US 11,841,446 B2
Positioning method and apparatus
Wenjie Liu, Beijing (CN); Renlan Cai, Beijing (CN); Xiaotao Li, Beijing (CN); and Shiyu Song, Sunnyvale, CA (US)
Assigned to BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed by BEIJING BAIDU NETCOM SCIENCE TECHNOLOGY CO., LTD., Beijing (CN)
Filed on Mar. 26, 2021, as Appl. No. 17/214,630.
Claims priority of application No. 202010401600.4 (CN), filed on May 13, 2020.
Prior Publication US 2021/0215832 A1, Jul. 15, 2021
Int. Cl. G01S 19/45 (2010.01); G01S 17/86 (2020.01); G01S 17/42 (2006.01)
CPC G01S 19/45 (2013.01) [G01S 17/42 (2013.01); G01S 17/86 (2020.01)] 20 Claims
OG exemplary drawing
 
1. A positioning method, comprising:
determining a first positioning result using point cloud data of a vehicle at a current positioning time, wherein the first positioning result is used to indicate a position of the vehicle in a pre-constructed laser point cloud reflection value map at the current positioning time;
constructing a constraint condition using the first positioning result, wherein the constraint condition is used to indicate a position relationship between a position of a vehicle-mounted Global Navigation Satellite System (GNSS) receiver determined according to the first positioning result and a second positioning result, and the second positioning result is used to indicate a position of the vehicle in a rectangular coordinate system at the current positioning time;
performing precise point positioning (PPP) using the constraint condition in combination with observation data of the vehicle-mounted GNSS receiver to obtain the second positioning result;
controlling the vehicle using the second positioning result.