Vehicle positioning method and system based on multi-source fusion technology, and computer readable storage medium

Abstract

The invention relates to the technical field of geographic positioning, provides a vehicle positioning method and system based on a multi-source fusion technology, and a computer readable storage medium, and realizes accurate vehicle positioning by fusing the multi-source fusion positioning technology of GNSS positioning, UWB short-distance wireless positioning, SINS positioning and OBD data positioning. By means of the multi-source fusion positioning technology, the effect that stable, reliable and continuous navigation positioning information can be provided for the vehicle even under the condition of signal blind areas or weak signals is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of geographic positioning, and in particular to a vehicle positioning method. Background Art

[0002] Navigation and positioning are the basic needs of driving. At present, there are three main vehicle positioning technologies: ① GNSS positioning (Global Navigation Satellite System), that is, the global satellite navigation and positioning system, is a satellite system that sends radio signals for navigation and positioning. The current GNSS systems include: GPS, GLONASS and BeiDou systems. GPS (Global Positioning System) is a global geographic positioning system developed and widely used by the United States in the 1970s, with a positioning accuracy of about 10 meters; GLONASS (Global Navigation Satellite System) is a satellite navigation system developed by the Soviet Union in 1976; BeiDou Navigation Satellite System (BDS) is a satellite navigation system independently developed by my country in the 1990s, with a positioning accuracy of about 10 meters. In other words, under ideal conditions, GNSS can achieve wide-area positioning with a positioning accuracy of about 10 meters, but because GNSS signals are easily affected by occlusion and multipath attenuation, reliable positioning accuracy and availability cannot be guaranteed in densely populated urban areas, indoor enclosed spaces, tunnels and other semi-enclosed spaces. ② Short-range wireless positioning technology: including: radio positioning technologies based on UWB (UltraWide Band), Wi-Fi, WLAN (Wireless Local Area Networks), infrared, ultrasonic and other technologies. For example, UWB wireless communication technology is a wireless communication technology that uses discontinuous pulses of less than nanoseconds for communication without using a carrier. Since UWB uses ultra-short pulses of less than nanoseconds for communication, its signal power is spread over an ultra-wide frequency band from 0 to tens of GHz. This unique communication mechanism makes it insensitive to channel fading, low transmission power, coexistence with other wireless systems, strong multipath resolution, strong anti-interference ability, low system complexity, and strong penetration ability compared to current frequency domain communication technology. Therefore, it has received widespread attention worldwide, especially in the fields of precise ranging and positioning. Although short-range wireless positioning technology can achieve high positioning accuracy of centimeters and meters, it can only be limited to a small area. ③SINS (Strapdown Intertial Navigation System) positioning method: SINS is an inertial navigation system that directly installs inertial measurement elements (usually gyroscopes and accelerometers) on the carrier. It inputs the digital signals collected by the inertial measurement elements into the navigation computer for calculation, and gives the attitude, position, speed and other information of the carrier coordinate system relative to the navigation reference coordinate system.Although the SINS positioning method can measure the vehicle positioning parameters by relying on the inertial measurement unit (IMU) in the absence of GNSS signals and use the laws of kinematics for autonomous positioning, it is impossible to achieve high-precision positioning for a long time because the error is cumulative over time.

[0003] At present, GNSS positioning is the most important positioning technology. However, in urban navigation environments, tunnels, tall buildings, etc. often block or interfere with GNSS signals, resulting in the inability of positioning terminals such as vehicles to accurately locate or large positioning deviations, misleading real-time navigation, and easily causing traffic chaos. Therefore, in the case of GNSS signal blind spots or weak or failed signals, it is necessary to combine other positioning technologies for auxiliary positioning correction. However, short-range wireless positioning technology and SINS positioning technology each have their limitations and applicable scenarios. Therefore, how to integrate multi-source positioning technology to achieve accurate, reliable and continuous navigation positioning is a current technical challenge. Summary of the invention

[0004] In view of the above-mentioned defects in the prior art, the purpose of the present invention is to provide a vehicle positioning method, system and computer-readable storage medium based on multi-source fusion technology, aiming to solve the problem that in the existing signal blind area or weak signal conditions, the GNSS signal is weak or failed, resulting in inaccurate or even too large deviation in the output positioning information, which seriously affects the monitoring of the vehicle trajectory and cannot provide the vehicle with stable, reliable and continuous navigation and positioning information.

[0005] GNSS positioning and short-range wireless positioning technology (such as UWB positioning technology) as positioning information outside the vehicle can be used for global positioning of the vehicle. SINS positioning technology uses the vehicle's own gyroscope and accelerometer to provide the vehicle with more reliable positioning information.

[0006] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0007] The first aspect of the present invention is a vehicle positioning method based on multi-source fusion technology, which integrates GNSS positioning, UWB short-range wireless positioning, and SINS positioning to achieve vehicle positioning. The method comprises the following steps:

[0008] Based on the global positioning steps of GNSS, China's BDS and the United States' GPS satellites are used for fusion positioning through ion filtering. When filtering, particles with small weights are removed, and particles with large weights are retained and copied to obtain the vehicle position information P GNSS The latitude and longitude coordinates (x GNSS ,y GNSS );

[0009] The short-distance wireless positioning steps based on UWB adopt various short-distance wireless positioning methods such as TOA (Time of Arrival), TDOA (Time Difference Of Arrival), AOA (Angle Of Arrival), etc., and use the UWB signal transmitted by the roadside positioning base station for short-distance wireless positioning to obtain the vehicle's location information P uwb The latitude and longitude coordinates (x uwb ,y uwb );

[0010] Based on the local positioning step of SINS, the digital signal collected by the IMU inertial measurement element is input into the navigation computer for solution to obtain the vehicle position information P SINS The latitude and longitude coordinates (x SINS ,y SINS ).

[0011] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0012] P t =λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0013]

[0014] λ2=1-λ1-λ3

[0015]

[0016] Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新 is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, and t is the current time.

[0017] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0018] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0019]

[0020] λ2=1-λ1-λ3

[0021]

[0022] like Figure 1 As shown, the positioning information further includes: OBD positioning data, based on the OBD moving positioning step, the vehicle position information △P is obtained according to the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus OBD The change in (△x OBD , △y OBD ),

[0023] Further comprising a method for fusion positioning according to OBD positioning data:

[0024] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0025] P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0026]

[0027] λ2=1-λ1-λ3

[0028]

[0029] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0030] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0031]

[0032] λ2=1-λ1-λ3

[0033]

[0034] According to another aspect of the present disclosure, a vehicle positioning system based on multi-source fusion technology is proposed, comprising: a GNSS positioning module, a UWB short-range wireless positioning module, a SINS positioning module and a positioning fusion module;

[0035] The GNSS positioning module is used to use China's BDS and the United States' GPS satellites for fusion positioning through ion filtering. When filtering, particles with small weights should be removed, and particles with large weights should be retained and copied, that is, the resampling method is used to obtain the vehicle position information P GNSS The latitude and longitude coordinates (x GNSS ,y GNSS );

[0036] The UWB short-distance wireless positioning module is used to use various short-distance wireless positioning methods such as TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival) to perform short-distance wireless positioning using the UWB signal transmitted by the roadside positioning base station to obtain the vehicle's location information P uwb The latitude and longitude coordinates (x uwb ,y uwb );

[0037] The SINS positioning module is used to input the digital signal collected by the IMU inertial measurement element into the navigation computer for calculation to obtain the vehicle's position information P SINS The latitude and longitude coordinates (x SINS ,y SINS ),

[0038] The positioning fusion module is used for fusion positioning of the vehicle when the GNSS signal is normal. The vehicle position information P is obtained by weighted fusion of the multi-source positioning information:

[0039] P t =λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0040]

[0041] λ2=1-λ1-λ3

[0042]

[0043] Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新 is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, and t is the current time.

[0044] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0045] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0046]

[0047] λ2=1-λ1-λ3

[0048]

[0049] The OBD positioning module is used to obtain the vehicle position information △P based on the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus. OBD The change in (△x OBD , △y OBD ),

[0050] The fusion positioning module further performs fusion positioning based on the data in the OBD positioning module:

[0051] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0052] P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0053]

[0054] λ2=1-λ1-λ3

[0055]

[0056] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0057] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0058]

[0059] λ2=1-λ1-λ3

[0060]

[0061] According to another aspect of the present disclosure, a computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the above-mentioned vehicle positioning method based on the multi-source fusion technology.

[0062] The present invention has the following advantages:

[0063] (1) The method of the present invention can locate the vehicle position more accurately and reliably with the help of OBD data, thus overcoming the problems of building obstruction or signal failure encountered in the vehicle positioning process.

[0064] (2) The method of the present invention proposes a positioning fusion calculation method with dynamic weight adjustment, which comprehensively considers factors such as the positioning signal refresh frequency and positioning accuracy, and dynamically fuses the fused multi-source positioning information, thereby effectively alleviating the problem of large positioning errors caused by fixed weights.

[0065] (3) The method of the present invention adopts two different sets of dynamic weight adjustment methods for two different situations: normal and abnormal GNSS signals, so that the role of positioning data from different sources in the final positioning is more consistent with its actual credibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0067] Figure 1 It is a schematic diagram of positioning information of the vehicle positioning method based on multi-source fusion technology disclosed in the present invention.

[0068] Figure 2 It is a flow chart of a vehicle positioning method based on multi-source fusion technology according to an embodiment of the present disclosure.

[0069] Figure 3 It is a structural block diagram of a vehicle positioning system based on multi-source fusion technology according to an embodiment of the present disclosure. DETAILED DESCRIPTION

[0070] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0071] In addition, in order to better illustrate the present disclosure, numerous specific details are given in the following specific embodiments. It should be understood by those skilled in the art that the present disclosure can also be implemented without certain specific details. In some examples, methods, means, components and circuits well known to those skilled in the art are not described in detail in order to highlight the subject matter of the present disclosure.

[0072] In view of the defects of the prior art in vehicle positioning, the present invention provides a vehicle positioning method, system and computer-readable storage medium based on multi-source fusion technology, aiming to solve the problem that in the existing signal blind area or weak signal conditions, the GNSS signal is weak or failed, resulting in inaccurate or even too large deviation in the output positioning information, which seriously affects the monitoring of the vehicle trajectory and cannot provide the vehicle with stable, reliable and continuous navigation and positioning information.

[0073] like Figure 1 As shown in the figure, the positioning information includes: GNSS positioning signal, UWB positioning signal and SINS positioning signal. Among them, GNSS positioning and short-range wireless positioning technology (such as UWB positioning technology) as positioning information outside the vehicle can be used for global positioning of the vehicle, and SINS positioning technology can provide the vehicle with more reliable positioning information with the help of the vehicle's own gyroscope and accelerometer.

[0074] The technical solution adopted by the present invention to solve the above technical problems is as follows:

[0075] The first aspect of the present invention also provides a vehicle positioning method based on multi-source fusion technology, such as Figure 2 As shown, the method comprises the following steps:

[0076] Based on the global positioning step of GNSS, China's BDS and the United States' GPS satellites are used for fusion positioning through ion filtering. When filtering, particles with small weights are removed, and particles with large weights are retained and copied, that is, the resampling method is used to obtain the vehicle position information P GNSS The latitude and longitude coordinates (x GNSS ,y GNSS );

[0077] The short-distance wireless positioning steps based on UWB adopt various short-distance wireless positioning methods such as TOA (Time of Arrival), TDOA (Time Difference Of Arrival), AOA (Angle Of Arrival), etc., and use the UWB signal transmitted by the roadside positioning base station for short-distance wireless positioning to obtain the vehicle's location information P uwb The latitude and longitude coordinates (x uwb ,y uwb );

[0078] Based on the local positioning step of SINS, the digital signal collected by the IMU inertial measurement element is input into the navigation computer for solution to obtain the vehicle position information P SINS The latitude and longitude coordinates (x SINS ,y SINS ).

[0079] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0080] P t =λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0081]

[0082] λ2=1-λ1-λ3

[0083]

[0084] Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新 is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, and t is the current time.

[0085] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0086] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0087]

[0088] λ2=1-λ1-λ3

[0089]

[0090] Since SINS positioning has the problem of error accumulation, the longer the working time, the greater the error and the less reliable it is. Therefore, the present invention further proposes to extract information such as vehicle speed, steering wheel, angle, distance increment, etc. through the OBD interface to assist in the local precise positioning of the vehicle. CAN was developed by BOSCH, a German company famous for the research and development and production of automotive electronic products, and eventually became an international standard (ISO11898), and is one of the most widely used field buses in the world. The present invention extracts information such as vehicle speed, steering wheel angle, distance increment, etc. from the CAN bus through the OBD interface.

[0091] The vehicle positioning method based on multi-source fusion technology also includes: a moving positioning step based on OBD, obtaining the vehicle position information △P according to the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus OBD The change in (△x OBD , △y OBD ).

[0092] Further comprising a method for fusion positioning according to OBD positioning data, comprising:

[0093] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0094] P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0095]

[0096] λ2=1-λ1-λ3

[0097]

[0098] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0099] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0100]

[0101] λ2=1-λ1-λ3

[0102]

[0103] According to another aspect of the present disclosure, a vehicle positioning system based on multi-source fusion technology, such as Figure 3 As shown, it includes: a GNSS positioning module, a UWB short-range wireless positioning module, a SINS positioning module and a positioning fusion module; wherein,

[0104] The GNSS positioning module is used to use China's BDS and the United States' GPS satellites for fusion positioning through ion filtering. When filtering, particles with small weights should be removed, and particles with large weights should be retained and copied, that is, the resampling method is used to obtain the vehicle position information P GNSS The latitude and longitude coordinates (x GNSS ,y GNSS );

[0105] The UWB short-distance wireless positioning module is used to use various short-distance wireless positioning methods such as TOA (Time of Arrival), TDOA (Time Difference Of Arrival), and AOA (Angle Of Arrival) to perform short-distance wireless positioning using the UWB signal transmitted by the roadside positioning base station to obtain the vehicle's location information P uwb The latitude and longitude coordinates (x uwb ,y uwb );

[0106] The SINS positioning module is used to input the digital signal collected by the IMU inertial measurement element into the navigation computer for calculation to obtain the vehicle's position information P SINS The latitude and longitude coordinates (x SINS ,y SINS ),

[0107] The positioning fusion module is used for fusion positioning of the vehicle when the GNSS signal is normal. The vehicle position information P is obtained by weighted fusion of the multi-source positioning information:

[0108] P t =λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0109]

[0110] λ2=1-λ1-λ3

[0111]

[0112] Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, and t is the current time.

[0113] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0114] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS

[0115]

[0116] λ2=1-λ1-λ3

[0117]

[0118] The vehicle positioning system based on multi-source fusion technology also includes: an OBD positioning module, which is used for obtaining the vehicle position information △P based on the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus during the OBD moving positioning step. OBD The change in (△x OBD , △y OBD ).

[0119] The fusion positioning module further performs fusion positioning based on the data in the OBD positioning module:

[0120] When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information:

[0121] P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0122]

[0123] λ2=1-λ1-λ3

[0124]

[0125] When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information:

[0126] P'=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD

[0127]

[0128] λ2=1-λ1-λ3

[0129]

[0130] According to another aspect of the present disclosure, a computer-readable storage medium storing computer instructions is provided, wherein the computer instructions are used to enable a computer to execute the above-mentioned vehicle positioning method based on the multi-source fusion technology.

[0131] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purpose of this specification, a "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples of computer-readable media (a non-exhaustive list) include the following: an electrical connection with one or more wires (electronic devices), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), a fiber optic device, and a portable read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0132] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, a plurality of steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0133] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0134] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium. The storage medium may be a read-only memory, a disk or an optical disk, etc.

[0135] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of various changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A vehicle positioning method based on multi-source fusion technology, characterized in that: The multi-source fusion positioning technology integrating GNSS positioning, UWB short-range wireless positioning and SINS positioning realizes vehicle positioning, and the method comprises the following steps: Based on the GNSS global positioning step, BDS and GPS satellites are used for fusion positioning through ion filtering. During ion filtering, particles with small weights are removed, and particles with large weights are retained and copied to obtain the vehicle position information P based on GNSS signals. GNSS ; The short-distance wireless positioning step based on UWB adopts the arrival time TOA or arrival time difference TDOA or arrival angle AOA method, and uses the UWB signal transmitted by the roadside positioning base station for short-distance wireless positioning to obtain the vehicle position information P based on the UWB signal. uwb ; Based on the local positioning step of SINS, the digital signal collected by the IMU inertial measurement element is input into the navigation computer for solution to obtain the vehicle position information P based on the SINS signal. SINS ; When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information: P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS λ2=1-λ1-λ3 Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新 is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, t is the current time, and λ1, λ2, and λ3 are the weights of GNSS, UWB, and SINS positioning information, respectively.

2. The method according to claim 1, wherein: When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information: P’=λ1*P GNSS+ λ2*P uwb +λ3*P SINS λ2=1-λ1-λ3 3. The method according to claim 2, wherein: The positioning information further includes: OBD positioning data, based on the OBD moving positioning step, the vehicle position information △P is obtained according to the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus OBD The change in (△x OBD , △y OBD ), Further comprising a method for fusion positioning according to OBD positioning data: When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information: P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD λ2=1-λ1-λ3 4. According to the method of claim 3, when the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the multi-source positioning information: P’=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD λ2=1-λ1-λ3 5. A vehicle positioning system based on multi-source fusion technology, comprising: GNSS positioning module, UWB short-range wireless positioning module, SINS positioning module and positioning fusion module; among them, The GNSS positioning module is used to use BDS and GPS satellites for fusion positioning through ion filtering. When filtering, particles with small weights should be removed, and particles with large weights should be retained and copied to obtain the vehicle position information P based on GNSS signals. GNSS ; The UWB short-range wireless positioning module is used to use the arrival time TOA or arrival time difference TDOA or arrival angle AOA method to perform short-range wireless positioning using the UWB signal transmitted by the roadside positioning base station to obtain the vehicle position information P based on the UWB signal. uwb ; The SINS positioning module is used to input the digital signal collected by the IMU inertial measurement element into the navigation computer for calculation to obtain the vehicle position information P based on the SINS signal. SINS ; The positioning fusion module is used for fusion positioning of the vehicle when the GNSS signal is normal. The vehicle position information P is obtained by weighted fusion of the multi-source positioning information: P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS λ2=1-λ1-λ3 Among them, T GNSS is the GNSS signal refresh period, T SINS is the SINS signal refresh period, t GNSS刷新 is the time of the most recent GNSS signal refresh, t SINS刷新 is the time of the most recent SINS signal refresh, t is the current time, and λ1, λ2, and λ3 are the weights of GNSS, UWB, and SINS positioning information, respectively.

6. According to the system of claim 5, when the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the multi-source positioning information: P’=λ1*P GNSS+ λ2*P uwb +λ3*P SINS λ2=1-λ1-λ3 7. The system according to claim 6, wherein: The OBD positioning module is used to obtain the vehicle position information △P based on the vehicle speed, steering wheel angle and mileage increment data extracted from the CAN bus. OBD The change in (△x OBD , △y OBD ), The fusion positioning module further performs fusion positioning based on the data in the OBD positioning module: When the GNSS signal is normal, the vehicle position information of the fused positioning is P, which is obtained by weighted fusion of the above multi-source positioning information: P=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD λ2=1-λ1-λ3 8. The system according to claim 7, wherein: When the GNSS signal is abnormal, the vehicle position information of the fused positioning is P', which is obtained by weighted fusion of the above multi-source positioning information: P’=λ1*P GNSS+ λ2*P uwb +λ3*P SINS +△P OBD λ2=1-λ1-λ3 9. A computer-readable storage medium storing computer instructions, characterized in that: The computer instructions are used to enable a computer to execute the method according to any one of claims 1 to 4.

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