Terminal positioning method and device, equipment and medium

Abstract

The embodiment of the invention provides a terminal positioning method and device, equipment and a medium, and the method relates to a navigation positioning technology, can be applied to lane-level positioning of an electronic map, and comprises the following steps: determining terminal state information through observation information, and screening out first screening observation information; setting the terminal state information as initial state information of a target filter, performing time updating on the target filter to obtain a prediction state parameter and a prediction state covariance matrix, screening out second screening observation information used for constructing a measurement updating matrix from the first screening observation information, and performing measurement updating on the target filter according to a measurement variance matrix constructed by the observation error factors, a measurement updating matrix, the second screening observation information and a prediction state covariance matrix, updating the prediction state parameters into target state parameters, and determining a terminal positioning result according to the target state parameters. According to the invention, the positioning accuracy of the terminal can be improved.

Description

technical field [0001] The present application relates to the technical field of navigation and positioning, and in particular to a terminal positioning method, device, equipment and medium. Background technique [0002] In the current terminal positioning scenario, the terminal can be positioned (for example, lane-level positioning) through the navigation system and sensors such as vision sensors and radars as assistance. Based on the positioning results of the terminal, the user using the terminal can path navigation. [0003] However, when the terminal is in severe weather conditions such as heavy rain, heavy fog or heavy snow, the visual sensor used as an auxiliary terminal positioning is affected by the weather, and the images it acquires cannot capture real road information. In the process of terminal positioning by auxiliary tools such as visual sensors, the positioning accuracy of the terminal is too low. Contents of the invention [0004] Embodiments of the pres...

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Problems solved by technology

[0003] However, when the terminal is in severe weather conditions such as heavy rain, heavy fog or heavy snow, the visual sensor used as an auxiliary terminal positioning is affected by the weathe...

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