Positioning apparatus and method and self-moving device

A positioning method, wherein the positioning method including:

• acquiring a first positioning result of a carrier of a positioning apparatus and acceleration and an angle parameter of walking of the carrier;
• in a first mode used to determine a boundary of a working range of a self-moving device, if the first positioning result satisfies a quality condition, determining a position of the carrier of the positioning apparatus according to the first positioning result;
• if the first positioning result does not satisfy a quality condition, determining a position of the carrier of the positioning apparatus according to the acceleration and the angle parameter and based on a pedestrian dead reckoning algorithm;
• and
• determining the boundary according to the position of the carrier of the positioning apparatus.

A positioning apparatus, wherein a carrier can carry the positioning apparatus and walk, the positioning apparatus comprising:

• a first positioning module, configured to acquire a first positioning result of the carrier of the positioning apparatus;
• a sensor module, configured to measure acceleration and an angle parameter of walking of the carrier of the positioning apparatus;
• and
• a processing module, configured to:
• in a first mode used to determine a boundary of a working range of an automatic walking device, determine a third position of the carrier of the positioning apparatus according to the first positioning result;
• determine a fourth position of the carrier of the positioning apparatus according to the acceleration and the angle parameter and based on a pedestrian dead reckoning algorithm;
• determine a position of the carrier of the positioning apparatus according to the third position and the fourth position;
• and
• determine the boundary according to the position of the carrier of the positioning apparatus.

A positioning method, the positioning method including:

• acquiring a first positioning result of a carrier of a positioning apparatus and acceleration and an angle parameter of walking of the carrier;
• in a first mode used to determine a boundary of a working range of a self-moving device, determining a third position of the carrier of the positioning apparatus according to the first positioning result;
• determining a fourth position of the carrier of the positioning apparatus according to the acceleration and the angle parameter and based on a pedestrian dead reckoning algorithm;
• determining a position of the carrier of the positioning apparatus according to the third position and the fourth position;
• and
• determining the boundary according to the position of the carrier of the positioning apparatus.