Method for adaptive identification of erroneous GPS observed value
US11598885B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Apr 15, 2021 |
| Grant date | Mar 7, 2023 |
| Priority date | — |
| Expiry date | Sep 4, 2041 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG01S19/48
- WIPO fieldMeasurement
- WIPO sectorInstruments
Abstract
Disclosed is a method for adaptive identification of erroneous GPS observed value, including: acquiring positioning information of a vehicle from a GPS sensor, and extracting first observed value data; acquiring posture information and speed information of the vehicle to acquire dead reckoning trajectory data of the vehicle; eliminating the erroneous GPS observed values based on respective data on data status value, heading significant bit, the number of satellites used and horizontal dilution of precision in the first observed value data to obtain second observed value data; constructing pose graph data based on the second observed value data and acquiring processing result information; analyzing and optimizing the processing result information to eliminate the erroneous GPS observed values of which the cost function exceeds a preset cost function threshold to obtain third observed value data; and constructing a high-precision map based on the third observed value data and three-dimensional scene map data.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.