Fusion positioning method, device, electronic equipment and storage medium

Abstract

Embodiments of the present application provide a fusion positioning method, device, electronic equipment, and storage medium, which relate to the field of positioning technology and can be applied to application scenarios such as maps, smart transportation, and smart travel. The method includes: obtaining the prior pose information of the moving object in the global coordinate system at the current moment; obtaining the GNSS estimated value at the current moment according to the prior pose information in the global coordinate system; obtaining the GNSS of the moving object at the current moment The measured value, combined with the GNSS estimated value at the current moment, updates the component of the prior pose information in the global coordinate system in the moving direction of the moving object, and obtains the posterior pose information under the global coordinate system at the current moment. The embodiment of the present application can eliminate the adverse effect of GNSS error on the lateral positioning accuracy of the fusion positioning result, retain the constraint of the GNSS information on the longitudinal direction of the vehicle, and effectively reduce the lateral error of the fusion GNSS positioning.

Description

technical field [0001] The present application relates to the technical field of positioning, and in particular, the present application relates to a fusion positioning method, device, electronic equipment and storage medium. Background technique [0002] High-precision positioning is the core function of the automatic driving system. A single sensor inevitably has its own limitations. Usually, most high-precision positioning systems use multi-sensor fusion technology, combining GNSS (Global Navigation Satellite System, Global Navigation Satellite System), IMU (Inertial Measurement Unit, inertial sensor), wheel speed, Fusion of sensing information such as high-precision maps, cameras, and lidar. [0003] GNSS can provide absolute positioning information in the global position, but affected by factors such as ionosphere, reflection, urban canyon, etc., the accuracy of ordinary GNSS is often poor and not stable enough. With the change of time and position, the positioning ac...

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