Vehicle positioning method and system

Abstract

The present disclosure relates to a vehicle positioning method and system, and relates to the field of vehicle positioning. The system comprises a positioning server, a ground positioning base station, a repeater and a vehicle-mounted base station arranged on a vehicle to be positioned. The positioning server is connected with the ground positioning base station. The ground positioning base station is connected with the vehicle-mounted base station through the repeater. The ground positioning base station is configured to, in response to receiving a positioning instruction sent by the positioning server, send a first positioning signal to the repeater, receive a response signal sent by the repeater, and send the response signal to the positioning server. The repeater is configured to, in response to receiving the first positioning signal sent by the ground positioning base station, send a second positioning signal to the vehicle-mounted base station, and in the case of receiving a response signal sent by the vehicle-mounted base station according to the second positioning signal, send the response signal to the ground positioning base station. The positioning server is configured to determine the position of the vehicle to be positioned according to the response signal sent by the ground positioning base station.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle positioning, and more specifically, to a vehicle positioning method and system. Background Technology

[0002] With the rapid development of transportation, the level of automated control of vehicle operation is constantly improving, which places further demands on the accuracy of vehicle positioning. At the same time, the amount of information that the ground needs to interact with the vehicle is also constantly increasing.

[0003] The inventors discovered that while existing technologies use UWB (Ultra Wide Band) positioning technology for location tracking, the signal transmission distance may be too far, making it impossible to accurately locate the vehicle. Summary of the Invention

[0004] To address the aforementioned problems, this disclosure provides a vehicle positioning method and system.

[0005] In a first aspect, this disclosure provides a vehicle positioning system, comprising:

[0006] The system includes a positioning server, a ground positioning base station, a repeater, and a vehicle-mounted base station installed on the vehicle to be located. The positioning server is connected to the ground positioning base station, and the ground positioning base station is connected to the vehicle-mounted base station via the repeater.

[0007] The ground positioning base station is configured to, in response to receiving a positioning instruction sent by the positioning server, send a first positioning signal to the repeater, and receive a response signal sent by the repeater, and send the response signal to the positioning server.

[0008] The repeater is configured to send a second positioning signal to the vehicle-mounted base station in response to receiving the first positioning signal sent by the ground positioning base station, and to send the response signal to the ground positioning base station upon receiving a response signal sent by the vehicle-mounted base station based on the second positioning signal.

[0009] The vehicle-mounted base station is used to receive the second positioning signal sent by the repeater, and to send the response signal to the repeater according to the second positioning signal;

[0010] The positioning server is used to determine the location of the vehicle to be located based on the response signal sent by the ground positioning base station.

[0011] Optionally, the repeater includes multiple repeaters, which are connected in series according to a first preset transmission order, the first preset transmission order being used to characterize the transmission order of the multiple repeaters transmitting positioning signals;

[0012] The repeater is configured to send the second positioning signal to the vehicle-mounted base station upon receiving a third positioning signal sent by the previous repeater based on the first preset transmission order, and to send the response signal back to the ground positioning base station according to the second preset transmission order upon receiving a response signal sent by the vehicle-mounted base station based on the second positioning signal within a preset time, wherein the second preset transmission order is the reverse of the first preset transmission order.

[0013] Optionally, the repeater is further configured to, if no response signal is received from the vehicle-mounted base station based on the second positioning signal when the preset time is reached, send a no-response signal to the ground positioning base station according to the second preset transmission order.

[0014] Optionally, the repeater is further configured to send a fourth positioning signal to the next repeater of the repeater in accordance with the first preset transmission sequence.

[0015] Optionally, the repeater is further configured to determine a first number of repeaters through which the third positioning signal passes, and if the first number is less than or equal to a preset number threshold, to send the fourth positioning signal to the next repeater of the repeater according to the first preset transmission order.

[0016] Optionally, the positioning server is configured to acquire the signal propagation time of the response signal transmitted from the vehicle-mounted base station to the ground positioning base station, and a preset signal flight speed, wherein the signal propagation time is the propagation time of the response signal in the air; multiply the signal propagation time by the preset signal flight speed as a first distance; determine the driving distance of the vehicle relative to the ground positioning base station based on the first distance and a preset distance correspondence relationship; wherein the preset distance correspondence relationship includes the correspondence between the first distance and the driving distance; and determine the position of the vehicle based on the driving distance.

[0017] Optionally, the positioning server is configured to obtain a second number of repeaters through which the response signal passes, a preset repeater operating time, a preset vehicle-mounted base station operating time, a preset ground positioning base station operating time, a first time of sending the positioning command, and a second time of receiving the response signal, and calculate the signal propagation time based on the second number, the preset repeater operating time, the preset vehicle-mounted base station operating time, the preset ground positioning base station operating time, the first time, and the second time.

[0018] Secondly, this disclosure also provides a vehicle positioning method applied to a repeater, the method comprising: in response to a first positioning signal received from a ground positioning base station, sending a second positioning signal to a vehicle-mounted base station, the vehicle-mounted base station being installed on the vehicle to be positioned; receiving a response signal sent by the vehicle-mounted base station based on the second positioning signal; and sending the response signal to a positioning server via the ground positioning base station, so that the positioning server can determine the location of the vehicle to be positioned based on the response signal.

[0019] Optionally, the repeater includes multiple repeaters, which are connected in series according to a first preset transmission order. The first preset transmission order is used to characterize the transmission order of the multiple repeaters transmitting positioning signals. Sending the second positioning signal to the vehicle base station includes: sending the second positioning signal to the vehicle base station when a third positioning signal is received from the previous repeater based on the first preset transmission order.

[0020] The step of sending the response signal to the positioning server via the ground positioning base station includes:

[0021] If the vehicle-mounted base station receives a response signal sent by the second positioning signal within a preset time, the response signal is transmitted back to the positioning server through the ground positioning base station in a second preset transmission order, wherein the second preset transmission order is the reverse of the first preset transmission order.

[0022] Optionally, the method further includes:

[0023] If no response signal is received from the vehicle-mounted base station based on the second positioning signal when the preset time is reached, a no-response signal is sent to the ground positioning base station according to the second preset transmission order.

[0024] Optionally, the method further includes:

[0025] According to the first preset transmission sequence, a fourth positioning signal is sent to the next repeater of the repeater.

[0026] Optionally, the method further includes: determining a first number of repeaters through which the third positioning signal passes; the step of sending a fourth positioning signal to the next repeater of the repeater based on the first preset transmission order includes: if the first number is less than or equal to a preset number threshold, sending the fourth positioning signal to the next repeater of the repeater according to the first preset transmission order.

[0027] Thirdly, this disclosure also provides a vehicle positioning method applied to an on-board base station, wherein the on-board base station is installed on the vehicle to be positioned, and the method includes: receiving a second positioning signal sent by a repeater;

[0028] The repeater sends a response signal to the repeater based on the second positioning signal, so that the repeater sends the response signal to the positioning server through the ground positioning base station, so that the positioning server can determine the location of the vehicle to be located based on the response signal.

[0029] Fourthly, this disclosure also provides a vehicle positioning method applied to a ground positioning base station, the method comprising:

[0030] In response to a positioning command received from a positioning server, a first positioning signal is sent to a repeater, so that the repeater sends a second positioning signal to a vehicle-mounted base station based on the first positioning signal. The vehicle-mounted base station is located on the vehicle to be located. If the repeater receives a response signal sent by the vehicle-mounted base station based on the second positioning signal, the repeater receives the response signal sent by the repeater. The response signal is then sent to the positioning server so that the positioning server can determine the location of the vehicle to be located based on the response signal.

[0031] By employing the aforementioned vehicle positioning method and system, a repeater is added between the vehicle-mounted base station and the ground positioning base station. The repeater relays the signals transmitted between the vehicle-mounted base station and the ground positioning base station, thereby increasing the communication distance between the vehicle-mounted base station and the ground positioning base station. This enables accurate vehicle positioning even when the distance between the vehicle-mounted base station and the ground positioning base station is relatively long.

[0032] Other features and advantages of this disclosure will be described in detail in the following detailed description section. Attached Figure Description

[0033] The accompanying drawings are provided to further illustrate the present disclosure and form part of the specification. They are used together with the following detailed description to explain the present disclosure, but do not constitute a limitation thereof. In the drawings:

[0034] Figure 1 This is a schematic diagram of the structure of a vehicle positioning system according to an exemplary embodiment;

[0035] Figure 2 This is a schematic diagram of the structure of a repeater according to an exemplary embodiment;

[0036] Figure 3 This is a schematic diagram of the structure of a circularly polarized antenna according to an exemplary embodiment;

[0037] Figure 4This is a schematic diagram illustrating the structure of another vehicle positioning system according to an exemplary embodiment;

[0038] Figure 5 This is a flowchart illustrating a vehicle positioning method according to an exemplary embodiment;

[0039] Figure 6 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment;

[0040] Figure 7 This is a flowchart illustrating another vehicle positioning method according to an exemplary embodiment. Detailed Implementation

[0041] The specific embodiments of this disclosure will be described in detail below with reference to the accompanying drawings. It should be understood that the specific embodiments described herein are for illustration and explanation only and are not intended to limit this disclosure.

[0042] First, the application scenario of this disclosure is explained. This disclosure can be applied to the scenario of vehicle positioning. In this scenario, the vehicle can be located by a UWB (Ultra Wide Band) positioning system. The UWB positioning system can include a ground positioning base station and an on-board base station installed on the vehicle. The vehicle is located by electromagnetic signals transmitted between the ground positioning base station and the on-board base station installed on the vehicle. The UWB positioning system has the advantages of low system complexity, insensitivity to channel fading, low interception capability, and high positioning accuracy.

[0043] However, the inventors discovered that because UWB technology uses intermittent pulse signals to transmit data, its signal propagation distance is relatively short. Therefore, UWB positioning technology is more suitable for short-distance scenarios such as indoor spaces and factory areas. In the scenario where the UWB positioning system is used to locate vehicles, the distance between the ground positioning base station and the vehicle-mounted base station may be too far, causing the UWB positioning system to be unable to accurately locate the vehicle.

[0044] To address the aforementioned issues, this disclosure provides a vehicle positioning method and system. This system can add a repeater between an on-board base station and a ground positioning base station, and relay the signals transmitted between the on-board base station and the ground positioning base station through the repeater, thereby increasing the communication distance between the on-board base station and the ground positioning base station, and thus achieving accurate vehicle positioning even when the on-board base station and the ground positioning base station are far apart.

[0045] The present disclosure will now be described in conjunction with specific embodiments.

[0046] Figure 1 This disclosure provides a vehicle positioning system, such as... Figure 1As shown, the vehicle positioning system 100 includes: a positioning server 101, a ground positioning base station 102, a repeater 103, and an on-board base station 104 installed on the vehicle to be located.

[0047] The positioning server 101 is connected to the ground positioning base station 102, and the ground positioning base station 102 is connected to the vehicle-mounted base station 104 through the repeater 103.

[0048] The ground positioning base station 102 is used to send a first positioning signal to the repeater 103 in response to receiving a positioning command sent by the positioning server 101, and to receive a response signal sent by the repeater 103 and send the response signal to the positioning server 101.

[0049] The repeater 103 is used to send a second positioning signal to the vehicle-mounted base station 104 in response to receiving the first positioning signal sent by the ground positioning base station 102, and to send the response signal to the ground positioning base station 102 upon receiving the response signal sent by the vehicle-mounted base station 104 based on the second positioning signal.

[0050] The vehicle-mounted base station 104 is used to receive the second positioning signal sent by the repeater and send the response signal to the repeater according to the second positioning signal.

[0051] The positioning server 101 is used to determine the location of the vehicle to be located based on the response signal sent by the ground positioning base station 102.

[0052] In this embodiment, the positioning server can send a positioning command to the ground positioning base station. After receiving the positioning command, the ground positioning base station can send a first positioning signal to the repeater. After receiving the first positioning signal from the ground positioning base station, the repeater can send second positioning information to the vehicle-mounted base station and determine whether it has received a response signal from the vehicle-mounted base station based on the second positioning signal. If the repeater receives the response signal from the vehicle-mounted base station, it sends the response signal to the ground positioning base station. The ground positioning base station then sends the response signal to the positioning server so that the positioning server can determine the location of the vehicle to be located based on the response signal.

[0053] By using the above system, a repeater can be added between the vehicle-mounted base station and the ground positioning base station. The repeater relays the signals transmitted between the vehicle-mounted base station and the ground positioning base station, thereby increasing the communication distance between the vehicle-mounted base station and the ground positioning base station. This enables accurate vehicle positioning even when the distance between the vehicle-mounted base station and the ground positioning base station is far.

[0054] Considering that when the distance between the ground positioning base station and the vehicle-mounted base station is large, adding a repeater may still not meet the signal transmission distance requirement. Therefore, in another embodiment of this disclosure, the repeater 103 may include multiple repeaters, which are connected in series according to a first preset transmission order. The first preset transmission order is used to characterize the transmission order of the positioning signals transmitted by the multiple repeaters.

[0055] The repeater 103 is used to send the second positioning signal to the vehicle-mounted base station 104 when it receives the third positioning signal sent by the previous repeater based on the first preset transmission order, and to send the response signal back to the ground positioning base station 102 according to the second preset transmission order when it receives the response signal sent by the vehicle-mounted base station 104 based on the second positioning signal within a preset time.

[0056] The second preset transmission order is the reverse of the first preset transmission order, the second positioning signal may include the repeater identifier of the repeater, and the third positioning signal includes the repeater identifier of the previous repeater.

[0057] In this way, by adding multiple repeaters, normal signal transmission can be ensured even when the distance between the ground positioning base station and the vehicle-mounted base station is large.

[0058] In addition, the repeater 103 is also configured to, if no response signal is received from the vehicle-mounted base station based on the second positioning signal after the preset time has elapsed, send a no-response signal to the ground positioning base station according to the second preset transmission sequence. This determines that vehicle positioning has not been completed.

[0059] In some embodiments, the repeater 103 is further configured to send a fourth positioning signal to the next repeater in accordance with the first preset transmission sequence, so as to trigger the subsequent repeater to locate the vehicle, thereby achieving vehicle positioning over a wider range.

[0060] The fourth positioning signal includes the repeater identifier of the repeater.

[0061] It should be noted that the aforementioned repeater may include a circularly polarized antenna, a signal amplification modulator, and a microprocessor. The circularly polarized antenna is connected to the microprocessor via the signal amplification modulator. The circularly polarized antenna is used to transmit wireless signals, the signal amplification modulator is used to amplify the wireless signals, and the microprocessor is used to add the repeater's identification information to the positioning signal. For example, such as... Figure 2As shown, the repeater may include a first circularly polarized antenna 201, a first transceiver amplifier 202, a microprocessor 203, a second transceiver amplifier 204, and a second circularly polarized antenna 205 connected in sequence. After receiving a positioning signal, the first circularly polarized antenna 201 sends the positioning signal to the first transceiver amplifier 202, which amplifies the positioning signal and sends the amplified positioning signal to the microprocessor 203. The microprocessor 203 adds the repeater's identifier to the positioning signal. The second transceiver amplifier 204 amplifies the marked positioning signal again and sends the amplified positioning signal out through the second circularly polarized antenna 205.

[0062] Among them, such as Figure 3 As shown, the circularly polarized antenna (including the first and second circularly polarized antennas) can be composed of an antenna radiating surface 301, an antenna dielectric cavity 302, an antenna reflective ground 303, and an excitation source 304. The excitation source 304 is disposed on the antenna radiating surface 301. By adjusting the position of the excitation source 304 on the antenna radiating surface 301, circularly polarized electromagnetic waves can be generated. The antenna dielectric cavity 302 is disposed between the antenna radiating surface 301 and the antenna reflective ground 303. The antenna dielectric cavity 302 can be ceramic or air dielectric to ensure the radio frequency performance of the antenna. The antenna reflective ground can determine the direction of electromagnetic radiation. In this way, using the circularly polarized antenna can achieve polarization isolation with existing communication equipment antennas, reducing the risk of mutual interference between external signals.

[0063] Considering that the actual number of repeaters may be large, if each repeater sends a positioning signal to the next repeater, the vehicle positioning process may take a long time. Therefore, to solve this problem, in another embodiment of this disclosure, the repeater 103 is further configured to determine a first number of repeaters through which the third positioning signal passes, and if the first number is less than or equal to a preset number threshold, send the fourth positioning signal to the next repeater according to the first preset transmission order. That is, the positioning signal is only sent to the next repeater when the first number is less than or equal to the preset number threshold, avoiding the problem of long positioning time caused by each repeater sending a positioning signal to the next repeater when there are many repeaters.

[0064] In addition, if the first quantity is greater than a preset quantity threshold, the transmission of the fourth positioning signal to the next repeater will stop.

[0065] Here, the first number of repeaters through which the target positioning signal passes can be determined in the following way:

[0066] In one possible implementation, the first quantity can be determined based on the repeater identifier of the repeater that receives the third positioning signal and the first preset transmission order.

[0067] For example, the first quantity can be determined based on the position of the repeater that receives the target location signal in a first preset transmission sequence.

[0068] For example, taking a repeater consisting of four repeaters as an example, these four repeaters are respectively denoted as repeater 1, repeater 2, repeater 3 and repeater 4. If the first preset transmission order is repeater 1 to repeater 2, repeater 2 to repeater 3, repeater 3 to repeater 4, if it is determined from the repeater identifier that repeater 3 received the target positioning signal, then it is determined that the target positioning signal was transmitted sequentially through repeater 1 and repeater 2. Therefore, it can be determined that the target positioning signal passed through repeater 1, repeater 2 and repeater 3, thus determining the first quantity to be 3.

[0069] In another possible implementation, when the repeater receives the third positioning signal, it can add its repeater identifier to the third positioning signal, so that the number of repeater identifiers in the third positioning signal can be used as the first quantity.

[0070] For example, using the four repeaters mentioned above as an example, when repeater 1 receives location signal 1, it adds its repeater identifier to location signal 1 to obtain location signal 2. When repeater 2 receives location signal 2 from repeater 1, it adds its repeater identifier to location signal 2 to obtain location signal 3. At this time, location signal 3 includes the repeater identifiers of repeater 1 and repeater 2. When repeater 3 receives location signal 3 from repeater 2... Next, the repeater identifier of repeater 3 is added to the positioning signal 3 to obtain positioning signal 4. At this time, positioning signal 4 includes the repeater identifier of repeater 1, the repeater identifier of repeater 2 and the repeater identifier of repeater 3, and so on. Each time the positioning signal passes through a repeater, the repeater identifier of the corresponding repeater is added to the positioning signal. Therefore, after repeater 3 adds the repeater identifier to the third positioning signal, the number of repeater identifiers in the third positioning signal is determined to be 3, thereby determining the first quantity to be 3.

[0071] After receiving a response signal from a ground positioning base station, the positioning server can locate the vehicle to be located based on the response signal. For example, the positioning server is used to obtain the signal propagation time of the response signal from the vehicle-mounted base station to the ground positioning base station, and a preset signal flight speed, where the signal propagation time is the propagation time of the response signal in the air; the product of the signal propagation time and the preset signal flight speed is used as a first distance; based on the first distance, the driving distance of the vehicle relative to the ground positioning base station is determined through a preset distance correspondence relationship; the preset distance correspondence relationship includes the correspondence between the first distance and the driving distance, and the position of the vehicle to be located is determined based on the driving distance.

[0072] The first distance can be calculated using the following formula:

[0073] S = T * c0;

[0074] In the above formula, S is the first distance, T is the signal propagation time, and c0 is the preset signal flight speed.

[0075] In one possible implementation, the positioning server 104 is configured to acquire a second number of repeaters through which the response signal passes, a preset repeater operating time, a preset vehicle-mounted base station operating time, a preset ground positioning base station operating time, a first time of sending the positioning command, and a second time of receiving the response signal, and calculate the signal propagation time based on the second number, the preset repeater operating time, the preset vehicle-mounted base station operating time, the preset ground positioning base station operating time, the first time, and the second time.

[0076] The acquisition of the second quantity can be referred to the description of the acquisition of the first quantity in the above embodiments, and will not be repeated here.

[0077] The signal propagation time can be calculated using the following formula:

[0078]

[0079] In the above formula, T is the signal propagation time, t1 is the time difference between the second time and the first time, t2 is the preset repeater working time, t3 is the preset vehicle-mounted base station working time, t4 is the preset ground positioning base station working time, and N is the second quantity.

[0080] After obtaining the first distance, the positioning server can determine the driving distance of the vehicle to be located relative to the ground positioning base station based on the first distance and a preset distance correspondence relationship.

[0081] For example, the preset distance correspondence can be a preset distance correspondence table, which can be shown in Table 1 below:

[0082]

[0083]

[0084] Table 1

[0085] Table 1 illustrates the correspondence between the first distance and the driving distance. For example, when the first distance is 8 meters, the driving distance of the vehicle to be located relative to the ground positioning base station can be determined to be 10 meters. Similarly, when the first distance is 88 meters, the driving distance of the vehicle to be located relative to the ground positioning base station can be determined to be 100 meters, and so on. Based on the first distance, the driving distance of the vehicle relative to the ground positioning base station can be determined through Table 1, and thus the position of the vehicle to be located can be determined based on the driving distance.

[0086] The following is combined with Figure 4 The example shown illustrates the working process of the vehicle positioning system described above. Figure 4 As shown, the vehicle positioning system may include a positioning server, a ground positioning base station, repeaters, and an on-board base station. Taking the repeaters, including repeater 1, repeater 2, repeater 3, and repeater 4, as an example, the positioning server is connected to the ground positioning base station, the ground positioning base station is connected to repeater 1, repeater 1 is connected to repeater 2, and repeater 2 is connected to repeater 4 through repeater 3. The four repeaters are respectively connected to the on-board base station, and the first preset transmission order is repeater 1 to repeater 2, repeater 2 to repeater 3, and repeater 3 to repeater 4. The second preset transmission order is the reverse of the first preset transmission order, that is, repeater 4 to repeater 3, repeater 3 to repeater 2, and repeater 2 to repeater 1.

[0087] The positioning server sends a positioning command to the ground positioning base station. After receiving the positioning command from the positioning server, the ground positioning base station sends a positioning signal 1 to repeater 1. After receiving the positioning signal 1, repeater 1 adds its repeater identifier to the positioning signal 1 to obtain positioning signal 2. Then, it performs the following two processes: First, it can send the positioning signal 2 to the vehicle-mounted base station. If it receives a response signal from the vehicle-mounted base station based on the positioning signal 2, it sends the response signal to the ground positioning base station. Second, it can determine whether the first number of repeaters passed is less than or equal to a preset number threshold. For ease of explanation, it is assumed that the preset number threshold is 2. Since the positioning signal 2 includes one repeater identifier (i.e., the repeater identifier of repeater 1), it is determined that the signal has passed through one repeater (i.e., repeater 1). Since the first number (i.e., 1) is less than the preset number threshold (i.e., 2), the second positioning signal is sent to repeater 2 according to the first preset transmission order.

[0088] After receiving the positioning signal 2, repeater 2 adds its repeater identifier to the positioning signal 2 to obtain positioning signal 3. Positioning signal 3 includes the repeater identifier of repeater 1 and the repeater identifier of repeater 2. On one hand, repeater 2 sends the positioning signal 3 to the vehicle-mounted base station, and when it receives the response signal sent by the vehicle-mounted base station based on the positioning signal 3, it sends the response signal to the ground positioning base station. On the other hand, it can be determined whether the first number of repeaters passed is less than or equal to a preset number threshold. Since the positioning signal 3 includes two repeater identifiers (i.e., the repeater identifier of repeater 1 and the repeater identifier of repeater 2), it is determined that the signal has passed through two repeaters (i.e., repeater 1 and repeater 2). Since the first number (i.e., 2) is equal to the preset number threshold (i.e., 2), the positioning signal 3 is sent to repeater 3 according to the first preset transmission order.

[0089] After receiving the positioning signal 3, repeater 3 adds its repeater identifier to the positioning signal 3 to obtain a positioning signal 4. This positioning signal 4 includes the repeater identifiers of repeater 1, repeater 2, and repeater 3. On one hand, repeater 3 sends the positioning signal 4 to the vehicle-mounted base station, and upon receiving a response signal from the vehicle-mounted base station based on the positioning signal 4, it sends the response signal to the ground positioning base station. On the other hand, it can determine whether the first number of repeaters passed is less than or equal to a preset threshold number. Position signal 4 includes three repeater identifiers (i.e., the repeater identifier of repeater 1, the repeater identifier of repeater 2, and the repeater identifier of repeater 3). Therefore, it is determined that the signal has passed through three repeaters (i.e., repeater 1, repeater 2, and repeater 3). Since the first quantity (i.e., 3) is greater than the preset quantity threshold (i.e., 2), the above-mentioned positioning signal 4 is stopped from being sent to repeater 4. Furthermore, if no response signal is received from the vehicle base station based on the positioning signal 4 after a preset time, a no-response signal is sent to the ground positioning base station according to the second preset transmission order.

[0090] When a ground positioning base station receives a response signal, it sends the response signal to the positioning server. The positioning server determines the location of the vehicle to be located based on the response signal and resets the first quantity. When a ground positioning base station receives no response signal, it sends the no response signal to the positioning server. The positioning server then terminates the vehicle positioning and resets the first quantity.

[0091] It should be noted that the number of repeaters and the preset number threshold mentioned above are only examples, and this disclosure does not limit them.

[0092] Figure 5 This disclosure provides a vehicle positioning method applied to a repeater, such as... Figure 5As shown, the method includes:

[0093] S501. In response to the first positioning signal received from the ground positioning base station, a second positioning signal is sent to the vehicle-mounted base station.

[0094] The vehicle-mounted base station is installed on the vehicle to be located.

[0095] S502, Receive the response signal sent by the vehicle-mounted base station based on the second positioning signal.

[0096] S503. The response signal is sent to the positioning server through the ground positioning base station so that the positioning server can determine the location of the vehicle to be located based on the response signal.

[0097] By using the above method, the signal transmitted between the vehicle-mounted base station and the ground positioning base station is relayed through a repeater, thereby increasing the communication distance between the vehicle-mounted base station and the ground positioning base station, and thus achieving accurate vehicle positioning even when the distance between the vehicle-mounted base station and the ground positioning base station is far.

[0098] Optionally, the repeater includes multiple repeaters connected serially according to a first preset transmission order, which characterizes the transmission order of the positioning signals by the multiple repeaters; the step of sending the second positioning signal to the vehicle-mounted base station may include:

[0099] Upon receiving a third positioning signal sent by the previous repeater based on the first preset transmission order, the second positioning signal is sent to the vehicle-mounted base station.

[0100] The above-mentioned step of sending the response signal to the positioning server through the ground positioning base station may include:

[0101] If the vehicle-mounted base station receives a response signal sent by the second positioning signal within a preset time, the response signal is transmitted back to the positioning server via the ground positioning signal in accordance with the second preset transmission order, wherein the second preset transmission order is the reverse of the first preset transmission order.

[0102] Optionally, the method further includes:

[0103] If no response signal is received from the vehicle-mounted base station based on the second positioning signal when the preset time is reached, a no-response signal is sent to the ground positioning base station according to the second preset transmission order.

[0104] Optionally, the method further includes: sending a fourth positioning signal to the next repeater of the repeater according to the first preset transmission sequence.

[0105] Optionally, the method further includes: determining a first number of repeaters through which the third positioning signal passes; the sending of the fourth positioning signal to the next repeater of the repeater based on the first preset transmission order includes: if the first number is less than or equal to a preset number threshold, sending the fourth positioning signal to the next repeater of the repeater according to the first preset transmission order.

[0106] Figure 6 This disclosure provides a vehicle positioning method, such as... Figure 6 As shown, this method is applied to a vehicle-mounted base station, which is installed on the vehicle to be located. The method includes:

[0107] S601, Receive the second positioning signal sent by the repeater.

[0108] S602. A response signal is sent to the repeater according to the second positioning signal, so that the repeater sends the response signal to the positioning server through the ground positioning base station, so that the positioning server can determine the location of the vehicle to be located according to the response signal sent by the ground positioning base station.

[0109] By using the above method, the signal transmitted between the vehicle-mounted base station and the ground positioning base station is relayed through a repeater, thereby increasing the communication distance between the vehicle-mounted base station and the ground positioning base station, and thus achieving accurate vehicle positioning even when the distance between the vehicle-mounted base station and the ground positioning base station is far.

[0110] Figure 7 This disclosure provides a vehicle positioning method applied to a ground positioning base station, such as... Figure 7 As shown, the method includes:

[0111] S701. In response to the positioning instruction sent by the received positioning server, a first positioning signal is sent to the repeater, so that the repeater sends a second positioning signal to the vehicle-mounted base station based on the first positioning signal.

[0112] S702. When the repeater receives the response signal sent by the vehicle-mounted base station based on the second positioning signal, it receives the response signal sent by the repeater.

[0113] S703. Send the response signal to the positioning server so that the positioning server can determine the location of the vehicle to be located based on the response signal sent by the ground positioning base station.

[0114] By using the above method, the signal transmitted between the vehicle-mounted base station and the ground positioning base station is relayed through a repeater, thereby increasing the communication distance between the vehicle-mounted base station and the ground positioning base station, and thus achieving accurate vehicle positioning even when the distance between the vehicle-mounted base station and the ground positioning base station is far.

[0115] It should be noted that the specific descriptions of each step in the above method embodiments can be found in the relevant descriptions in the aforementioned vehicle positioning system, and will not be repeated here.

[0116] It should be noted that the specific descriptions of each module in the above-mentioned device embodiments can be found in the relevant descriptions in the aforementioned vehicle positioning system, and will not be repeated here.

[0117] The preferred embodiments of the present disclosure have been described in detail above with reference to the accompanying drawings. However, the present disclosure is not limited to the specific details of the above embodiments. Within the scope of the technical concept of the present disclosure, various simple modifications can be made to the technical solutions of the present disclosure, and these simple modifications all fall within the protection scope of the present disclosure.

[0118] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, this disclosure will not describe the various possible combinations separately.

[0119] Furthermore, various different embodiments of this disclosure can be combined in any way, as long as they do not violate the spirit of this disclosure, they should also be regarded as the content disclosed in this disclosure.

Claims

1. A vehicle positioning system, characterized in that, include: The system includes a positioning server, a ground positioning base station, a repeater, and a vehicle-mounted base station installed on the vehicle to be located. The positioning server is connected to the ground positioning base station, and the ground positioning base station is connected to the vehicle-mounted base station via the repeater. The ground positioning base station is configured to, in response to receiving a positioning instruction sent by the positioning server, send a first positioning signal to the repeater, and receive a response signal sent by the repeater, and send the response signal to the positioning server. The repeater is configured to send a second positioning signal to the vehicle-mounted base station in response to receiving the first positioning signal sent by the ground positioning base station, and to send the response signal to the ground positioning base station upon receiving a response signal sent by the vehicle-mounted base station based on the second positioning signal. The vehicle-mounted base station is used to receive the second positioning signal sent by the repeater, and to send the response signal to the repeater according to the second positioning signal; The positioning server is used to determine the location of the vehicle to be located based on the response signal sent by the ground positioning base station.

2. The system according to claim 1, characterized in that, The repeater includes multiple repeaters, which are connected in series according to a first preset transmission order. The first preset transmission order is used to characterize the transmission order of the positioning signals by the multiple repeaters. The repeater is configured to send the second positioning signal to the vehicle-mounted base station upon receiving a third positioning signal sent by the previous repeater based on the first preset transmission order, and to send the response signal back to the ground positioning base station according to the second preset transmission order upon receiving a response signal sent by the vehicle-mounted base station based on the second positioning signal within a preset time, wherein the second preset transmission order is the reverse of the first preset transmission order.

3. The system according to claim 1 or 2, characterized in that, The positioning server is used to obtain the signal propagation time of the response signal transmitted from the vehicle-mounted base station to the ground positioning base station, and a preset signal flight speed, wherein the signal propagation time is the propagation time of the response signal in the air; The product of the signal propagation time and the preset signal flight speed is used as the first distance; based on the first distance, the driving distance of the vehicle relative to the ground positioning base station is determined through a preset distance correspondence relationship; the preset distance correspondence relationship includes the correspondence between the first distance and the driving distance; and the position of the vehicle to be located is determined based on the driving distance.

4. The system according to claim 3, characterized in that, The positioning server is used to obtain a second number of repeaters through which the response signal passes, a preset repeater operating time, a preset vehicle-mounted base station operating time, a preset ground positioning base station operating time, a first time of sending the positioning command, and a second time of receiving the response signal, and to calculate the signal propagation time based on the second number, the preset repeater operating time, the preset vehicle-mounted base station operating time, the preset ground positioning base station operating time, the first time, and the second time.

5. A vehicle positioning method applied to a repeater, characterized in that, The method includes: In response to a first positioning signal received from a ground positioning base station, a second positioning signal is sent to a vehicle-mounted base station, wherein the vehicle-mounted base station is installed on the vehicle to be located. Receive the response signal sent by the vehicle-mounted base station based on the second positioning signal; The response signal is sent to the positioning server through the ground positioning base station so that the positioning server can determine the location of the vehicle to be located based on the response signal.

6. The method according to claim 5, characterized in that, The repeater includes multiple repeaters, which are connected in series according to a first preset transmission order. The first preset transmission order is used to characterize the transmission order of the positioning signals by the multiple repeaters. Sending the second positioning signal to the vehicle-mounted base station includes: Upon receiving a third positioning signal sent by the previous repeater based on the first preset transmission order, the second positioning signal is sent to the vehicle-mounted base station; The step of sending the response signal to the positioning server via the ground positioning base station includes: If the vehicle-mounted base station receives a response signal sent by the second positioning signal within a preset time, the response signal is transmitted back to the positioning server through the ground positioning base station in a second preset transmission order, wherein the second preset transmission order is the reverse of the first preset transmission order.

7. The method according to claim 6, characterized in that, The method further includes: If no response signal is received from the vehicle-mounted base station based on the second positioning signal when the preset time is reached, a no-response signal is sent to the ground positioning base station according to the second preset transmission order.

8. The method according to claim 6, characterized in that, The method further includes: According to the first preset transmission sequence, a fourth positioning signal is sent to the next repeater of the repeater.

9. A vehicle positioning method, applied to an on-board base station, wherein the on-board base station is installed on the vehicle to be located, characterized in that, The method includes: The system receives a second positioning signal sent by a repeater, wherein the second positioning signal is sent by the repeater in response to receiving a first positioning signal sent by a ground positioning base station, and the first positioning signal is sent by the ground positioning base station in response to receiving a positioning command sent by a positioning server. The second positioning signal is used to send a response signal to the repeater, so that the repeater sends the response signal to the positioning server through the ground positioning base station, so that the positioning server can determine the location of the vehicle to be located based on the response signal.

10. A vehicle positioning method, characterized in that, Applied to ground positioning base stations, the method includes: In response to a positioning instruction sent by a received positioning server, a first positioning signal is sent to a repeater, so that the repeater sends a second positioning signal to a vehicle-mounted base station based on the first positioning signal. The vehicle-mounted base station is installed on the vehicle to be located. When the repeater receives a response signal sent by the vehicle-mounted base station based on the second positioning signal, it receives the response signal sent by the repeater. The response signal is sent to the positioning server so that the positioning server can determine the location of the vehicle to be located based on the response signal.

Images