Positioning system, positioning method and vehicle

Abstract

The present application provides a positioning system, positioning method and vehicle. The positioning system includes: a positioning system processing unit, an optical sensor and a laser transmitter; the laser transmitter is arranged outside the object to be positioned, connected to the positioning system processing unit, and is used to emit a laser after receiving an activation instruction issued by the positioning system processing unit, so that the laser irradiates the ground within a preset range near the object to be positioned; the optical sensor is arranged close to the laser transmitter, connected to the positioning system processing unit, and is used to receive the laser formed after being reflected by the ground, and to process the laser formed after the reflection to form image data, and transmit the image data to the positioning system processing unit; the positioning system processing unit is connected to the optical sensor, and is used to receive the image data, and to process the image data to form a motion trajectory of the object to be positioned, so as to complete the positioning of the object to be positioned. The embodiment of the present application does not require GPS to locate the vehicle, and is not affected by the environment.

Description

Technical Field

[0001] The present application relates to the field of automobile technology, and in particular to a positioning system and a positioning method, and a vehicle. Background Art

[0002] The current mainstream positioning technology is to lock the location through the Global Positioning System (GPS), camera photography, etc., and then integrate the map to lock the location. However, there are also scenarios that cannot be covered, which brings a bad experience to car owners. For example, in underground parking garages, remote mountainous areas and other places, the GPS signal is relatively weak, or even no GPS signal, and the location cannot be accurately locked. In addition, when the weather is not ideal and visibility is low, the camera photos will not be clear and the location cannot be accurately locked.

[0003] The inventor of the present application has discovered that currently, garages in urban three-dimensional buildings are all built on the second or third underground floors, and the GPS signals on the second or third underground floors are relatively weak, which results in car owners being unable to accurately find the location of their vehicles. Summary of the invention

[0004] In view of this, the purpose of this application is to provide a positioning system, a positioning method, and a vehicle to solve the technical problem in the prior art that the vehicle cannot be accurately positioned due to weak GPS signals.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In a first aspect, a positioning system is provided, comprising: a positioning system processing unit, an optical sensor and a laser transmitter;

[0007] The laser emitter is arranged outside the object to be located, connected to the positioning system processing unit, and is used to emit laser light after receiving an activation instruction from the positioning system processing unit, so that the laser light irradiates the ground within a preset range near the object to be located;

[0008] The optical sensor is arranged close to the laser transmitter and connected to the positioning system processing unit, and is used to receive the laser formed after being reflected by the ground, and to process the reflected laser to form image data, and transmit the image data to the positioning system processing unit;

[0009] The positioning system processing unit is connected to the optical sensor, and is used to receive the image data and process the image data to form a motion trajectory of the object to be positioned, so as to position the object to be positioned.

[0010] Optionally, the positioning system processing unit includes a digital microprocessor and a micro-imager;

[0011] The micro imager is used to receive the image data and form an image according to the image data;

[0012] The digital microprocessor is connected to the micro-imager, and is used to receive the image formed by the micro-imager, and analyze and process the digital matrix of the image, and determine the moving direction and moving distance of the object to be located by analyzing the changes in the positions of the feature points on the image, so as to form the motion trajectory of the object to be located.

[0013] Optionally, a navigation map module is further included, and the positioning system processing unit further includes a data fusion module;

[0014] The data fusion module is connected to the digital microprocessor and the navigation map module, and is used for fusing the data of the navigation map with the motion trajectory of the object to be located to form a 3D map of the location area of ​​the object to be located.

[0015] Optionally, the positioning system processing unit further includes a wireless transmitter;

[0016] The wireless transmitter is connected to the digital microprocessor and the data fusion module, and is used for receiving the 3D map formed by the data fusion module, and receiving the running trajectory of the object to be located formed by the digital microprocessor.

[0017] Optionally, the positioning system further comprises a wireless receiving module, and the wireless receiving module is communicatively connected with the wireless transmitter;

[0018] The wireless transmitter is further used to send the received 3D map and the running trajectory of the object to be located to the wireless receiving module.

[0019] Optionally, the wireless receiving module is communicatively connected to the wireless transmitter via Bluetooth or a hotspot.

[0020] Optionally, the laser transmitter comprises a laser activator and a reflective optical lens;

[0021] The laser activator is connected to the positioning system processing unit and is used to emit laser after receiving the activation instruction;

[0022] The reflective optical lens is used to allow the laser to irradiate the ground within a preset range near the object to be located.

[0023] In a second aspect, a vehicle is provided, comprising the positioning system according to the first aspect;

[0024] The laser emitter and the optical sensor are disposed below the chassis outside the vehicle;

[0025] The positioning system processing unit is arranged in the vehicle cockpit.

[0026] A third aspect provides a positioning method, including:

[0027] After receiving the activation instruction, the laser transmitter emits a laser, and the laser is irradiated to the ground within a preset range near the object to be located;

[0028] The optical sensor receives the laser light reflected from the ground, processes the reflected laser light to form image data, and transmits the image data to the positioning system processing unit;

[0029] The positioning system processing unit processes the image data to form a motion trajectory of the object to be positioned, thereby completing the positioning of the object to be positioned.

[0030] Optionally, the positioning method further includes:

[0031] The positioning system processing unit fuses the data of the navigation map with the motion trajectory of the object to be positioned to form a 3D map of the location area of ​​the object to be positioned;

[0032] The positioning system processing unit sends the 3D map and the running trajectory of the object to be positioned to the wireless receiving module.

[0033] Compared with the prior art, the solution of this application has the following beneficial effects:

[0034] The positioning system provided in the embodiment of the present application includes a positioning system processing unit, an optical sensor and a laser transmitter. The laser transmitter can emit a laser after receiving an activation instruction issued by the positioning system processing unit, so that the laser irradiates the ground within a preset range near the object to be positioned. The optical sensor receives the laser formed after being reflected by the ground, and processes the laser formed after the reflection to form image data, and transmits the image data to the positioning system processing unit. The positioning system processing unit receives the image data, and processes the image data to form a motion trajectory of the object to be positioned, so as to locate the object to be positioned. The positioning system provided in the embodiment of the present application can use the principle of laser and laser imaging to optically locate the position of the object to be positioned. Compared with the prior art, it does not need to use GPS for positioning, has a simple working principle, low cost, and is not affected by the environment.

[0035] Additional aspects and advantages of the present application will be partially given in the following description, which will become apparent from the following description, or will be understood through the practice of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0036] The above and / or additional aspects and advantages of the present application will become apparent and easily understood from the following description of the embodiments in conjunction with the accompanying drawings, in which:

[0037] Figure 1 is a structural block diagram of a positioning system provided in an embodiment of the present application;

[0038] Figure 2 is a structural block diagram of another positioning system provided in an embodiment of the present application;

[0039] Figure 3 is a structural block diagram of another positioning system provided in an embodiment of the present application;

[0040] Figure 4 is a structural block diagram of a laser transmitter included in a positioning system provided in an embodiment of the present application;

[0041] Figure 5 This is a flow chart of a positioning method provided in an embodiment of the present application.

[0042] Description of reference numerals:

[0043] 11-navigation map module; 12-positioning system processing unit; 13-optical sensor; 14-laser transmitter; 15-wireless receiving module;

[0044] 121 - data fusion module; 122 - digital microprocessor; 123 - micro imager; 124 - wireless transmitter; 141 - laser activator; 142 - reflective optical lens. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described in detail below, and examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present application, and cannot be interpreted as limiting the present application.

[0046] Those skilled in the art will appreciate that, unless expressly stated, the singular forms "a", "an", "said" and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present application refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" to another element, it may be directly connected to the other element, or there may be intermediate elements. In addition, the "connection" used here may include wireless connections. The term "and / or" used here includes all or any unit and all combinations of one or more associated listed items.

[0047] It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art to which this application belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with those in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined as here.

[0048] In a first aspect, an embodiment of the present application provides a positioning system, such as Figure 1 As shown, it includes: a positioning system processing unit 12, an optical sensor 13 and a laser transmitter 14;

[0049] The laser emitter 14 is disposed outside the object to be located and connected to the positioning system processing unit 12, and is used to emit a laser after receiving an activation instruction issued by the positioning system processing unit 12, so that the laser irradiates the ground within a preset range near the object to be located; in specific implementation, if the object to be located is a car, the laser emitter 14 can be disposed under the chassis outside the car;

[0050] The optical sensor 13 is arranged near the laser transmitter 14 and connected to the positioning system processing unit 12, and is used to receive the laser formed after being reflected by the ground, and to process the reflected laser to form image data, and transmit the image data to the positioning system processing unit 12;

[0051] The positioning system processing unit 12 is connected to the optical sensor 13, and is used to receive image data and process the image data to form a motion trajectory of the object to be positioned, so as to position the object to be positioned.

[0052] Since the positioning system provided by the embodiment of the present application includes a positioning system processing unit 12, an optical sensor 13 and a laser transmitter 14, the laser transmitter 14 can emit a laser after receiving an activation instruction issued by the positioning system processing unit 12, so that the laser irradiates the ground within a preset range near the object to be positioned, and the optical sensor 13 receives the laser formed after being reflected by the ground, and processes the laser formed after the reflection to form image data, and transmits the image data to the positioning system processing unit 12, and the positioning system processing unit 12 receives the image data, and processes the image data to form a motion trajectory of the object to be positioned, so as to locate the object to be positioned. The positioning system provided by the embodiment of the present application can use the principle of laser and laser imaging to optically locate the position of the object to be positioned. Compared with the prior art, it does not need to use GPS for positioning, has a simple working principle, low cost, and is not affected by the environment.

[0053] Specifically, Figure 2 As shown, the positioning system processing unit 12 in the embodiment of the present application includes a digital microprocessor 122 and a micro imager 123;

[0054] The micro imager 123 is used to receive the image data transmitted by the optical sensor 13 and form an image according to the received image data;

[0055] The digital microprocessor 122 is connected to the micro imager 123, and is used to receive the image formed by the micro imager 123, and analyze and process the digital matrix of the image, and determine the moving direction and moving distance of the object to be located by analyzing the changes in the positions of the feature points on the image, so as to form a motion trajectory line of the object to be located.

[0056] Specifically, Figure 2 As shown, the positioning system in the embodiment of the present application also includes a navigation map module 11, and the positioning system processing unit 12 also includes a data fusion module 121; the data fusion module 121 is connected to the digital microprocessor 122 and the navigation map module 11, and is used to fuse the data of the navigation map with the motion trajectory of the object to be located to form a 3D map of the location area of ​​the object to be located. In this way, the object to be located can be located more intuitively, and the positioning does not need to be located by GPS. The working principle is simple, the cost is low, and it is not affected by the environment. In specific implementation, the navigation map module 11 in the embodiment of the present application can also be integrated in the positioning system processing unit 12, and the navigation map module 11 has the function of inertial navigation.

[0057] Specifically, Figure 3 As shown, the positioning system processing unit 12 in the embodiment of the present application also includes a wireless transmitter 124; the wireless transmitter 124 is connected to the digital microprocessor 122 and the data fusion module 121, and is used to receive the 3D map formed by the data fusion module 121, and receive the running trajectory of the object to be positioned formed by the digital microprocessor 122. The positioning system processing unit 12 in the embodiment of the present application has a simple software design and can well locate the object to be positioned, and after positioning, the 3D map of the object to be positioned and the running trajectory of the object to be positioned can be sent to the user through the wireless transmitter 124.

[0058] Specifically, Figure 3 As shown, the positioning system in the embodiment of the present application also includes a wireless receiving module 15, which is communicatively connected to the wireless transmitter 124; the wireless transmitter 124 is also used to send the received 3D map and the running trajectory of the object to be positioned to the wireless receiving module 15.

[0059] Specifically, in the embodiment of the present application, the wireless receiving module 15 and the wireless transmitter 124 are connected to each other via Bluetooth or hotspot communication. Bluetooth or hotspot communication is a common communication connection method with low cost.

[0060] Specifically, the wireless receiving module 15 in the embodiment of the present application includes any one of a watch, a mobile phone, a tablet computer, and a laptop computer; the user can view the 3D map of the object to be located and the running trajectory of the object to be located through any one of the watch, the mobile phone, the tablet computer, and the laptop computer, and can easily find the position of the object to be located.

[0061] Specifically, Figure 4 As shown, the laser emitter 14 in the embodiment of the present application includes a laser activator 141 and a reflective optical lens 142; the laser activator 141 is connected to the positioning system processing unit 12, and is used to emit laser light after receiving an activation instruction; the reflective optical lens 142 is used to irradiate the laser light to the ground within a preset range near the object to be positioned. Laser light is light emitted by excited electrons, and compared with ordinary light, it has extremely high monochromaticity and linearity. The laser light used for positioning is mainly invisible light. The embodiment of the present application supplies power to the laser activator 141, and the laser activator 141 can emit laser light after receiving an activation instruction sent by the positioning system processing unit 12.

[0062] In a specific implementation, the laser emitted by the laser activator 141 can irradiate the reflective optical lens 142, and the laser can be reflected by the reflective optical lens 142 to irradiate the ground within a preset range near the object to be located, and then enter the optical sensor 13 after being reflected by the ground. Figure 4 The reflective optical lens 142 shown is for illustration only, and does not limit the shape of the reflective optical lens 142. In actual design, in order to prevent light attenuation, the distance between different reflective optical lenses 142 cannot be set too far.

[0063] Based on the same inventive concept, in the second aspect, an embodiment of the present application also provides a vehicle, including the positioning system provided in the first aspect; wherein the laser emitter 14 and the optical sensor 13 are arranged under the chassis outside the vehicle; and the positioning system processing unit 12 is arranged in the vehicle cockpit.

[0064] Since the vehicle provided by the embodiment of the present application includes the positioning system of the first aspect, the positioning system includes a navigation map module 11, a positioning system processing unit 12, an optical sensor 13 and a laser transmitter 14, the laser transmitter 14 can emit a laser after receiving an activation instruction issued by the positioning system processing unit 12, so that the laser irradiates the ground within a preset range near the vehicle, the optical sensor 13 receives the laser formed after reflection from the ground, and processes the laser formed after reflection to form image data, and transmits the image data to the positioning system processing unit 12, the positioning system processing unit 12 receives the image data, and forms a vehicle motion trajectory after processing the image data to locate the cursor of the vehicle; in addition, the positioning system processing unit 12 can fuse the data of the navigation map with the vehicle motion trajectory to form a 3D map of the vehicle's location area, which can further locate the vehicle. The positioning system provided by the embodiment of the present application can use the principle of laser and laser imaging to optically locate the position of the vehicle. Compared with the prior art, it does not need to use GPS for positioning, has a simple working principle, low cost, and is not affected by the environment. It can solve the last kilometer smart service currently proposed, and the owner can find his car in any scene.

[0065] Based on the same inventive concept, in a third aspect, the present application embodiment also provides a positioning method, such as Figure 5 As shown, including:

[0066] S101, after receiving the activation command, the laser transmitter emits a laser, and the laser is irradiated to the ground within a preset range near the object to be located;

[0067] S102, the optical sensor receives the laser light formed after being reflected by the ground, processes the reflected laser light to form image data, and transmits the image data to the positioning system processing unit;

[0068] S103: The positioning system processing unit processes the image data to form a motion trajectory of the object to be positioned, thereby completing the positioning of the object to be positioned.

[0069] Specifically, the positioning method of the positioning system in the embodiment of the present application also includes: the positioning system processing unit integrates the data of the navigation map with the motion trajectory of the object to be located to form a 3D map of the location area of ​​the object to be located; the positioning system processing unit sends the 3D map and the motion trajectory of the object to be located to the wireless receiving module.

[0070] The positioning method of the embodiment of the present application is described in detail below with reference to a specific embodiment.

[0071] Specifically, the object to be positioned in the embodiment of the present application is introduced by taking a vehicle as an example, the laser emitter 14 is arranged under the chassis outside the vehicle, and the optical sensor is installed near the laser emitter 14; the positioning system processing unit 12 is arranged in the vehicle cockpit.

[0072] First, according to the last few kilometers of the user's current navigation, the positioning system is automatically turned on, or the user actively turns on the positioning system switch. The positioning system switch can be designed as a physical switch and directly connected to the positioning system processing unit 12, so that the user operation is more convenient. Specifically, during the process of turning on the navigation map module 11, it is monitored that there are only a few kilometers left to reach the destination. The positioning system processing unit 12 automatically turns on when it receives the start command input by the navigation; or, during the process of not turning on the navigation map module 11, the user can actively press the positioning system switch to manually turn on the positioning system processing unit 12.

[0073] Then, the laser emitter starts to work and irradiates the laser to the ground corresponding to the bottom of the vehicle. The optical sensor receives a part of the light reflected by the ground, and after processing, sends it to the micro-imager and digital microprocessor of the positioning system processing unit for optical positioning. Specifically, after the positioning system processing unit 12 is turned on, the positioning system processing unit 12 sends an activation instruction to the laser emitter 14, and the laser emitter 14 receives the activation instruction and starts working. After the laser emitter 14 starts working, the laser activator 141 emits a laser, and the laser can be reflected by the reflection optical lens 142 to irradiate the ground within a preset range near the vehicle, and then reflected by the ground, so that the optical sensor can receive a part of the laser formed after reflection from the ground. The optical sensor processes the laser formed after reflection and sends it to the micro-imager and digital microprocessor of the positioning system processing unit. In this way, when the vehicle moves, its moving trajectory will be recorded as a set of coherent images taken at high speed. Then, the digital microprocessor included in the positioning system processing unit analyzes and processes the digital matrix of a series of images captured on the moving trajectory, and determines the moving direction and moving distance of the vehicle by analyzing the changes in the positions of the feature points on the image, so as to perform cursor positioning on the vehicle.

[0074] Next, the positioning system processing unit performs data fusion based on the map data and the cursor positioning to complete the positioning of the vehicle. Specifically, the data fusion module included in the positioning system processing unit fuses the navigation map data with the cursor positioning data to form a 3D map and the vehicle running track, further completing the positioning of the vehicle.

[0075] Finally, after the vehicle power gear changes from ON to OFF, the current positioning data of the vehicle is saved and backed up in the positioning system processing unit, and then sent to the wireless receiving module through the wireless transmitter included in the positioning system processing unit, and the wireless receiving module saves it. The wireless transmitter and the wireless receiving module can be point-to-point communication methods such as Bluetooth and hotspots, and the wireless receiving module can be all modules with wireless functions such as watches, mobile phones, tablets, and laptops. Users can view vehicle positioning information in the offline mode of the wireless receiving module. Specifically, users can view the 3D map of the vehicle and the running trajectory of the vehicle in the offline mode of the wireless receiving module. The embodiment of the present application solves the currently proposed last-mile intelligent service. Car owners can find their cars in any scenario without being affected by the environment. The positioning system of the embodiment of the present application has a simple working principle, simple software design, and low cost.

[0076] In summary, the positioning system, positioning method, and vehicle provided by the present application have the following beneficial effects:

[0077] First, the positioning system provided in the embodiment of the present application includes a positioning system processing unit 12, an optical sensor 13 and a laser transmitter 14. The laser transmitter 14 can emit a laser after receiving an activation instruction issued by the positioning system processing unit 12, so that the laser irradiates the ground within a preset range near the object to be positioned. The optical sensor 13 receives the laser formed after being reflected by the ground, and processes the laser formed after the reflection to form image data, and transmits the image data to the positioning system processing unit 12. The positioning system processing unit 12 receives the image data, and processes the image data to form a motion trajectory of the object to be positioned, so as to locate the object to be positioned. The positioning system provided in the embodiment of the present application can use the principles of laser and laser imaging to optically locate the position of the object to be positioned. Compared with the prior art, it does not need to use GPS for positioning, has a simple working principle, low cost, and is not affected by the environment.

[0078] Second, the positioning system in the embodiment of the present application also includes a navigation map module 11, and the positioning system processing unit 12 also includes a data fusion module 121; the data fusion module 121 is connected to the digital microprocessor 122 and the navigation map module 11, and is used to fuse the data of the navigation map with the motion trajectory of the object to be located to form a 3D map of the location area of ​​the object to be located. In this way, the object to be located can be located more intuitively, and the positioning does not need to be located by GPS, the working principle is simple, the cost is low, and it is not affected by the environment.

[0079] Third, the vehicle provided in the embodiment of the present application is equipped with a positioning system, which includes a navigation map module 11, a positioning system processing unit 12, an optical sensor 13 and a laser transmitter 14. The laser transmitter 14 can emit a laser after receiving an activation instruction issued by the positioning system processing unit 12, so that the laser irradiates the ground within a preset range near the vehicle. The optical sensor 13 receives the laser formed after being reflected by the ground, and processes the laser formed after the reflection to form image data, and transmits the image data to the positioning system processing unit 12. The positioning system processing unit 12 receives the image data and processes the image data to form a vehicle motion trajectory line to locate the cursor of the vehicle; in addition, the positioning system processing unit 12 can fuse the data of the navigation map with the vehicle motion trajectory line to form a 3D map of the vehicle's location area, which can further locate the vehicle. The positioning system provided in the embodiment of the present application can use the principle of laser and laser imaging to optically locate the position of the vehicle. Compared with the prior art, it does not need to use GPS for positioning, has a simple working principle, low cost, and is not affected by the environment. It can solve the last kilometer smart service currently proposed, and the owner can find his car in any scene.

[0080] Those skilled in the art will appreciate that the various operations, methods, steps, measures, and schemes in the processes discussed in this application may be alternated, altered, combined, or deleted. Further, other steps, measures, and schemes in the various operations, methods, and processes discussed in this application may also be alternated, altered, rearranged, decomposed, combined, or deleted. Further, the steps, measures, and schemes in the prior art that are similar to those disclosed in this application may also be alternated, altered, rearranged, decomposed, combined, or deleted.

[0081] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0082] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0083] It should be understood that, although the steps in the flowchart of the accompanying drawings are displayed in sequence as indicated by the arrows, these steps are not necessarily executed in sequence in the order indicated by the arrows. Unless otherwise specified herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least a part of the steps in the flowchart of the accompanying drawings may include multiple sub-steps or multiple stages, and these sub-steps or stages are not necessarily executed at the same time, but can be executed at different times, and their execution order is not necessarily sequential, but can be executed in turn or alternately with other steps or at least a part of the sub-steps or stages of other steps.

[0084] The above description is only a partial implementation method of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.

Claims

1. A positioning system, characterized in that: include: Positioning system processing unit, optical sensor and laser transmitter; The laser emitter is arranged outside the object to be located, connected to the positioning system processing unit, and is used to emit laser light after receiving an activation instruction issued by the positioning system processing unit, so that the laser light is irradiated to the ground within a preset range near the object to be located. The object to be located is a vehicle, and the laser emitter is arranged below the chassis outside the vehicle; The optical sensor is arranged close to the laser transmitter and connected to the positioning system processing unit, and is used to receive the laser formed after being reflected by the ground, and to process the reflected laser to form image data, and transmit the image data to the positioning system processing unit; The positioning system processing unit is connected to the optical sensor, and is used to receive the image data, and to process the image data to form a motion trajectory of the object to be positioned, so as to position the object to be positioned; The positioning system processing unit includes a digital microprocessor and a micro-imager; The micro imager is used to receive the image data and form an image group according to the image data, wherein the image group includes a plurality of consecutive images; The digital microprocessor is connected to the micro-imager, and is used to receive the image group formed by the micro-imager, and analyze and process the digital matrix of each image in the image group, and determine the moving direction and moving distance of the object to be located by analyzing the changes in the position of the feature points on each image in the image group, so as to form the motion trajectory of the object to be located.

2. The positioning system according to claim 1, characterized in that: It also includes a navigation map module, and the positioning system processing unit also includes a data fusion module; The data fusion module is connected to the digital microprocessor and the navigation map module, and is used for fusing the data of the navigation map with the motion trajectory of the object to be located to form a 3D map of the location area of ​​the object to be located.

3. The positioning system according to claim 2, characterized in that: The positioning system processing unit also includes a wireless transmitter; The wireless transmitter is connected to the digital microprocessor and the data fusion module, and is used for receiving the 3D map formed by the data fusion module, and receiving the running trajectory of the object to be located formed by the digital microprocessor.

4. The positioning system according to claim 3, characterized in that: It also includes a wireless receiving module, which is communicatively connected with the wireless transmitter; The wireless transmitter is further used to send the received 3D map and the running trajectory of the object to be located to the wireless receiving module.

5. The positioning system according to claim 4, characterized in that: The wireless receiving module is connected to the wireless transmitter via Bluetooth or hotspot.

6. The positioning system according to claim 1, characterized in that: The laser transmitter includes a laser activator and a reflective optical lens; The laser activator is connected to the positioning system processing unit and is used to emit laser after receiving the activation instruction; The reflective optical lens is used to allow the laser to irradiate the ground within a preset range near the object to be located.

7. A vehicle, characterized in that: A positioning system comprising any one of claims 1 to 6; The laser emitter and the optical sensor are disposed below the chassis outside the vehicle; The positioning system processing unit is arranged in the vehicle cockpit.

8. A positioning method of a positioning system according to any one of claims 1 to 6, characterized in that: include: After receiving the activation instruction, the laser emitter emits a laser, and the laser is irradiated to the ground within a preset range near the object to be located, the object to be located is a vehicle, and the laser emitter is arranged under the chassis outside the vehicle; The optical sensor receives the laser light formed after being reflected by the ground, processes the reflected laser light to form image data, and transmits the image data to the positioning system processing unit, wherein the positioning system processing unit includes a digital microprocessor and a micro-imager, and the digital microprocessor is connected to the micro-imager; The digital microprocessor receives the image data, processes the image data, and forms an image group, wherein the image group includes a plurality of consecutive images; The micro-imager receives the image group and analyzes and processes the digital matrix of each image in the image group, and determines the moving direction and moving distance of the object to be located by analyzing the changes in the positions of the feature points on each image in the image group, so as to form a motion trajectory line of the object to be located, thereby completing the positioning of the object to be located.

9. The positioning method according to claim 8, characterized in that: The method further includes: The positioning system processing unit fuses the data of the navigation map with the motion trajectory of the object to be positioned to form a 3D map of the location area of ​​the object to be positioned; The positioning system processing unit sends the 3D map and the running trajectory of the object to be positioned to the wireless receiving module.

Images