公开(公告)号：US20210206390A1

公开(公告)日：2021-07-08

申请号：US17210144

申请日：2021-03-23

Applicant: BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD.

Inventor： FENG CHENG ,  XIAOLONG YANG ,  SHIYU SONG

IPC: B60W60/00 ,  G01S13/931 ,  G06K9/62

Abstract: Embodiments of the present disclosure provide a positioning method, a positioning apparatus, a vehicle device, an autonomous vehicle and a storage medium, which relate to the field of automatic driving technology, where the method includes: acquiring navigation information respectively output by at least two Kalman filters, where each of the Kalman filters is connected to an inertial measurement unit, and fusing the multiple pieces of navigation information to obtain positioning information. By connecting one inertial measurement unit to one Kalman filter and fusing multiple pieces of navigation information acquired from the respective Kalman filters, it is possible to avoid low efficiency and huge calculations when one Kalman filter is used to calculate relevant information output by multiple inertial measurement units, and reduce the amount of calculations of the respective Kalman filters and improve calculation efficiency. Moreover, because the respective Kalman filters operate in parallel, information interference can be reduced.