Abstract: A centralized cooperative positioning method includes: caching measurements of nodes in multiple time slices up to the current time slice; calculating location information of the nodes in the multiple time slices to obtain trajectory of the nodes in the multiple time slices; performing initial state estimations of the nodes based on measurements of a single time slice; and using the initial state estimations as initial solution values, performing the joint time-space processing on the measurements of the nodes in the multiple time slices based on trajectory constraints, to obtain a state estimation of each node at the current time slice, in which the state estimation includes an estimated value of a location of the node.

Abstract: A control method and system for a hybrid power system, and an electric vehicle. The method includes: step S1, a control unit acquiring a real-time vehicle mode signal, vehicle speed data, and actual torque data of an engine; step S2, the control unit determining whether a power system of a vehicle is in a parallel mode, if the power system of the vehicle is in the parallel mode, the control unit sending a torque compensation signal to a drive electric motor; and step S3, the control unit determining positive and negative attributes of the torque compensation signal adjusting a compensation torque output value of the drive electric motor in real time. By means of the control method, gears connecting a drive electric motor to an engine can be prevented from generating tooth knocking noise, thereby greatly alleviating NVH during the driving of a vehicle.