WO2022218306A1 - Dispositif de pilotage sans pilote - Google Patents

Dispositif de pilotage sans pilote Download PDF

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Publication number
WO2022218306A1
WO2022218306A1 PCT/CN2022/086368 CN2022086368W WO2022218306A1 WO 2022218306 A1 WO2022218306 A1 WO 2022218306A1 CN 2022086368 W CN2022086368 W CN 2022086368W WO 2022218306 A1 WO2022218306 A1 WO 2022218306A1
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WIPO (PCT)
Prior art keywords
positioning
satellite
deviation
unmanned
area
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PCT/CN2022/086368
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English (en)
Chinese (zh)
Inventor
董峻峰
何祎
李秋成
胡增科
申浩
夏华夏
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北京三快在线科技有限公司
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Publication of WO2022218306A1 publication Critical patent/WO2022218306A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position

Definitions

  • the present application relates to the field of unmanned driving technology, and in particular, to an unmanned driving device.
  • the location of the unmanned equipment is usually determined in real time based on a satellite positioning system such as the Global Positioning System (GPS).
  • GPS Global Positioning System
  • other sensor devices such as Inertial Measurement Unit (IMU), etc., need to be used to assist positioning.
  • IMU Inertial Measurement Unit
  • the GPS sensor configured on the unmanned vehicle can receive the satellite signals of multiple positioning satellites, and according to the received The satellite signals of the multiple positioning satellites are determined, and the signal transmission duration of the multiple positioning satellites and the position information of the multiple positioning satellites are determined. Finally, the location of the unmanned vehicle is determined according to the location information of the multiple positioning satellites and the transmission duration of the signals transmitted to the unmanned vehicle.
  • Embodiments of the present disclosure provide a method and device for positioning an unmanned device.
  • a method for positioning an unmanned vehicle provided by the present disclosure includes:
  • the confidence level of the current satellite positioning result of the unmanned device is determined, wherein the positioning deviation function is based on historical The proportion of unobstructed satellite signals in multiple areas and the positioning deviation in multiple areas are obtained by fitting;
  • the unmanned device is fused to locate the unmanned device, and the fused positioning position of the unmanned device is determined.
  • determining the confidence level of the current satellite positioning result performed by the unmanned device specifically includes:
  • the positioning deviation function determines the positioning deviation of the satellite positioning performed by the unmanned device in the target area
  • the confidence level of the result of the current satellite positioning performed by the unmanned device is determined.
  • the current satellite positioning position of the unmanned device and the confidence level of the current satellite positioning result perform fusion positioning on the unmanned device, and determine the fusion positioning position of the unmanned device, Specifically include:
  • the fusion positioning position of the unmanned device is determined according to other positioning methods.
  • the method further includes:
  • the second positioning deviation of the satellite positioning in the target area in the history is updated.
  • updating the historical second positioning deviation of satellite positioning in the target area including:
  • the second positioning deviation of the satellite positioning performed in the target area in the history is updated.
  • fit a positioning deviation function including:
  • the positioning deviation function is obtained by fitting according to the proportion of the unobstructed satellite signals in the multiple regions and the positioning deviation generated in the multiple regions.
  • the obstacle information of one or more obstacles corresponding to the area determine the proportion of areas in the area that receive satellite signals that are not blocked by obstacles, including:
  • the obstacle information of one or more obstacles corresponding to the area determine the angular range in which the satellite signal is received at the center point of the area without being blocked by obstacles;
  • the present disclosure provides a positioning device for unmanned equipment, including:
  • the area determination module determines the target area where the unmanned equipment is currently located
  • the confidence level determination module determines the confidence level of the current satellite positioning result performed by the unmanned device according to the proportion of the unobstructed satellite signal in the target area and the pre-fitted positioning deviation function, wherein the positioning The deviation function is fitted according to the proportion of unobstructed satellite signals in multiple regions in history and the positioning deviation in multiple regions;
  • a satellite positioning module for determining the current satellite positioning position of the unmanned device according to the received satellite signals of multiple satellites
  • the fusion positioning module performs fusion positioning on the unmanned equipment according to the current satellite positioning position of the unmanned equipment and the confidence level of the current satellite positioning result, and determines the fusion positioning position of the unmanned equipment.
  • the present disclosure provides a computer-readable storage medium, where a computer program is stored in the storage medium, and when the computer program is executed by a processor, the above-mentioned positioning method for an unmanned vehicle is implemented.
  • An unmanned device provided by the present disclosure includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned positioning method for the unmanned device when the program is executed. .
  • the positioning deviation function is obtained in advance based on the proportion of the regions in which the satellite signals are not blocked in the history and the positioning deviation in the multiple regions.
  • the confidence of the current satellite positioning result can be determined according to the proportion of the unobstructed satellite signal in the target area where the unmanned device is currently located, and the pre-fitted positioning deviation function. Spend.
  • the unmanned equipment is fused and positioned.
  • FIG. 1 is a schematic flowchart of a method for locating an unmanned device according to an embodiment of the present disclosure
  • 2A-2B are schematic diagrams of determining the proportion of unobstructed satellite signal areas in a target area according to an embodiment of the present disclosure
  • FIG. 3 is a schematic diagram of updating result confidence based on incremental deviation according to an embodiment of the present disclosure
  • FIG. 4 is a schematic structural diagram of a positioning device for an unmanned device according to an embodiment of the present disclosure
  • FIG. 5 is a schematic diagram of an unmanned device for implementing a method for positioning an unmanned device according to an embodiment of the present disclosure.
  • the present disclosure provides a positioning method for an unmanned device, as shown in FIG. 1 .
  • FIG. 1 is a schematic flowchart of a method for locating an unmanned device according to an embodiment of the present disclosure, which may specifically include the following steps:
  • S100 Determine the target area where the unmanned device is currently located.
  • the unmanned device may be a device such as an unmanned vehicle, a drone, and a robot.
  • the position of the unmanned device during the driving process can be determined in real time.
  • the current position of the unmanned device may be roughly determined first. After that, according to the current position of the unmanned device and the corresponding position ranges of the pre-divided areas, determine the target area where the unmanned device currently falls, that is, the target area where the unmanned device is currently located. .
  • the pre-divided areas can be divided according to the unit range, for example, the ground area is divided into several squares with a side length of 5 meters.
  • the current position of the unmanned device can be roughly determined according to the latest positioning result of the unmanned device in the history.
  • any existing positioning method can also be used to roughly determine the position of the unmanned device, such as base station positioning, satellite positioning, and lidar positioning, etc., which are not limited in this disclosure, and can be set as required. .
  • S102 Determine the confidence level of the current satellite positioning result performed by the unmanned device according to the proportion of the area in the target area that does not block satellite signals and the pre-fitted positioning deviation function.
  • the satellite positioning of the unmanned device after roughly determining the target area where the unmanned device is located, it can be determined whether the satellite positioning of the unmanned device is accurate according to the occlusion of the satellite signal by the target area. .
  • the area proportion of the unobstructed satellite signals in the target area can be determined from the pre-stored area proportions of the unobstructed satellite signals corresponding to the multiple areas. Compare. After that, the proportion of the area in the target area that does not block the satellite signal is input into the pre-fitted positioning deviation function to obtain the positioning deviation generated by the satellite positioning of the unmanned vehicle in the target area. Finally, according to the positioning deviation generated by the satellite positioning performed by the unmanned equipment in the target area, the confidence level of the current satellite positioning result of the unmanned equipment is determined.
  • the pre-divided multiple areas refer to multiple grids divided according to the unit range
  • the area that does not block the satellite signal refers to the area where the unmanned device can directly receive the satellite signal, that is, the satellite signal It is directly received by the unmanned device without being blocked by any obstacle.
  • the positioning deviation is negatively correlated with the confidence of the result. The larger the positioning deviation, the smaller the confidence of the result, indicating that the positioning result of the current satellite positioning is inaccurate.
  • the positioning deviation output based on the pre-fitted positioning deviation function may be used as the first positioning deviation.
  • determine the positioning deviation of the satellite positioning of the unmanned equipment in the target area for example, the unmanned equipment is in The positioning deviation of the satellite positioning of the target area may be an average value of the first positioning deviation and the second positioning deviation.
  • the confidence level of the current satellite positioning result of the unmanned device is determined. For example, the positioning deviation of the satellite positioning performed by the unmanned device in the target area is the same as The confidence of the results is negatively correlated, and the greater the positioning deviation, the lower the confidence of the results.
  • S104 Determine the current satellite positioning position of the unmanned device according to the received satellite signals of multiple satellites.
  • S106 According to the current satellite positioning position of the unmanned device and the confidence level of the current satellite positioning result, perform fusion positioning on the unmanned device, and determine the fusion positioning position of the unmanned device.
  • the positioning method provided by the present disclosure can determine the precise position of the unmanned device based on the confidence of the current satellite positioning result of the unmanned device.
  • the unmanned device can receive satellite signals of multiple satellites through the GPS sensor configured by itself, and determine the current status of the unmanned device by means of satellite positioning based on the received satellite signals of multiple satellites. Satellite positioning location.
  • the fusion positioning can be performed according to the satellite positioning position determined by the satellite positioning method and other positioning methods, and the fusion positioning position of the unmanned device can be determined. Among them, the fusion positioning position is the more accurate position of the unmanned device.
  • the preset threshold can be set as required, for example, set to 0.5.
  • the other positioning manner may be one or more of IMU positioning, lidar positioning, and visual positioning, which is not limited in the present disclosure.
  • the embodiment of the present disclosure obtains the positioning deviation function in advance based on the proportion of the regions in which the satellite signals are not blocked in the history and the positioning deviation in the multiple regions.
  • the confidence of the current satellite positioning result can be determined according to the proportion of the unobstructed satellite signal in the target area where the unmanned device is currently located, and the pre-fitted positioning deviation function. Spend.
  • the unmanned equipment is fused and positioned.
  • one or more obstacles corresponding to the area may be determined first. , that is, one or more obstacles around the area or inside the area. Then, according to the obstacle information of one or more obstacles corresponding to the area, such as position information and altitude information, etc., determine the angular range in which the satellite signal is received at the center point of the area without being blocked by the obstacle. Finally, according to the angular range of the received satellite signal at the center point of the area that is not blocked by obstacles, the proportion of the area in which the received satellite signal is not blocked by obstacles is determined.
  • FIG. 2A-2B are schematic diagrams of determining the proportion of unobstructed satellite signal areas in a target area according to an embodiment of the present disclosure.
  • FIG. 2A for the target area where the unmanned device is currently located, there are buildings with different heights on both sides of the target area, and the buildings are obstacles that block satellite signals in the target area.
  • the ideal signal receiving area is that there are no obstacles blocking the satellite signal within a range of 180 degrees in the front, rear, left and right.
  • there are usually no obstacles that block satellite signals in the direction of road extension so satellite signals received in the range of -90° to 90° in the direction of road extension are not blocked by obstacles.
  • some angles in the direction perpendicular to the road are blocked.
  • the obstacle information such as the position and height of the obstacle corresponding to the target area, it can be determined that the angle range of the satellite signal received by the target area not blocked by the obstacle in the vertical road direction is - ⁇ ° ⁇ °.
  • a two-dimensional polar coordinate system is established with the angular ranges of receiving satellite signals in two different directions, "road extension direction” and “vertical road direction” as coordinate axes.
  • the angular range -90° ⁇ 90° when the satellite signal is not blocked by obstacles in the direction of road extension and the angular range - ⁇ ° ⁇ 90° when the satellite signal is received in the vertical direction of the road and not blocked by obstacles ⁇ °, to determine the area that does not block the satellite signal and the proportion of the area in the target area.
  • the blank area represents the area where the satellite signal is not blocked
  • the gray filled area represents the area where the obstacle blocks the satellite signal.
  • the pre-fitted positioning deviation function in the present disclosure can be obtained by fitting based on the proportion of the regions in which the satellite signals are not blocked in the history and the positioning deviation in the multiple regions.
  • the positioning deviation function historical positioning deviations generated by satellite positioning in a plurality of pre-divided regions can be obtained first. Afterwards, for each of the pre-divided areas, the proportion of the area in which the satellite signal is received and not blocked by the obstacle may be determined according to the obstacle information of one or more obstacles corresponding to the area. Finally, according to the proportion of unobstructed satellite signals in multiple regions, and the positioning deviation generated in multiple regions, the positioning deviation function is obtained by fitting. The specific manner of determining the proportion of the areas in which the received satellite signals are not blocked by obstacles has been described in detail above, and will not be repeated in the present disclosure.
  • the proportion of the areas that do not block satellite signals in the multiple areas to be driven by the unmanned device can be pre-determined offline, and the positioning deviation function can be pre-fitted.
  • the proportion of the unobstructed satellite signal area in the target area where the unmanned vehicle is currently located can be directly determined from the pre-stored area proportions of the unobstructed satellite signals corresponding to the multiple areas, and based on the The proportion of the unobstructed satellite signal area in the target area, and the pre-fitted positioning deviation function, determine the positioning deviation of satellite positioning in the target area.
  • the calculation amount required for positioning is reduced, and the real-time performance of positioning is improved.
  • step S106 of the present disclosure after the position of the unmanned device is accurately determined by the fusion positioning method, the satellite positioning position obtained by the satellite positioning method can be corrected according to the precise fusion positioning position.
  • the incremental deviation of satellite positioning in the target area can be determined according to the fusion positioning position of the unmanned device, the satellite positioning position, and the positioning deviation of satellite positioning in the target area.
  • update the second positioning deviation of satellite positioning in the target area in the history so as to correct the satellite positioning in the target area according to the second positioning deviation The resulting positioning error.
  • the unmanned device can determine its own satellite positioning position based on the received satellite signals, and based on the current satellite positioning position and the confidence of the satellite positioning result,
  • the human-driving device performs fusion positioning to determine the fusion positioning position.
  • the confidence of the satellite positioning result may be determined based on the first positioning deviation output by the fitted positioning deviation function and the second positioning deviation determined in the target area in the history.
  • the incremental deviation generated by satellite positioning in the target area can be determined according to its own fusion positioning position and satellite positioning position, so as to update the second positioning deviation according to the incremental deviation, and then update the second positioning deviation in the target area. Confidence in the result of satellite positioning. Through continuous iterative update, the result confidence of the target area is made more accurate.
  • incremental deviations generated by satellite positioning in the target area for several times in the history may also be obtained, and according to the difference of the incremental deviations generated several times Average, update the second positioning deviation of satellite positioning in the target area in history.
  • the horizontal position deviation also referred to as positioning deviation
  • unit meters the horizontal position deviation of the satellite positioning in the area
  • Step 1 Obtain a fitting function S that is estimated to represent the satellite positioning position error according to the occlusion of the sky.
  • the fitting function S is a positioning deviation function.
  • each sample data contains satellite positioning position (x, y), real position (x', y'), and the proportion of unobstructed satellite signal area p.
  • the true location may be a fused location location.
  • the sample data is further processed to obtain a sample point whose abscissa is p and the ordinate is the satellite horizontal positioning deviation value d.
  • the value range of p may be [0.0, 1.0]
  • Step 2 When drawing a map for the first time, record the horizontal position deviation d of satellite positioning.
  • the map is rasterized in the horizontal direction to obtain multiple grids. For each grid Ci (i is the grid number), calculate the proportion pi of the unobstructed satellite signal area at this grid position.
  • Step 3 Constantly correct the estimated satellite position error in the map during the actual operation of the map.
  • the unmanned equipment when the unmanned equipment is in the grid Ci, the observed satellite positioning results (xi,yi) and the vehicle fusion positioning position (xi",yi") at that time, and calculate the horizontal position of the satellite positioning Incremental deviation di'.
  • corrections are made to the satellite position error estimates recorded in raster Ci.
  • the estimated value of the original satellite horizontal position error recorded in Ci is di(old).
  • di(old) can be corrected according to a fixed correction coefficient ⁇ , and the correction amount is ⁇ *(average-di(old)).
  • the coefficient ⁇ controls the speed of correction, and its value is 0.0 to 1.0 (the recommended value is 0.1 according to engineering experience, which can make the correction amount gradually approach the average, and prevent the di' value from fluctuating violently due to accidental factors).
  • the unmanned equipment can not only obtain the position deviation estimated by the satellite positioning receiver when driving, but also obtain the satellite positioning deviation for the fusion algorithm by directly checking the position of the unmanned equipment.
  • the positioning method shown in this disclosure can be specifically used in the process of unmanned distribution.
  • the unmanned device can determine its own position in real time through the positioning method in this disclosure, so as to determine its own position according to its own
  • the distribution path is planned according to the location, and the distribution task is executed according to the planned path.
  • an embodiment of the present disclosure also provides a schematic structural diagram of a positioning device for an unmanned device, as shown in FIG. 4 .
  • FIG. 4 is a schematic structural diagram of a positioning device for an unmanned device provided by an embodiment of the present disclosure, including:
  • the area determination module 200 determines the target area where the unmanned device is currently located
  • the confidence level determination module 202 determines the confidence level of the current satellite positioning result performed by the unmanned device according to the proportion of the unobstructed satellite signal in the target area and the pre-fitted positioning deviation function, wherein the The positioning deviation function is fitted according to the proportion of unobstructed satellite signals in multiple regions in history and the positioning deviation in multiple regions;
  • the satellite positioning module 204 determines the current satellite positioning position of the unmanned device according to the received satellite signals of multiple satellites;
  • the fusion positioning module 206 perform fusion positioning on the unmanned equipment, and determine the fusion positioning position of the unmanned equipment .
  • the confidence level determination module 202 is specifically configured to determine the unmanned vehicle according to the first positioning deviation output by the positioning deviation function and the second positioning deviation historically determined in the target area.
  • the positioning deviation of the satellite positioning performed in the target area is determined according to the positioning deviation of the satellite positioning performed by the unmanned device in the target area to determine the confidence level of the current satellite positioning result performed by the unmanned device.
  • the fusion positioning module 206 is specifically configured to determine whether the confidence of the result is greater than a preset threshold, and if so, perform fusion positioning according to the satellite positioning position and other positioning methods to determine the unmanned vehicle. If not, determine the fusion positioning position of the unmanned vehicle according to other positioning methods.
  • the fusion positioning module 206 is further configured to, according to the fusion positioning position of the unmanned equipment and the satellite positioning position of the unmanned equipment, determine the increment of satellite positioning in the target area.
  • the deviation according to the incremental deviation of the satellite positioning in the target area, update the second positioning deviation of the satellite positioning in the target area in the history.
  • the fusion positioning module 206 is further configured to, according to the average value of the incremental deviations of satellite positioning performed in the target area several times in the history, update the number of satellite positioning performed in the history in the target area. Two positioning deviation.
  • the positioning device of the unmanned equipment further includes an offline fitting module 208, and the offline fitting module 208 is specifically configured to acquire the positioning deviations generated by satellite positioning in the pre-divided regions in the history. , for each area of the pre-divided multiple areas, according to the obstacle information of one or more obstacles corresponding to the area, determine the proportion of the area receiving satellite signals that are not blocked by obstacles in the area. The proportion of unobstructed satellite signals in the region and the positioning deviation generated in multiple regions are fitted to obtain the positioning deviation function.
  • the offline fitting module 208 is specifically configured to, according to the obstacle information of one or more obstacles corresponding to the area, determine the angular range in which the satellite signal is received at the center point of the area without being blocked by the obstacle, According to the angular range of receiving satellite signals at the center point of the area that is not blocked by obstacles, determine the proportion of the area where satellite signals are received and not blocked by obstacles in the area.
  • Embodiments of the present disclosure further provide a computer-readable storage medium, where a computer program is stored in the storage medium, and the computer program can be used to execute the method for positioning an unmanned vehicle provided in FIG. 1 .
  • an embodiment of the present disclosure also proposes a schematic structural diagram of the unmanned device shown in FIG. 5 .
  • the driverless device includes a processor, an internal bus, a network interface, a memory, and a non-volatile memory, and of course, it may also include hardware required by other services.
  • the processor reads the corresponding computer program from the non-volatile memory into the memory and runs it, so as to realize the positioning method of the unmanned vehicle shown in FIG. 1 above.
  • a Programmable Logic Device (such as a Field Programmable Gate Array (FPGA)) is an integrated circuit whose logic function is determined by user programming of the device.
  • HDL Hardware Description Language
  • ABEL Advanced Boolean Expression Language
  • AHDL Altera Hardware Description Language
  • HDCal JHDL
  • Lava Lava
  • Lola MyHDL
  • PALASM RHDL
  • VHDL Very-High-Speed Integrated Circuit Hardware Description Language
  • Verilog Verilog
  • the controller may be implemented in any suitable manner, for example, the controller may take the form of eg a microprocessor or processor and a computer readable medium storing computer readable program code (eg software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers, examples of controllers include but are not limited to the following microcontrollers: ARC 625D, Atmel AT91SAM, Microchip PIC18F26K20 and Silicon Labs C8051F320, the memory controller can also be implemented as part of the control logic of the memory.
  • the controller may take the form of eg a microprocessor or processor and a computer readable medium storing computer readable program code (eg software or firmware) executable by the (micro)processor , logic gates, switches, application specific integrated circuits (ASICs), programmable logic controllers and embedded microcontrollers
  • ASICs application specific integrated circuits
  • controllers include but are not limited to
  • the controller in addition to implementing the controller in the form of pure computer-readable program code, the controller can be implemented as logic gates, switches, application-specific integrated circuits, programmable logic controllers and embedded devices by logically programming the method steps.
  • the same function can be realized in the form of a microcontroller, etc. Therefore, such a controller can be regarded as a hardware component, and the devices included therein for realizing various functions can also be regarded as a structure within the hardware component. Or even, the means for implementing various functions can be regarded as both a software module implementing a method and a structure within a hardware component.
  • a typical implementation device is a computer.
  • the computer can be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smart phone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or A combination of any of these devices.
  • embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory result in an article of manufacture comprising instruction means, the instructions
  • the apparatus implements the functions specified in the flow or flow of the flowcharts and/or the block or blocks of the block diagrams.
  • a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
  • processors CPUs
  • input/output interfaces network interfaces
  • memory volatile and non-volatile memory
  • Memory may include forms of non-persistent memory, random access memory (RAM) and/or non-volatile memory in computer readable media, such as read only memory (ROM) or flash memory (flash RAM). Memory is an example of a computer-readable medium.
  • RAM random access memory
  • ROM read only memory
  • flash RAM flash memory
  • Computer-readable media includes both persistent and non-permanent, removable and non-removable media, and storage of information may be implemented by any method or technology.
  • Information may be computer readable instructions, data structures, modules of programs, or other data.
  • Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read only memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), Flash Memory or other memory technology, Compact Disc Read Only Memory (CD-ROM), Digital Versatile Disc (DVD) or other optical storage, Magnetic tape cassettes, magnetic tape magnetic disk storage or other magnetic storage devices or any other non-transmission medium that can be used to store information that can be accessed by a computing device.
  • computer-readable media does not include transitory computer-readable media, such as modulated data signals and carrier waves.
  • embodiments of the present disclosure may be provided as a method, system or computer program product. Accordingly, the present disclosure may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present disclosure may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) having computer-usable program code embodied therein.
  • computer-usable storage media including, but not limited to, disk storage, CD-ROM, optical storage, etc.
  • program modules include routines, programs, objects, components, data structures, etc. that perform particular tasks or implement particular abstract data types.
  • the disclosure may also be practiced in distributed computing environments where tasks are performed by remote processing devices that are linked through a communications network.
  • program modules may be located in both local and remote computer storage media including storage devices.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)

Abstract

La présente invention concerne un procédé et un appareil de positionnement pour un dispositif de pilotage sans pilote. Une fonction d'écart de positionnement est obtenue à l'avance par ajustement sur la base de la proportion de régions qui n'obstruent pas des signaux de satellite parmi de multiples régions dans l'historique et l'écart de positionnement dans de multiples régions. Pendant le positionnement d'un dispositif de pilotage sans pilote, la confiance des résultats de positionnement par satellite actuellement effectué peut être déterminée en fonction de la proportion des régions qui n'obstruent pas des signaux de satellite dans une région cible où se trouve actuellement le dispositif de pilotage sans pilote et la fonction d'écart de positionnement préajustée. En outre, en fonction de la confiance des résultats et de la localisation de positionnement par satellite déterminées au moyen d'un procédé de positionnement par satellite, un positionnement par fusion est réalisé sur le dispositif de pilotage sans pilote.
PCT/CN2022/086368 2021-04-12 2022-04-12 Dispositif de pilotage sans pilote WO2022218306A1 (fr)

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CN202110385914.4A CN112859131B (zh) 2021-04-12 2021-04-12 一种无人驾驶设备的定位方法及装置
CN202110385914.4 2021-04-12

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CN112859131B (zh) * 2021-04-12 2021-09-07 北京三快在线科技有限公司 一种无人驾驶设备的定位方法及装置
CN114111808A (zh) * 2021-11-30 2022-03-01 上汽通用五菱汽车股份有限公司 无人驾驶车的定位方法、系统、装置及可读存储介质

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