Wharf vehicle intelligent accurate positioning method based on Beidou satellite positioning

Abstract

The invention relates to the technical field of wharf vehicle positioning, in particular to an intelligent accurate wharf vehicle positioning method based on Beidou satellite positioning, which comprises distributed wireless signal enhancement nodes, a vehicle-mounted terminal and a central control unit. High-precision positioning and dynamic tracking are realized by combining a Beidou satellite signal receiving module, an inertial measurement unit and a self-adaptive environmental perception correction algorithm and utilizing a multi-source data fusion technology. The problem of signal weakening or loss in a complex environment can be solved, the positioning stability and continuity are improved, and meanwhile, the safety and efficiency of wharf operation are remarkably improved through the optimization algorithm of the data recording module.

Description

Technical Field

[0001] The present invention belongs to the technical field of intelligent transportation and satellite navigation, and specifically relates to an intelligent and precise positioning method for terminal vehicles based on Beidou satellite positioning. Background Art

[0002] With the rapid development of modern port logistics, the precise positioning of terminal vehicles has become an important part of improving operational efficiency and safety. At present, there are some technical solutions for the positioning of terminal vehicles in the industry. For example, after searching, a device and method for automatic identification and positioning of container trailers under a bridge crane were disclosed with the publication number CNB, and the publication date was year, month, and day. This patent uses computer vision technology to install a vehicle identification and positioning camera, a data transmission module, and a data processing module on the bridge crane beam to achieve automatic identification and positioning of containers in the crane operating area. This technical solution significantly improves the efficiency of container loading and unloading and reduces manual intervention. However, this technical solution mainly relies on computer vision technology, and its positioning accuracy is easily affected by factors such as lighting conditions, weather conditions, and camera viewing angles, especially at night or in severe weather conditions. It may perform poorly. In addition, the solution has limited real-time tracking capabilities for dynamic targets, and may cause positioning delays or increased errors when dealing with high-speed moving vehicles or complex multi-target scenarios.

[0003] To further improve positioning accuracy, some solutions have proposed combining multiple sensors for target detection and positioning, such as fusing data from lidar and cameras to enhance environmental perception. However, these solutions typically require high hardware costs and complex data processing procedures, and may have insufficient coverage in large-scale scenarios. In addition, although some positioning technologies based on wireless communication can provide certain positioning capabilities, their positioning resolution and stability still need to be further improved in high-precision scenarios. At the same time, the positioning effect of some traditional positioning methods is easily affected by occlusion or multipath interference, making it difficult to meet the real-time and accuracy requirements in the complex environment of the terminal.

[0004] Therefore, it is necessary to improve the existing terminal vehicle positioning technology to overcome the limitations of existing technology and adapt to more complex operating environments. Summary of the Invention

[0005] The purpose of the present invention is to provide an intelligent and precise positioning method for terminal vehicles based on Beidou satellite positioning. This method combines a Beidou satellite signal receiving module, an inertial measurement unit, and a distributed wireless signal enhancement node to utilize multi-source data fusion technology to perform real-time positioning and dynamic tracking of terminal vehicles. At the same time, by setting an adaptive environmental perception correction algorithm and combining high-precision map information deployed in the terminal area, continuous correction and high-precision output of vehicle positions in complex environments can be achieved. This method aims to overcome the problems in the prior art where positioning accuracy is significantly affected by lighting conditions, weather conditions, and camera viewing angles, the ability to track dynamic targets is insufficient, and the positioning effect is poor in scenarios with occlusion or multipath interference.

[0006] A method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning, comprising: a plurality of distributed wireless signal enhancement nodes, each node comprising a Beidou signal forwarding module, a wireless communication module and a power management unit; the Beidou signal forwarding module is used to receive and enhance Beidou satellite signals, and the wireless communication module is used to transmit the enhanced signals to a vehicle-mounted terminal; the vehicle-mounted terminal comprises a first processor, a Beidou signal receiving module, an inertial measurement unit and a second wireless communication module, the Beidou signal receiving module is used to receive Beidou satellite signals, and the inertial measurement unit is used to collect acceleration and angular velocity data of the vehicle; the first processor is connected to the Beidou signal receiving module, the inertial measurement unit and the second wireless communication module respectively, and the first processor is used to generate a preliminary position according to the data of the Beidou signal receiving module and the inertial measurement unit information, and sends the preliminary location information to the central control unit through the second wireless communication module; the central control unit includes a third wireless communication module, a second processor, a storage module and an alarm module. The central control unit is connected to the vehicle terminal and the distributed wireless signal enhancement node through the third wireless communication module, and the second processor is connected to the storage module and the alarm module respectively; the storage module pre-stores high-precision map information of the terminal area, and the second processor is used to generate the final location information according to the preliminary location information and the high-precision map information, and call the adaptive environment perception correction algorithm during the correction process; the alarm module includes a network interface, and the network interface is used to connect to the user terminal. When the vehicle deviates from the predetermined driving path or enters a dangerous area, the second processor controls the alarm module to send an alarm message to the user terminal.

[0007] Furthermore, the inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope. The first processor is configured to calculate the vehicle's posture changes and motion trajectory based on acceleration data collected by the three-axis accelerometer and angular velocity data collected by the three-axis gyroscope. By combining acceleration and angular velocity data, the vehicle's dynamic motion characteristics can be more comprehensively captured. Compared to a single sensor, it can more accurately distinguish between normal driving conditions and abnormal conditions, effectively reducing the probability of misjudgment due to external interference and improving the accuracy of dynamic target tracking.

[0008] Furthermore, the adaptive environmental perception correction algorithm includes a preset dynamic weight adjustment parameter. When the Beidou signal strength falls below a preset threshold, the dynamic weight adjustment parameter automatically increases the weight of the IMU data. By dynamically adjusting the weights of different data sources, the IMU data can be fully utilized to maintain positioning continuity and stability even when the Beidou signal is weakened or lost, avoiding the accumulation of positioning errors caused by signal interruptions.

[0009] Furthermore, the distributed wireless signal enhancement node also includes a signal strength detection module, which monitors changes in Beidou signal strength in real time and transmits this information to the central control unit via the wireless communication module. A second processor determines whether multipath interference or obstruction exists based on this received signal strength information and activates a signal compensation mechanism when necessary. By introducing this signal strength detection module, signal interference issues in complex environments can be promptly detected and addressed, thereby improving the robustness and reliability of the positioning system.

[0010] Furthermore, the distributed wireless signal boosting nodes also include a solar power module, which is connected to the power management unit to provide a continuous and stable power supply to the nodes. This solar power supply significantly reduces maintenance costs for the distributed wireless signal boosting nodes, while ensuring long-term stable operation in outdoor environments and enhancing the system's scalability and adaptability.

[0011] Furthermore, the vehicle terminal also includes an emergency brake button, which is used to send an emergency status signal to the first processor. When the emergency brake button is triggered, the first processor transmits the emergency status information to the central control unit via the second wireless communication module. After receiving the emergency status information, the second processor controls the alarm module to send an emergency alert to the user terminal. By providing an emergency brake button, the driver is provided with a way to actively trigger the alarm. In the event of an emergency, the relevant personnel can be quickly notified to take emergency measures, thereby improving the safety and response efficiency of the system.

[0012] Furthermore, the second and third wireless communication modules are both LoRa modules, G modules, or a combination of one or more G modules. The system can select the appropriate wireless communication method according to the actual application scenario to ensure the reliability and real-time performance of data transmission, while supporting large-scale node access, thereby enhancing the flexibility and compatibility of the system.

[0013] Furthermore, the vehicle terminal also includes a power monitoring module and a backup battery. The power monitoring module monitors the remaining charge of the main battery in real time and switches to the backup battery when the main battery charge falls below a preset value. It also sends a low-battery alarm to the central control unit. By introducing the power monitoring module and backup battery, the risk of system failure due to main battery depletion is avoided, ensuring the continuous operation of the positioning function and improving the reliability and safety of the system.

[0014] Furthermore, if the vehicle terminal fails to receive BeiDou signals within a preset time and is unable to establish a connection with the distributed wireless signal enhancement node, the first processor determines that the vehicle terminal is in a disconnected state and transmits this information to the central control unit via the second wireless communication module. Upon receiving this information, the second processor controls the alarm module to transmit a disconnected alarm to the user terminal. By establishing a disconnected state detection mechanism, a timely alarm can be issued when a vehicle leaves signal coverage or when a device malfunctions, avoiding potential safety hazards caused by disconnection and further enhancing the system's security capabilities.

[0015] Furthermore, the central control unit includes a data recording module for storing the vehicle's historical location information and trajectory. Based on this information, the second processor generates a vehicle behavior pattern analysis report and stores it in the storage module. The introduction of this data recording module not only provides detailed data support for post-analysis but also optimizes the positioning algorithm by mining and analyzing historical data, further enhancing the system's intelligence.

[0016] The beneficial effects of the present invention are as follows: (1) by setting up distributed wireless signal enhancement nodes, the problem of Beidou signal weakening or loss in complex environments is effectively solved, and the stability and coverage of positioning are significantly improved;

[0017] (2) Combined with the data from the inertial measurement unit, it can maintain positioning continuity when the Beidou signal is unstable, avoiding error accumulation caused by signal interruption;

[0018] (3) Through the adaptive environmental perception correction algorithm, the continuous correction of the vehicle position in complex environments is achieved, ensuring high-precision positioning output; Fourth, the introduction of the data recording module provides detailed data support for post-analysis, and at the same time, the positioning algorithm is optimized by mining and analyzing historical data, further improving the intelligence level of the system.

[0019] In summary, the intelligent and precise positioning method for terminal vehicles based on Beidou satellite positioning provided by the present invention solves the problems in the existing technology that the positioning accuracy is greatly affected by environmental factors, the dynamic target tracking capability is insufficient, and the positioning effect is poor in occlusion or multipath interference scenarios, significantly improving the safety and efficiency of terminal operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a schematic diagram of the system architecture of an embodiment of the present invention, showing the overall structure of the intelligent and precise positioning method for terminal vehicles based on Beidou satellite positioning, including the connection relationship between distributed wireless signal enhancement nodes, vehicle-mounted terminals and central control units and their main functional modules. DETAILED DESCRIPTION

[0021] The present invention provides a method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning, and its specific implementation method is described in detail with reference to the drawings and figures.

[0022] like Figure 1 As shown in the figure, in actual application, distributed wireless signal enhancement nodes are deployed at key locations in the dock area. Each node consists of a Beidou signal forwarding module, a wireless communication module, a power management unit, and a signal strength detection module. The Beidou signal forwarding module receives signals from Beidou satellites via an antenna, amplifies them, and retransmits them to enhance signal coverage. The wireless communication module establishes a communication connection with the vehicle terminal and the central control unit to transmit the enhanced Beidou signal and signal strength information. The power management unit is responsible for powering each module within the node and supports the connection of a solar power module to ensure long-term stable operation in outdoor environments. The signal strength detection module monitors changes in Beidou signal strength in real time and transmits this information to the central control unit via the wireless communication module to determine whether there is multipath interference or obstruction.

[0023] The vehicle-mounted terminal, installed on a terminal vehicle, includes a first processor, a Beidou signal receiving module, an inertial measurement unit (IMU), a second wireless communication module, a power monitoring module, and a backup battery. The Beidou signal receiving module receives Beidou satellite signals via an antenna and transmits them to the first processor for preliminary processing. The IMU includes a three-axis accelerometer and a three-axis gyroscope, which are used to collect vehicle acceleration and angular velocity data, respectively. The first processor generates preliminary location information based on the received Beidou signal and IMU data and transmits this preliminary location information to the central control unit via the second wireless communication module. The power monitoring module monitors the remaining charge of the main battery in real time. When the main battery charge falls below a preset value, it automatically switches to the backup battery for power and simultaneously sends a low-battery alarm to the central control unit. The vehicle-mounted terminal also includes an emergency brake button, which the driver can press to send an emergency status signal to the first processor. Upon receiving the signal, the first processor transmits the emergency status information to the central control unit via the second wireless communication module.

[0024] The central control unit, deployed at the terminal management center, includes a third wireless communication module, a second processor, a storage module, an alarm module, and a data recording module. The third wireless communication module establishes a communication connection with the vehicle terminal and the distributed wireless signal boosting nodes to receive preliminary location information, signal strength information, and other status information. The storage module pre-stores high-precision map information of the terminal area. The second processor generates final location information based on the received preliminary location information and high-precision map information and invokes an adaptive environmental perception correction algorithm during the correction process. The adaptive environmental perception correction algorithm has preset dynamic weight adjustment parameters. When the Beidou signal strength falls below a preset threshold, the dynamic weight adjustment parameters automatically increase the weight of the inertial measurement unit data to maintain continuous and stable positioning. The alarm module includes a network interface for connecting to user terminals. When a vehicle deviates from the planned driving path or enters a dangerous area, the second processor controls the alarm module to send an alarm message to the user terminal. The data recording module stores the vehicle's historical location information and driving trajectory. The second processor generates a vehicle behavior pattern analysis report based on this historical location information and driving trajectory and stores it in the storage module.

[0025] In actual operation, the distributed wireless signal enhancement nodes receive and amplify Beidou satellite signals via the Beidou signal forwarding module, while simultaneously monitoring changes in signal strength in real time using the signal strength detection module. When signal strength falls below a preset threshold, the signal strength detection module transmits the relevant information to the central control unit. Based on this information, the second processor determines whether there is multipath interference or obstruction and activates the signal compensation mechanism. The vehicle-mounted terminal receives Beidou satellite signals via the Beidou signal receiving module and simultaneously collects vehicle acceleration and angular velocity data using the inertial measurement unit. The first processor generates preliminary position information based on this received data and transmits this preliminary position information to the central control unit via the second wireless communication module. The second processor in the central control unit generates final position information based on this preliminary position information and high-precision map information, invoking an adaptive environmental perception correction algorithm during the correction process. If the vehicle deviates from the planned driving path or enters a dangerous area, the second processor controls the alarm module to send an alert to the user terminal. If the vehicle terminal does not receive the Beidou signal within the preset time and cannot establish a connection with the distributed wireless signal enhancement node, the first processor determines that the vehicle terminal is in a lost state and sends the lost state information to the central control unit through the second wireless communication module. After the second processor receives the lost state information, it controls the alarm module to send a lost alarm message to the user terminal.

[0026] The collaborative relationship between the distributed wireless signal enhancement node, the vehicle terminal, and the central control unit is as follows: the distributed wireless signal enhancement node enhances the Beidou satellite signal through the Beidou signal forwarding module and transmits the enhanced signal to the vehicle terminal through the wireless communication module. The vehicle terminal receives the Beidou satellite signal through the Beidou signal receiving module and uses the inertial measurement unit to collect the vehicle's dynamic data. The first processor generates preliminary position information based on the received data and sends it to the central control unit through the second wireless communication module. The central control unit receives the preliminary position information through the third wireless communication module and uses the high-precision map information and adaptive environmental perception correction algorithm in the storage module to generate the final position information. The alarm module sends an alarm message to the user terminal according to the instructions of the second processor, and the data recording module stores the vehicle's historical position information and operation trajectory to provide data support for subsequent analysis.

[0027] In complex environments, such as those with building obstructions or multipath interference in dock areas, the distributed wireless signal enhancement nodes use the signal strength detection module to promptly detect signal interference issues and send relevant information to the central control unit. Based on the received information, the second processor activates the signal compensation mechanism and simultaneously calls the adaptive environmental perception correction algorithm to dynamically adjust the weighting ratio of different data sources to fully utilize the data from the inertial measurement unit to maintain continuous and stable positioning. The power monitoring module and backup battery in the on-board terminal ensure that the system continues to operate normally even if the main battery is depleted, and the emergency brake button provides a way for the driver to actively trigger an alarm, further improving the system's safety and response efficiency.

[0028] Through the above implementation, it can be seen that the connection relationship, position relationship and mutual coordination relationship between the distributed wireless signal enhancement nodes, vehicle-mounted terminals and central control units are fully described, and the collaboration between the modules realizes the real-time positioning and dynamic tracking of terminal vehicles.

[0029] In order to better enable relevant personnel in this technical field to fully understand and implement the present invention, the specific implementation principle of the present invention is supplemented below with reference to a specific application scenario.

[0030] Consider a container truck loading and unloading cargo within a terminal area. The vehicle departs from the terminal yard and travels along a predetermined route to the crane operation area. During this process, distributed wireless signal boosting nodes are deployed at key locations around the terminal, such as the edge of the yard, road intersections, and beneath the crane, to ensure that Beidou satellite signal coverage meets positioning requirements. Each distributed wireless signal boosting node receives signals from Beidou satellites through its Beidou signal forwarding module, amplifies them, and retransmits them, thereby enhancing signal strength. Simultaneously, a signal strength detection module monitors changes in the Beidou signal in real time and transmits this signal strength information to the central control unit via the wireless communication module.

[0031] The on-board terminal is installed on the transport vehicle, and the Beidou signal receiving module therein receives the Beidou satellite signal enhanced by the distributed wireless signal enhancement node through the antenna. At the same time, the inertial measurement unit collects the vehicle's three-axis acceleration and three-axis angular velocity data. The first processor generates preliminary position information based on the received Beidou signal, and further corrects the vehicle's posture and motion trajectory based on the data from the inertial measurement unit. The preliminary position information is sent to the central control unit via the second wireless communication module. During this process, the power monitoring module continuously monitors the remaining power of the main battery. When the power is lower than the preset value, it automatically switches to the backup battery for power supply and sends a low-battery alarm message to the central control unit to remind management personnel to perform timely maintenance.

[0032] The central control unit is deployed in the terminal management center, and the third wireless communication module receives preliminary location information from the on-board terminal and signal strength information from the distributed wireless signal enhancement node. The storage module pre-stores high-precision map information of the terminal area. The second processor uses this map information to compare with the received preliminary location information to generate the final location information. During the correction process, the adaptive environmental perception correction algorithm is called. When the Beidou signal strength is reduced due to obstruction or multipath interference, the dynamic weight adjustment parameter will automatically increase the weight ratio of the inertial measurement unit data to maintain the continuity and stability of positioning. For example, when the vehicle enters under the bridge crane, the Beidou signal is significantly weakened due to obstruction by the steel structure. At this time, the data of the inertial measurement unit becomes the main reference to ensure that the positioning function is not affected.

[0033] If a vehicle deviates from its planned route or enters a dangerous area, the alarm module sends an alert to the user terminal via the network interface. For example, if a transport vehicle strays into a non-operating area, the second processor determines the vehicle's position is abnormal based on high-precision map information and immediately triggers an alarm. Furthermore, the data recording module records the vehicle's historical location information and trajectory to support subsequent analysis. For example, by analyzing historical trajectories, vehicle scheduling strategies can be optimized to improve operational efficiency.

[0034] In complex environments, such as when there are building obstructions or multipath interference in the dock area, the distributed wireless signal enhancement node promptly detects signal interference problems through the signal strength detection module and sends relevant information to the central control unit. The second processor activates the signal compensation mechanism based on the received information, and at the same time calls the adaptive environmental perception correction algorithm to dynamically adjust the weight ratio of different data sources. For example, at night or in severe weather conditions, the Beidou signal may be greatly affected. At this time, the data weight of the inertial measurement unit is automatically increased to maintain positioning accuracy. The emergency brake button in the vehicle terminal provides a way for the driver to actively trigger an alarm. For example, when the driver finds that the road ahead is congested or there are other emergency situations, he can send emergency status information to the central control unit by pressing the emergency brake button. After receiving the information, the second processor controls the alarm module to send an emergency alarm to the user terminal.

[0035] If the vehicle terminal fails to receive BeiDou signals within a preset time and is unable to establish a connection with the distributed wireless signal boosting node, the first processor determines that the vehicle terminal is in a disconnected state and transmits this disconnected state information to the central control unit via the second wireless communication module. For example, if a transport vehicle leaves the dock area or enters a signal blind spot, the second processor in the central control unit receives this disconnected state information and controls the alarm module to transmit a disconnected state alarm to the user terminal, allowing management personnel to quickly take countermeasures.

[0036] The above scenario demonstrates that distributed wireless signal boosting nodes are responsible for enhancing Beidou signals and monitoring signal strength changes. Vehicle-mounted terminals collect dynamic vehicle data and generate preliminary location information. The central control unit integrates multi-source data to generate final location information and utilizes an adaptive environmental perception and correction algorithm during the correction process. The collaboration between these modules enables real-time positioning and dynamic tracking of terminal vehicles, ensuring consistent and highly accurate positioning even in complex environments.

[0037] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that includes a list of elements includes not only those elements but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus.

[0038] While embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions, and variations may be made to these embodiments without departing from the principles and spirit of the invention, and that the scope of the invention is defined by the appended claims and their equivalents.

[0039] The present invention and its embodiments are described above. This description is not restrictive. The drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In short, if a person skilled in the art is inspired by this and, without departing from the purpose of the present invention, designs structures and embodiments similar to this technical solution without inventiveness, they shall fall within the scope of protection of the present invention.

Claims

1. A method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning, characterized in that: The following steps are involved: Distributed wireless signal enhancement nodes receive and enhance Beidou satellite signals, and transmit the enhanced signals to the vehicle terminal through wireless communication modules; The Beidou signal receiving module in the vehicle terminal receives Beidou satellite signals, and the inertial measurement unit collects acceleration and angular velocity data of the vehicle. The first processor generates preliminary position information based on the data from the Beidou signal receiving module and the inertial measurement unit, and sends the preliminary position information to the central control unit through the second wireless communication module; The second processor in the central control unit generates final position information based on the preliminary position information and the high-precision map information pre-stored in the storage module, and calls the adaptive environment perception correction algorithm during the correction process; When the vehicle deviates from the predetermined driving path or enters a dangerous area, the alarm module sends an alarm message to the user terminal.

2. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The inertial measurement unit includes a three-axis accelerometer and a three-axis gyroscope. The first processor calculates the vehicle's posture change and motion trajectory based on acceleration data collected by the three-axis accelerometer and angular velocity data collected by the three-axis gyroscope.

3. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The adaptive environmental perception correction algorithm has a preset dynamic weight adjustment parameter. When the Beidou signal strength is lower than the preset threshold, the dynamic weight adjustment parameter increases the weight ratio of the inertial measurement unit data.

4. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The distributed wireless signal enhancement node also includes a signal strength detection module, which monitors the strength changes of the Beidou signal in real time and sends the signal strength information to the central control unit through the wireless communication module.

5. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The distributed wireless signal enhancement node also includes a solar power supply module, which is connected to the power management unit to provide power supply for the node.

6. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The vehicle terminal also includes an emergency brake button, which is used to send an emergency state signal to the first processor. When the emergency brake button is triggered, the first processor sends the emergency state information to the central control unit through the second wireless communication module.

7. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The second wireless communication module and the third wireless communication module are both LoRa modules, G modules or one or more combinations of G modules.

8. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The vehicle terminal also includes a power monitoring module and a backup battery. The power monitoring module is used to monitor the remaining power of the main battery in real time, and switch to the backup battery for power supply when the main battery power is lower than the preset value, and send a low power alarm message to the central control unit.

9. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: When the vehicle terminal does not receive the Beidou signal within the preset time and cannot establish a connection with the distributed wireless signal enhancement node, the first processor determines that the vehicle terminal is in a lost state and sends the lost state information to the central control unit through the second wireless communication module.

10. The method for intelligent and precise positioning of terminal vehicles based on Beidou satellite positioning according to claim 1, characterized in that: The central control unit also includes a data recording module, which is used to store the vehicle's historical location information and operation trajectory. The second processor generates a vehicle behavior pattern analysis report based on the historical location information and operation trajectory, and stores it in the storage module.

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