Pose data processing method and device, processor and vehicle system

Abstract

The invention provides a pose data processing method and device, a processor and a vehicle system. The method comprises the steps of obtaining original data corresponding to a vehicle in a preset timeperiod, and the original data comprising RTK data outputted by a GNSS receiver and pose data detected by an IMU; processing the original data at least by adopting a reverse Kalman filtering algorithmto obtain initial RTK data and initial pose data, the initial RTK data being data obtained by processing the RTK data at the initial moment through the reverse Kalman filtering algorithm; determiningto take the initial RTK data and the initial pose data as state data of the initial moment of a forward Kalman filtering algorithm, and processing the state data of the initial moment by adopting theforward Kalman filtering algorithm to obtain filtering data; and processing the filtering data by adopting an RTS algorithm to obtain processed RTK data and pose data. According to the method, a relatively complete smooth track can be obtained.

Description

technical field [0001] The present application relates to the field of vehicle positioning, and in particular, relates to a pose data processing method, a processing device, a computer-readable storage medium, a processor, and a vehicle system. Background technique [0002] In the prior art, the raw data of GNSS (Global Navigation Satellite System, Global Navigation Satellite System) / IMU (Inertial Measurement Unit, Inertial Measurement Unit) are usually post-processed to obtain the high-precision position and attitude of the vehicle. Among them, GNSS Receiver is a global satellite navigation receiver, and IMU is an inertial measurement unit. At present, in the conventional post-processing method: firstly, convert the GNSS and IMU original observation data and the GNSS base station differential data into an internal format, then process the GNSS to obtain precise satellite positioning results, and then fuse the IMU data to carry out positive and negative results at the same t...

AI Technical Summary

Problems solved by technology

[0006] The main purpose of this application is to provide a processing method, a processing device, a computer-readable storage medium, a processor, and a vehicle system for pose data, so as to solve the problem that the post-processing method of GNSS / IMU raw data in the prior art is difficult to obtain a complete The problem of inaccurate results due to the smooth trajectory of

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