POSITIONING

• Main Authors: LANG, Xiaoming, CAI, Jiancheng, REN, Kefei, HU, Jiaxin
• Format: Patent
• Language: Chinese; English; French
• Published: 22.02.2024
• Subjects: GYROSCOPIC INSTRUMENTS; MEASURING; MEASURING DISTANCES, LEVELS OR BEARINGS; NAVIGATION; PHOTOGRAMMETRY OR VIDEOGRAMMETRY; PHYSICS; SURVEYING; TESTING

A positioning method, comprising the following steps: during a positioning process, estimating a local positioning pose of a robot according to a VIO algorithm (101); estimating a global positioning pose of the robot according to a map feature point matching algorithm (102); determining whether the estimation of the global positioning pose is consistent with that of the local positioning pose (103); if the estimations are consistent, executing pose fusion and update for the robot on the basis of a fused state vector (104), wherein the fused state vector comprises a VIO local positioning variable and a global positioning variable, the VIO local positioning variable comprises the speed of the robot and a sensor bias, and the speed and the sensor bias are kept in a Schmitt state; and if the estimations are inconsistent, determining an observation error of the global positioning pose, performing coordinate system conversion on the fused state vector according to the observation error, and executing pose update of