CN110398765B - 定位方法和装置、无人驾驶设备 - Google Patents
定位方法和装置、无人驾驶设备 Download PDFInfo
- Publication number
- CN110398765B CN110398765B CN201810375538.9A CN201810375538A CN110398765B CN 110398765 B CN110398765 B CN 110398765B CN 201810375538 A CN201810375538 A CN 201810375538A CN 110398765 B CN110398765 B CN 110398765B
- Authority
- CN
- China
- Prior art keywords
- data
- positioning
- time
- sampled
- point cloud
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
-
- 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
- G01S19/48—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system
- G01S19/49—Determining position by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system whereby the further system is an inertial position system, e.g. loosely-coupled
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Computer Networks & Wireless Communication (AREA)
- Automation & Control Theory (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Navigation (AREA)
Abstract
Description
Claims (17)
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810375538.9A CN110398765B (zh) | 2018-04-25 | 2018-04-25 | 定位方法和装置、无人驾驶设备 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201810375538.9A CN110398765B (zh) | 2018-04-25 | 2018-04-25 | 定位方法和装置、无人驾驶设备 |
Publications (2)
Publication Number | Publication Date |
---|---|
CN110398765A CN110398765A (zh) | 2019-11-01 |
CN110398765B true CN110398765B (zh) | 2022-02-01 |
Family
ID=68322363
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
CN201810375538.9A Active CN110398765B (zh) | 2018-04-25 | 2018-04-25 | 定位方法和装置、无人驾驶设备 |
Country Status (1)
Country | Link |
---|---|
CN (1) | CN110398765B (zh) |
Families Citing this family (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN114323035A (zh) * | 2020-09-30 | 2022-04-12 | 华为技术有限公司 | 定位方法、装置和*** |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011120141A1 (en) * | 2010-03-31 | 2011-10-06 | Ambercore Software Inc. | Dynamic network adjustment for rigorous integration of passive and active imaging observations into trajectory determination |
KR101133037B1 (ko) * | 2011-12-01 | 2012-04-04 | 국방과학연구소 | 자율이동차량용 충돌회피를 위한 경로갱신방법 및 그 장치 |
CN106289275A (zh) * | 2015-06-23 | 2017-01-04 | 沃尔沃汽车公司 | 用于改进定位精度的单元和方法 |
CN105954783B (zh) * | 2016-04-26 | 2017-03-29 | 武汉大学 | 一种改进gnss/ins实时紧组合导航实时性能的方法 |
CN206479647U (zh) * | 2017-01-25 | 2017-09-08 | 北京经纬恒润科技有限公司 | 定位***及汽车 |
-
2018
- 2018-04-25 CN CN201810375538.9A patent/CN110398765B/zh active Active
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2011120141A1 (en) * | 2010-03-31 | 2011-10-06 | Ambercore Software Inc. | Dynamic network adjustment for rigorous integration of passive and active imaging observations into trajectory determination |
KR101133037B1 (ko) * | 2011-12-01 | 2012-04-04 | 국방과학연구소 | 자율이동차량용 충돌회피를 위한 경로갱신방법 및 그 장치 |
CN106289275A (zh) * | 2015-06-23 | 2017-01-04 | 沃尔沃汽车公司 | 用于改进定位精度的单元和方法 |
CN105954783B (zh) * | 2016-04-26 | 2017-03-29 | 武汉大学 | 一种改进gnss/ins实时紧组合导航实时性能的方法 |
CN206479647U (zh) * | 2017-01-25 | 2017-09-08 | 北京经纬恒润科技有限公司 | 定位***及汽车 |
Also Published As
Publication number | Publication date |
---|---|
CN110398765A (zh) | 2019-11-01 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US10788830B2 (en) | Systems and methods for determining a vehicle position | |
CN109343095B (zh) | 一种车载导航车辆组合定位装置及其组合定位方法 | |
US11383727B2 (en) | Vehicle operation based on vehicular measurement data processing | |
CN108051839B (zh) | 一种车载三维定位装置及三维定位的方法 | |
KR102441073B1 (ko) | 자이로 센싱값 보상 장치, 그를 포함한 시스템 및 그 방법 | |
CN112835085B (zh) | 确定车辆位置的方法和装置 | |
CN111562603B (zh) | 基于航位推算的导航定位方法、设备及存储介质 | |
KR102331312B1 (ko) | 차량 내부 센서, 카메라, 및 gnss 단말기를 이용한 3차원 차량 항법 시스템 | |
CN111854740B (zh) | 能够在交通工具中进行航位推算的惯性导航*** | |
CN108254775A (zh) | 车载导航***及其实现方法 | |
CN113671454B (zh) | 一种车载雷达的位置参数标定方法、装置及存储介质 | |
JP2020003463A (ja) | 自車位置推定装置 | |
CN110398765B (zh) | 定位方法和装置、无人驾驶设备 | |
KR20050052864A (ko) | 가속도계와 경로안내 데이터를 이용한 이동체의속력측정방법 및 그 장치 | |
CN113917512B (zh) | 自动驾驶车辆的定位方法、装置、电子设备及存储介质 | |
CN111580139B (zh) | 卫星导航数据的有效性判断方法及装置、电子设备 | |
KR101964059B1 (ko) | 실내 주차장 안내 시스템을 위한 바퀴 속력 센서 기반 차량 측위 시스템 | |
US6473689B1 (en) | Method for navigating a vehicle | |
CN114623839A (zh) | 导航方法、***、装置及存储介质 | |
WO2014129501A1 (ja) | 通過検知システム、通過検知方法、通過検知装置、プログラム、及び記録媒体 | |
CN109477899B (zh) | 用于确定位置的方法、控制模块和存储介质 | |
CN110082805A (zh) | 一种三维定位装置和方法 | |
Prusaczyk et al. | Vehicle navigation systems involving inertial sensors and odometry data from on-board diagnostics in non-gps applications | |
JP7136050B2 (ja) | 自車位置推定装置 | |
CN116931041A (zh) | 一种轨迹确定方法及装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
PB01 | Publication | ||
PB01 | Publication | ||
SE01 | Entry into force of request for substantive examination | ||
SE01 | Entry into force of request for substantive examination | ||
TA01 | Transfer of patent application right | ||
TA01 | Transfer of patent application right |
Effective date of registration: 20210304 Address after: Room a1905, 19 / F, building 2, No. 18, Kechuang 11th Street, Daxing District, Beijing, 100176 Applicant after: Beijing Jingdong Qianshi Technology Co.,Ltd. Address before: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant before: Beijing Jingbangda Trading Co.,Ltd. Effective date of registration: 20210304 Address after: 101, 1st floor, building 2, yard 20, Suzhou street, Haidian District, Beijing 100080 Applicant after: Beijing Jingbangda Trading Co.,Ltd. Address before: 100195 Beijing Haidian Xingshikou Road 65 West Cedar Creative Garden 4 District 11 Building East 1-4 Floor West 1-4 Floor Applicant before: BEIJING JINGDONG SHANGKE INFORMATION TECHNOLOGY Co.,Ltd. Applicant before: BEIJING JINGDONG CENTURY TRADING Co.,Ltd. |
|
GR01 | Patent grant | ||
GR01 | Patent grant |