Indoor and outdoor seamless distress call vehicle-mounted positioning terminal

Abstract

The utility model provides an indoor and outdoor seamless call-for-help vehicle-mounted positioning terminal comprising a TC module daughter board and a carrier board, the carrier board comprises a master control MCU module and a GNSS module, and the master control MCU module is connected with the GNSS module; the TC module daughter board receives the TC positioning signal transmitted by the positioning base station, carries out positioning calculation, and sends the calculated TC positioning information to the main control MCU module in the carrier board; wherein when the terminal is in an indoor environment, the terminal can only receive the TC positioning signal or can receive the TC positioning signal and the GNSS positioning signal at the same time; when the GNSS module receives the GNSS positioning signal, positioning calculation is carried out, and calculated GNSS positioning information is transmitted to the main control MCU module in the carrier plate; wherein when the terminal is in an outdoor environment and in a scene in which satellite signals are not shielded, the terminal can only receive the GNSS positioning signal, and when the terminal is located at an indoor and outdoor boundary, the terminal can receive the TC positioning signal and the GNSS positioning signal at the same time. The vehicle can be positioned indoors and outdoors.

Description

Technical Field

[0001] The utility model relates to the technical field of communication positioning, in particular to an indoor and outdoor seamless rescue vehicle-mounted positioning terminal. Background Art

[0002] With the development of technology, positioning technology has made great progress, but different positioning technologies have their own limitations and have specific usage scenarios. For example, GNSS positioning is generally used in open and unobstructed outdoor scenes, and UWB is generally used in scenes where positioning base stations are easy to deploy and multiple base stations are allowed to be deployed. For a scenario that requires seamless connection between indoor and outdoor positioning and navigation and has restrictions on the number and deployment of indoor positioning base stations, ordinary GNSS positioning or UWB, Bluetooth, and other positioning solutions cannot meet the requirements. A solution combining GNSS outdoor positioning and TC-OFDM positioning can be used, in which the TC-OFDM positioning system is deployed indoors to achieve indoor positioning. In terms of positioning terminals, there is currently no mature vehicle-mounted positioning terminal that can meet seamless indoor and outdoor positioning and can also realize the call for help function. Utility Model Content

[0003] In view of the above-mentioned deficiencies in the prior art, the utility model provides an indoor and outdoor seamless emergency call vehicle-mounted positioning terminal.

[0004] The utility model provides an indoor and outdoor seamless emergency call vehicle positioning terminal, comprising: a TC (Time & Code Division-Orthogonal Frequency Division Multiplexing, TC-OFDM abbreviation, time division code division orthogonal frequency division multiplexing) module sub-board and a carrier board, the carrier board comprises a (Microcontroller Unit, micro control unit or single-chip microcomputer) MCU module, a GNSS global satellite navigation system module, a main control MCU module and a GNSS module are connected; the main control MCU module is connected to the UART serial port of the TC module sub-board through a UART (Universal Asynchronous Receiver / Transmitter, a kind of serial communication interface, also known as UART serial port or UART interface) serial port to communicate, the UART serial port of the main control MCU module and the UART serial port of the TC module sub-board are connected through a B to B connector (B to B connector refers to a connection interface form of two boards) of the carrier board and the sub-board;

[0005] The TC module sub-board receives the TC positioning signal transmitted by the positioning base station through the SMA antenna interface receiving antenna, performs positioning solution, and sends the solved TC positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an indoor environment, it can only receive the TC positioning signal or can receive the TC positioning signal and the GNSS positioning signal at the same time;

[0006] The GNSS module is a peripheral device of the main control MCU module. When the GNSS module receives the GNSS positioning signal received by the antenna through the SMA antenna interface, it performs positioning and transmits the solved GNSS positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an outdoor environment and the satellite signal is not blocked, the terminal can only receive the GNSS positioning signal, and when the terminal is located at the boundary between indoor and outdoor, it can receive both the TC positioning signal and the GNSS positioning signal;

[0007] The main control MCU module serves as the core scheduling module. The main control MCU module controls the GNSS module to transmit the GNSS positioning information to the main control MCU module, and controls the TC positioning module to transmit the TC positioning information to the main control MCU module, and transmits the TC positioning information, GNSS positioning information, status information and other terminal device data to the integrated location service platform through the 4G LTE wireless channel.

[0008] In some embodiments, the carrier board further includes a 4G communication module and a Lora long-range radio assisted backhaul module;

[0009] The main control MCU module uses the Air724 module as the main controller of the carrier board. The Air724 module interacts with each peripheral separately and communicates with the Lora (Long Range Radio) auxiliary return module through the SPI interface;

[0010] When the 4G communication module fails, it switches to the Lora module for data upload, and the TC positioning information and GNSS positioning information are transmitted to the integrated location service platform through the 4G communication module or Lora auxiliary return module of the carrier board.

[0011] In some embodiments, the LoRa auxiliary backhaul module is used for ultra-long distance spread spectrum communication, and its RF chip adopts LoRa TM Long range modem for ultra-long distance spread spectrum communications, with high sensitivity exceeding -148dBm, +22dBm power output.

[0012] In some embodiments, the carrier board further includes a barometer and an accelerometer, and the Air724 module communicates with the barometer via an I2C interface;

[0013] The barometer is used to complete air pressure detection and determine altitude coordinate information. The information detected by the barometer is transmitted to the integrated location service platform through the carrier board.

[0014] In some embodiments, the barometer contains a temperature sensor for detecting the temperature status of the vehicle-mounted terminal.

[0015] In some embodiments, the carrier board further includes an accelerometer, and the Air724 module communicates with the accelerometer via an I2C interface;

[0016] The accelerometer is used to identify the moving position and direction of the vehicle-mounted terminal. The information detected by the accelerometer is transmitted to the integrated location service platform through the carrier board.

[0017] In some embodiments, the carrier board further includes an SOS module, and the Air724 module controls the SOS distress alarm module and the LED status indicator through GPIO (I / O interface, input and output interface);

[0018] The SOS module consists of a button and a buzzer circuit. When you need to call for help in an emergency, the SOS button can be used to wirelessly upload the alarm information, and the buzzer will sound an alarm.

[0019] In some embodiments, the main control MCU module includes a CPU, internal and external memory, a rich peripheral interface, and 4G LTE, Wifi and Bluetooth module functions.

[0020] In some embodiments, the TC module sub-board is composed of a power supply circuit, a clock circuit, a ZYNQ7020 circuit, and a radio frequency circuit.

[0021] In some embodiments, the carrier board further comprises: a power module;

[0022] The power supply of the terminal is input DC9-36V. The carrier board provides power for the main control MCU module, Lora auxiliary return module, barometer, accelerometer, and TC module daughter board. The power module supports DC9V-DC36V wide voltage power supply, and the typical power supply voltage is DC12V.

[0023] The terminal of the utility model adopts a combination of a carrier board and a sub-board in the hardware design, and is developed in the form of a combined kit, wherein the TC-OFDM positioning design is in the form of a module, and is separately designed as a board, namely, a TC module sub-board, which improves the flexibility of the design. The utility model is loaded on a vehicle, and the vehicle can be positioned indoors and outdoors, and supports vehicle-mounted power supply, which is convenient for installation on the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0024] Figure 1 This is the overall principle block diagram of the indoor and outdoor seamless rescue vehicle-mounted positioning terminal provided by the utility model;

[0025] Figure 2 It is a schematic diagram of the composition principle of the indoor and outdoor positioning system provided by the utility model;

[0026] Figure 3 The utility model is a schematic diagram of the casing of the indoor and outdoor seamless emergency call vehicle positioning terminal. DETAILED DESCRIPTION

[0027] Example embodiments will be described more fully below with reference to the accompanying drawings, but the example embodiments may be embodied in different forms and should not be construed as limited to the embodiments set forth herein. On the contrary, the purpose of providing these embodiments is to make the present invention thorough and complete and to enable those skilled in the art to fully understand the scope of the present invention.

[0028] In the absence of conflict, the features of the present invention and its embodiments may be combined with each other.

[0029] As used herein, the term "and / or" includes any and all combinations of one or more of the associated listed items.

[0030] The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, the singular forms "a", "an" and "the" are also intended to include the plural forms unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and / or "made of" are used in this specification, the existence of the features, wholes, steps, operations, elements and / or components is specified, but the existence or addition of one or more other features, wholes, steps, operations, elements, components and / or groups thereof is not excluded.

[0031] Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those commonly understood by those of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be understood to have meanings consistent with their meanings in the context of the relevant technology and the present invention, and will not be understood to have idealized or overly formal meanings unless explicitly defined herein.

[0032] In order to enable those skilled in the art to better understand the technical solution, a seamless indoor and outdoor rescue vehicle-mounted positioning terminal provided by the utility model is described in detail below in conjunction with the accompanying drawings.

[0033] The utility model provides a seamless indoor and outdoor call for help vehicle positioning terminal, such as Figure 1As shown, it includes: a TC module daughter board and a carrier board, the carrier board includes an MCU module, a GNSS global satellite navigation system module, and the main control MCU module is connected to the GNSS module; the main control MCU module is connected to the UART serial port of the TC module daughter board through a UART serial port for communication, and the UART serial port of the main control MCU module and the UART serial port of the TC module daughter board are connected through the B to B connector of the carrier board and the daughter board;

[0034] The TC module sub-board receives the TC positioning signal transmitted by the positioning base station through the SMA antenna interface receiving antenna, performs positioning solution, and sends the solved TC positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an indoor environment, it can only receive the TC positioning signal or can receive the TC positioning signal and the GNSS positioning signal at the same time;

[0035] The GNSS module is a peripheral device of the main control MCU module. When the GNSS module receives the GNSS positioning signal received by the antenna through the SMA antenna interface, it performs positioning and transmits the solved GNSS positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an outdoor environment and the satellite signal is not blocked, the terminal can only receive the GNSS positioning signal, and when the terminal is located at the boundary between indoor and outdoor, it can receive both the TC positioning signal and the GNSS positioning signal;

[0036] The main control MCU module serves as the core scheduling module. The main control MCU module controls the GNSS module to transmit the GNSS positioning information to the main control MCU module, and controls the TC positioning module to transmit the TC positioning information to the main control MCU module, and transmits the TC positioning information, GNSS positioning information, status information and other terminal device data to the integrated location service platform through the 4G LTE wireless channel.

[0037] Among them, when the terminal is in an outdoor environment and the satellite signal is not blocked, the terminal can only receive the GNSS positioning signal, which means that the terminal does not detect the TC positioning signal, or the TC module sub-board cannot solve the accurate positioning coordinates.

[0038] In the utility model, the TC module sub-board is a TC-OFDM algorithm implementation board, which is a multiplexing design and can also be used in other products based on TC positioning. The TC module is only responsible for the TC positioning function in the TC terminal and is one of the modules. When working, the positioning base station transmits the TC positioning signal, the TC module receives the signal, performs positioning and solving, and transmits the solved TC positioning information to the integrated location service platform through the carrier board for the integrated location service platform to analyze and make decisions. At the same time, the GNSS module receives the GNSS positioning signal, performs positioning and solving, and transmits the solved GNSS positioning information to the main control MCU module in the carrier board, and the main control MCU module sends the GNSS positioning information to the integrated location service platform. The main control MCU module is connected to the B to B connector and the TC module sub-board through a UART serial port to communicate, and a UART is converted to the RS485 electrical standard through MAX485 to communicate with external devices.

[0039] The terminal of the utility model adopts a combination of a carrier board and a sub-board in the hardware design, and is developed in the form of a combined kit, wherein the TC-OFDM positioning design is in the form of a module, and is separately designed as a board, namely, a TC module sub-board, which improves the flexibility of the design. The utility model is loaded on a vehicle, and the vehicle can be positioned indoors and outdoors, and supports vehicle-mounted power supply, which is convenient for installation on the vehicle.

[0040] Preferably, Figure 2 As shown in the figure, the seamless call for help vehicle-mounted positioning terminal uses GNSS positioning in open areas, and transmits positioning signals through TC positioning base stations in places without GNSS positioning such as indoors. The seamless call for help vehicle-mounted positioning terminal indoors and outdoors receives signals and performs positioning calculations through TC positioning modules. Both TC positioning information and GNSS positioning information are sent to the integrated location service platform, which determines which GNSS positioning information and TC positioning information are more accurate through the relevant algorithms of the software, that is, the current positioning coordinates and movement trends of the terminal are combined with TC positioning information and GNSS positioning information through the corresponding algorithms to comprehensively judge which positioning method is used first. Seamless positioning of vehicles indoors and outdoors is achieved, and a wide range of voltage is supplied. The vehicle-mounted power supply is used for power supply, which is convenient for vehicle installation.

[0041] In some embodiments, the carrier board further includes a 4G communication module and a Lora long-range radio assisted backhaul module;

[0042] The main control MCU module uses the Air724 module as the main controller of the carrier board. The Air724 module interacts with each peripheral and communicates with the Lora auxiliary return module through the SPI interface.

[0043] When the 4G communication module fails, it switches to the Lora module for data upload, and the TC positioning information and GNSS positioning information are transmitted to the integrated location service platform through the 4G communication module or Lora auxiliary return module of the carrier board.

[0044] In the present invention, the main control MCU module uses Air724 as the main controller of the carrier board, which exists in the form of a packaged small system module and is a 4G full network module. It supports 4G LTE and Lora line communication methods, adopts hot standby redundant design, and ensures that another communication method can be seamlessly switched when one communication method fails, thereby improving the reliability of communication, and can wirelessly upload positioning results and related parameters, commands and other information to the comprehensive location service platform. The utility model provides an indoor and outdoor seamless call for help vehicle positioning terminal installed in the vehicle cab, providing accurate positioning function, and transmitting relevant data to the location service platform through 4G LTE or LORA network.

[0045] Preferably, the TC positioning information, GNSS positioning information and data of other terminal devices are transmitted to the integrated location service platform through the 4G communication module or Lora auxiliary return module of the carrier board for analysis and decision-making by the integrated location service platform.

[0046] In some embodiments, the LoRa auxiliary backhaul module is used for ultra-long distance spread spectrum communication, and its RF chip adopts LoRa TM Long range modem for ultra-long distance spread spectrum communications, with high sensitivity exceeding -148dBm, +22dBm power output.

[0047] In the utility model, the Lora auxiliary return module is an auxiliary path for the data return of the terminal device, which is very necessary. According to the control logic, when the 4G communication fails, it can be switched to the Lora auxiliary return module in time to upload data. Through the hot standby redundant design, when one communication method fails, it is guaranteed that another communication method can be seamlessly switched, thereby improving the reliability of communication. The Lora auxiliary return module has a long transmission distance and high reliability. At the same time, compared with traditional modulation technology, LoRa TM Modulation technology also has obvious advantages in anti-blocking and selection, solving the problem that traditional design solutions cannot take into account distance, anti-interference and power consumption at the same time.

[0048] In some embodiments, the carrier board further includes a barometer and an accelerometer, and the Air724 module communicates with the barometer via an I2C interface;

[0049] The barometer is used to complete air pressure detection and determine altitude coordinate information. The information detected by the barometer is transmitted to the integrated location service platform through the carrier board, so that the integrated location service platform can use auxiliary positioning parameters for fusion positioning as needed to achieve high-precision positioning.

[0050] In some embodiments, the barometer contains a temperature sensor for detecting the temperature status of the vehicle-mounted terminal.

[0051] In some embodiments, the carrier board further includes an accelerometer, and the Air724 module communicates with the accelerometer via an I2C interface;

[0052] The accelerometer is used to identify the moving position and direction of the vehicle-mounted terminal. The information detected by the accelerometer is transmitted to the integrated location service platform through the carrier board, so that the integrated location service platform can use auxiliary positioning parameters for fusion positioning as needed to achieve high-precision positioning.

[0053] In the utility model, a barometer and an inertial navigation system are integrated on the carrier board, and barometer and inertial navigation system auxiliary positioning are supported. When positioning indoors or outdoors, multi-sensor parameters can be integrated to achieve multi-source fusion high-precision positioning.

[0054] In the design of the carrier board, only the USB, SIM, I2C, SPI, UART, GPIO, 4G and Bluetooth antenna interfaces of Air724 are used, such as Figure 1 as shown in .

[0055] In some embodiments, the carrier board further includes an SOS module, and the Air724 module controls the SOS distress alarm module and the LED status indicator through GPIO;

[0056] The SOS module consists of a button and a buzzer circuit. When you need to call for help in an emergency, the SOS button can be used to wirelessly upload the alarm information, and the buzzer will sound an alarm.

[0057] LED status indicator: different LEDs flash or turn on and off to indicate different working modes of the terminal, including terminal charging and discharging status, normal operation status, normal upload status of positioning results, and SOS call status.

[0058] The utility model has an SOS one-key call for help function.

[0059] After the integrated location service platform detects the alarm information, it performs search and rescue or remote assistance based on the TC positioning information and GNSS positioning information.

[0060] In some embodiments, the main control MCU module includes a CPU, internal and external memory, a rich peripheral interface, and 4G LTE, Wifi and Bluetooth module functions, and only needs to design the corresponding power supply and peripheral circuits for it to work.

[0061] In the utility model, two communication modes, WIFI and Bluetooth, are reserved at the same time, thereby increasing the applicable scope of the terminal.

[0062] In some embodiments, the TC module sub-board is composed of a power supply circuit, a clock circuit, a ZYNQ7020 circuit, and a radio frequency circuit.

[0063] The TC module daughter board uses Xilinx's ZYNQ7020 (SoC) as the main control processor of the TC module. The power supply and UART, RGMII, IO and other interfaces in the circuit are connected through a B to B connector.

[0064] In some embodiments, the carrier board further comprises: a power module;

[0065] The power supply of the terminal is input DC9-36V. The carrier board provides power for the main control MCU module, Lora auxiliary return module, barometer, accelerometer, and TC module daughter board. The power module supports DC9V-DC36V wide voltage power supply, and the typical power supply voltage is DC12V.

[0066] The terminal supports vehicle-mounted power supply, thereby increasing the application scope of the terminal.

[0067] In a preferred embodiment, the external interface of the indoor and outdoor seamless emergency call vehicle positioning terminal provided by the utility model mainly includes power supply and communication interface, switch, communication interface, antenna interface, SOS emergency call button, indicator light, and reset interface.

[0068] Power supply and communication interface: It adopts the commonly used 6-pin aviation plug connector, which can realize external power supply and RS485 communication at the same time, including power supply and RS485 pins.

[0069] Switch: It is mainly used as the power switch of the terminal. A touch switch is selected and the PWRKEY pin of Air724 is used to turn the terminal on and off.

[0070] Communication interface: one USB2.0 interface and one RJ45 interface. The USB2.0 uses a USB typeA socket to lead out the USB2.0 signal on the Air724; the RJ45 interface is not a standard Ethernet port, but a custom interface. The two pairs of differential signals from the RGMII interface of the TC module through the PHY chip and the RS232 interface signal of a UART from the TC module converted by the RS232 chip are connected to the defined pins in the RJ45 respectively. This interface is used as the Debug interface of the TC module.

[0071] Antenna interface: The antenna interface includes TC, 4G, Wifi / BLE, Lora, and GNSS antenna interfaces, all of which use SMA interfaces. The SMA connector is installed on the PCB board.

[0072] SOS button: The SOS button uses a touch switch. The button is red with the word SOS in the middle for use in emergency situations.

[0073] Indicator light interface: There are four LED indicators, namely power PWR, operation RUN,

[0074] The alarm ALM and network NET status indicators are both controlled by the GPIO of Air724.

[0075] Reset interface: The RST reset button uses a touch switch.

[0076] The terminal provided by the utility model supports TC-OFDM positioning, built-in GNSS, barometric altimetry, inertial navigation assisted positioning, network port debugging, power supply, status light indication, 4G LTE and Lora communication, and Bluetooth scanning. The terminal board is composed of the main control MCU, GNSS module, TC module, Lora module, Bluetooth module, 4G module, barometer, accelerometer and other modules, and is developed in the form of a combination kit.

[0077] MCU, GNSS, Lora, BLE / Wifi, barometer, and accelerometer modules are designed on the carrier board. MCU, as the core scheduling module, transmits the positioning information to the location service platform through the 4G module, and the Lora module serves as an auxiliary path for data transmission. The TC module is designed separately as a core module and is connected to the carrier board through a board-to-board connector.

[0078] Figure 1 The other parameters in are explained as follows:

[0079] SMA: refers to the SMA antenna interface;

[0080] DC12V to DC5V / serial port: DC12V to DC5V power module and serial port circuit. The interfaces here are 12V power supply interface and serial port. These two different interfaces use one physical interface (with multiple wires, different wires define different interfaces) to connect to the board.

[0081] Lora: Long Range Radio, a low-power LAN wireless standard. Here it refers to the Lora module using Lora communication technology.

[0082] SOS: SOS is the international Morse code distress signal. It is not a written word. It is characterized by three short, three long and three short. Here it refers to the SOS button and the SOS distress circuit module. When the SOS button is pressed, the terminal will detect the SOS distress signal and alarm.

[0083] LED: refers to LED light, which is an indicator light;

[0084] MAX485: An electrical standard. Here, it refers to the conversion circuit of the MAX485 electrical standard, which converts the UART interface into the MAX485 electrical standard interface for communication.

[0085] MAX232: Same as the explanation of MAX485, converts UART into MAX232 electrical standard interface for communication;

[0086] PYH: Physical layer, here refers to the PYH chip (circuit) of Ethernet, which connects the converted Ethernet signal to the RJ45 Ethernet port through the PHY chip;

[0087] RJ45: An Ethernet interface, a type of network port;

[0088] B to B: The connection between two boards is done through a B to B connector. It refers to a type of connector product. The B to B connector used here is a type of high-speed connector.

[0089] 5V to 3.3 / 1.8 / 1.5 / 1.3 / 1.0V: refers to the circuit module that converts DC 5V to 3.3... voltage;

[0090] DAC: refers to DA digital-to-analog conversion chip, here refers to DA digital-to-analog conversion chip circuit;

[0091] 40MHz: The frequency is 40MHz clock circuit;

[0092] AD9361 / ZYNQ7020: chip model;

[0093] EEPROM: A non-volatile IIC interface memory chip, here refers to a general EEPROM type memory chip;

[0094] SPI / IIC / UART: All are interfaces used for communication and are different types of serial ports;

[0095] RGMII: An Ethernet communication interface, mainly used for communication between MAC and PHY;

[0096] USB2.0: refers to the USB interface that supports 2.0 protocol;

[0097] flash: non-volatile memory;

[0098] DDR: memory;

[0099] AD9361: RF transceiver chip.

[0100] In a preferred embodiment, the housing structure design of the indoor and outdoor seamless emergency call vehicle positioning terminal provided by the utility model is complementary to the PCB hardware design. The structural diagram of the housing is as shown in FIG. Figure 3 As shown. The shell structure design of the vehicle terminal is based on two principles. One is that the number of structural parts is as small as possible, and the other is that the external wiring is routed on the same side as much as possible. The shell is designed as a heat dissipation aluminum shell, which is realized by buckling the upper and lower shells together. The lower shell has a total of 2 structural parts. The front panel is shown in the figure, with a device switch, SOS button, indicator light, RJ45, USB, and the front interface is not connected to the power and signal lines. The rear panel is an aviation plug (power + RS485) and SMA (19mm external thread) antenna interface. There are heat dissipation holes on both sides of the device's shell, and a dust-proof and breathable film is attached inside.

[0101] Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted only as generally illustrative, and not for limiting purposes. In some embodiments, it will be apparent to those skilled in the art that, unless otherwise expressly stated, features, characteristics, and / or elements described in conjunction with a particular embodiment may be used alone, or may be used in combination with features, characteristics, and / or elements described in conjunction with other embodiments. Therefore, it will be understood by those skilled in the art that various changes in form and detail may be made without departing from the scope of the present invention as set forth in the appended claims.

Claims

1. A seamless indoor and outdoor emergency call vehicle positioning terminal, characterized in that: include: TC time division code division orthogonal frequency division multiplexing module daughter board and carrier board, the carrier board includes a main control single-chip microcomputer MCU module, a GNSS global satellite navigation system module, the main control MCU module and the GNSS module are connected; the main control MCU module is connected to the UART serial port of the TC module daughter board through a UART serial port for communication, and the UART serial port of the main control MCU module and the UART serial port of the TC module daughter board are connected through the B to B connector of the carrier board and the daughter board; The TC module sub-board receives the TC positioning signal transmitted by the positioning base station through the SMA antenna interface receiving antenna, performs positioning solution, and sends the solved TC positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an indoor environment, it can only receive the TC positioning signal or can receive the TC positioning signal and the GNSS positioning signal at the same time; The GNSS module is a peripheral device of the main control MCU module. When the GNSS module receives the GNSS positioning signal received by the antenna through the SMA antenna interface, it performs positioning and transmits the solved GNSS positioning information to the main control MCU module in the carrier board; wherein, when the terminal is in an outdoor environment and the satellite signal is not blocked, the terminal can only receive the GNSS positioning signal, and when the terminal is located at the boundary between indoor and outdoor, it can receive both the TC positioning signal and the GNSS positioning signal; The main control MCU module serves as the core scheduling module. The main control MCU module controls the GNSS module to transmit the GNSS positioning information to the main control MCU module, and controls the TC positioning module to transmit the TC positioning information to the main control MCU module, and transmits the TC positioning information, GNSS positioning information, status information and other terminal device data to the integrated location service platform through the 4G LTE wireless channel.

2. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 1, characterized in that: The carrier board also includes a 4G communication module and a Lora long-distance radio assisted backhaul module; The main control MCU module uses the Air724 module as the main controller of the carrier board. The Air724 module interacts with each peripheral and communicates with the Lora auxiliary return module through the SPI interface. When the 4G communication module fails, it switches to the Lora module for data upload, and the TC positioning information and GNSS positioning information are transmitted to the integrated location service platform through the 4G communication module or Lora auxiliary return module of the carrier board.

3. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 2, characterized in that: The Lora auxiliary backhaul module is used for ultra-long distance spread spectrum communication. Its RF chip adopts LoRa TM Long range modem for ultra-long distance spread spectrum communications, with high sensitivity exceeding -148dBm, +22dBm power output.

4. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 2, characterized in that: The carrier board also includes a barometer and an accelerometer, and the Air724 module communicates with the barometer via an I2C interface; The barometer is used to complete air pressure detection and determine altitude coordinate information. The information detected by the barometer is transmitted to the integrated location service platform through the carrier board.

5. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 4, characterized in that: The barometer contains a temperature sensor for detecting the temperature status of the vehicle terminal.

6. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 4, characterized in that: The carrier board also includes an accelerometer, and the Air724 module communicates with the accelerometer via an I2C interface; The accelerometer is used to identify the moving position and direction of the vehicle-mounted terminal. The information detected by the accelerometer is transmitted to the integrated location service platform through the carrier board.

7. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 2, characterized in that: The carrier board also includes an SOS module, and the Air724 module controls the SOS distress alarm module and the LED status indicator through GPIO; The SOS module consists of a button and a buzzer circuit. When you need to call for help in an emergency, the SOS button can be used to wirelessly upload the alarm information, and the buzzer will sound an alarm.

8. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 1, characterized in that: The main control MCU module includes CPU, internal and external memory, rich peripheral interfaces, and 4G LTE, Wifi and Bluetooth module functions.

9. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 1, characterized in that: The TC module daughter board consists of power supply circuit, clock circuit, ZYNQ7020 circuit and RF circuit.

10. The indoor and outdoor seamless emergency call vehicle positioning terminal according to claim 1, characterized in that: The carrier board also includes: a power module; The power supply of the terminal is input DC9-36V. The carrier board provides power for the main control MCU module, Lora auxiliary return module, barometer, accelerometer, and TC module daughter board. The power module supports DC9V-DC36V wide voltage power supply, and the typical power supply voltage is DC12V.

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