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Positioning error determination method, trajectory generation method, device and vehicle

A technology for positioning devices and vehicles, applied in the field of information processing, can solve the problems of generating errors, positioning data that cannot accurately represent the actual position of an unmanned vehicle, and it is not easy to measure and statistically analyze its dynamic positioning errors.

Active Publication Date: 2021-10-22
新石器中研(上海)科技有限公司
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  • Application Information

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Problems solved by technology

In fact, due to errors in the data obtained by the software side and errors in the process of data fusion, the positioning data obtained by the above method cannot accurately represent the actual position of the unmanned vehicle
[0003] It is worth mentioning that when the positioning causes the device to be in a static state, it is relatively easy to measure and statistically analyze its positioning error. However, it is not easy to measure and statistically analyze its dynamics when the positioning and navigation device is in a moving state. positioning error

Method used

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  • Positioning error determination method, trajectory generation method, device and vehicle
  • Positioning error determination method, trajectory generation method, device and vehicle
  • Positioning error determination method, trajectory generation method, device and vehicle

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Embodiment approach

[0117] As an implementation manner, the device further includes: a third acquiring unit, configured to acquire a third trajectory formed by the third colored liquid dripped by the dripping device at a constant speed; wherein, the third trajectory is the During the process of the vehicle using the positioning device to drive along the preset driving trajectory according to the preset rules, the trajectory formed by the third colored liquid dripped by the dripping device at a uniform speed on the road; The three colored liquids are different in color from the first colored liquid and the second colored liquid, and have the same density; a positioning error determination unit is used for determining the position according to the first track, the second track and the third track The coincidence degree determines the positioning error of the positioning device.

[0118] As an implementation manner, the first colored liquid and the second colored liquid have the same viscosity but g...

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Abstract

The application provides a method for determining a positioning error, a method for generating a trajectory, a device, and a vehicle. The method for determining a positioning error is applied to a vehicle. The vehicle can be an unmanned vehicle. The vehicle is provided with a drip device and a positioning device. The method includes: Obtaining the first trajectory formed by the first colored liquid dripped at a constant speed by the dripping device; the first trajectory is the first colored liquid dripped at a uniform speed during the process of the vehicle using the positioning device to drive along the preset driving trajectory according to the preset rules The trajectory formed on the road; obtain the second trajectory formed by the second colored liquid dripped by the drip device at a constant speed; The trajectory formed by the dropped second colored liquid on the road; the first colored liquid and the second colored liquid have different colors and the same density; according to the coincidence degree of the first trajectory and the second trajectory, the positioning error of the positioning device is determined.

Description

technical field [0001] The present application relates to the technical field of information processing, and in particular, relates to a positioning error determination method, a trajectory generation method, a device, and a vehicle. Background technique [0002] For unmanned vehicles equipped with positioning and navigation devices, it has always been difficult to measure the positioning accuracy of the positioning and navigation devices during the driving of unmanned vehicles. Generally speaking, unmanned vehicles determine the positioning position based on the data provided by the software side (such as GPS position, position matched by high-precision map radar point cloud). In fact, due to errors in the data obtained by the software side and errors in the process of data fusion, the positioning data obtained by the above method cannot accurately represent the actual position of the unmanned vehicle. [0003] It is worth mentioning that when the positioning causes the de...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): G01C25/00B62D63/04
CPCB62D63/04G01C21/26G01C21/265G05D1/0212
Inventor 张守俊
Owner 新石器中研(上海)科技有限公司
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