Unmanned driving positioning method based on weak signal scene

The invention provides an unmanned driving positioning method based on a weak signal scene. According to the method, positioning data of a to-be-positioned vehicle is collected and perceived, information is fused and then processed, and thus an accurate positioning position and posture are obtained. According to the invention, the vehicle can be accurately positioned in a scene with weak signals, and the navigation accuracy is ensured; visual point cloud picture data, laser radar point cloud data and ultrasonic radar data of the to-be-positioned vehicle are collected, sensed, fused and corrected to obtain accurate positioning, data collection is convenient, and processing is rapid and accurate; and required acquisition sensing equipment is easy to obtain and install, so that accurate positioning in a weak signal scene or even a non-signal scene is realized, and the method is suitable for popularization and has a good market prospect. 本发明提供一种基于弱信号场景的无人驾驶定位方法，通过对待定位车辆处的定位数据进行采集以及感知，信息融合后经处理从而获得准确的定位位置与姿态。本发明能够使