Vehicle positioning method and system
Through the orbital satellite signal combined with the coordinated positioning technology of the mobile station and the reference station, the problem of insufficient vehicle positioning coverage in remote areas is solved, and a wider and more accurate positioning effect is achieved.
Patent Information
- Application Number
- CN202411181994.1
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-27
- Publication Date
- 2024-12-31
AI Technical Summary
The existing electric vehicle positioning technology is insufficient in remote areas such as mountainous areas, hills, deserts, etc., and the signal is easily disturbed, resulting in insufficient vehicle positioning speed and accuracy.
Vehicle positioning is achieved through orbital satellite signals, and multiple orbital satellites, mobile stations and reference stations are combined. By calculating the geometric distance and pseudo-range observations between the satellite and the vehicle, a matrix is constructed for correction, and positioning accuracy is improved, and through monitoring stations and injecting stations to enhance signal coverage.
It achieves a wider coverage, faster and more accurate vehicle positioning, and is suitable for remote areas and interfering environments.
Smart Images
Figure CN119224688A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of vehicle technology, and in particular, to a vehicle positioning method and system. Background Art
[0002] As the demand for electric vehicle location coordinates and other related performance parameters becomes wider and wider, positioning technologies including the Global Navigation Satellite System (GNSS) and communication base stations have been rapidly developed and widely used, but their shortcomings have also been gradually recognized. The signals of the above technologies are weak, easily subject to intentional or unintentional interference, and the coverage of remote areas such as mountains, hills, deserts, and oceans is seriously insufficient. Therefore, fast and accurate vehicle positioning is an urgent problem to be solved. Summary of the invention
[0003] The purpose of the embodiments of the present application is to provide a vehicle positioning method and system for realizing vehicle positioning through orbital satellite signals, with a wider coverage range, faster positioning speed and more accuracy.
[0004] In a first aspect, the present application provides a vehicle positioning method, the method comprising a vehicle control end generating a target vehicle positioning request and sending it to a target satellite end in an orbital satellite system, the orbital satellite system comprising multiple satellite ends; the target satellite end obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identification indicated by the target vehicle positioning request and sends them to the vehicle control end.
[0005] Preferably, the vehicle control terminal determines whether an abnormality occurs with the vehicle based on the whole vehicle collected data and battery collected data corresponding to the vehicle; if so, a target vehicle positioning request is generated, and the target vehicle positioning request includes at least the vehicle identification of the target vehicle with the abnormality.
[0006] Preferably, the target satellite terminal includes an orbiting satellite, a mobile station and a base station, and the target satellite terminal obtains the vehicle position coordinates of the target vehicle in the following manner: the mobile station responds to the satellite signal currently sent by the orbiting satellite to determine the first vehicle observation coordinates; the base station responds to the satellite signal to determine the second vehicle observation coordinates; the mobile station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates based on the second vehicle observation coordinates sent by the base station, the first vehicle observation coordinates and the satellite coordinates of multiple satellite terminals within a preset range; the mobile station corrects the first vehicle observation coordinates based on the difference to serve as the vehicle position coordinates of the target vehicle.
[0007] Preferably, the active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates in the following manner: based on the satellite coordinates of the satellite end and the second vehicle observation coordinates, the actual geometric distance value between each satellite end and the target vehicle is calculated to construct a geometric distance matrix; based on the actual geometric distance value and correction coefficient corresponding to the satellite end, the pseudo-range observation value between each satellite end and the target vehicle is calculated to construct a pseudo-range observation matrix; based on the geometric distance matrix, the pseudo-range observation matrix, the linearization coefficient matrix and the observation noise matrix, the difference is calculated.
[0008] Preferably, the vehicle control terminal generates a target vehicle positioning request and sends it to an injection station in the orbital satellite system; the injection station generates a positioning control instruction based on the target vehicle positioning request and sends it to the target satellite terminal, and the positioning control instruction includes at least a vehicle identification; the target satellite terminal locates the target vehicle corresponding to the vehicle identification based on the received positioning control instruction.
[0009] Preferably, the target satellite terminal sends the vehicle position coordinates of the target vehicle to a monitoring station of the orbital satellite system; and the monitoring station sends the vehicle position coordinates to the vehicle control terminal.
[0010] On the second aspect, the present application provides a vehicle positioning system, which includes at least a vehicle control terminal and an orbital satellite system, the orbital satellite system includes multiple satellite terminals, monitoring stations and injection stations, wherein the vehicle control terminal generates a target vehicle positioning request and sends it to the target satellite terminal in the orbital satellite system; the target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identification indicated by the target vehicle positioning request and sends it to the vehicle control terminal.
[0011] Preferably, the target satellite terminal obtains the vehicle position coordinates of the target vehicle in the following manner: the active station responds to the satellite signal currently emitted by the orbiting satellite to determine the first vehicle observation coordinates; the base station responds to the satellite signal to determine the second vehicle observation coordinates; the active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates based on the second vehicle observation coordinates sent by the base station, the first vehicle observation coordinates, and the satellite coordinates of multiple satellite terminals within a preset range; the active station corrects the first vehicle observation coordinates based on the difference to serve as the vehicle position coordinates of the target vehicle.
[0012] Preferably, the vehicle control terminal generates a target vehicle positioning request and sends it to an injection station in the orbital satellite system; the injection station generates a positioning control instruction based on the target vehicle positioning request and sends it to the target satellite terminal, and the positioning control instruction includes at least a vehicle identification; the target satellite terminal locates the target vehicle corresponding to the vehicle identification based on the received positioning control instruction.
[0013] Preferably, the target satellite terminal sends the vehicle position coordinates of the target vehicle to a monitoring station of the orbital satellite system; and the monitoring station sends the vehicle position coordinates to the vehicle control terminal.
[0014] The present application provides a vehicle positioning method and system, the method includes a vehicle control terminal generating a target vehicle positioning request and sending it to a target satellite terminal in an orbital satellite system, the orbital satellite system includes multiple satellite terminals; the target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identifier according to the vehicle identifier indicated by the target vehicle positioning request and sends them to the vehicle control terminal. The vehicle positioning is achieved through orbital satellite signals, with a wider coverage, faster positioning speed and more accuracy. BRIEF DESCRIPTION OF THE DRAWINGS
[0015] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments of the present application will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.
[0016] Figure 1 A schematic diagram of the structure of a vehicle positioning system provided in an embodiment of the present application;
[0017] Figure 2 A flowchart of a vehicle position coordinate determination step provided in an embodiment of the present application;
[0018] Figure 3 A schematic diagram of the structure of another vehicle positioning system provided in an embodiment of the present application. DETAILED DESCRIPTION
[0019] First, the application scenario of the present application is described. The technical solution of the present application is applicable to vehicle positioning and data collection.
[0020] The technical solutions in the embodiments of the present application will be described below in conjunction with the drawings in the embodiments of the present application.
[0021] Embodiment 1
[0022] Figure 1 This is a schematic diagram of the structure of a vehicle positioning system provided in an embodiment of the present application. Figure 1 As shown, the present application provides a vehicle positioning system, which includes multiple vehicle terminals, a vehicle control terminal and an orbital satellite system.
[0023] The vehicles here can be ordinary vehicles and power battery vehicles. The vehicle end can be the central control device of the vehicle or the user's mobile phone and other electronic devices.
[0024] The vehicle control terminal can be the central service platform of the vehicle, used for vehicle management and services, and communicated with the vehicle side and orbital satellite system.
[0025] The orbital satellite system includes multiple satellite terminals. The satellite terminals include orbital satellites, mobile stations and base stations. The orbital satellites here can be nanosatellites or picosatellites. In a specific embodiment, the number of orbital satellites can be 66, forming 6 orbital planes, each of which is equipped with 11 satellites. One spare satellite can also be added to each orbital plane. Among them, the orbital inclination is 86.4°, the orbital altitude is 780km, and the orbital period is 100.1min. The interval between the 5 co-directional orbits is 31.6°, and the interval between the 6th reverse orbit and the 1st orbit is 22°, which can achieve global coverage including the North and South Poles.
[0026] The orbiting satellites are interconnected through the L-band and space segments. The phased array antennas are divided into three parts and installed on the satellites. Each antenna board generates 16 spot beams, and each satellite has a total of 48 spot beams. The entire orbiting satellite network has a total of 3,168 spot beams. Only 2,150 spot beams are needed to actually cover the world. The remaining spot beams are gradually turned off when the satellite moves to high-latitude areas, thereby saving power and reducing interference caused by the multi-satellite visibility characteristics of high-latitude areas. The establishment of inter-satellite links is a major feature of orbiting satellites that is different from other satellite mobile communication systems, and it also provides convenience for ground stations to calibrate the satellite clock. Any user in the satellite coverage area can communicate with any user in other coverage areas through inter-satellite links without the need for ground relays. User terminals can have multiple paths to communicate with the system gateway, thus having anti-interference and anti-destruction capabilities.
[0027] The base station, mobile station and orbiting satellite can communicate via NTRIP protocol network. The mobile station and base station can communicate via Bluetooth.
[0028] A vehicle positioning system provided in an embodiment of the present application can realize the transmission of vehicle and battery data.
[0029] Specifically, the vehicle end can send the collected vehicle data or battery data to a target satellite end. The target satellite end sends the received vehicle data or battery data to the monitoring station on the ground, and the monitoring station forwards the vehicle data or battery data to the vehicle control end. The vehicle control end can determine the vehicle status corresponding to the vehicle end based on the received vehicle data or battery data. Determine whether the vehicle corresponding to the vehicle end has any abnormalities, including but not limited to data collection / upload abnormalities, battery safety conditions, vehicle safety conditions, etc., and issue processing instructions to the vehicle.
[0030] For example, when an abnormal situation occurs in a vehicle and emergency rescue needs to be dispatched, the vehicle location needs to be determined. At this time, the vehicle control terminal can determine whether the vehicle is abnormal based on the vehicle collection data and battery collection data corresponding to the vehicle. If so, a target vehicle positioning request is generated, and the target vehicle positioning request at least includes the vehicle identification of the target vehicle with the abnormal situation. The vehicle identification here corresponds to the vehicle one by one.
[0031] The vehicle control terminal generates a target vehicle positioning request and sends it to the target satellite terminal in the orbital satellite system. The target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identifier according to the vehicle identifier indicated by the target vehicle positioning request and sends it to the vehicle control terminal.
[0032] Figure 2 A flow chart of the steps for determining the vehicle position coordinates provided in an embodiment of the present application. Figure 2 As shown, the target satellite can obtain the vehicle position coordinates of the target vehicle in the following ways:
[0033] S100: The active station responds to the satellite signal currently sent by the orbiting satellite to determine the observation coordinates of the first vehicle.
[0034] S101. The base station responds to the satellite signal and determines the observation coordinates of the second vehicle.
[0035] S102: The active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates according to the second vehicle observation coordinates, the first vehicle observation coordinates, and satellite coordinates of multiple satellite terminals within a preset range sent by the reference station.
[0036] In step S102, the active station may determine the difference between the first vehicle observation coordinates and the second vehicle observation coordinates in the following manner:
[0037] Based on the satellite coordinates of the satellite end and the observation coordinates of the second vehicle, the actual geometric distance value between each satellite end and the target vehicle is calculated to construct a geometric distance matrix.
[0038] Based on the actual geometric distance value and correction coefficient corresponding to the satellite end, the pseudo-range observation value between each satellite end and the target vehicle is calculated to construct the pseudo-range observation matrix.
[0039] Here, the pseudo-range observation value between each satellite terminal and the target vehicle can be calculated by the following formula:
[0040]
[0041]
[0042] Where ρ is the actual geometric distance between the satellite end (orbiting satellite) and the target vehicle, (XS , Y S , Z S ) is the coordinate of the satellite end, (X R , Y R , Z R ) is the second vehicle observation coordinate of the target vehicle, c is the speed of light, is the satellite clock correction value, is the receiver clock correction value, V ion is the ionospheric delay correction value, V trop is the tropospheric delay correction value, and ε is the observation noise value.
[0043] The difference is calculated based on the geometric distance matrix, pseudorange observation matrix, linearization coefficient matrix and observation noise matrix.
[0044] When the same receiving device observes different satellites at the same time, the influence of the receiver clock error is the same. Therefore, in order to weaken the influence of the receiver clock error, the inter-satellite difference method should be used. In the inter-satellite difference process, a satellite needs to be selected as a reference satellite, and the observation values of other satellites are subtracted from the observation values of this reference satellite to eliminate the influence of the receiver clock error on positioning. The satellite with the largest elevation angle among the observed satellites is used as the reference satellite, and a second difference is made between the user receiving device and the virtual reference station to obtain a double difference model:
[0045]
[0046] in, is the receiver difference between reference satellite 1 and other satellite k, l, m, n are the corresponding linearization coefficients, (X o , Y o , Z o ) is the first vehicle observation coordinate of the target vehicle;
[0047] Then, we can get the matrix equation:
[0048]
[0049] S103: The active station corrects the first vehicle observation coordinates based on the difference to serve as the vehicle position coordinates of the target vehicle.
[0050] By performing Kalman filter calculation on the above formula, (ΔX, ΔY, ΔZ) can be solved, and then the first vehicle observation coordinates are corrected to obtain the vehicle position coordinates of the target vehicle.
[0051] The present application provides a vehicle positioning system, which realizes vehicle positioning through orbital satellite signals, has a wider coverage range, and a faster and more accurate positioning speed.
[0052] Embodiment 2
[0053] Figure 3 This is a schematic diagram of the structure of another vehicle positioning system provided in an embodiment of the present application. Figure 3 As shown, the present application provides a vehicle positioning system, and the orbital satellite system also includes a monitoring station and an injection station.
[0054] The vehicle control terminal can generate a target vehicle positioning request and send it to an injection station in the orbital satellite system. The injection station generates a positioning control instruction based on the target vehicle positioning request and sends it to the target satellite terminal. The positioning control instruction at least includes a vehicle identification. The target satellite terminal locates the target vehicle corresponding to the vehicle identification based on the received positioning control instruction.
[0055] The target satellite sends the vehicle position coordinates of the target vehicle to the monitoring station of the orbital satellite system. The monitoring station sends the vehicle position coordinates to the vehicle control terminal.
[0056] The vehicle control end can communicate directly with the orbiting satellite. In order to make the communication process more stable, monitoring stations and injection stations can also be set up on the ground as intermediate stations to complete the communication.
[0057] Embodiment 3
[0058] In one embodiment of the present application, a vehicle positioning method is also provided, which is executed by the aforementioned vehicle positioning system, and the method includes a vehicle control terminal generating a target vehicle positioning request and sending it to a target satellite terminal in an orbital satellite system, and the orbital satellite system includes multiple satellite terminals. The target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identifier according to the vehicle identifier indicated by the target vehicle positioning request and sends it to the vehicle control terminal.
[0059] The vehicle control terminal determines whether the vehicle is abnormal based on the vehicle collection data and battery collection data corresponding to the vehicle. If so, a target vehicle positioning request is generated, and the target vehicle positioning request at least includes the vehicle identification of the target vehicle that has the abnormality.
[0060] The vehicle control end (such as a vehicle navigation system, a fleet management system, etc.) can automatically locate the vehicle when receiving a request from a driver or user for vehicle location service, or at a predetermined time interval. The vehicle control end may also generate a target vehicle location request when there is a need to collect the vehicle location at other times.
[0061] The target vehicle positioning request here usually includes the vehicle identification, positioning accuracy, timestamp and other specific positioning parameters of the target vehicle, which are used to indicate whether the location information needs to be updated in real time, whether a specific satellite signal source needs to be used, etc.
[0062] The vehicle control end encapsulates the generated target vehicle positioning request into a data packet suitable for reception by the satellite system and sends it to the target satellite end in the orbiting satellite system.
[0063] The target satellite may be determined based on the distance between the vehicle and the satellite.
[0064] The response data packet returned by the satellite may include not only the vehicle position coordinates (which may be in a three-dimensional coordinate system format and may be marked with a timestamp) but also other parameters such as the vehicle's latitude and longitude, altitude, speed, acceleration, and driving direction.
[0065] After receiving the response data packet from the satellite, the vehicle control end can decode the received data and extract the vehicle position coordinates and other relevant information of the target vehicle. The vehicle control end can update the vehicle display device or related applications (such as forming a historical track, etc.) based on the extracted vehicle position coordinates to display the latest vehicle position information to users or other relevant personnel.
[0066] The vehicle control end can also perform subsequent operations based on the positioning results, such as navigation, safety rescue, fleet management decisions, etc.
[0067] Specifically, the target satellite end includes an orbiting satellite, a mobile station, and a base station. The target satellite end obtains the vehicle position coordinates of the target vehicle in the following ways:
[0068] The active station responds to the satellite signal currently sent by the orbiting satellite to determine the first vehicle observation coordinates; the base station responds to the satellite signal to determine the second vehicle observation coordinates; the active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates based on the second vehicle observation coordinates sent by the base station, the first vehicle observation coordinates and the satellite coordinates of multiple satellite terminals within a preset range; the active station corrects the first vehicle observation coordinates based on the difference to use it as the vehicle position coordinates of the target vehicle.
[0069] Specifically, the active station may determine the difference between the first vehicle observation coordinates and the second vehicle observation coordinates in the following manner:
[0070] Based on the satellite coordinates of the satellite end and the observation coordinates of the second vehicle, the actual geometric distance value between each satellite end and the target vehicle is calculated to construct a geometric distance matrix; based on the actual geometric distance value and correction coefficient corresponding to the satellite end, the pseudorange observation value between each satellite end and the target vehicle is calculated to construct a pseudorange observation matrix; based on the geometric distance matrix, pseudorange observation matrix, linearization coefficient matrix and observation noise matrix, the difference is calculated.
[0071] Specifically, in one communication mode, the vehicle control terminal generates a target vehicle positioning request and sends it to an injection station in the orbital satellite system; the injection station generates a positioning control instruction based on the target vehicle positioning request and sends it to the target satellite terminal, and the positioning control instruction at least includes a vehicle identification; the target satellite terminal locates the target vehicle corresponding to the vehicle identification based on the received positioning control instruction. The target satellite terminal sends the vehicle position coordinates of the target vehicle to the monitoring station of the orbital satellite system; the monitoring station sends the vehicle position coordinates to the vehicle control terminal.
[0072] The present application provides a vehicle positioning method, which realizes vehicle positioning through orbital satellite signals, has a wider coverage range, and a faster and more accurate positioning speed.
[0073] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.
[0074] In addition, the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
[0075] Furthermore, the functional modules in the various embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
[0076] It should be noted that if the function is implemented in the form of a software function module and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can essentially be embodied in the form of a software product, or the part that contributes to the prior art or the part of the technical solution. The computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM) random access memory (RAM), disk or optical disk, and other media that can store program codes.
[0077] In this document, relational terms such as first and second, etc. are used merely to distinguish one entity or operation from another entity or operation, but do not necessarily require or imply any such actual relationship or order between these entities or operations.
[0078] The above description is only an embodiment of the present application and is not intended to limit the protection scope of the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims
1. A vehicle positioning method, characterized in that: The method comprises: The vehicle control terminal generates a target vehicle positioning request and sends it to a target satellite terminal in the orbital satellite system, where the orbital satellite system includes multiple satellite terminals; The target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identification according to the vehicle identification indicated by the target vehicle positioning request and sends the coordinates to the vehicle control terminal.
2. The method according to claim 1, characterized in that The vehicle control end determines whether an abnormality occurs in the vehicle based on the whole vehicle collected data and the battery collected data corresponding to the vehicle; if so, a target vehicle positioning request is generated, and the target vehicle positioning request includes at least the vehicle identification of the target vehicle with the abnormality.
3. The method according to claim 1, characterized in that The target satellite end includes an orbiting satellite, a mobile station, and a base station. The target satellite end obtains the vehicle position coordinates of the target vehicle in the following ways: The mobile station determines the observation coordinates of the first vehicle in response to the satellite signal currently sent by the orbiting satellite; The reference station determines the observation coordinates of the second vehicle in response to the satellite signal; The active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates according to the second vehicle observation coordinates sent by the reference station, the first vehicle observation coordinates, and satellite coordinates of multiple satellite terminals within a preset range; The active station corrects the first vehicle observation coordinates based on the difference to serve as the vehicle position coordinates of the target vehicle.
4. The method according to claim 3, characterized in that The mobile station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates by: Based on the satellite coordinates of the satellite end and the observation coordinates of the second vehicle, the actual geometric distance value between each satellite end and the target vehicle is calculated to construct a geometric distance matrix; Based on the actual geometric distance value and correction coefficient corresponding to the satellite end, the pseudo-range observation value between each satellite end and the target vehicle is calculated to construct a pseudo-range observation matrix; The difference is calculated based on the geometric distance matrix, the pseudorange observation matrix, the linearization coefficient matrix and the observation noise matrix.
5. The method according to claim 1, characterized in that The vehicle control terminal generates a target vehicle positioning request and sends it to the injection station in the orbital satellite system; The injection station generates a positioning control instruction according to the positioning request of the target vehicle and sends it to the target satellite end, wherein the positioning control instruction at least includes a vehicle identification; The target satellite terminal locates the target vehicle corresponding to the vehicle identification according to the received positioning control instruction.
6. The method according to claim 1, characterized in that The target satellite terminal sends the vehicle position coordinates of the target vehicle to a monitoring station of the orbiting satellite system; The monitoring station sends the vehicle position coordinates to the vehicle control terminal.
7. A vehicle positioning system, characterized in that: The system at least includes a vehicle control terminal and an orbital satellite system, wherein the orbital satellite system includes a plurality of satellite terminals, a monitoring station and an injection station. Wherein, the vehicle control end generates a target vehicle positioning request and sends it to the target satellite end in the orbital satellite system; The target satellite terminal obtains the vehicle position coordinates of the target vehicle corresponding to the vehicle identification according to the vehicle identification indicated by the target vehicle positioning request and sends the coordinates to the vehicle control terminal.
8. The system according to claim 7, characterized in that The target satellite obtains the vehicle position coordinates of the target vehicle in the following ways: The mobile station determines the observation coordinates of the first vehicle in response to the satellite signal currently sent by the orbiting satellite; The reference station determines the observation coordinates of the second vehicle in response to the satellite signal; The active station determines the difference between the first vehicle observation coordinates and the second vehicle observation coordinates according to the second vehicle observation coordinates sent by the reference station, the first vehicle observation coordinates, and satellite coordinates of multiple satellite terminals within a preset range; The active station corrects the first vehicle observation coordinates based on the difference to serve as the vehicle position coordinates of the target vehicle.
9. The system according to claim 7, characterized in that The vehicle control terminal generates a target vehicle positioning request and sends it to the injection station in the orbital satellite system; The injection station generates a positioning control instruction according to the positioning request of the target vehicle and sends it to the target satellite end, wherein the positioning control instruction at least includes a vehicle identification; The target satellite terminal locates the target vehicle corresponding to the vehicle identification according to the received positioning control instruction.
10. The system according to claim 7, characterized in that The target satellite terminal sends the vehicle position coordinates of the target vehicle to a monitoring station of the orbiting satellite system; The monitoring station sends the vehicle position coordinates to the vehicle control terminal.