Positioning and orientation method, apparatus, and device

A device, comprising:

• a processor;
• and
• an inertial measurement unit (IMU);
• wherein the processor is configured to obtain a first status of an object, wherein the first status comprises a first position and a first pose;
• wherein the IMU is configured to provide inertial navigation for the object based on the first status as a start point, to obtain inertial navigation data;
• wherein the processor is further configured to obtain a second status of the object based on the inertial navigation data and the first status, wherein the second status comprises a second position and a second pose;
• and
• wherein the IMU is further configured to obtain a third pose of the object through initial alignment and provide inertial navigation for the object based on the third pose and based on the second position as a start point.