公开(公告)号：US11841446B2

公开(公告)日：2023-12-12

申请号：US17214630

申请日：2021-03-26

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

Inventor： Wenjie Liu ,  Renlan Cai ,  Xiaotao Li ,  Shiyu Song

IPC: G01S19/45 ,  G01S17/86 ,  G01S17/42

CPC classification number: G01S19/45 ,  G01S17/42 ,  G01S17/86

Abstract: The present application discloses a positioning method and an apparatus, which relate to the technical field of intelligent driving. A specific implementation solution is: determining a first positioning result using point cloud data collected by lidar in combination with a laser point cloud reflection value map; constructing a constraint condition using the first positioning result, where the constraint condition is used to accelerate a convergence speed of solving a receiver position using observation data; performing GNSS-PPP positioning using the constraint condition in combination with observation data of a GNSS receiver to obtain a second positioning result. Using this solution, lidar positioning technology is combined with GNSS-PPP positioning technology to realize a purpose of not relying on a GNSS base station.