Integrated positioning method and system
US11073396B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Nov 2, 2018 |
| Grant date | Jul 27, 2021 |
| Priority date | — |
| Expiry date | Sep 20, 2039 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01C21/20
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
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.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.