公开(公告)号：US20220121641A1

公开(公告)日：2022-04-21

申请号：US17566749

申请日：2021-12-31

Applicant: SUTENG INNOVATION TECHNOLOGY CO., LTD.

Inventor： Yufan FANG

IPC: G06F16/23 ,  H03H17/02

Abstract: This application provides a multi-sensor-based state estimation method, an apparatus, and a terminal device. The method includes: in each cycle, extracting sensor messages and arranging the sensor messages into a queue; deleting a system state estimation value with a timestamp later than an initial timestamp; extracting the sensor messages from the queue; when prediction data is extracted, predicting a system state estimation value corresponding to the first timestamp according to a Kalman filter prediction algorithm; when the update data is extracted, obtaining the system state estimation value corresponding to the first timestamp, and updating the system state estimation value according to a Kalman filter update algorithm; after all the sensor messages in the queue are used, proceed to a next cycle; and detecting a system state estimation value with the latest timestamp in the state estimation queue, and outputting the system state estimation value.