the coordinates of each beaconing node is obtained and then the coordinates of each general node is assured. The coordinates of each general node is assured as followed, the three dimensional locating work of the coordinate of each general node is equivalently turned into two dimensional location; the general node makes use of distance vector arithmetic and the two dimensional coordinates of the beaconing node to the initial two dimensional coordinates; the two dimensional coordinates of adjacent node is used to iterate and update the two dimensional coordinate of the node till the coordinates is converged to actual two dimensional positions; at last the relation between the depth of water and the intensity of pressure are used to get the depth of water of general node. The method adopts certain message transmitting and iterating control mechanism to reduce the locating error to the lowest in the condition of effectively controlling communication overhead.

The invention relates to a wireless sensor network node positioning method based on time reversal, comprising the steps of: 1, sending a request impact signal to a reference node by an unknown node and recording initial time; 2, receiving and reversing by the reference node and sending a reversal multi-path request impact signal to the unknown node; 3, receiving a focusing-arrived reversal multi-path request impact signal by the unknown node and recording receiving time at the moment; 4, calculating the distance away from the reference node by the unknown node according to the initial time and the receiving time; 5, repeating the step 1 to the step 4 until the distances from the unknown node to any three reference nodes are calculated; and 6, calculating coordinates of the unknown node according to the distances from the unknown node to any three reference nodes to complete the positioning of the unknown node. The invention has the benefits of solving the problem of large traditional TOA (Time Of Arrival) positioning errors under a complex environment and ensuring that the system positioning error is less than the working wavelength.

The invention provides an indoor positioning method adopting visible light and inert composition. A mobile carrier can detect a visible light signal in a process of moving in a room. The indoor positioning method comprises the following steps: judging whether the mobile carrier is positioned in a visible light strong coverage region according to a light intensity threshold value; if a light intensity value is less than the light intensity threshold value, directly taking a position estimation value acquired by an inert device as carrier positioning information; if the light intensity value is greater than or equal o the light intensity threshold value, calculating the position estimation value according to the visible light signal, subtracting the position estimation value acquired by the inert device from the position estimation value calculated according to the visible light signal, and performing Kalman filtering on an obtained difference value to obtain a drift error of the inert device, wherein the drift error is used for correcting the inert device, and the corrected position estimation value of the inert device is used as the carrier positioning information. According to the indoor positioning method, the influence caused by a cover blind area and a shadow in a visible light positioning process can be effectively avoided, and the shortcoming that the error of the inert device is accumulated along the time is overcome; continuous automatic high-precision indoor positioning is realized.

The invention discloses a material automatic warehouse-in-out and intelligent storing device. The device comprises a base and shelves; material trays mounted on two sides of the base are arranged on the shelves; a laneway machine is mounted on the base between the shelves at two sides; an automatic feeder, and a material warehouse-in-out robot capable of turning left and right are arranged on the laneway machine; a material conveyor belt line, and an industrial personal computer that is internally provided with a movement control card are mounted below the shelf on one side of the base, wherein the industrial personal computer internally provided with the movement control card is used for managing and controlling the movement of a motor, receiving a signal from a sensor, communicating with an upper computer with data, and storing information generated in implementation. The material automatic warehouse-in-out and intelligent storing device has the characteristics of being high in warehouse in/ out efficiency, high in utility rate of space, working based on an order BOM (Bill of Material) and discharging successfully; in addition, the high space of a factory warehouse can be effectively utilized, the time for preparing materials is reduced, sluggish materials can be avoided, and error in material sorting and station can be reduced.

The invention relates to an autonomous navigation system and method of an unmanned aerial vehicle based on an electric field equipotential surface of a super-high voltage line area. The navigation system comprises an unmanned aerial vehicle body, an electromagnetic field measuring module, a flight control subsystem and an inertial navigation subsystem. When the system works, the unmanned aerial vehicle flies to the original position, and the electromagnetic field measuring module acquires an initial electric field value; the inertial navigation subsystem plans the flight path of the unmanned aerial vehicle according to the contour value diagram of the electric field distribution; during the flying process, the electromagnetic field measuring module acquires the electric field value of thecurrent position; the airborne processing module in the flight control subsystem judges the difference between the set fluctuation threshold value and the initial electric field value according to theflight condition, and sends an instruction to the flight control module to adjust the flying height and the direction of the unmanned aerial vehicle; based on the flight path, the unmanned aerial vehicle flies in depth along a contour of a certain equipotential surface. The system solves the problem of runaway of the unmanned aerial vehicle caused by the strong electromagnetic field, and has theadvantages of autonomous navigation under the environment of super-high voltage transmission lines, stable navigation, accurate navigation and the like.

The invention discloses an indoor positioning method for reducing fingerprint data acquisition workload. For a large number of point pairs with larger AP (Access Point) RSSI (Received Signal Strength Indicator) difference values, the physical distances are larger. The method comprises the following steps: calculating the RSSI 'distance value' between points by taking the RSSI values of multiple APs obtained at a certain position as high-dimension characteristic data of the position according to the characteristic for serving as the intimate relationship between two points; acquiring the relative position relationship of one low-dimension space between each object by using a multi-dimensional scaling analysis algorithm; evaluating the absolute positions of other points by taking a small number of sample points as anchor nodes. By adopting the method, the aim of reducing the acquisition number of sample points is fulfilled. A hierarchical region reducing method is put forward on the basis in order to further fulfill the aim of reducing the positioning error. Compared with a KNN (K Nearest Neighbor) algorithm, the method has the advantages that the sampling points can be reduced, and meanwhile the positioning error is reduced.

The invention discloses an intelligent firefighting rescue command and dispatch system. The intelligent firefighting rescue command and dispatch system comprises a main individual transmitter, a positive pressure air breathing apparatus, an intelligent firefighting bracelet, an audio and video helmet, a Mesh network repeater, an interphone, an emergency command box, a positioning module and a main positioning IPC (Industrial Personal Computer), wherein the main individual transmitter performs information exchange with each of the positive pressure air breathing apparatus, the intelligent firefighting bracelet, the audio and video helmet and the Mesh network repeater through the wireless network, the Bluetooth, signal lines and the Mesh network, so as to monitor the on-site rescue situation in real time; the emergency command box performs information exchange with the 119 command center through 4G; and the positioning module is connected with the main positioning IPC through a wireless serial port to realize the positioning of rescue workers. According to the intelligent firefighting rescue command and dispatch system, the seamless information integration of a plurality of departments is realized through the effective network convergence, and meanwhile the vital signs of rescue workers and the air pressure values in air bottles can be monitored in real time, an early warning is given to the rescue workers, and the expansibility is good due to reserved interfaces.

The invention discloses a method for locating nodes in a WSN. The nodes in the WSN comprise three or more than three beacon nodes and a plurality of unknown nodes, wherein node location information of the beacon nodes is already known, and location information of the unknown nodes is to be detected. The method comprises that each of the beacon nodes broadcasts groups of the beacon node location information to neighbor nodes; each of the nodes receiving the groups records the minimum hop from the node to each of the beacon nodes and the location information of each of the beacon nodes; each of the beacon nodes estimates the average per-hop distance; and each of the unknown nodes estimates the distance from the unknown node to each of the beacon nodes, and the location information of the unknown node is figured out according to the estimated distance from the unknown node to each of the beacon nodes and the obtained location information of each of the beacon nodes. By the aid of the method, high-precision WSN node location can be achieved without distance measurement, the location error is reduced, and the location precision is improved.

The invention discloses a target location extraction method applicable to through-the-wall radar imaging, belongs to the technical field of image processing, and particularly relates to through-the-wall radar imaging techniques. According to an image formed by a back wave of through-the-wall radar, firstly, high-frequency noisy points in the image are inhibited through a two-dimensional low pass filter, then, a plurality of detection thresholds with reasonable layouts are adopted, binaryzation detection is carried out on the target image, then, connected domains in the image after the detection are searched and used as possible target areas, the connected domains under the various thresholds are classified according to target subordinating relations, finally, occurrence numbers of the corresponding connected domains of various targets are arrayed, the corresponding connected domains with large numbers are selected, and statistical averages of all pixel unit locations in the connected domains are used as target location coordinates. According to the target location extraction method applicable to the through-the-wall radar imaging, accurate location coordinates of a plurality of targets comprising adjacent targets and dim targets can be steadily extracted in the target image with a low through-the-wall signal to clutter ratio and a low through-the-wall signal to noise ratio, and accurate target location based on the through-the-wall radar imaging is achieved.

The invention provides a cooperative localization system of the gaseous diffusion source in the wireless sensor network based on the mobile proxy and a method thereof, wherein, the gaseous source detection sensor node automatically builds the network via the wireless mode. A metrological sensor node in the network provides the environment related information including wind speed and temperature; a time synchronous node provides the time synchronous information; the gaseous source detection sensor node periodically collects the measurement data of the gas concentration at the node position in the certain time interval; an alarm gaseous source detection sensor node works out the initial estimation of the position of the gaseous source according to the own local data, the metrological data of the metrological sensor and the mathematical model of the gaseous source diffusion, and generates a mobile proxy module carrying the estimation value of the position of the gaseous source and the optimal measurement data, and selectively transfers to a neighboring node; the neighboring node synthesizes the own sensor data and the information came from the mobile proxy module and re-estimates the position of the gaseous source for obtaining the optimum estimation of the position of the gaseous source.

The invention provides a dual-mode navigator with a GPS receiving mode and a plough receiving mode. Satellites of two constellations can be used at the same time, so that the visible number of the satellites is increased. The navigator comprises an analog signal processing module, a GPS receiving module, a plough receiving module, a processor module and a power supply module. The analog signal processing module comprises an antenna, a low-noise amplifier, a filter and a power divider. The GPS receiving module comprises a GPS radio frequency front end module and a base band signal processing module. The plough receiving module comprises a plough radio frequency front end module, a high-speed A/D converter, an FIFO cache and an FPGA. The processor module is an OMAP dual-core processor which comprises a DSP core and an ARM core.

The invention belongs to the field of acoustic positioning and particularly relates to a near-field three-dimensional passive positioning method based on a horizontal line array. The near-field three-dimensional passive positioning method based on the horizontal line array comprises the steps that that the horizontal line array is adopted, the array is fixedly distributed on the flat seabed, radiation signals of a target acoustic source in an underwater sound field are received, amplification and filtering are conducted, and data collection is conducted; the orientation of a target is measured roughly; according to scanning points, time-delay compensation and superposition are conducted on incoming wave signals received by each array element in each scanned area, so that obtained focused beams are formed and output; the power of each sound signal which is obtained after superposition is worked out, the power value of each point in the scanned area is output on a sound image; a measured area is scanned precisely; the coordinates of two bright spots in the scanned area are determined; the three-dimensional coordinates of the target acoustic source are solved reversely through post-processing. The near-field three-dimensional passive positioning method based on the horizontal line array is based on the focused beam forming theory and method, no prior knowledge is needed, and high-precision three-dimensional passive positioning of a shallow sea short-range target can be achieved, wherein the positioning error within 400 m is smaller than 0.5 m.

The invention discloses an automatic taxi asking-for system based on intelligent equipment, and further discloses a method for achieving the system. The automatic taxi asking-for system based on the intelligent equipment comprises an intelligent terminal, a taxi dispatching system and a vehicle-mounted intelligent navigation system. The intelligent mobile terminal is used for acquiring longitude-latitude data of a taxi getting-on point and sending the longitude-latitude data to the taxi dispatching system; the taxi dispatching system is used for confirming a targeted taxi according to a longitude of the taxi getting-on point and a latitude of the taxi getting-on point and sending the longitude-latitude data to the targeted taxi; and the vehicle-mounted intelligent navigation system is used for displaying the taxi getting-on point on a navigation map according to the longitude-latitude data. A positioning function of the intelligent mobile equipment, a map engine function of the intelligent mobile equipment and a network communication function of the intelligent mobile equipment are utilized so as to acquire an accurate longitude and an accurate latitude of the taxi getting-on point for a taxi asking-for passenger, and display the accurate longitude and the accurate latitude to a driver of the targeted taxi, and therefore positioning speed, positioning accuracy, service quality of the taxi and service efficiency of the taxi are improved.

The invention provides a method of sampling precision measurement signals to achieve an accurate measurement position at a particular measurement time, such that the measurement accuracy is unaffected by the velocity of motion. The method involves sampling each signal during a predetermined sampling period such that a signal from one sensor is sampled first, a signal from a second sensor sampled second, etc., and then the signals are sampled in reverse order such that the first signal sampled is sampled last. These sampled signals are averaged and produce a precision measurement at a time measured at one-half of the sampling time. In addition, this method can be applied to the use of separate scale tracks where each scale track is alternately sampled, or alternatively, where one scale track is sampled in the middle of the sampling period of another scale track.

The invention relates to a rapid damage positioning scheme for an internal geomembrane in anti-seepage engineering, belonging to the technical field of hydraulic engineering (civil engineering)- anti-seepage engineering. The method comprises the following steps of: combining continuous optical fibers and the geomembrane into a whole, wherein the optical fibers are uniformly arranged in a snakelike shape on the geomembrane, and the distance between the optical fibers is not greater than the temperature-sensitive distance of double optical fibers; using the geomembrane as an anti-seepage material and making the optical fiber path of the whole anti-seepage area through; leading out the endpoints of the optical fibers to an optical fiber temperature-measurement detection device and covering aprotective layer of the geomembrane; and establishing a conversion formula between the XY coordinate values of optical fiber length L and an anti-seepage face according to the arrangement design of the anti-seepage engineering, monitoring the temperature of each position of the geomembrane by adopting the optical fiber temperature-measurement detection device, judging the area with abnormal temperature comparison to be a seeping position and judging the position with highest temperature abnormality to be the central position of the geomembrane damage. The method solves the problem of difficult damage positioning of the geomembrane and can obviously improve the safety of a dam using the geomembrane as an anti-seepage body.

When performing a task at sea, a naval vessel often comes across typhoons or sea waves, or is hit by shells during a fight, so that a naval vessel body tilts at a large angle, and under a serious condition, the naval vessel body even can overturn. In order to predict the tilting range borne by the naval vessel in advance or simulate sea states which can be generated when the naval vessel performs the task, the invention provides a naval vessel sea state dynamic simulator. According to the naval vessel sea state dynamic simulator disclosed by the invention, a method that a three-freedom degree motion platform and a six-freedom degree motion platform are overlaid is adopted; electric-hydraulic servo driving is used; the six-freedom degree motion platform is arranged at the top and the three-freedom degree motion platform for supporting is arranged at the bottom; under the control of an electric-hydraulic servo system, the two platforms are mutually matched, so that the various sea states which probably appear can be simulated; finally, the sea states of 0-9 levels, which can be generated when the naval vessel performs the task at a sea level can be simulated. The naval vessel sea state dynamic simulator disclosed by the invention can have an important effect of simulating detection in the process of designing and manufacturing of the naval vessel.

The invention relates to an indoor visible light intensity positioning system with an error correction function and belongs to the technical field of visible light communication. The indoor visible light intensity positioning system comprises a visible light downlink transmitting module, a visible light receiving module and a light intensity fluctuation factor monitoring unit, wherein the visible light downlink transmitting module sends modulated coding signals through an LED; the light intensity fluctuation factor monitoring unit calculates light intensity fluctuation factors according to the intensity fluctuation of different LED light sources, and the light intensity fluctuation factors are sent to the visible light receiving module through a wireless communication mode; the visible light receiving module receives the modulated coding signals sent by the visible light downlink transmitting module, and a position is calculated through the received modulated coding signals and the received light intensity fluctuation factors. According to the indoor visible light intensity positioning system provided by the invention, real-time light intensity information is obtained through the additional arrangement of a light intensity fluctuation factor monitoring and transmitting unit, and traditional fixed parameters are replaced by the real-time intensity factors to calculate the position, so that positioning errors caused by light intensity fluctuation are reduced.

The invention discloses a labeling machine and a labeling method. The labeling machine comprises a rack, a label supply mechanism, a product material strap supply mechanism, a joint platform and a label suction mechanism. The label suction mechanism and the joint platform directly face each other, the label suction mechanism is located above the middle segment of a product material strap passing path, and the joint platform is located below the middle segment of the product material strap passing path; the label suction mechanism comprises a label suction plate and a lifting drive part; the label supply mechanism comprises a discharging assembly, a label peeling plate assembly and a receiving assembly; the label peeling plate assembly comprises a label peeling plate and a horizontal displacement driving part, one end, close to the label suction mechanism, of the label peeling plate serves as a label peeling end, the label peeling end is located between the lower surface of the label suction plate and the upper surface of a product material strap, the label suction plate is driven by the lifting drive part to move downwards to suck the label material strap from the label peeling end and peel a label, and after the label peeling plate returns, the label suction plate further descends so as to enable the label to be attached to the product material strap. The label peeling plate horizontally moves to be matched with the lifting motion of the label suction mechanism to achieve label peeling, the transverse moving error of the label suction mechanism can be reduced, speed matching is avoided, control is simple, and the cost is relatively low.

The invention relates to a sensing device and a positioning method thereof, in particular to a magnetic array position sensing device and a positioning method thereof. The magnetic array position sensing device comprises a permanent magnetic body device 1 which is provided with a magnetic array 101 and a magnetic sensitive element device 2 which is matched with the permanent magnetic body device 1 and is provided with a magnetic sensitive element array 201, wherein the magnetic sensitive element device 2 is fixed on a main circuit board 7 which contains a distance test device 3, and the magnetic sensitive element array 201 is fixed on the magnetic sensitive element device 2 through a fixing device 4. The magnetic array position sensing device has the following advantages that: 1. an independent positioning plate is adopted, and the magnetic sensitive element is welded on the positioning plate, so the position error of the magnetic sensitive element is reduced; 2. the relationship between the width of the magnetic body array unit and the gap of the magnetic sensitive element is re-designed, so under the condition that the precision of the system is maintained, the distance between the magnetic sensitive elements is enlarged, the consumption of the magnetic sensitive element is reduced, and the cost of the device is reduced.

The invention discloses a pre-aligning and positioning fusion process of a printed circuit board inner layer core plate. The pre-aligning and positioning fusion process comprise the steps that the inner layer core plate is punched, and the inner layer core plate is pre-aligned and fused, in the step of punching the inner layer core plate, four positioning holes are punched on the core plate and dispersed at the edge positions adjacent to the peripheries of the four core plate, four corresponding positioning pins are arranged on a fusion machine working table, and after being aligned, the inner layer core plate is hot pressed and fused. The positioning error resulted from the deformation of the positioning holes is reduced by positing a plurality of holes, thereby, the positioning precision of fusing the inner layer core plate is improved, and the offset of the inner layer core plate can be controlled within 3.0 mil, so as to satisfy the requirements of positioning and fusing the inner layer core plate of the multilayer fine wire printed circuit board, and 24-layer fine wire circuit board (Mass Lamination) can be produced in batch by utilizing the process of the invention.

The invention provides a method for automatically storing cargo. The method comprises the steps of acquiring cargo storing container information which comprises target position information; based on the target position information, making electronic equipment move to a first position; through identifying a first label, acquiring position information of the first label, wherein the position of thefirst label is related with the actual position of a cargo storage container; and making the electronic equipment move to the actual position based on the position information of the first label. Theinvention further provides a device for automatically storing the cargo.

The embodiment of the invention provides a positioning method, device and system based on a robot and a storage medium. According to the invention, the invention provides a robot including a distancecommunication module; the robot also comprises a depth camera and/or a laser radar; when the robot positions a target object, a near-distance communication module of the robot can be combined with thedepth camera and/or the laser radar of the robot; advantages of the near-distance communication module, and the depth camera and/or the laser radar are fully used; and by fusing various information,the target object is positioned, so reduction of positioning errors is facilitated and positioning precision is improved.

The invention relates to a pseudo base station rapid positioning method and system based on an offline fingerprint database. The pseudo base station rapid positioning method comprises an offline archiving step: constructing a position-reference point feature fingerprint database according to the mapping relation between the position information of each reference point and RSS positioning feature information in an area to be monitored; and an online judgment step: sampling the RSS positioning feature information in the area to be monitored, comparing the sampled RSS positioning feature information with information in the position-reference point feature fingerprint database and looking up the position information of a pseudo base station. Compared with an existing pseudo base station positioning scheme, the method provided by the invention has the advantages of small positioning error, low hardware condition limitation, wide coverage range, high system total accuracy and very high practical application value.

The invention discloses a vehicle positioning optimization method, a vehicle positioning optimization device, equipment and a storage medium and belongs to the field of automatic driving and can alsobe applied to the field of autonomous parking. According to the embodiments of the invention, the method is applied to electronic equipment. A vehicle carries a fusion positioning system and a perception positioning system which are used for determining a fusion vehicle pose and a sensing lane line. The method comprises the following steps that: target positioning information associated with optimized positioning information is acquired, wherein the target positioning information is determined through the electronic equipment and at least one positioning system mounted on the vehicle; an optimization model about the optimized positioning information and the target positioning information is constructed according to a preset positioning approaching strategy; the target positioning information is inputted into the optimization model, and the optimized positioning information in the optimization model is solved, so that the optimized positioning information can be outputted; and if the optimized positioning information passes verification, the optimized positioning information is sent to the vehicle so as to control the vehicle to drive according to the optimized positioning information.