Granted Patent B2

US 12,631,739 · App. 18/612,968 · Granted May 19, 2026

Inventor: Jinglan Su (Shenzhen, CN)

Assignee: Tencent Technology (Shenzhen) Company Limited

G01S13/06G01S13/89G01S19/01G06T7/70G06T2207/10028

Abstract

Claims (108)

1 . A method of positioning a mobile device, the method comprising:

obtaining point cloud data that is scanned by a radar that is positionally associated with the mobile device;

determining a first positioning result of the mobile device according to the point cloud data;

obtaining first observation data that is received by a first satellite positioning device that is positionally associated with the mobile device;

obtaining a first modified result of the first positioning result based on a first filter that is configured according to the first positioning result and the first observation data;

determining target data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station; and

determining a target positioning result for the mobile device based on the target data and the first modified result.

2 . The method according to claim 1 , wherein the determining the target positioning result for the mobile device based on the target data and the first modified result comprises:

calculating double-difference observation data based on the first observation data and the reference observation data; and

determining the target data based on at least one of the first observation data or the double-difference observation data.

3 . The method according to claim 2 , wherein

the target data includes the double-difference observation data, and

the determining the target positioning result includes:

modifying the first modified result according to the double-difference observation data to obtain a second modified result, the second modified result being used as the target positioning result.

4 . The method according to claim 3 , wherein the modifying the first modified result according to the double-difference observation data to obtain the second modified result comprises:

determining a second state parameter of a second filter based on the first modified result;

obtaining a second state covariance matrix corresponding to the second state parameter;

obtaining a double-difference observation residual matrix based on the double-difference observation data and the second state parameter when the double-difference observation data meets a second screening condition;

determining a double-difference measurement update matrix and a double-difference measurement variance matrix that correspond to the double-difference observation residual matrix;

determining a second parameter increment based on the double-difference observation residual matrix, the double-difference measurement update matrix, the double-difference measurement variance matrix, and the second state covariance matrix;

determining an updated second state parameter of the second filter based on a sum of the second parameter increment and the second state parameter; and

obtaining the second modified result based on the updated second state parameter when the updated second state parameter meets a second reference condition.

5 . The method according to claim 4 , wherein the obtaining the double-difference observation residual matrix comprises:

obtaining double-difference estimation data based on the second state parameter; and

constructing the double-difference observation residual matrix based on the double-difference observation data and the double-difference estimation data.

6 . The method according to claim 4 , wherein the updated second state parameter comprises a first floating-point solution of a location and a second floating-point solution of whole-cycle ambiguity, and the obtaining the second modified result comprises:

fixing the second floating-point solution of the whole-cycle ambiguity;

when the second floating-point solution of the whole-cycle ambiguity is successfully fixed, calculating a fixed solution of the location according to the second floating-point solution of the whole-cycle ambiguity that is fixed, the fixed solution of the location being used as the second modified result; and

when the second floating-point solution of the whole-cycle ambiguity is not successfully fixed, using the first floating-point solution of the location as the second modified result.

7 . The method according to claim 1 , wherein the obtaining the first modified result comprises:

determining a first state parameter of the first filter based on the first positioning result;

obtaining a first state covariance matrix corresponding to the first state parameter;

obtaining a first observation residual matrix based on the first observation data and the first state parameter when the first observation data meets a first screening condition;

determining a first measurement update matrix and a first measurement variance matrix that correspond to the first observation residual matrix;

determining a first parameter increment based on the first observation residual matrix, the first measurement update matrix, the first measurement variance matrix, and the first state covariance matrix;

determining an updated first state parameter of the first filter based on a sum of the first parameter increment and the first state parameter; and

obtaining the first modified result based on the updated first state parameter when the updated first state parameter meets a first reference condition.

8 . The method according to claim 7 , wherein the method further comprises:

determining a covariance increment based on the first measurement update matrix, the first measurement variance matrix, and the first state covariance matrix;

determining an updated first state covariance matrix according to a product of the covariance increment and the first state covariance matrix;

performing modification amount detection on the first parameter increment based on the updated first state covariance matrix;

when the modification amount detection succeeds, testing the first observation residual matrix based on a first residual covariance matrix to obtain test results respectively corresponding to elements in the first observation residual matrix, the first residual covariance matrix being constructed based on the updated first state covariance matrix, the first measurement variance matrix, and the first measurement update matrix; and

when the test results respectively corresponding to the elements in the first observation residual matrix meet a test condition, determining that the updated first state parameter meets the first reference condition.

9 . The method according to claim 7 , wherein the method further comprises:

determining a model verification parameter value corresponding to the first filter based on the first observation data, the first state parameter, and the first state covariance matrix;

when the model verification parameter value is less than a first threshold, obtaining first test results respectively for sub-pieces in the first observation data; and

when the first test results for the sub-pieces in the first observation data respectively meet a retention condition, determining that the first observation data meets the first screening condition.

10 . The method according to claim 9 , wherein the obtaining the first test results for the sub-pieces in the first observation data comprises:

normalizing the first observation residual matrix based on the first measurement update matrix, the first measurement variance matrix, and the first state covariance matrix to obtain a normalized residual matrix;

testing the normalized residual matrix based on a second residual covariance matrix to obtain second test results respectively corresponding to elements in the normalized residual matrix, the second residual covariance matrix being constructed based on the first measurement update matrix, the first measurement variance matrix, and the first state covariance matrix, and elements in the normalized residual matrix being associated with the sub-pieces in the first observation data; and

using the second test results of the elements in the normalized residual matrix as the first test results for the sub-pieces in the first observation data.

11 . The method according to claim 1 , wherein the point cloud data is of a current frame, the determining the first positioning result comprises:

performing a matching between the point cloud data in the current frame and historical point cloud data in a previous frame to obtain point cloud matching information;

determining a location variation based on the point cloud matching information; and

modifying a historical location of the mobile device based on the location variation to obtain a first location as the first positioning result.

12 . A method of positioning a mobile device, comprising:

obtaining point cloud data that is scanned by a radar that is positionally associated with the mobile device;

determining a first positioning result of the mobile device according to the point cloud data;

obtaining first observation data that is received by a first satellite positioning device that is positionally associated with the mobile device;

determining a second positioning result of the mobile device according to the first observation data;

calculating double-difference observation data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station;

determining a third positioning result of the mobile device according to the double-difference observation data;

performing a fusion on the second positioning result and the third positioning result to generate a fusion result; and

obtaining a target positioning result for the mobile device based on modification of the fusion result according to the first positioning result.

13 . The method according to claim 12 , wherein the determining the second positioning result comprises:

determining a state parameter of the mobile device based on the first observation data; and

obtaining the second positioning result based on the state parameter.

14 . The method according to claim 13 , wherein the determining the state parameter of the mobile device based on the first observation data comprises:

obtaining an initial observation residual matrix based on the first observation data and an initial positioning result;

determining an initial Jacobian matrix and an initial measurement variance matrix that correspond to the initial observation residual matrix;

obtaining a positioning result modification amount based on the initial observation residual matrix, the initial Jacobian matrix, and the initial measurement variance matrix;

calculating a sum of the positioning result modification amount and the initial positioning result as an intermediate positioning result; and

when the intermediate positioning result meets a first selection condition, determining the state parameter based on the intermediate positioning result.

15 . The method according to claim 12 , wherein

the point cloud data corresponds to a current frame, and

the determining the first positioning result includes:

performing a matching between the point cloud data in the current frame and historical point cloud data in a previous frame to obtain point cloud matching information;

determining a location variation based on the point cloud matching information; and

modifying a historical location of the mobile device based on the location variation to obtain a first location as the first positioning result.

16 . An apparatus, comprising:

processing circuitry configured to:

obtain point cloud data that is scanned by a radar that is positionally associated with a device;

determine a first positioning result for the device according to the point cloud data;

obtain first observation data that is received by a first satellite positioning device that is positionally associated with the device;

obtain a first modified result of the first positioning result based on a first filter that is configured according to the first positioning result and the first observation data;

determine target data based on the first observation data and reference observation data that is received by a second satellite positioning device at a reference station; and

determine a target positioning result of the device based on the target data and the first modified result.

17 . The apparatus according to claim 16 , wherein, to determine the target positioning result, the processing circuitry is configured to:

calculate double-difference observation data based on the first observation data and the reference observation data; and

determine the target data based on at least one of the first observation data or the double-difference observation data.

18 . The apparatus according to claim 17 , wherein

the target data includes the double-difference observation data, and

to determine the target positioning result, the processing circuitry is configured to:

modify the first modified result according to the double-difference observation data to obtain a second modified result, the second modified result being used as the target positioning result.

19 . The apparatus according to claim 16 , wherein, to obtain the first modified result, the processing circuitry is configured to:

determine a first state parameter of the first filter based on the first positioning result;

obtain a first state covariance matrix corresponding to the first state parameter;

obtain a first observation residual matrix based on the first observation data and the first state parameter when the first observation data meets a first screening condition;

determine a first measurement update matrix and a first measurement variance matrix that correspond to the first observation residual matrix;

determine a first parameter increment based on the first observation residual matrix, the first measurement update matrix, the first measurement variance matrix, and the first state covariance matrix;

determine an updated first state parameter of the first filter based on a sum of the first parameter increment and the first state parameter; and

obtain the first modified result based on the updated first state parameter when the updated first state parameter meets a first reference condition.

20 . The apparatus according to claim 16 , wherein

the point cloud data corresponds to a current frame, and

to determine the first positioning result, the processing circuitry is configured to:

perform a matching between the point cloud data in the current frame and historical point cloud data in a previous frame to obtain point cloud matching information;

determine a location variation based on the point cloud matching information; and

modify a historical location of the device based on the location variation to obtain a first location as the first positioning result.

Assignments (1)

Priority Claims (1)

Continuity (2)

References Cited (15)