Positioning method, positioning device, and robot

A positioning device for positioning a target object, comprising:

• a first obtaining unit configured to obtain first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment, wherein the last moment is a moment adjacent to the current moment;
• a second obtaining unit configured to obtain second location information of the target object at the current moment being collected by a sensor;
• a prediction unit configured to predict third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information;
• and
• a correction unit configured to determine an error value of the third location information under a preset constraint condition, and correct the third location information according to the error value to obtain final location information of the target object at the current moment, wherein the preset constraint condition is determined according to a constraint equation for characterizing a current motion manner of the target object;
• wherein the prediction unit is specifically configured to:
• calculate the third location information of the target object at the current moment according to a state equation and an observation equation in the extended Kalman filter model based on the first location information and the second location information;
• wherein the state equation is xk=f(xk-1,uk-1), the observation equation is:
• zk=h(xk)+vk, where, xk is the third location information, xk-1 the first location information, uk-1 is a control quantity of a preset parameter in parameters for describing location information at the last moment, f(x,u) is a preset ideal state transfer function, zk is the second location information, h(x) is an ideal state measurement function determined according to attributes of the sensor, vk is a measurement noise corresponding to each parameter for describing location information at the current moment.

A robot, wherein the robot comprises a positioning device for positioning the robot, the positioning device comprises:

• a first obtaining unit configured to obtain first location information of the robot at a current moment being predicted by an extended Kalman filter model at a last moment, wherein the last moment is a moment adjacent to the current moment;
• a second obtaining unit configured to obtain second location information of the robot at the current moment being collected by a sensor;
• a prediction unit configured to predict third location information of the robot at the current moment through the extended Kalman filter model based on the first location information and the second location information;
• and
• a correction unit configured to determine an error value of the third location information under a preset constraint condition, and correct the third location information according to the error value to obtain final location information of the robot at the current moment, wherein the preset constraint condition is determined according to a constraint equation for characterizing a current motion manner of the robot;
• wherein the prediction unit is specifically configured to:
• calculate the third location information of the target object at the current moment according to a state equation and an observation equation in the extended Kalman filter model based on the first location information and the second location information;
• wherein the state equation is xk=f(xk-1,uk-1), the observation equation is:
• zk=h(xk)+vk, where, xk is the third location information, xk-1 the first location information, uk-1 is a control quantity of a preset parameter in parameters for describing location information at the last moment, f(x,u) is a preset ideal state transfer function, zk is the second location information, h(x) is an ideal state measurement function determined according to attributes of the sensor, vk is a measurement noise corresponding to each parameter for describing location information at the current moment.