The present disclosure relates to positioning methods, systems, and apparatuses. One example method includes receiving, by a server, a first message from a first terminal device, where the first message includes first location information determined by the first terminal device, determining, by the server, a first reference object based on the first location information, and sending, by the server, a second message to the first terminal device, where the second message includes identification information of the first reference object, and the identification information of the first reference object is used by the first terminal device to update the first location information.

The present disclosure provides a vehicle positioning method implemented by an electronic device, including: obtaining sensor data about N frames of a vehicle through a sliding window, N being a positive integer; creating a target function for a factor graph model in accordance with the sensor data about the N frames, and performing optimization solution on the target function; and determining a pose and a position of the vehicle in accordance with a target value obtained through the optimization solution on the target function.

A train position detecting device includes: a GPS position guarantee range calculation part for calculating, based on a result of measurement of a position of a train by GPS signals; a tachogenerator-position guarantee range calculation part for calculating, based on a result of measurement of a position of the train by a tachometer generator that measures a relative distance from a measurement carried out previously; and a position determination part that determines, between an end part of the GPS position guarantee range in the first-direction and an end part of the tachogenerator-position guarantee range in the first-direction, a position of an end part on the positive side of the second direction to be a position of the end part of the train in the first-direction.

A train position detecting device includes: a GPS position guarantee range calculation part for calculating, based on a result of measurement of a position of a train by GPS signals; a tachogenerator-position guarantee range calculation part for calculating, based on a result of measurement of a position of the train by a tachometer generator that measures a relative distance from a measurement carried out previously; and a position determination part that determines, between an end part of the GPS position guarantee range in the first-direction and an end part of the tachogenerator-position guarantee range in the first-direction, a position of an end part on the positive side of the second direction to be a position of the end part of the train in the first-direction.

A computer-implemented method for controlling a vehicle comprises: receiving tracking data associated with a surrounding environment of the vehicle; detecting, based upon the tracking data, an object in the surrounding environment of the vehicle; determining a location of the object; determining, based on navigation assistance data, whether the location of the object is at least partially within a classified area in the surrounding environment; and configuring a control system of the vehicle to: initiate, based upon determining that the location of the object is not at least partially within the classified area, a first collision avoidance response procedure for responding to the object; and initiate, based upon determining that the location of the object is at least partially within the classified area, a second collision avoidance response procedure for responding to the object, the second collision avoidance response procedure different from the first collision avoidance response procedure.

A method for compensating for the absence of GPS data during a period of GPS signal loss in determining travel mileage of a vehicle includes: detecting vehicle motion using an accelerometer during a period of time in which a GPS tracking device is unable to determine a location of the vehicle due to loss of GPS signal; determining a first location of the vehicle corresponding to the last known GPS location data point stored in memory; determining a second location of the vehicle corresponding to a point at which the GPS signal is reacquired; and calculating the distance between the first and second locations based on a straight-line distance calculation between the first and second locations, or based on the use of geospatial mapping data to plot a roadway route between the first and second locations.

A method and associated system are provided for determining a yaw heading (θ.sub.heading) of a wind turbine, the wind turbine having a tower and a nacelle that includes a machine head and rotor at a top thereof. The method includes configuring a single rover receiver of a global navigation satellite system (GNSS) at a fixed position relative to the nacelle. A GNSS geographic location of a tower top pivot point (TPP) of the wind turbine is determined, as well as an angular offset of the rover receiver (β.sub.rover) relative to a centerline axis of the nacelle. Based on the GNSS geo-location of the TPP and a GNSS geo-location of the rover receiver, an angular vector () relative to North of a line between the TPP and the rover receiver is determined. The yaw heading (θ.sub.heading) is computed from a difference between the angle () and the angular offset (β.sub.rover) of the rover receiver.

In one aspect of the present disclosure, an apparatus for locating a mobile railway asset is provided that includes a power source, GNSS circuitry configured to utilize electrical power from the power source to receive GNSS data, and a controller operatively coupled to the power source and the GNSS circuitry. The controller has a power saving mode wherein the controller inhibits the GNSS circuitry from receiving GNSS data and a standard accuracy mode wherein the controller permits the GNSS circuitry to receive GNSS data for a first time period. The controller has a higher accuracy mode wherein the controller permits the GNSS circuitry to receive GNSS data for a second time period longer than the first time period, and subsequently across multiple instances, in order to collect more GNSS data that can be qualified, filtered, sorted, and averaged to produce a more accurate result.

In one aspect of the present disclosure, an apparatus for locating a mobile railway asset is provided that includes a power source, GNSS circuitry configured to utilize electrical power from the power source to receive GNSS data, and a controller operatively coupled to the power source and the GNSS circuitry. The controller has a power saving mode wherein the controller inhibits the GNSS circuitry from receiving GNSS data and a standard accuracy mode wherein the controller permits the GNSS circuitry to receive GNSS data for a first time period. The controller has a higher accuracy mode wherein the controller permits the GNSS circuitry to receive GNSS data for a second time period longer than the first time period, and subsequently across multiple instances, in order to collect more GNSS data that can be qualified, filtered, sorted, and averaged to produce a more accurate result.

A method for searching for a target object, which is moved along a path, by a measuring device which has a first reference system, a control device, and an operating controller which has a GNSS receiver having a second reference system and which is connectable to the measuring device via a communication connection.