Multi-source positioning data fusion method and device and electronic equipment

• Main Authors: LI LANXING, ZHANG YU
• Format: Patent
• Language: Chinese; English
• Published: 30.01.2024
• Subjects: ANALOGOUS ARRANGEMENTS USING OTHER WAVES; CALCULATING; COMPUTING; COUNTING; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; ELECTRIC DIGITAL DATA PROCESSING; GYROSCOPIC INSTRUMENTS; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION ORRERADIATION OF RADIO WAVES; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; RADIO DIRECTION-FINDING; RADIO NAVIGATION; SURVEYING; TESTING

The invention provides a multi-source positioning data fusion method and apparatus, and an electronic device. The fusion method comprises the steps of calculating a standard deviation of positioning data obtained by each sensor under each dimension; calculating a weight factor of each dimension according to the standard deviation under each dimension, including: defining a target function # imgabs0 #, and obtaining a weight factor # imgabs3 # of the D dimension of the Nth sensor under the current timestamp tp when the target function y is minimum according to a formula # imgabs1 # and a formula # imgabs2 #; the weight factor of each dimension of each sensor is multiplied by the first noise covariance matrix of each sensor to obtain a second noise covariance matrix of each sensor, and the first noise covariance matrix is an initially set noise covariance matrix; and carrying out filtering fusion on the second noise covariance matrix of each sensor and the positioning data acquired by each sensor. According to