Method and apparatus for unmanned vehicle positioning, vehicle, and storage medium

A vehicle, comprising:

• a memory, a processor, and one or more executable computer programs of the processor stored in the memory, wherein the processor, when loading and executing the one or more executable computer programs, is caused to perform a method for unmanned vehicle positioning;
• wherein the method comprises:
• acquiring a geometric dilution of precision (GDOP) value of a current positioning strategy of a vehicle, wherein the GDOP value indicates a positioning accuracy of global navigation satellite system (GNSS) data of the vehicle, and the current positioning strategy is a GNSS positioning strategy;
• calculating a current confidence of the current positioning strategy based on the GDOP value;
• and
• in a case where the current confidence is less than a trusted confidence, determining that the current positioning strategy fails, replacing the current positioning strategy with an alternative positioning strategy, and determining a current position of the vehicle based on the alternative positioning strategy, wherein the alternative positioning strategy is a positioning strategy that determines the current position of the vehicle based on a fusion of the GNSS data, LiDAR data, and inertial measurement data of the vehicle.

A non-transitory computer-readable storage medium, storing one or more computer programs, wherein a processor, when loading and executing the one or more computer programs, is caused to perform a method for unmanned vehicle positioning;

• wherein the method comprises:
• acquiring a geometric dilution of precision (GDOP) value of a current positioning strategy of a vehicle, wherein the GDOP value indicates a positioning accuracy of global navigation satellite system (GNSS) data of the vehicle, and the current positioning strategy is a GNSS positioning strategy;
• calculating a current confidence of the current positioning strategy based on the GDOP value;
• and
• in a case where the current confidence is less than a trusted confidence, determining that the current positioning strategy fails, replacing the current positioning strategy with an alternative positioning strategy, and determining a current position of the vehicle based on the alternative positioning strategy, wherein the alternative positioning strategy is a positioning strategy that determines the current position of the vehicle based on a fusion of the GNSS data, LiDAR data, and inertial measurement data of the vehicle.