公开(公告)号：US20190195631A1

公开(公告)日：2019-06-27

申请号：US16030843

申请日：2018-07-09

Applicant: UBTECH Robotics Corp

Inventor： Youjun Xiong ,  Longbiao Bai ,  Zhichao Liu ,  Zhangjia Bi

IPC: G01C21/16 ,  H04W4/02 ,  G05D1/02 ,  G05B19/402

CPC classification number: G01C21/16 ,  G05B19/402 ,  G05B2219/31081 ,  G05D1/021 ,  H04W4/02

Abstract: The present disclosure relates to positioning technology, and particularly to a positioning method a positioning device, and a robot. In which, the method includes: obtaining first location information of the target object at a current moment being predicted by an extended Kalman filter model at a last moment; obtaining second location information of the target object at the current moment being collected by a sensor; predicting third location information of the target object at the current moment through the extended Kalman filter model based on the first location information and the second location information; and determining an error value of the third location information under a preset constraint condition, and correcting the third location information according, to the error value to obtain final location information of the target object at the current moment.