Positioning method and apparatus, device, and storage medium
AssigneeTencent Technology (Shenzhen) Company Limited
InventorJinglan Su
Life of this patent
Estimating the term…
Abstract
In some examples, a method of positioning a mobile device includes obtaining point cloud data that is scanned by a radar that is positionally associated with the mobile device, determining a first positioning result of the mobile device according to the point cloud data, obtaining first observation data that is received by a first satellite positioning device that is positionally associated with the mobile device and determining a target positioning result for the mobile device based on the first observation data and the first positioning result. Apparatus and non-transitory computer-readable storage medium counterpart embodiments are also contemplated.
Claims20
A method of positioning a mobile device, the method comprising:
- obtaining point cloud data that is scanned by a radar that is positionally associated with the mobile device;
- determining a first positioning result of the mobile device according to the point cloud data;
- obtaining first observation data that is received by a first satellite positioning device that is positionally associated with the mobile device;
- obtaining a first modified result of the first positioning result based on a first filter that is configured according to the first positioning result and the first observation data;
- determining target data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station;
- and
- determining a target positioning result for the mobile device based on the target data and the first modified result.
A method of positioning a mobile device, comprising:
- obtaining point cloud data that is scanned by a radar that is positionally associated with the mobile device;
- determining a first positioning result of the mobile device according to the point cloud data;
- obtaining first observation data that is received by a first satellite positioning device that is positionally associated with the mobile device;
- determining a second positioning result of the mobile device according to the first observation data;
- calculating double-difference observation data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station;
- determining a third positioning result of the mobile device according to the double-difference observation data;
- performing a fusion on the second positioning result and the third positioning result to generate a fusion result;
- and
- obtaining a target positioning result for the mobile device based on modification of the fusion result according to the first positioning result.
An apparatus, comprising:
- processing circuitry configured to:
- obtain point cloud data that is scanned by a radar that is positionally associated with a device;
- determine a first positioning result for the device according to the point cloud data;
- obtain first observation data that is received by a first satellite positioning device that is positionally associated with the device;
- obtain a first modified result of the first positioning result based on a first filter that is configured according to the first positioning result and the first observation data;
- determine target data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station;
- and
- determine a target positioning result of the device based on the target data and the first modified result.
Dependencies are inferred from the claim text.