Positioning method and device based on multi-sensor fusion

A positioning method based on multi-sensor fusion, applied to a movable object equipped with various sensors, the method comprising:

• obtaining sensor data collected by the various sensors equipped on the movable object in real time;
• temporally and spatially synchronizing the sensor data collected by the various sensors to form various temporally and spatially synchronized sensor data;
• performing data preprocessing and data correlation on the various temporally and spatially synchronized sensor data to form to-be-jointly-optimized sensor data;
• obtaining state information at each time point before a current time point in a preset sliding window;
• and
• determining a current pose state of the movable object by performing a joint optimization solution according to the to-be-jointly-optimized sensor data and the state information at each time point before the current time point in the preset sliding window.

A non-transitory computer-readable storage medium, comprising program instructions that, when executed by a processor of a computing device, causes the computing device to:

• obtain sensor data collected by various sensors equipped on a movable object in real time;
• temporally and spatially synchronize the sensor data collected by the various sensors to form various temporally and spatially synchronized sensor data;
• perform data preprocessing and data correlation on the various temporally and spatially synchronized sensor data to form to-be-jointly-optimized sensor data;
• obtain state information at each time point before a current time point in a preset sliding window;
• and
• determine a current pose state of the movable object by performing a joint optimization solution according to the to-be-jointly-optimized sensor data and the state information at each time point before the current time point in the preset sliding window.

A computing device, comprising a memory and one or more processors communicatively connected to the memory;

• wherein the memory stores instructions executable by the one or more processors, the instructions, when executed by the processors, causes the computing device to:
• obtain sensor data collected by various sensors equipped on a movable object in real time;
• temporally and spatially synchronize the sensor data collected by the various sensors to form various temporally and spatially synchronized sensor data;
• perform data preprocessing and data correlation on the various temporally and spatially synchronized sensor data to form to-be-jointly-optimized sensor data;
• obtain state information at each time point before a current time point in a preset sliding window;
• and
• determine a current pose state of the movable object by performing a joint optimization solution according to the to-be-jointly-optimized sensor data and the state information at each time point before the current time point in the preset sliding window.