Vehicle positioning method, device and equipment and readable storage medium

Abstract

The invention discloses a vehicle positioning method, device and equipment and a readable storage medium, which can be applied to the technical field of vehicles, and the method comprises the following steps: when GPS positioning is started, reading AGPS data from a preset memory, and sending the AGPS data to a GPS receiver; aGPS data of a current vehicle are pre-stored in the preset memory; based on the AGPS data, using the GPS receiver to obtain GPS data from a corresponding GPS satellite; and outputting the GPS data to realize GPS positioning of the current vehicle. Therefore, the AGPS data is pre-stored in the preset memory, so that the vehicle can directly acquire the AGPS data from the preset memory when GPS positioning is started, and acquire the GPS data from the GPS satellite, thereby improving the vehicle positioning efficiency.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a method, device, equipment and readable storage medium for vehicle positioning. Background Art

[0002] TBOX (telematics box) is a remote communication terminal that integrates vehicle body network and wireless communication functions. It can realize networking, vehicle information upload, remote control, remote diagnosis, and vehicle abnormality alarm. Automobile developers mostly realize vehicle positioning based on the GPS (Global Positioning System) module on TBOX.

[0003] The existing GPS positioning of TBOX on cars generally uses the GPS module on the TBOX to continuously obtain GPS satellite data to calculate the current position of the TBOX. At the same time, AGPS (Assisted Global Positioning System) is introduced. When the TBOX starts positioning, it establishes a communication link from the TBOX to the AGPS server through the mobile cellular network, then downloads the AGPS data and captures the GPS satellite based on it to obtain GPS data. However, since it takes time to establish the communication link and download the AGPS data, there is a problem that the vehicle positioning time is long.

[0004] Therefore, how to improve the efficiency of vehicle positioning is a problem that technical personnel in this field need to solve urgently. Summary of the invention

[0005] Based on the above problems, the present application provides a method, device, equipment and readable storage medium for vehicle positioning, which uses a preset memory to pre-store AGPS data so that the vehicle can directly obtain AGPS data from the preset memory when starting GPS positioning, and obtain GPS data from GPS satellites, thereby solving the problem of low efficiency of vehicle positioning in the prior art.

[0006] In a first aspect, an embodiment of the present application provides a method for positioning a vehicle, comprising:

[0007] When GPS positioning is started, AGPS data is read from a preset memory and sent to a GPS receiver; the preset memory pre-stores the AGPS data of the current vehicle;

[0008] Based on the AGPS data, using the GPS receiver to obtain GPS data from corresponding GPS satellites;

[0009] The GPS data is output to achieve the GPS positioning of the current vehicle.

[0010] Optionally, when GPS positioning is started, before reading AGPS data from a preset memory and sending the AGPS data to a GPS receiver, the method further includes:

[0011] Get the vehicle power-on signal of the current vehicle;

[0012] When it is determined that the current vehicle is powered on, the AGPS data corresponding to the current vehicle is downloaded and the AGPS data is stored in a preset memory.

[0013] Optionally, when it is determined that the current vehicle is powered on, downloading AGPS data corresponding to the current vehicle and storing the AGPS data in a preset memory includes:

[0014] When it is determined that the current vehicle is powered on, monitoring an APN dialing success event of the current vehicle;

[0015] If the current vehicle APN dialing is successful, a communication link is established between the cellular network base station and the AGPS server corresponding to the GPS receiver;

[0016] Based on the communication link, the AGPS data corresponding to the current vehicle is downloaded from the AGPS server through the http protocol, and the AGPS data is stored in a preset memory.

[0017] Optionally, the method further includes:

[0018] When downloading the AGPS data fails, recording the address of the AGPS server and the number of failures;

[0019] When the number of failures exceeds a preset threshold, the AGPS data is downloaded using a backup server.

[0020] Optionally, the method further includes:

[0021] Add CRC check to the AGPS data.

[0022] Optionally, before sending the AGPS data to the GPS receiver, the method further includes:

[0023] Determining the type of the GPS receiver;

[0024] The types include built-in GPS modules and external GPS modules.

[0025] Optionally, sending the AGPS data to a GPS receiver includes:

[0026] If the GPS receiver is the built-in GPS module, the AGPS data is sent to the GPS receiver by API injection;

[0027] If the GPS receiver is the external GPS module, the AGPS data is sent to the GPS receiver by serial port injection.

[0028] In a second aspect, an embodiment of the present application provides a vehicle positioning device, including:

[0029] A sending module, used for reading AGPS data from a preset memory and sending the AGPS data to a GPS receiver when GPS positioning is started; the preset memory pre-stores the AGPS data of the current vehicle;

[0030] An acquisition module, used for acquiring GPS data from corresponding GPS satellites using the GPS receiver based on the AGPS data;

[0031] The output module is used to output the GPS data to achieve the GPS positioning of the current vehicle.

[0032] In a third aspect, a vehicle positioning device includes:

[0033] Memory for storing computer programs;

[0034] A processor is used to implement the steps of the vehicle positioning method as described above when executing the computer program.

[0035] In a fourth aspect, a readable storage medium is provided, wherein a computer program is stored on the readable storage medium, and when the computer program is executed by a processor, the steps of the vehicle positioning method as described above are implemented.

[0036] It can be seen from the above technical solutions that compared with the prior art, the present application has the following advantages:

[0037] The present application first reads AGPS data from a preset memory when GPS positioning is started, and sends the AGPS data to a GPS receiver. The preset memory is pre-stored with AGPS data of the current vehicle. Then, based on the AGPS data, the GPS receiver is used to obtain GPS data from the corresponding GPS satellite. Finally, the GPS data is output to achieve GPS positioning of the current vehicle. In this way, the preset memory is used to pre-store AGPS data, so that when the vehicle starts GPS positioning, the AGPS data can be directly obtained from the preset memory, and GPS data can be obtained from the GPS satellite, thereby improving the efficiency of vehicle positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1A flow chart of a vehicle positioning method provided in an embodiment of the present application;

[0039] Figure 2 A schematic diagram of a TBOX accelerated GPS positioning method provided in an embodiment of the present application;

[0040] Figure 3 A flow chart of a TBOX accelerated GPS positioning method provided in an embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of a vehicle positioning device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0042] As mentioned above, the existing vehicle positioning method has the problem of long vehicle positioning time. Specifically, the existing GPS positioning of TBOX on the car is generally through the GPS module on the TBOX, which continuously obtains the data of GPS satellites to calculate the current position of TBOX. At the same time, AGPS is introduced. When TBOX starts positioning, it establishes a communication link from TBOX to AGPS server through the mobile cellular network, and then downloads AGPS data. The GPS module captures the target GPS satellite based on the AGPS data, and obtains GPS data from the captured GPS satellite. However, the communication link between TBOX and AGPS server is disconnected during the period from TBOX sleep to wake-up. Therefore, each time the vehicle positioning is started, a communication link needs to be established first, and then AGPS data is downloaded based on the communication link. Since the construction or downloading itself takes a certain amount of time, there are network problems, which leads to the problem of long vehicle positioning time.

[0043] To solve the above problems, the embodiment of the present application provides a method for vehicle positioning, comprising: first, when GPS positioning is started, AGPS data is read from a preset memory, and the AGPS data is sent to a GPS receiver. The preset memory is pre-stored with AGPS data of the current vehicle. Then, based on the AGPS data, a GPS receiver is used to obtain GPS data from a corresponding GPS satellite. Finally, the GPS data is output to achieve GPS positioning of the current vehicle.

[0044] In this way, the AGPS data is pre-stored in the preset memory, so that when the vehicle starts GPS positioning, the AGPS data can be directly obtained from the preset memory, and GPS data can be obtained from the GPS satellite, thereby improving the vehicle positioning efficiency.

[0045] It should be noted that the vehicle positioning method, device, equipment and readable storage medium provided in the embodiments of the present application can be applied to the field of vehicle technology. The above is only an example and does not limit the application field of the vehicle positioning method, device, equipment and readable storage medium provided in the present application.

[0046] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0047] Figure 1 A flow chart of a vehicle positioning method provided in an embodiment of the present application. Figure 1 As shown, a vehicle positioning method provided by an embodiment of the present application may include:

[0048] S101: When GPS positioning is started, AGPS data is read from a preset memory and sent to a GPS receiver; the preset memory has the AGPS data of the current vehicle pre-stored therein.

[0049] In practical applications, the communication link between TBOX and AGPS server is disconnected during the period from TBOX sleep to wake-up under the prior art. Therefore, each time the vehicle positioning is started, a communication link needs to be established first, and then AGPS data is downloaded based on the communication link. Since the construction and downloading take a certain amount of time, plus the influence of the network, the vehicle positioning time is long. In view of this, the embodiment of the present application provides a method for vehicle positioning, which solves the above problem through a preset memory. Specifically, when the whole vehicle is powered on, TBOX is awakened and enters a normal working state, that is, TBOX meets the conditions for starting GPS positioning. At this time, when some functions on the vehicle request to obtain vehicle positioning, or when the driver actively requests vehicle positioning, the vehicle GPS positioning is started. As a vehicle positioning device, TBOX has a built-in preset memory for storing the current vehicle AGPS data. When the vehicle GPS positioning is started, the AGPS data of the current vehicle can be obtained from the preset memory, and the AGPS data can be sent to the GPS receiver. AGPS data is data used to assist the vehicle in GPS positioning, including GPS satellite data that needs to be selected when the vehicle performs GPS positioning. The GPS receiver is ultimately a sensor whose main task is to sense and measure the distance of the GPS relative to the receiver itself and the Doppler frequency shift of the satellite signal, and demodulate the navigation message from it, measure the code phase and pseudorange through code correlation operations, and obtain the ephemeris parameters used to calculate the satellite position and speed from the navigation message, and then realize GPS positioning through positioning algorithms such as the least squares method and Kalman filtering. It can be understood that the GPS receiver can determine the corresponding GPS satellite based on the AGPS data, and determine the vehicle's location information based on the GPS satellite.

[0050] In addition, since the preparatory work performed by the vehicle before starting the GPS positioning is not the same, the embodiment of the present application can be described with respect to a possible preparatory work.

[0051] In one case, when GPS positioning is started, before reading AGPS data from a preset memory and sending the AGPS data to a GPS receiver, the method further includes:

[0052] Get the vehicle power-on signal of the current vehicle;

[0053] When it is determined that the current vehicle is powered on, the AGPS data corresponding to the current vehicle is downloaded and the AGPS data is stored in a preset memory.

[0054] In actual applications, the TBOX can enter a normal working state only when the vehicle is powered on. Therefore, a signal receiving function is set for the TBOX to receive the vehicle power-on signal of the current vehicle. When the TBOX receives the vehicle power-on signal, it determines that the current vehicle is powered on, and starts to download the AGPS data corresponding to the current vehicle, and stores the AGPS data in a preset memory.

[0055] In addition, since the methods of downloading AGPS data are different, the embodiment of the present application can illustrate a possible downloading method.

[0056] In one case, when it is determined that the current vehicle is powered on, downloading AGPS data corresponding to the current vehicle and storing the AGPS data in a preset memory includes:

[0057] When it is determined that the current vehicle is powered on, monitoring an APN dialing success event of the current vehicle;

[0058] If the current vehicle APN dialing is successful, a communication link is established between the cellular network base station and the AGPS server corresponding to the GPS receiver;

[0059] Based on the communication link, the AGPS data corresponding to the current vehicle is downloaded from the AGPS server through the http protocol, and the AGPS data is stored in a preset memory.

[0060] In actual applications, when the vehicle is powered on, TBOX enters normal working state and monitors APN (Access Point Name) dial-up success events. APN is a network access technology and a parameter that must be configured when accessing the Internet through a device. It determines the access method used by the device to access the network. When TBOX monitors the APN dial-up success event, that is, the current vehicle APN dial-up is successful, a communication link is established between TBOX and the AGPS server. Specifically, TBOX establishes a communication link based on the cellular network base station and the corresponding AGPS server according to the type of GPS receiver. Applicable GPS receivers include external and built-in types. The external ones include chips from ublox and Corestar, and the built-in ones include Qualcomm GPS modules. Whether the GPS receiver is an external chip or a built-in GPS module, it can download AGPS data from the AGPS server through the http protocol with the help of this communication link.

[0061] In addition, since the processing methods corresponding to different results of downloading AGPS data are not the same, the embodiment of the present application can illustrate a possible processing method.

[0062] In one embodiment, the method further comprises:

[0063] When downloading the AGPS data fails, recording the address of the AGPS server and the number of failures;

[0064] When the number of failures exceeds a preset threshold, the AGPS data is downloaded using a backup server.

[0065] In practical applications, a download may succeed or fail. Ignoring or not processing may cause TBOX to stop downloading AGPS data or TBOX to repeatedly download AGPS data, thereby prolonging the vehicle positioning time. To this end, the embodiment of the present application introduces a method for handling AGPS data download failure. Specifically, TBOX establishes a communication link with the AGPS server and downloads the AGPS data from the AGPS server for the first time through the http protocol. If the first download fails, the address of the currently used AGPS server and the number of failures are recorded. If the number of failures exceeds the preset threshold, the backup server address will be used for the next download. It can be understood that the preset threshold corresponds to the number of servers. If the preset threshold is set to 3, a corresponding AGPS server and two backup servers can be set for the GPS receiver in the TBOX. The AGPS data is downloaded from the AGPS for the first time. If it fails, the AGPS server address and the number of failures are recorded, and the download is downloaded from the backup server again. In addition, the preset threshold can be set not to correspond to the number of servers, and the number of servers is fixed to 3. If the preset threshold is greater than the number of servers, the server address used to download AGPS data can be polled.

[0066] In addition, since the processing methods of the downloaded AGPS data are not the same, the embodiment of the present application can illustrate a possible processing method.

[0067] In one embodiment, the method further comprises:

[0068] Add CRC check to the AGPS data.

[0069] In actual application, the downloaded AGPS data can be saved in the preset memory as a temporary file, and then a CRC check is added to it, and then saved as a formal AGPS data file for use when the TBOX wakes up next time.

[0070] In addition, since different GPS receivers correspond to different AGPS data receiving methods, the embodiments of the present application can be described with respect to a possible receiving method.

[0071] In one embodiment, before sending the AGPS data to the GPS receiver, the method further includes:

[0072] Determining the type of the GPS receiver;

[0073] The types include built-in GPS modules and external GPS modules.

[0074] In actual applications, different GPS receivers correspond to different AGPS servers, and the transmission methods of AGPS data are also different, so TBOX needs to have the function of determining the type of GPS receiver. Specifically, TBOX needs to determine the type of GPS receiver before sending AGPS data to the GPS receiver. Applicable GPS receivers are built-in and external. External ones include chips from Ublox and Unicore (external GPS modules), and built-in ones include Qualcomm GPS modules (built-in GPS modules).

[0075] In addition, since there are different ways to send AGPS data to a GPS receiver, the embodiment of the present application can illustrate a possible sending method.

[0076] In one embodiment, sending the AGPS data to a GPS receiver includes:

[0077] If the GPS receiver is the built-in GPS module, the AGPS data is sent to the GPS receiver by API injection;

[0078] If the GPS receiver is the external GPS module, the AGPS data is sent to the GPS receiver by serial port injection.

[0079] In actual applications, different GPS receivers have different transmission methods for AGPS data. Specifically, when GPS positioning is started, TBOX reads AGPS data from the preset memory and injects AGPS data into the GPS receiver using the corresponding method according to the type of GPS receiver. If the GPS receiver is an external GPS module, the AGPS data is sent to the GPS receiver through serial port injection; if the GPS receiver is a built-in GPS module, the AGPS data is sent to the GPS receiver through API injection provided by Qualcomm.

[0080] S102: Based on the AGPS data, using the GPS receiver to obtain GPS data from corresponding GPS satellites.

[0081] In practical applications, AGPS data can instruct the GPS receiver to determine the corresponding GPS satellite and obtain GPS data from the GPS satellite. As a method, the GPS receiver determines the corresponding GPS satellite from the received AGPS data, measures the distance of the GPS satellite relative to the receiver itself and the Doppler frequency shift of the satellite signal, and demodulates the navigation message from it, measures the code phase and pseudorange through code correlation operations, and obtains the ephemeris parameters used to calculate the satellite position and speed from the navigation message, and then implements GPS positioning through positioning algorithms such as the least squares method and Kalman filtering to obtain position information. The position information includes specific position information such as the latitude and longitude of the GPS receiver, and the position information of the GPS receiver is also the position information of the TBOX or the current vehicle.

[0082] S103: Output the GPS data to achieve GPS positioning of the current vehicle.

[0083] In actual applications, TBOX outputs the current vehicle location information (GPS data) parsed by the GPS receiver, thereby achieving GPS positioning of the current vehicle.

[0084] Figure 2 A schematic diagram of a TBOX accelerated GPS positioning method provided in an embodiment of the present application. Figure 2 As shown, the vehicle is powered on and TBOX enters normal working state. APN dials and builds a communication link between TBOX and AGPS server. After the communication link is built, TBOX sends an AGPS data request to the cellular network base station based on this. The cellular network base station obtains AGPS data from the AGPS server based on the AGPS data request and sends it to TBOX for storage. After TBOX meets the conditions for starting GPS positioning, GPS positioning is started. TBOX sends AGPS data to the GPS module. The GPS module obtains GPS data from the corresponding GPS satellite based on the AGPS data and sends the GPS data (location information) to the TSP (Telematics Service Provider, telematics service provider) background.

[0085] Figure 3 A flowchart of a TBOX accelerated GPS positioning method provided in an embodiment of the present application. Figure 3As shown, the vehicle positioning of TBOX includes two steps. One is the AGPS data pre-storage process, including: after the vehicle is powered on (the wake-up source wakes up the vehicle), TBOX enters the normal working state, dials by APN and downloads AGPS data from the AGPS server, and then saves the AGPS data to the physical storage (preset memory); the other is when some functions on the vehicle request to obtain vehicle positioning, or the driver actively requests vehicle positioning (there is a positioning demand), the vehicle starts GPS positioning, TBOX reads AGPS data from the preset memory and injects AGPS data into the GPS module, and the GPS module obtains GPS data from the corresponding GPS satellite based on the AGPS data and feeds back location information (GPS data) to the outside, thereby realizing GPS positioning of the vehicle.

[0086] In summary, the present application first reads AGPS data from a preset memory when GPS positioning is started, and sends the AGPS data to a GPS receiver. The preset memory is pre-stored with AGPS data of the current vehicle. Then, based on the AGPS data, the GPS receiver is used to obtain GPS data from the corresponding GPS satellite. Finally, the GPS data is output to achieve GPS positioning of the current vehicle. In this way, the preset memory is used to pre-store AGPS data, so that the vehicle can directly obtain AGPS data from the preset memory when GPS positioning is started, and obtain GPS data from the GPS satellite, thereby improving the efficiency of vehicle positioning.

[0087] Based on the vehicle positioning method provided in the above embodiment, the embodiment of the present application further provides a vehicle positioning device. The vehicle positioning device is described below in conjunction with the embodiments and drawings.

[0088] Figure 4 A schematic diagram of the structure of a vehicle positioning device provided in an embodiment of the present application. Figure 4 As shown, the vehicle positioning device 200 provided in the embodiment of the present application includes:

[0089] The sending module 201 is used to read the AGPS data from the preset memory and send the AGPS data to the GPS receiver when the GPS positioning is started; the preset memory has the AGPS data of the current vehicle pre-stored therein;

[0090] An acquisition module 202 is used to acquire GPS data from corresponding GPS satellites using the GPS receiver based on the AGPS data;

[0091] The output module 203 is used to output the GPS data to achieve the GPS positioning of the current vehicle.

[0092] As an implementation method, regarding how to perform the preparation work, the above-mentioned vehicle positioning device 200 further includes: a signal acquisition module and a pre-download module;

[0093] A signal acquisition module is used to obtain the vehicle power-on signal of the current vehicle;

[0094] The pre-download module is used to download the AGPS data corresponding to the current vehicle when it is determined that the current vehicle is powered on, and store the AGPS data in a preset memory.

[0095] As an implementation method, regarding how to download the AGPS data corresponding to the current vehicle, the pre-download module is specifically used for:

[0096] When it is determined that the current vehicle is powered on, monitoring an APN dialing success event of the current vehicle;

[0097] If the current vehicle APN dialing is successful, a communication link is established between the cellular network base station and the AGPS server corresponding to the GPS receiver;

[0098] Based on the communication link, the AGPS data corresponding to the current vehicle is downloaded from the AGPS server through the http protocol, and the AGPS data is stored in a preset memory.

[0099] As an implementation method, in order to deal with different downloading situations of AGPS data, the above-mentioned vehicle positioning device 200 further includes: a first processing module;

[0100] A first processing module, configured to record the address of the AGPS server and the number of failures when downloading the AGPS data fails;

[0101] When the number of failures exceeds a preset threshold, the AGPS data is downloaded using a backup server.

[0102] As an implementation method, regarding how to process the downloaded AGPS data, the above-mentioned vehicle positioning device 200 further includes: a second processing module;

[0103] The second processing module is used to add CRC check to the AGPS data.

[0104] As an implementation method, with respect to how to determine the type of the GPS receiver, the above-mentioned vehicle positioning device 200 further includes: a type determination module;

[0105] A type determination module, used to determine the type of the GPS receiver;

[0106] The types include built-in GPS modules and external GPS modules.

[0107] As an implementation method, regarding how to send AGPS data to a GPS receiver, the sending module 201 is specifically used for:

[0108] If the GPS receiver is the built-in GPS module, the AGPS data is sent to the GPS receiver by API injection;

[0109] If the GPS receiver is the external GPS module, the AGPS data is sent to the GPS receiver by serial port injection.

[0110] In summary, the present application first reads AGPS data from a preset memory when GPS positioning is started, and sends the AGPS data to a GPS receiver. The preset memory is pre-stored with AGPS data of the current vehicle. Then, based on the AGPS data, the GPS receiver is used to obtain GPS data from the corresponding GPS satellite. Finally, the GPS data is output to achieve GPS positioning of the current vehicle. In this way, the preset memory is used to pre-store AGPS data, so that the vehicle can directly obtain AGPS data from the preset memory when GPS positioning is started, and obtain GPS data from the GPS satellite, thereby improving the efficiency of vehicle positioning.

[0111] In addition, the present application also provides a vehicle positioning device, including: a memory for storing a computer program; and a processor for implementing the steps of the vehicle positioning method described above when executing the computer program.

[0112] In addition, the present application also provides a readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the vehicle positioning method described above are implemented.

[0113] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method for positioning a vehicle, characterized in that: The method comprises: When GPS positioning is started, AGPS data is read from a preset memory and sent to a GPS receiver; the preset memory pre-stores the AGPS data of the current vehicle; Based on the AGPS data, using the GPS receiver to obtain GPS data from corresponding GPS satellites; The GPS data is output to achieve the GPS positioning of the current vehicle.

2. The method according to claim 1, characterized in that When GPS positioning is started, the AGPS data is read from the preset memory, and before the AGPS data is sent to the GPS receiver, the method further includes: Get the vehicle power-on signal of the current vehicle; When it is determined that the current vehicle is powered on, the AGPS data corresponding to the current vehicle is downloaded and the AGPS data is stored in a preset memory.

3. The method according to claim 2, characterized in that When it is determined that the current vehicle is powered on, downloading AGPS data corresponding to the current vehicle and storing the AGPS data in a preset memory includes: When it is determined that the current vehicle is powered on, monitoring an APN dialing success event of the current vehicle; If the current vehicle APN dialing is successful, a communication link is established between the cellular network base station and the AGPS server corresponding to the GPS receiver; Based on the communication link, the AGPS data corresponding to the current vehicle is downloaded from the AGPS server through the http protocol, and the AGPS data is stored in a preset memory.

4. The method according to claim 3, characterized in that The method further comprises: When downloading the AGPS data fails, recording the address of the AGPS server and the number of failures; When the number of failures exceeds a preset threshold, the AGPS data is downloaded using a backup server.

5. The method according to claim 3, characterized in that: The method further comprises: Add CRC check to the AGPS data.

6. The method according to claim 1, characterized in that Before sending the AGPS data to the GPS receiver, the method further includes: Determining the type of the GPS receiver; The types include built-in GPS modules and external GPS modules.

7. The method according to claim 6, characterized in that The sending of the AGPS data to a GPS receiver comprises: If the GPS receiver is the built-in GPS module, the AGPS data is sent to the GPS receiver by API injection; If the GPS receiver is the external GPS module, the AGPS data is sent to the GPS receiver by serial port injection.

8. A vehicle positioning device, characterized in that: include: A sending module, used for reading AGPS data from a preset memory and sending the AGPS data to a GPS receiver when GPS positioning is started; The preset memory stores the AGPS data of the current vehicle; An acquisition module, configured to acquire GPS data from corresponding GPS satellites using the GPS receiver based on the AGPS data; The output module is used to output the GPS data to achieve the GPS positioning of the current vehicle.

9. A vehicle positioning device, characterized in that: include: Memory for storing computer programs; A processor, configured to implement the steps of the vehicle positioning method according to any one of claims 1 to 7 when executing the computer program.

10. A readable storage medium, characterized in that: The readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the vehicle positioning method according to any one of claims 1 to 7 are implemented.

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