Method and device for obtaining vehicle positioning information
A vehicle positioning and positioning information technology, applied in the field of vehicle positioning, can solve problems such as obstacles in the research and promotion of automatic driving technology, lack of methods for positioning information, etc., and achieve the effect of improving automatic driving and accurate positioning
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no. 1 example
[0067] figure 2 A flow chart of the method for obtaining vehicle location information provided by the first embodiment of the present invention is shown. refer to figure 2 , methods for obtaining vehicle location information include:
[0068] Step S10: The processor 106 of the electronic device 100 builds a factor graph for representing the navigation state of the vehicle at multiple times and the constraint relationship among the navigation states at multiple times.
[0069] The navigation state at each moment includes three parameters: the vehicle's pose, velocity, and zero offset of the inertial measurement unit (IMU) at that moment. The values of the above three parameters can be obtained by obtaining their original observations through equipment or systems installed on the vehicle, and then combining with the method provided by the first embodiment to optimize and solve them. Equipment or systems that can be used to collect observations include, but are not limited...
no. 2 example
[0121] Figure 4 A functional block diagram of the device 200 for obtaining vehicle location information provided by the second embodiment of the present invention is shown. refer to Figure 4 , the device includes a factor graph construction module 210 , an initial value determination module 220 , a factor graph solution module 230 and a location information determination module 240 .
[0122] Wherein, the factor graph construction module 210 is used to construct the factor graph used to represent the vehicle's navigation state at multiple moments and the constraint relationship between the navigation states at multiple moments, wherein, the navigation state at each moment includes the vehicle at the The pose, velocity, and zero offset of the IMU at each moment, multiple moments including the target moment;
[0123] The initial value determination module 220 is used to determine the initial value of the navigation state at multiple moments in the factor graph;
[0124] The...
no. 3 example
[0128] The third embodiment of the present invention provides a computer storage medium. Computer program instructions are stored in the computer storage medium. When the computer program instructions are read and run by the processor of the computer, the method for obtaining vehicle positioning information provided by the embodiment of the present invention is executed. . The computer storage medium can be implemented as, but not limited to figure 1 Memory 102 is shown.
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