Positioning methods and detection equipment

A method of positioning, applied to a detection device, wherein the detection device comprising a laser detection module, the laser detection module being used to acquire point cloud data, the method comprising:

• determining an uncertainty of a first data point in a point cloud of current frames, wherein the first data point is any data point in the point cloud of current frames;
• according to the first data point in the current frame point cloud and N second data points closest to the first data point in the point cloud map, the fitting plane corresponding to the first data point is determined, wherein the point cloud map is obtained based on the accumulation of historical frame point clouds collected by the detection device, the second data point is any data point in the point cloud map, and N is an integer greater than or equal to three;
• based on the uncertainty of the N second data points, the uncertainty of the fitting plane corresponding to the first data point is determined;
• and
• correcting the position of the detection device based on the uncertainty of at least some of the first data points and corresponding fitted planes.