Self-propelled device and control method therefor

A positioning method for a self-propelled device, comprising:

• upon receiving a positioning request, obtaining, by an acquisition unit, inertial data of the self-propelled device within a first time window according to the positioning request;
• statistically analyzing, by a processing unit, the inertial data;
• adjusting, by the processing unit, a positioning parameter corresponding to the inertial data according to a statistical result;
• and
• determining a position of the self-propelled device according to the inertial data and the positioning parameter.

A control method for a self-propelled device, comprising:

• acquiring an attitude of the self-propelled device through an attitude sensor;
• acquiring an image in a traveling direction of the self-propelled device through a vision sensor;
• calculating a first angle of inclination of the ground in the traveling direction of the self-propelled device according to the image;
• and
• calculating a second angle of inclination of the ground in conjunction with the first angle of inclination and the attitude, and according to the second angle of inclination, controlling whether the self-propelled device travels along the traveling direction.