US 11,988,757 B2
Positioning method, positioning system and automobile
Jubao Song, Beijing (CN); and Chengyin Yuan, Beijing (CN)
Assigned to Beijing National New Energy Vehicle Technology Innovation Center Co., Ltd., Beijing (CN)
Appl. No. 17/770,300
Filed by Beijing National New Energy Vehicle Technology Innovation Center Co., Ltd., Beijing (CN)
PCT Filed Dec. 31, 2019, PCT No. PCT/CN2019/130854
§ 371(c)(1), (2) Date Apr. 20, 2022,
PCT Pub. No. WO2021/077622, PCT Pub. Date Apr. 29, 2021.
Claims priority of application No. 201911006726.5 (CN), filed on Oct. 22, 2019.
Prior Publication US 2022/0390621 A1, Dec. 8, 2022
Int. Cl. G01S 19/47 (2010.01); G01C 21/16 (2006.01); G01C 21/20 (2006.01)
CPC G01S 19/47 (2013.01) [G01C 21/165 (2013.01); G01C 21/20 (2013.01)] 9 Claims
OG exemplary drawing
 
1. A positioning method, comprising:
acquiring credibility of each of a plurality of different positioning subsystems in different states and generating a credibility data table for each positioning subsystem;
acquiring real-time credibility from the corresponding credibility data table according to real-time positioning data of each positioning subsystem;
calculating a first information distribution weight coefficient of each positioning subsystem involving a fusion operation of a Federated Kalman filter according to the real-time credibility of each positioning subsystem;
acquiring a second information distribution weight coefficient of each positioning subsystem involving the fusion operation fed back to each sub-filter of the Federated Kalman filter by a main filter of the Federated Kalman filter according to global data; determining a final information distribution weight coefficient of each positioning subsystem involving the fusion operation according to the first information distribution weight coefficient and the second information distribution weight coefficient; and
performing, by the Federated Kalman filter, the fusion operation according to the final information distribution weight coefficient of each of the positioning subsystems and outputting a final positioning result.