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公开(公告)号：EP4206743A1
公开(公告)日：2023-07-05
申请号：EP22755529.9
申请日：2022-02-14
发明人： SU, Jinglan
摘要： Provided are a vehicle positioning method, an apparatus, a terminal device, a computer-readable storage medium, and a computer program product comprising instructions, applicable in the field of autonomous driving. The method comprises: acquiring a satellite filter parameter and data to be processed (101); determining a first parameter correction at a first moment (102); employing the first parameter correction to update the satellite filter parameter to produce positioning information at the first moment (103); acquiring a state of movement of a target vehicle at a second moment (104); if the state of movement at the second moment satisfies a positioning correction criterion, then acquiring a constraint matrix corresponding to the state of movement (105); determining a second parameter correction at the second moment on the basis of the constraint matrix (106); and employing the second parameter correction to update the positioning information at the first moment to produce positioning information at the second moment (107). The method utilizes a pseudorange observation value and a Doppler observation value to correct positioning information of a vehicle, with the pseudorange observation value and the Doppler observation value providing increased reliability, the accuracy of satellite positioning in a weak satellite signal scenario is enhanced, and a constraint is constructed on the basis of the state of movement of the vehicle, thus further increasing the accuracy of positioning.
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公开(公告)号：EP4198897A1
公开(公告)日：2023-06-21
申请号：EP22742131.0
申请日：2022-01-18
发明人： SU, Jinglan
IPC分类号： G06T7/246
摘要： A vehicle motion state evaluation method and apparatus, a device, and a medium. The method comprises: acquiring target video/image data corresponding to a vehicle, and combining every two image frames having a neighboring relationship in the target video/image data to obtain N image frame groups (S101); acquiring matching feature points between the two image frames separately comprised in the N image frame groups (S102); constructing, according to the matching feature points corresponding to each image frame group, target mesh planar graphs respectively corresponding to the N image frame groups (S103); and determining a motion state of the vehicle according to the target mesh planar graphs respectively corresponding to the N image frame groups (S104).
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公开(公告)号：EP4394450A1
公开(公告)日：2024-07-03
申请号：EP22919898.1
申请日：2022-10-28
发明人： SU, Jinglan
摘要： Embodiments of this application provide an error model determining method and apparatus, an electronic device, a computer-readable storage medium, and a computer program product, which can be applied to scenarios such as maps, automated driving, and smart transportation. The method includes: obtaining observation data acquired by at least two devices to be calibrated; solving a pre-constructed observation equation according to the observation data to obtain a data residual sequence; performing grid processing on the data residual sequence to obtain a data residual grid; performing grid error processing on the data residual grid according to each data residual value in the data residual sequence to obtain a measurement error grid corresponding to the data residual grid; and performing nonlinear fitting on the measurement error grid to obtain a data error model of the at least two devices to be calibrated. Through this application, the measurement error grid that accurately reflects the law of data errors can be obtained, thereby accurately determining the data error model and achieving accurate error model calibration in various types of mobile terminals.
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公开(公告)号：EP4459327A1
公开(公告)日：2024-11-06
申请号：EP23740008.0
申请日：2023-01-10
发明人： SU, Jinglan
IPC分类号： G01S19/42
摘要： A terminal positioning method and apparatus, and a device and a medium. The method comprises: obtaining a positioning information set for a terminal at a first moment, and estimating an estimated motion state of the terminal at the first moment on the basis of the positioning information set (S11); obtaining measurement data of signal measurement performed by the terminal on each of the plurality of satellites, and estimating, on the basis of the measurement data, an error of the positioning information corresponding to each of the plurality of satellites (S 12); obtaining conversion positioning information converted from the estimated motion state so as to calculate deviation information between the positioning information corresponding to each satellite in the positioning information set and the conversion positioning information, and determining, on the basis of the deviation information, an error adjustment factor corresponding to each satellite, (S13); using a historical motion state of the terminal, predicting a predicted motion state of the terminal at the first moment by means of a state prediction model (S14); applying the positioning information set, the error, and the error adjustment factor to a state adjustment model so as to adjust the predicted motion state to obtain an adjusted motion state of the terminal at the first moment (S15); and determining a positioning result of the terminal at the first moment according to the adjusted motion state (S16).
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公开(公告)号：EP4206741A1
公开(公告)日：2023-07-05
申请号：EP22745104.4
申请日：2022-01-19
发明人： SU, Jinglan
摘要： The present invention relates to the field of maps. Disclosed are an error model calibration method and apparatus, an electronic device, an error model-based positioning method and apparatus, a terminal, a computer-readable storage medium, and a program product. The error model calibration method comprises: receiving observation data acquired by a calibration device, and acquiring satellite data according to the observation data (S101); on the basis of the observation data, geometric parameters of the calibration device, and the satellite data, respectively calibrating a pseudo-range error array and a Doppler error array for at least two terminals of the calibration device (S102), wherein the pseudo-range error array describes a discrete distribution of pseudo-range measurement errors of the at least two terminals under a carrier-to-noise ratio and an elevation angle of a satellite, and the Doppler error array describes a discrete distribution of Doppler measurement errors of the at least two terminals under the carrier-to-noise ratio and elevation angle of the satellite; and obtaining pseudo-range error models respectively corresponding to the at least two terminals by means of fitting using the pseudo-range error array, and obtaining Doppler error models respectively corresponding to the at least two terminals by means of fitting using the Doppler error array (S103).
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