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公开(公告)号：US20180299273A1
公开(公告)日：2018-10-18
申请号：US15876008
申请日：2018-01-19
发明人： Renlan CAI , Xiaolong YANG , Guowei WAN , Weixin LU , Shiyu SONG , Baoqiang XU
摘要： The present disclosure discloses a method and apparatus for positioning a vehicle. In some embodiments, the method comprises: acquiring an a priori position of a to-be-positioned vehicle at a current positioning moment determined by performing a strapdown calculation between a previous positioning moment and the current positioning moment; determining a map area for searching in a laser point cloud reflected value map; matching a reflected value characteristic of a projection area generated by projecting a real-time laser point cloud, to obtain a map matching position according to a matching result; positioning, using the a priori position in combination with observation data of a vehicle-mounted global navigation satellite system (GNSS) receiver of the vehicle, to obtain a satellite positioning position; and fusing the a priori position, the map matching position and the satellite positioning position to generate a positioning result of positioning the vehicle at the current moment.
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公开(公告)号：US20190145776A1
公开(公告)日：2019-05-16
申请号：US16179460
申请日：2018-11-02
发明人： Xiaolong YANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： The present disclosure provides an integrated positioning method and system. The method comprises: receiving IMU data, and solving for the IMU data in a first Kalman filter to obtain a system state variable of an autonomous vehicle; receiving and buffering measurement data, and regarding the measurement data as current measurement data; performing measurement updating: obtaining the system state variable at a measurement time of current measurement data, and solving in the second Kalman filter to obtain an updated system state variable; if measurement data after the measurement time of the measurement data is already buffered, regarding the already-buffered measurement data after the measurement time as current measurement data, and performing the measurement update. The present disclosure can solve the problem about measurement information disorder caused by inconsistency of time delay in solving between different sensors, and improve real time and accuracy of the positioning.
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公开(公告)号：US20200028733A1
公开(公告)日：2020-01-23
申请号：US16509353
申请日：2019-07-11
发明人： Xiangyu FU , Jie HUANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： A method and an apparatus for processing information are provided. A method may include: sending a preset data acquisition request to a target data transmission end included in at least two preset data transmission ends; receiving feedback information from the target data transmission end, and determining whether the feedback information includes the acquired data; determining, in response to determining that the feedback information does not include the acquired data, whether the feedback information includes first fault information for indicating that the target data transmission end malfunctions; and selecting, in response to determining that the feedback information includes the first fault information, a data transmission end other than the target data transmission end from the at least two data transmission ends as a new target data transmission end.
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公开(公告)号：US20190335415A1
公开(公告)日：2019-10-31
申请号：US16505794
申请日：2019-07-09
发明人： Xiangyu FU , Jie HUANG , Renlan CAI , Shiyu SONG , Fangfang DONG
摘要： The present disclosure provides a method, an apparatus, and a device for switching GNSS reference station and a storage medium. The method of the present disclosure, by that in the process of moving of a positioning device, the positioning device transmits current position of the positioning device itself information to a base station server in real time, and the base station server determines a base station closest to the positioning device according to the current position information of the positioning device and position information of each base station; and the base station server switches a reference station of the positioning device to the base station closest to the positioning device, ensures that in the process of moving of the positioning device, the reference station of the positioning device is automatically switched according to a real-time position of the positioning device.
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