Guangzhou Xiaopeng Autopilot Technology Co., Ltd.

Venkatesan Nallampatti Ekambaram

Hairuo Zhuang

Vignesh Sethuraman

Amit Bansal

Pengluo Wang

Xue Li

An apparatus and a method for performing positioning using a Global Navigation Satellite System (GNSS) with a state machine based localization engine are provided. When the apparatus receives GNSS signals, the apparatus provides the localization engine to process the GNSS signals, and determines, based on a GNSS status and a position-velocity-time (PVT) status, a state of the localization engine. Specifically, the state of the localization engine is switchable between at least 3 states, including a dead reckoning state, a tightly coupling state, and a loosely coupling state. Once the state is determined, the localization engine may determine a local accuracy status based on the state of the localization engine. Thus, a downstream module on the apparatus may use the local accuracy status to perform a corresponding downstream action.

Apparatus, system and method for generalized multi-mode state machine based localization engine and application of same

A Global Navigation Satellite System (GNSS) receiver for performing GNSS outlier detection and rejection is provided. When the GNSS receiver receives GNSS signals from satellites in the GNSS, the GNSS receiver processes the GNSS signals to perform positioning. Then, the GNSS receiver sequentially performs a Doppler-pseudorange comparison, a Random Sampling Consensus (RANSAC) check for selected subsets of the satellites, and a history-based check for the satellites to determine a status of each satellites as an outlier or an inlier. Specifically, in the RANSAC check, the subsets of the satellites are selected using results of the Doppler-pseudorange comparison as inputs to filter the satellites, thus reducing the number of subsets needed for computation in the RANSAC check. The status of the satellites are recorded for the history-based check, which further exploits the correlations of outliers across time.

System and method for global navigation satellite system (GNSS) outlier detection and rejection and application of same

An apparatus and a method for providing a global localization output are provided. When the apparatus receives navigation signals, the apparatus processes the signals to determine, based on a fixed earth-centered, earth-fixed (ECEF) reference pose of a reference point in an ECEF coordinate, a new ECEF pose, and to convert the fixed ECEF reference pose to an east-north-up (ENU) reference pose in an ENU coordinate. When the apparatus determines that a jump occurs in the new ECEF pose based on a pose change between the new ECEF pose and a previous ECEF pose, the apparatus calculates a reference shift of the ENU reference pose based on the pose change to absorb the jump in the ENU coordinate, and updates the ENU reference pose based on the reference shift. Thus, a new ENU local pose may be obtained using the ENU reference pose.

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Venkatesan Nallampatti Ekambaram