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Positioning method and device

A positioning method and positioning result technology, applied in the direction of measuring device, satellite radio beacon positioning system, vehicle position/route/altitude control, etc., can solve the problem of slow change of satellite geometric structure, etc.

Active Publication Date: 2020-09-25
APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD
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  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

However, due to the large number of parameters to be estimated and the slow change of satellite geometry, it takes about half an hour to converge

Method used

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Embodiment Construction

[0058] The exemplary embodiments of the present application are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present application to facilitate understanding, and they should be regarded as exemplary only. Accordingly, those of ordinary skill in the art will recognize that various changes and modifications of the embodiments described herein can be made without departing from the scope and spirit of the application. Also, descriptions of well-known functions and constructions are omitted in the following description for clarity and conciseness.

[0059] In automatic driving and unmanned driving, positioning technology is particularly important, and accurate positioning results can guarantee safety to a great extent. Common positioning technologies include GNSS positioning technology and Lidar point cloud positioning technology. Among them, GNSS positioning technology includes GNSS-RTK positioning technology ...

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Abstract

The invention discloses a positioning method and device, and relates to the technical field of intelligent driving. According to the specific implementation scheme, the method comprises: 1, determining a first positioning result by combining the point cloud data acquired by the laser radar with a laser point cloud reflection value map; and constructing a constraint condition by using the first positioning result, the constraint condition being used for accelerating the convergence rate of solving the position of the receiver by using the observation data, and performing GNSS-PPP positioning byusing the constraint condition in combination with the observation data of the GNSS receiver to obtain a second positioning result. By adopting the scheme, the Lidar positioning technology and the GNSS-PPP positioning technology are combined, the purpose of not depending on a GNSS base station is achieved, meanwhile, the constraint condition capable of accelerating the convergence rate of solvingthe position of the receiver through observation data is constructed through the positioning result of the Lidar positioning technology, and the defect that the convergence rate is too low is avoided.

Description

technical field [0001] The embodiment of the present application relates to the technical field of automatic driving, and in particular to a positioning method and device. Background technique [0002] At present, the positioning system plays a pivotal role in the process of automatic driving and assisted driving of unmanned vehicles. Other modules, such as perception and path planning, perform corresponding operations based on the positioning results generated by the positioning system to varying degrees. The accuracy of positioning has become one of the key factors affecting the success of automatic driving or assisted driving. [0003] Global Navigation Satellite System (GNSS) is a common positioning system. GNSS-based positioning technology mainly includes real-time carrier phase difference (Real-time kinematic, RTK) technology and precise point positioning (PPP) technology. Among them, in the RTK technology, the GNSS base station and the vehicle are close to each othe...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S17/86G01S17/06G01S19/45
CPCG01S17/86G01S17/06G01S19/45G01S19/485G01S19/14G01S7/4808G01S19/43G01S17/89G01S19/13G01S17/42
Inventor 刘文杰蔡仁澜李晓涛宋适宇
Owner APOLLO INTELLIGENT DRIVING (BEIJING) TECHNOLOGY CO LTD