US 11,796,320 B2
Positioning method, apparatus and device, and computer-readable storage medium
Qiaozhong Liang, Guangdong (CN)
Assigned to TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Shenzhen (CN)
Filed by TENCENT TECHNOLOGY (SHENZHEN) COMPANY LIMITED, Guangdong (CN)
Filed on Oct. 21, 2020, as Appl. No. 17/75,880.
Application 17/075,880 is a continuation of application No. PCT/CN2019/103662, filed on Aug. 30, 2019.
Claims priority of application No. 201811025588.0 (CN), filed on Sep. 4, 2018.
Prior Publication US 2021/0033738 A1, Feb. 4, 2021
Int. Cl. G01C 21/18 (2006.01); G01C 21/16 (2006.01); G01S 19/30 (2010.01); G01S 19/49 (2010.01); G01S 19/53 (2010.01); G06F 18/214 (2023.01); G06F 18/25 (2023.01)
CPC G01C 21/165 (2013.01) [G01C 21/18 (2013.01); G01S 19/30 (2013.01); G01S 19/49 (2013.01); G01S 19/53 (2013.01); G06F 18/214 (2023.01); G06F 18/251 (2023.01)] 20 Claims
OG exemplary drawing
 
1. A positioning method, performed by a terminal, the method comprising:
obtaining update information of an object, the update information comprising GPS positioning information and dead reckoning position information, the dead reckoning position information being determined according to attitude change information of the object measured by an inertial measurement unit (IMU);
determining a fusion positioning model matching the update information, the fusion positioning model being used for performing fusion positioning using the update information;
determining error information of the update information, the error information indicating error conditions of the update information; and
performing the fusion positioning on the GPS positioning information and the dead reckoning position information of the update information according to the fusion positioning model with the error information to obtain a current position of the object.