The invention discloses a
trajectory optimization method based on a multi-source heterogeneous positioning data fusion
algorithm, and relates to the technical field of intelligent navigation and high-precision positioning, multi-
modal data are acquired through a multi-
modal sensor array, positioning redundancy of scenes such as tunnels and indoor scenes is enhanced, a
weight distribution strategy is dynamically adjusted through an Actor-Critic
network architecture, and the positioning accuracy is improved. The
state space input comprises an environment semantic tag, a historical error sequence and a real-time
noise variance, the output action space is continuous
weight distribution of each
data source, a multi-target reward
function optimization strategy is combined, scene adaptability is realized, a local SLAM map, inertial
navigation error parameters and a
weight distribution strategy are shared in real
time based on a V2X protocol, and the real-time performance of the
system is improved. According to the method, a single device accumulative error is compensated by using adjacent vehicle data, a terminal locally trains an error compensation model, parameters are uploaded to a cloud end through
differential privacy encryption, the cloud end adopts a FedAvg
algorithm to aggregate a
global model and issue the
global model, the error difference between devices is inhibited, and dynamic road network updating and scene differentiation model distribution are supported at the same time.