Global navigation satellite data calibration method and device, terminal and storage medium

Abstract

The invention discloses a global navigation satellite data calibration method and device, a terminal and a storage medium. The method comprises the steps of obtaining first global navigation satellite data and radar data, generating first track data according to the first global navigation satellite data, and generating second track data and a point cloud map according to the radar data, determining offset data according to the point cloud map, wherein the offset data is used for reflecting the deviation between the first track data and the second track data, acquiring second global navigation satellite data, calibrating the second global navigation satellite data according to the offset data, wherein the obtaining time of the first global navigation satellite data is earlier than the obtaining time of the second global navigation satellite data. According to the method, an inertial sensor does not need to be adopted, so that the problem that the GNSS cannot be calibrated through the LiDAR under the condition of no inertial sensor in the prior art can be effectively solved. 本发明公开了一种全球导航卫星数据校准方法、装置、终端及存储介质，所述方法包括：获取第一全球导航卫星数据和雷达数据，根据所述第一全球导航卫星数据生成第一轨迹数据，根据所述雷达数据生成第二轨迹数据和点云地图；根据所述点云地图确定偏移数据，所述偏移数据用于反映所述第一轨迹数据和所述第二轨迹数据之间的偏差；获取第二全球导航卫星数据，根据所述偏移数据对所述第二全球导航卫星数据进行校准，其中，所述第一全球导航卫星数据的获取时间早于所述第二全球导航卫星数据的获取时间。本发明无需采用惯性传感器，因此可以有效地解决现有技术中在没有惯性传感器的情况下，无法通过LiDAR对GNSS进行校准的问题。