Cooperative positioning method, cooperative positioning device, electronic device, and computer program product

A cooperative positioning method, applied to a first electronic device, comprising steps:

• obtaining a first pose, second poses, and first distances, wherein the first pose is a pose of the first electronic device in a local coordinate system of the first electronic device at a first moment, the second poses are poses of second electronic devices at the first moment, and each of the first distances is a distance between the first electronic device and a corresponding second electronic device at the first moment;
• determining a pose deviation of the first electronic device according to the first pose, the second poses, and the first distances;
• and
• optimizing the first pose according to the pose deviation to obtain a target pose of the first electronic device;
• wherein the step of determining the pose deviation of the first electronic device according to the first pose, the second poses, and the first distances comprises steps:
• determining a first initial pose of the first electronic device according to the second poses and the first distances;
• and
• determining, the pose deviation of the first electronic device according to the first initial pose and the first pose;
• wherein the cooperative positioning method further comprises a step:
• obtaining third poses, fourth poses, second distances, a first displacement, and second displacements;
• wherein the third poses are poses of the first electronic device in the local coordinate system of the first electronic device at second moments, the fourth poses are poses of the second electronic devices at the second moments, the second distances are distances between the first electronic device and the second electronic devices at the second moments, the first displacement is a displacement of the first electronic device at the first moment, the second displacements are displacements of the first electronic device at the second moments, and the second moments are earlier than the first moment;
• wherein the step of determining the pose deviation of the first electronic device according to the first pose, the second poses, and the first distances comprises steps:
• determining the first initial pose and second initial poses of the first electronic device according to the second poses, the fourth poses, the first distances, the second distances, the first displacement, and the second displacements;
• and
• determining the pose deviation of the first electronic device according to the first initial pose, the second initial poses, the first pose, and the third poses.