Positioning method and equipment

The invention provides a positioning method and equipment. In the invention, the target vehicle is globally positioned based on global prior pose information of the first vehicle coordinate system applied by the target vehicle at the first moment relative to the global coordinate system and the target area type (planar area or non-planar area) of the target area where the target vehicle is located at the first moment, so that global positioning of the target vehicle is realized. 本申请提供了定位方法和设备。本申请中，通过基于目标车辆在第一时刻时所应用的第一车辆坐标系相对于全局坐标系的全局先验位姿信息和目标车辆在第一时刻所处目标区域的目标区域类型(平面区域或非平面区域)对目标车辆进行全局定位，这实现了目标车辆的全局定位。