Indoor and outdoor vehicle positioning and navigation system and wheel travel trajectory recognition algorithm therefor

Abstract

The present invention relates to an indoor and outdoor vehicle positioning and navigation system and a wheel travel trajectory recognition algorithm therefor, aiming at overcoming the limitations of conventional positioning technology in specific environments, such as dependency on external signal sources and sensitivity to environmental changes. The system uses active perception technology, and focuses on the estimation of the state of a vehicle itself rather than the perception of an external environment. The technical solution adopted for the wheel travel trajectory recognition algorithm is that sensing devices that swing with the steering wheels of the vehicle are attached to the body of the steering wheels, and the recognition algorithm comprises a wheel state recognition algorithm, a direction recognition algorithm, a steering recognition algorithm and a height recognition algorithm. The positioning and navigation system further comprises attachable terminals, an initial positioning method, a display terminal, and a server terminal. The attachable terminals are attached to the steering wheels of the vehicle to sense the orientation and vibration amplitude of the wheels, so that when there is no support from an external signal source and an external navigation environment is subject to severe interference, high-precision indoor and outdoor vehicle positioning is achieved by analyzing IMU sensor data carried by the wheels.

Description

[Amended to Article 26 of Detailed Rules, May 22, 2026] Vehicle Indoor and Outdoor Positioning and Navigation System and its Wheel Trajectory Recognition Algorithm Technical Field

[0001] This invention belongs to the field of computer software algorithms, specifically relating to a seamless indoor and outdoor positioning and navigation system for vehicles based on the perception of the stationary and moving states of wheels, and an algorithm for recognizing the wheel trajectory. Background Technology

[0002] With the widespread adoption of smart devices and the continuous improvement of automation levels, the demand for high-precision positioning technology is also increasing. Existing positioning technologies cover both people and vehicles, and the positioning scenarios include both indoor and outdoor environments. In the field of outdoor positioning, although the Global Positioning System (GPS) can provide global positioning services outdoors, its positioning accuracy is severely affected in indoor environments or when outdoor signals are subject to electromagnetic interference or physical obstructions. Existing indoor navigation technologies often rely on short-range communication methods, focusing on the perception of the external environment, such as positioning systems based on Wi-Fi, Bluetooth, fingerprint signals, and UWB (Ultra-Wideband).

[0003] For example, Chinese Patent Publication No. CN111919476B discloses an invention patent entitled "Indoor Positioning Method, Server, and Positioning System." This invention includes receiving environmental information sent by a terminal to be positioned within a positioning area; acquiring an environmental fingerprint database (UWB signal and magnetometer information) corresponding to the positioning area; the environmental fingerprint database includes at least one target positioning fingerprint, which includes target environmental information and target location information; and acquiring the positioning coordinates corresponding to the environmental information in the environmental fingerprint database. This solution relies on the collection of an external fingerprint database. Although it improves collection efficiency, it cannot avoid the need for prior environmental data collection and calibration. In many unknown scenarios without Wi-Fi or Bluetooth fingerprint signals, or in situations where there is no outdoor fingerprint database, it cannot provide accurate positioning services for the terminal.

[0004] For example, Chinese Patent Publication No. CN104837118B discloses an invention patent entitled "Indoor Fusion Positioning System and Method Based on WiFi and Bluetooth." It performs fusion positioning by collecting WiFi signals and Bluetooth node information from the environment. This solution first designs a signal node deployment system, requiring deployment in the scene according to a specified deployment plan (fixed intervals or distribution). Simultaneously, the corresponding terminal system transmits data back to the server for positioning by collecting WiFi and Bluetooth signal strength. This type of solution requires pre-deployment of equipment in the indoor scene, making it not "plug and play." Furthermore, environmental modifications are not supported under many conditions; for example, the WiFi deployment plan requires providing independent power supplies (sockets) at certain intervals, resulting in high costs for indoor scene modifications.

[0005] Besides the aforementioned wireless short-range positioning solutions, some other solutions employ vision- or radar-based systems. While these solutions do not require external environmental deployment, they rely on perception and feature analysis of the external environment, limiting their applicability to certain scenarios. For example, Chinese Patent Publication No. CN111024066B, entitled "An Indoor Positioning Method for UAVs Based on Visual-Inertial Fusion," describes a method that uses a multi-source fusion scheme combining vision and IMU (Indoor Unit) to analyze visual feature points and scale information in the scene for positioning. However, this solution heavily relies on visual information, making positioning impossible in low light / nighttime conditions. Furthermore, image flickering caused by changes in lighting conditions during indoor / outdoor transitions severely interferes with positioning performance.

[0006] Existing vehicle navigation hardware products include common outdoor navigation and driving tracking devices such as mobile phone navigation and in-vehicle GPS navigation. However, these navigation devices often experience positioning errors and signal loss due to various factors in daily vehicle navigation applications.

[0007] The main reasons for its positioning deviation and signal loss include:

[0008] 1) GPS satellite signal reception and anti-interference capabilities are weak. When a vehicle is in a metal mining area such as copper, iron, or rare earth mines, the metal objects in the mines can block GPS signals, resulting in weakened signal strength. In addition, metal structures in the mines can also reflect GPS signals, producing multipath effects that affect the accuracy of positioning.

[0009] 2) Environmental obstructions affect signal quality. In large buildings, tunnels, or densely built-up areas, GPS signals attenuate significantly, potentially leading to track drift or positioning failure, thus failing to provide effective positioning. Additionally, electromagnetic devices in densely built-up areas may generate electromagnetic radiation, interfering with the normal reception of GPS signals, resulting in unstable GPS positioning and increased errors.

[0010] 3) Since GPS technology itself cannot directly measure spatial height, when a vehicle is driving on a complex urban interchange or in an underground parking center of an urban commercial complex, mobile phone navigation and in-vehicle GPS navigation cannot accurately locate the vehicle's specific height (which level of the interchange or underground parking lot).

[0011] 4) Existing vehicle speed recognition in navigation is achieved through GPS satellite signal reception. If the vehicle enters a long tunnel on a highway or a road section where GPS satellite signals are interfered with over a long distance, mobile phone navigation and in-vehicle GPS navigation cannot provide accurate and effective vehicle speed information.

[0012] Furthermore, navigation systems that rely on GPS satellite signals for navigation, such as mobile phone navigation and in-vehicle GPS navigation, cannot provide clear data on the specific details of the accident's cause when the vehicle experiences abnormal driving conditions such as rollover, falling, or being pushed a long distance by other vehicles. Summary of the Invention

[0013] To address the aforementioned problems in existing technologies, this invention provides a vehicle indoor and outdoor positioning and navigation system and its wheel trajectory recognition algorithm. It aims to overcome the limitations of traditional positioning technologies in specific environments, such as reliance on external signal sources and sensitivity to environmental changes. This system employs active sensing technology, focusing on estimating the state of the vehicle's steering wheels rather than sensing the external environment. It requires no environmental deployment and is unaffected by environmental factors such as lighting, enabling stable positioning in complex and changing environments. More importantly, compared to GPS and other traditional positioning technologies, this invention achieves sub-meter level positioning accuracy in both indoor and outdoor environments, providing a more accurate and reliable positioning solution for various application scenarios.

[0014] The technical solution adopted by the wheel trajectory recognition algorithm of the present invention is that a sensing device that rotates with the wheel is attached to the steering wheel of the vehicle, and the recognition algorithm includes wheel state recognition algorithm, direction recognition algorithm, steering recognition algorithm and height recognition algorithm.

[0015] Specifically, the wheel state recognition algorithm includes wheel circumference length recognition and wheel rotation frequency recognition. The system obtains the current vehicle's steering wheel circumference using diameter data from a pre-established vehicle model and tire specification table. A sensor collects the vehicle's steering wheel rotation signal, and Fourier transforms the frequency domain characteristics of acceleration and / or angular velocity in the signal. The time-domain signal of these frequency domain characteristics is then converted to a frequency domain signal using a Fourier transform to obtain the number of wheel rotations. Finally, the vehicle's speed, distance, and position data are calculated by multiplying the steering wheel circumference value and the number of wheel rotations.

[0016] Specifically, in the direction recognition algorithm, the system pre-sets the rotation direction of the vehicle's steering wheel corresponding to the clockwise and counterclockwise rotation frequency domain signals of the sensor device's angular velocity vector. When the sensor device is in contact with the vehicle's left front wheel, the system detects that the vehicle's steering wheel is rotating counterclockwise through the angular velocity vector signal and identifies it as the vehicle being in a forward-moving state; conversely, if the angular velocity vector signal indicates counterclockwise rotation, the vehicle is in a reverse state.

[0017] Specifically, the steering recognition algorithm involves the system receiving vehicle steering wheel state signals collected by different sensors in the attitude heading reference system (AHRS) of the sensing device, calculating the attitude of the sensor device through a complementary filtering algorithm, and continuously correcting the changes in the orientation and tilt angle information of the sensing device to calculate the turning angle and direction of the vehicle.

[0018] Specifically, the altitude recognition algorithm uses the baseline air pressure information of the ground as a reference value. The sensor measures the real-time air pressure value at its altitude. The system calculates the current altitude data of the sensor by the air pressure difference between the baseline air pressure and the real-time air pressure of the sensor, and then estimates the current altitude of the vehicle relative to the ground.

[0019] Furthermore, the wheel trajectory recognition algorithm of the present invention also includes an attitude recognition algorithm. When the sensing device is stationary, the system analyzes and corrects the data deviations collected by the accelerometer and gyroscope of its IMU (Inertial Measurement Unit) during rotation, and determines the orientation of the sensing device by combining the orientation data of the magnetometer (compass) of the sensing device. Based on the orientation of the sensing device, the system estimates the frontal orientation and parking angle of the parked vehicle.

[0020] Furthermore, the wheel trajectory recognition algorithm of the present invention also includes any one of the following algorithms: beacon fusion algorithm, map fusion algorithm, and GPS fusion algorithm, or a combination of two or more of the following algorithms: beacon fusion algorithm, map fusion algorithm, and GPS fusion algorithm.

[0021] Specifically, the beacon fusion algorithm fuses beacon location data with sensor positioning data. After the sensor positioning data and beacon location data are predicted, corrected and optimized by Kalman filtering, the system recalculates the sensor location information in the dynamic environment, thereby identifying the vehicle's current location data.

[0022] Specifically, in the map fusion algorithm, the system generates a large number of random particles based on the historical trajectory information and current location information of the sensing device. Each particle simulates and predicts different target travel states based on the travel information. The particle filtering algorithm matches the simulation results with the map to eliminate erroneous particle estimates. By continuously eliminating erroneous particle predictions, the estimation converges, the specific location of the current sensing device is identified, and the current location data of the vehicle is calculated.

[0023] Specifically, the GPS fusion algorithm uses a Kalman filter to combine the positioning data provided by the GPS sensor with the sensor data from the inertial measurement unit (IMU) built into the sensor. The Kalman filter dynamically adjusts the IMU sensor error by weighted fusion of the GPS and IMU data, ultimately accurately sensing the position information of the sensor and calculating the vehicle's current position data.

[0024] Furthermore, in the wheel trajectory recognition algorithm of the present invention, the height recognition algorithm may be static vertical lifting recognition, dynamic angle driving recognition, or a combination of the two recognition modes of static vertical lifting recognition and dynamic angle driving recognition.

[0025] Specifically, in the static vertical lifting recognition, when the vehicle's steering wheel rotation value and angular velocity vector value are in a stationary state while the height value is changing, the system identifies the vehicle as being in a stationary vertical lifting state based on the change in the height value of the sensor, and at the same time calculates the change in the vehicle's height value.

[0026] Specifically, in the dynamic angle driving recognition, when the vehicle's steering wheel rotation value, angular velocity vector value, and height value are all changing simultaneously in the monitoring and sensing device, the system identifies that the vehicle is in a diagonal driving state (i.e., uphill or downhill) based on the changes in the above three values, and at the same time, the system calculates the vehicle's position and height change values.

[0027] The present invention relates to a vehicle indoor and outdoor positioning and navigation system, which includes any one of the wheel trajectory recognition algorithms described above, as well as a combination of the two wheel trajectory recognition algorithms described above. The positioning and navigation system includes a first and second attachment terminal equipped with internal sensing devices, an initial positioning method, a display terminal, and a server terminal.

[0028] Specifically, the first attachment terminal is attached to the vehicle's steering wheel to sense the wheel's driving dynamics, the second attachment terminal is attached to the vehicle body to sense the vehicle's direction, the server terminal is a local server or cloud server connected to a positioning and navigation scenario, the positioning and navigation scenario corresponds to the real-time positioning and navigation scene of the vehicle in motion, and the display terminal is used to receive and display the positioning and driving trajectory data of the first and second attachment terminals within the positioning and navigation scenario.

[0029] Specifically, the initial positioning method includes the following steps;

[0030] The S1 server terminal receives GPS location information from the first or second attachment terminal and uses an attitude recognition algorithm to confirm the vehicle's heading and initial driving direction.

[0031] The S2 server imports the data information received from the first and second attached terminals into the positioning and navigation scene within the server terminal.

[0032] The S3 server sends the data information of the first and second attached terminals imported in step S2 to the display terminal.

[0033] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention is characterized in that the positioning and navigation scene is any one or a combination of two or more scenes among the map scene, the building 3D model scene and the work site 3D model scene, and the corresponding positioning and navigation real scene is any one or a combination of two or more real scenes among the map real scene, the building real scene and the work site real scene.

[0034] Specifically, the map scene can be any one or a combination of two or more of the following: online map scene, offline map scene, and simulated map scene. The building 3D model scene is generated by real-world 3D scanning of the building or by computer 3D modeling, and the workplace 3D model scene is generated by real-world 3D scanning of the workplace or by computer 3D modeling.

[0035] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention further includes positioning beacons deployed within the positioning and navigation real-world scene.

[0036] Specifically, the positioning beacon establishes a wireless connection with the first or second attached terminal via Bluetooth wireless broadcasting technology. The data collected by its built-in barometer and accelerometer is transmitted outward via Bluetooth broadcast signals. When the system detects changes in the positioning beacon's barometer and accelerometer data, the positioning beacon sends out warning information via Bluetooth signals.

[0037] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the display terminal includes a mobile display terminal or a fixed display terminal, or the display terminal includes both a mobile display terminal and a fixed display terminal.

[0038] Optionally, the mobile display terminal, the first attachment terminal, and the second attachment terminal can be carried and used simultaneously in one vehicle.

[0039] Optionally, the first and second attach terminals can be carried and used in one vehicle, while the mobile display terminal can be carried and used by another person.

[0040] Optionally, the fixed display terminal may separately display the location and driving trajectory of the first or second attached terminal in the positioning and navigation system.

[0041] Optionally, the fixed display terminal may simultaneously display the location and driving trajectory of the first or second attached terminal and the mobile display terminal in the positioning and navigation system.

[0042] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention further includes an identification and authentication module consisting of an electronic tag, a reading device, and a computing program loaded in a server.

[0043] The electronic tag is installed in the first or second attaching terminal, and the reading device is installed in the positioning and navigation real scene to read the data information of nearby electronic tags. After the system identifies and authenticates the data information of the electronic tag, it sends an authentication command to the display terminal.

[0044] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention further includes a hazard warning module.

[0045] Specifically, dangerous areas are delineated within the positioning and navigation real-world scene, or electronic fences are set up within the positioning and navigation scene. When the system detects that the first or second attached terminal is approaching or entering the dangerous area or electronic fence, the system sends a warning signal to the first or second attached terminal, the mobile display terminal, and / or the fixed display terminal.

[0046] Specifically, when the system detects that the wheel status, direction, turning and height data of the first and second attach terminals have not been updated for a long time, the system sends a warning signal to the first or second attach terminal, the mobile display terminal and / or the fixed display terminal.

[0047] Specifically, the system uses AI algorithms to analyze, record, and store data on the driving speed, driving status, and driving trajectory of the vehicles used by the first and second sticker terminals under normal conditions. When the above-mentioned driving data of the vehicles used by the first and second sticker terminals becomes abnormal and is identified by the system, the system sends a warning signal to the first or second sticker terminal, the mobile display terminal, and / or the fixed display terminal.

[0048] Specifically, when the system detects that the electronic tag data sent by the reading device is inconsistent with the stored data, the system sends a warning signal and location information to the fixed display terminal and security personnel.

[0049] Specifically, the system monitors the dwell time of vehicles using the first and second attachment terminals in the real-time positioning and navigation scene through positioning data. If the dwell time exceeds the system's preset time safety limit threshold, the system sends a warning signal to the mobile display terminal and / or fixed display terminal of the attachment terminal.

[0050] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention further includes an alarm and rescue module.

[0051] Specifically, when the system cannot monitor the signals of the first and second attached terminals, or when the signals of the first and second attached terminals suddenly disappear, or when the signals of the first and second attached terminals fluctuate violently, the system sends location information and rescue signals to the back-end rescue personnel or other nearby mobile display terminals.

[0052] Specifically, after the first and second attachment terminals or mobile display terminals receive a warning signal that they have entered a dangerous area or electronic fence, and the system detects that the wheel position, direction, posture and height data of the first and second attachment terminals have no change or fluctuate drastically, the system sends location information and rescue signals to the back-end rescue personnel or other nearby mobile display terminals through the server terminal.

[0053] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the display terminal includes a data storage and analysis module.

[0054] Specifically, the system automatically counts the first and second tagging terminals within the real-world location and navigation scene, and analyzes the number to determine the traffic flow and density of vehicles using the tagging terminals in the area.

[0055] Specifically, the system stores the historical travel data of several first and second tagging terminals, and generates travel trajectory and behavioral preference data for each vehicle through big data analysis, thereby providing customized personalized services for the vehicle users.

[0056] Specifically, the system monitors the exact times when vehicles enter and leave the real-time positioning and navigation scene using the real-time positioning information from the first and second attachment terminals. Based on this time data, the system can calculate the vehicle's attendance coefficient and working hours, and further analyze the working efficiency of the vehicles.

[0057] To address the aforementioned problems in the prior art, the vehicle indoor and outdoor positioning and navigation system of the present invention includes an attachment terminal that is attached to the vehicle's steering wheels and body to collect motion data, a server terminal that receives and stores motion data, and a display terminal that displays the travel and location information of the attachment terminal. Through one-way or two-way communication between the attachment terminal, the server terminal, and the display terminal, the deficiencies of existing vehicle navigation hardware terminal products as pointed out in the background art can be effectively resolved.

[0058] Specifically, the first attachment terminal is attached to the steering wheel to monitor its status information. Its housing contains a PCB integrated circuit board and electrically connected positioning and initialization identification units, wheel status identification units, wireless communication units, and power supply units. The second attachment terminal is attached to the vehicle body to monitor the vehicle's position and direction. Its housing also contains a PCB integrated circuit board and electrically connected positioning and initialization identification units, wireless communication units, and power supply units.

[0059] More specifically, the positioning and initialization identification unit includes a GPS module, a magnetometer, and an IMU (Inertial Measurement Unit). The wheel state identification unit includes an accelerometer, a gyroscope, and a barometer. The wireless communication unit includes one or more modules such as an NB-IoT narrowband IoT module, a Bluetooth communication module, a cellular mobile communication module, a LoRa communication module, and a Wi-Fi communication module. The power supply unit includes a power management chip, a switch, a battery, and charging components electrically connected to the PCB integrated circuit board.

[0060] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention includes a server terminal equipped with a wireless communication unit matching the first and second attachment terminals. The server terminal also includes a positioning and navigation area comprising an accessed online map, imported 3D building scene models, and 3D factory and mining area scene models. The 3D building scene models and factory and mining area scene models are generated by panoramic scanning or 3D modeling of actual buildings and factories / mining areas.

[0061] Optionally, the first and second attach terminals can simultaneously establish interactive communication connections with the server terminal via a wireless communication unit. The server terminal can simultaneously receive and store wheel state information of the steering wheel detected by the first attach terminal and direction and position information of the vehicle detected by the second attach terminal.

[0062] Optionally, the first and second attach terminals establish an interactive communication connection via a wireless communication unit, and the server terminal establishes an interactive communication connection with the first or second attach terminal via a wireless communication unit. The server terminal receives wheel state information of the steering wheel monitored by the first attach terminal and vehicle direction and position information monitored by the second attach terminal through the first or second attach terminal.

[0063] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention includes a data storage and analysis module in its server terminal.

[0064] Optionally, the data storage and analysis module can automatically count the number of the first and second attached terminals within the positioning and navigation area, and analyze the number to determine the traffic flow and density information of the vehicles using the first and second attached terminals within the area.

[0065] Optionally, the data storage and analysis module stores the historical driving data of several vehicles using the first and second sticker terminals, and generates driving trajectory and driving status data for each vehicle using the first and second sticker terminals through big data analysis, thereby formulating corresponding management methods or driving constraint modes for the vehicles.

[0066] Optionally, the data storage and analysis module monitors the specific times when the vehicle enters and leaves the positioning and navigation area using the real-time positioning information of the first and second affixing terminals. Based on this time data, it calculates the attendance coefficient and working hours of the vehicle and further analyzes the working efficiency of the vehicle using the first and second affixing terminals.

[0067] Furthermore, the vehicle indoor and outdoor positioning and navigation system of the present invention further includes a display terminal as its hardware terminal, and the display terminal is equipped with a wireless communication unit that matches the attached terminal.

[0068] The display terminal establishes a communication connection with the server terminal via a wireless communication unit or data cable and displays the wheel status information monitored by the first attachment terminal and the vehicle trajectory, direction and position information monitored by the second attachment terminal, which are received and stored by the server terminal.

[0069] Optionally, the display terminal may consist of one or more of the following: a fixed display screen, a vehicle central control screen, and a mobile display.

[0070] When the display terminal includes a fixed display screen and a vehicle central control screen, the fixed display screen displays vehicle information monitored by the first and second attachment terminals within the navigation area, and the vehicle central control screen displays the information monitored by the first and second attachment terminals of the vehicle.

[0071] When the display terminal includes a fixed display screen and a mobile display screen, the fixed display screen and the mobile display screen display vehicle information monitored by the first and second attachment terminals within the navigation area.

[0072] When the display terminal includes a vehicle central control screen and a mobile display, the vehicle central control screen displays vehicle information monitored by the first and second attachment terminals of the vehicle, and the mobile display displays vehicle information monitored by the first and second attachment terminals within the navigation area.

[0073] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the first or second attachment terminal is equipped with a beacon identification unit composed of a Bluetooth SOC chip, which communicates with the beacon body within the navigation area. The Bluetooth SOC chip is electrically connected to the PCB integrated circuit board of the first or second attachment terminal, and the first or second attachment terminal communicates with the beacon body unidirectionally via Bluetooth signal. The first or second attachment terminal sends the location information of the beacon body to the server terminal through a wireless communication unit to further determine the location information of the first or second attachment terminal within the navigation area.

[0074] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the first or second attach terminal is equipped with an electronic tag unit consisting of a coupling element and an RFID chip, which is interconnected and communicates with a reading device within the navigation area. The coupling element and the RFID chip are electrically connected to the PCB integrated circuit board of the first or second attach terminal. The first or second attach terminal and the reading device located within the navigation area achieve spatial coupling of radio frequency signals through the coupling element, thereby completing data transmission and data exchange.

[0075] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the first attachment terminal also includes a vibration sensor electrically connected to the PCB integrated circuit board. The steering wheel and the first attachment terminal monitor the vibration frequency and amplitude information generated by the vehicle during driving through the vibration sensor, and transmit the vibration frequency and amplitude information of the steering wheel and the first attachment terminal to the server terminal through a wireless communication unit.

[0076] Furthermore, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the first or second attachment terminal further includes a warning and distress unit consisting of any one or a combination of two or more of a warning light, a buzzer, and a speaker electrically connected to the PCB integrated circuit board.

[0077] Optionally, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the charging element of the first and second attachment terminals is a wireless power receiving coil electrically connected to the power management chip and disposed inside the housing of the attachment terminal.

[0078] Optionally, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the charging element of the first and second attachment terminals is a charging port disposed on the outer shell of the attachment terminal and electrically connected to the power management chip.

[0079] Optionally, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the charging element of the first and second attachment terminals is a solar panel disposed on the outer shell of the attachment terminal and electrically connected to the power management chip.

[0080] The beneficial effects of the vehicle indoor and outdoor positioning and navigation system and its wheel trajectory recognition algorithm of the present invention are as follows:

[0081] 1. The present invention provides a vehicle indoor and outdoor positioning and navigation system, which adopts active sensing technology and vehicle trajectory calculation (PDR) technology. In the absence of external signal source support and under conditions of strong interference in the navigation external environment, it achieves high-precision indoor and outdoor positioning by analyzing the sensor data of the IMU (Inertial Measurement Unit) carried by the vehicle's steering wheels.

[0082] 2. The wheel trajectory recognition algorithm of this invention combines wheel state recognition, direction recognition, steering recognition, and height recognition algorithms to achieve high-precision three-dimensional spatial positioning in indoor and outdoor XYZ axes, meeting the precise navigation needs of vehicles in urban overpasses, underground parking garages of large commercial complexes, and large industrial and mining enterprises.

[0083] 3. The wheel trajectory recognition algorithm of this invention integrates with traditional beacon, map and GPS positioning algorithms. Compared with GPS and other traditional two-dimensional positioning and navigation technologies, it can achieve sub-meter level three-dimensional spatial accuracy positioning in XYZ three axes in complex and ever-changing indoor and outdoor environments, and meet the precise positioning needs of large industrial and mining enterprises' working vehicles in complex factory areas and underground multi-layer road spaces.

[0084] 4. The vehicle indoor and outdoor positioning and navigation system of the present invention is further equipped with a hazard warning module and an alarm and rescue module. By combining the above two modules with the attachment terminal, the positioning and navigation system can provide hazard warning services for the vehicle and driver using the attachment terminal while providing three-dimensional spatial positioning. When the driver cannot receive the hazard warning or cannot respond to the received hazard warning, the positioning and navigation system can proactively provide alarm and rescue services for the vehicle and driver using the attachment terminal.

[0085] 5. The vehicle indoor and outdoor positioning and navigation system of the present invention is also equipped with a data storage and analysis module. By combining the data storage and analysis module with the wearable terminal, the positioning and navigation system can provide three-dimensional spatial positioning and also provide management personnel of large industrial and mining enterprises with work efficiency analysis services such as analyzing the use of vehicles and driver attendance of the attached terminal.

[0086] 6. The positioning and initialization identification unit and the wheel state identification unit set in the first attachment terminal adopt a dual-module design. The positioning and initialization identification unit IMU inertial measurement module and the wheel state identification unit include an accelerometer, gyroscope, magnetometer and barometer working together. With the cooperation of the second attachment terminal attached to the vehicle body, the hardware terminal of this invention can more accurately locate and collect vehicle driving dynamic data.

[0087] 7. The internal system of the server terminal not only has access to online maps, but also imports 3D scene models of buildings and factories and mines drawn according to the same scale as the actual buildings and factories and mines. This enables the hardware terminal to have navigation and positioning functions in buildings and factories and mines where there is no GPS signal coverage.

[0088] 8. Under the action of the positioning and initialization recognition unit and the wheel state recognition unit set in the first attachment terminal of the vehicle's steering wheel, the first attachment terminal can effectively identify and distinguish various driving states such as vehicle starting, acceleration, emergency braking, and collision.

[0089] The beneficial effects of the present invention are not limited to this description. For better understanding, a more detailed description is provided in the Detailed Embodiments section. Attached Figure Description

[0090] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0091] Figure 1 is a mind map diagram of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0092] Figure 2 is a schematic flowchart of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0093] Figure 3 is a schematic diagram of an overpass in the three-dimensional spatial positioning and navigation 3D model scene of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0094] Figure 4 is a partial enlarged schematic diagram of an overpass in the 3D model scene of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0095] Figure 5 is a schematic diagram of an overpass in the 3D model scene of the vehicle indoor and outdoor positioning and navigation system of the present invention, showing the dynamic angle driving of the vehicle.

[0096] Figure 6 is a schematic diagram of a three-dimensional parking lot scene of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0097] Figure 7 is a schematic diagram of the static vertical lifting motion of the vehicle in the 3D model scene of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0098] Figure 8 is a logical connection diagram of the vehicle indoor and outdoor positioning and navigation system of the present invention, including the attachment terminal, server terminal and display terminal.

[0099] Figure 9 is a three-dimensional exploded view (a) of the first attachment terminal or first attachment end of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0100] Figure 10 is a three-dimensional exploded view (II) of the first attachment terminal or first attachment end of the vehicle indoor and outdoor positioning and navigation system of the present invention.

[0101] Figure 11 is a three-dimensional exploded view (III) of the first attachment terminal or first attachment end of the vehicle indoor and outdoor positioning and navigation system of the present invention. Detailed Implementation

[0102] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.

[0103] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the invention.

[0104] The vehicle indoor and outdoor positioning and navigation system and its wheel trajectory recognition algorithm provided by this invention employ active sensing technology and vehicle trajectory estimation technology. This allows for accurate three-dimensional spatial positioning of the vehicle and recognition of the vehicle's wheel trajectory even without external signal source support. The IMU (Deep Fusion Motion) sensor, a key component of this system, is located in contact with the vehicle's steering wheels and captures detailed information about the steering wheel status (e.g., forward, turning, reversing, uphill). The IMU sensor provides real-time travel data through integrated accelerometers and gyroscopes. By analyzing the data from the IMU sensor attached to the vehicle's steering wheels and combining it with unscented Kalman filtering (UKF) for vehicle dead reckoning, the system achieves precise three-dimensional spatial positioning of the vehicle and recognition of the vehicle's steering wheel trajectory.

[0105] The vehicle indoor and outdoor positioning and navigation system and its wheel trajectory recognition algorithm provided by the present invention are based on the wheel trajectory recognition algorithm. The recognition algorithm, combined with the sensing device, display terminal and server terminal in the system, realizes accurate positioning and navigation of the vehicle in indoor and outdoor three-dimensional scenes.

[0106] The wheel trajectory recognition algorithm of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0107] The vehicle trajectory recognition algorithm of this invention actively senses information from sensors attached to and rotating with the steering wheels of the vehicle. As shown in Figure 1, the vehicle trajectory recognition algorithm specifically includes a wheel state recognition algorithm, a direction recognition algorithm, a steering recognition algorithm, and a height recognition algorithm. The wheel state recognition algorithm includes wheel circumference length recognition and wheel rotation frequency recognition.

[0108] The system uses a pre-established diameter database of vehicle brand, model, and tire specifications to obtain the circumference of the vehicle's steering wheel. Users input the vehicle brand, model, and tire specifications into the system, which then compares this data with the diameter database to determine the tire's outer diameter circumference. The distance traveled by the vehicle's steering wheel with each revolution during driving is identified as the wheel circumference length in the trajectory recognition algorithm described in this invention.

[0109] During vehicle operation, the sensors attached to the steering wheels rotate regularly and periodically. The system collects the rotation frequency information from these sensors and analyzes the acceleration, angular velocity, or a combination of both through Fourier transform. This converts the time-domain signal of the rotation frequency features into a frequency-domain signal, identifying key rotation frequency features related to wheel rotation. The system then calculates and converts these rotation frequency features into vehicle rotation frequency data. Recognizing the vehicle's rotation frequency information collected by the sensors as the rotation frequency data of the steering wheels during vehicle operation constitutes the wheel rotation frequency recognition in the driving trajectory recognition algorithm described in this invention.

[0110] The vehicle's speed, distance traveled, stopping point, and destination are calculated by multiplying the wheel circumference length and wheel rotation frequency values. Simultaneously, mean filtering is used to suppress noise in the sensor data, ensuring the accuracy of the wheel circumference length and wheel rotation frequency, thus yielding an accurate speed reading. This method, combining wheel rotation frequency domain analysis with the characteristics of the vehicle's steering wheel circumference, provides a high-precision computational foundation for wheel state detection.

[0111] The direction recognition algorithm actively senses driving status signals such as direction and pitch generated by a sensing device attached to the vehicle's steering wheel and rotating with the steering wheel.

[0112] During vehicle operation, sensors attached to the steering wheels generate dynamic signals such as pitch and roll angles. The system pre-programs the clockwise and counterclockwise rotational frequency domain signals of the sensor's angular velocity vector, with the direction of rotation corresponding to the direction of rotation of the corresponding steering wheel. For example, if the sensor is attached to the left front wheel, the system detects counterclockwise rotation of the steering wheel via the sensor's angular velocity vector signal and identifies it as the vehicle moving forward; conversely, if the system detects clockwise rotation, it identifies it as the vehicle reversing.

[0113] The steering recognition algorithm receives driving state signals collected by different sensors in the Attitude Heading Reference System (AHRS) set in the sensing device, and calculates, identifies and corrects the attitude changes and gravity direction changes of the sensing device (AHRS) through a complementary filtering algorithm. Its accelerometer measures the gravity direction of the sensing device.

[0114] The gyroscope in the sensing device measures the angular velocity of the equipment. The accelerometer measures the direction of gravity to correct for attitude changes measured by the gyroscope, and the angular velocity measured by the gyroscope is used to correct for changes in the direction of gravity. Complementary filtering combines the short-term stability of the gyroscope with the long-term stability of the accelerometer and magnetometer to correct for angle drift. The gyroscope provides angular velocity data for short-term angle change estimation, while the accelerometer and magnetometer provide long-term direction and gravity references. By continuously correcting the drift error generated by the gyroscope, the system achieves accurate heading angle estimation by continuously correcting and recognizing changes in the orientation, gravity, and tilt angle information of the sensing device. By recognizing changes in the orientation and tilt angle information of the sensing device attached to the vehicle's steering wheel, the system calculates the direction and angle of the vehicle's turning.

[0115] The altitude recognition algorithm actively senses altitude signals from sensors attached to and rotating with the vehicle's steering wheels. Using the baseline air pressure as a reference, the system receives real-time air pressure values ​​measured by the sensors at the vehicle's altitude. It then calculates the current altitude of the sensors by using the pressure difference between the baseline air pressure and the real-time air pressure at the sensors, thereby estimating the vehicle's current altitude relative to the ground.

[0116] The system imports the position, direction, steering, and altitude information of the sensors attached to the vehicle's steering wheels into the positioning and navigation scenario. In the navigation scenario, it generates vehicle trajectory information with three-in-one information including stopping point, driving direction, and altitude, which is displayed and stored. This is the basic form of the wheel trajectory recognition algorithm system described in this invention.

[0117] As shown in Figure 1, the wheel trajectory recognition algorithm described in this invention, based on the aforementioned wheel state recognition algorithm, direction recognition algorithm, steering recognition algorithm, and height recognition algorithm, also includes an attitude recognition algorithm. The attitude recognition algorithm refers to the direction of the vehicle's front when the vehicle is parked, or the initial driving direction of the vehicle when the navigation system initially positions it.

[0118] The system analyzes and corrects the data deviations collected by the accelerometer and gyroscope of the sensor device during its stationary state and during its oscillation state. The IMU contains three single-axis accelerometers and three single-axis gyroscopes. The accelerometers detect the acceleration signals of the sensor device on three independent axes in the spatial coordinate system, while the gyroscopes detect the angular velocity signals of the sensor device relative to the navigation spatial coordinate system. By measuring the angular velocity and acceleration of the sensor device in three-dimensional space, the system calculates the attitude of the object. The system also combines the orientation data of the sensor device's magnetometer (compass) to determine the orientation of the sensor device in three-dimensional space. Based on the orientation of the sensor device, the system estimates the vehicle's front-end orientation and parking angle when parking in the navigation scenario, as well as the initial direction of travel when the vehicle starts.

[0119] To enhance the compatibility of the wheel trajectory recognition algorithm described above and further improve the accuracy of vehicle positioning and wheel trajectory recognition during driving, as shown in Figure 1, the trajectory recognition algorithm can be further enhanced by incorporating one or more positioning and trajectory recognition fusion algorithms from beacon, map, and GPS positioning.

[0120] Specifically, the beacon fusion algorithm fuses beacon position data with positioning data from sensors attached to the vehicle's steering wheels. The beacon position information is acquired by the sensors via Bluetooth or other short-range communication methods, providing high-precision positioning data within a local area. The sensor positioning data and beacon position data are then used in conjunction with a Kalman filter algorithm for prediction, correction, and optimization to filter out noise and improve positioning accuracy. The system recalculates the positioning information from the sensors on the vehicle's steering wheels in dynamic environments to identify the vehicle's current position. Through this fusion, the system can obtain more stable and accurate positioning results in dynamic environments, making it particularly suitable for complex indoor or multi-obstacle environments.

[0121] Administrators deploy beacons within the navigation view based on system-recommended locations. Once deployed, the beacons and sensors establish a wireless connection via Bluetooth. This connection method ensures stable, low-power, and wide-coverage communication between the beacons and the server. The system monitors the status of each beacon in real time to ensure all beacons are functioning correctly and performs maintenance or adjustments as needed to guarantee the efficient operation of the positioning system.

[0122] Specifically, the map fusion algorithm matches historical vehicle driving data with existing maps and utilizes a particle filtering algorithm to optimize positioning accuracy. Particle filtering is a probabilistic algorithm. The system generates a large number of random particles based on the historical driving trajectory information of the sensors on the vehicle's steering wheels and the current sensor location information. Each particle simulates and predicts different target driving states based on the driving information. The particle filtering algorithm matches the simulation results with the map to eliminate erroneous particle estimates, continuously eliminating incorrect particle predictions until the estimates converge. Then, by matching with map information, such as roads, buildings, or other geographical features, the weight of each particle is calculated, representing its degree of correspondence with the actual location. The particle filtering algorithm continuously updates and resamples the particle swarm, retaining particles with higher weights and eliminating particles that do not match the actual location, ultimately determining the most probable location of the sensor. The system then calculates the vehicle's current location data based on the specific location of the current sensor. Through this method, the system can effectively fuse historical vehicle driving trajectories and map information in complex environments, improving positioning accuracy and reducing errors.

[0123] Specifically, the GPS fusion algorithm fuses GPS data with information from the vehicle's steering wheel sensors using a Kalman filter algorithm. The Kalman filter combines the GPS positioning data received by the sensors with data from the inertial measurement unit (IMU) built into the sensors. By weightedly fusing the GPS and IMU data, the Kalman filter dynamically adjusts the IMU sensor error, enabling the system to perform high-precision position tracking of the sensors under different environments and driving conditions. This ultimately provides accurate position information from the sensors and allows for the calculation of the vehicle's current position.

[0124] GPS typically provides relatively accurate location information, but due to its low sampling frequency, it may fail to capture subtle dynamic changes at certain times. While sensors such as IMUs provide high-frequency data, they are prone to drift errors. Kalman filtering dynamically adjusts sensor errors by weighted fusion of these two types of data, providing smooth and accurate location information from the sensing device.

[0125] In the beacon fusion algorithm and GPS fusion algorithm of the wheel trajectory recognition algorithm described above in this invention, the Kalman filtering algorithm is a vehicle dead reckoning (PDR) based on unscented Kalman filtering (UKF). Compared with standard Kalman filtering, the core idea of ​​UKF is to approximate the state distribution of nonlinear systems through unscented transformation, which can better handle nonlinear systems and is particularly suitable for sensor data fusion problems in vehicle positioning. UKF can effectively solve the fusion of nonlinear sensor data (such as accelerometer, gyroscope, etc.), thereby providing more accurate vehicle position information.

[0126] Furthermore, like the standard Kalman filter, the UKF algorithm includes a prediction phase and an update phase, but its state propagation and update are based on a nonlinear transformation of a set of Sigma points. The steps of the UKF-VDR algorithm are as follows: 1. Define the state vector.

[0127] The state vector of the UKF can be defined as:

[0128] Where x n ,y n v represents the vehicle's current position coordinates. n Θ represents the vehicle's current speed. n b is the vehicle's current heading angle. θ,n This represents gyroscope bias, used to correct sensor drift errors. For the UKF-VDR algorithm, the sigma point is generated as follows:

[0129] in The sigma point X is generated at time n-1. n-1 It is the mean of the previous states, P n-1 It is the covariance matrix from before, where L is the dimension of the state vector and λ is a scaling parameter that determines the distribution of sigma.

[0130] 2. Predicted State

[0131] The Sigma point is propagated using the state transition function f(x), and the mean and covariance of the predicted state are calculated:

[0132] in It is a non-linear driving model used to describe the vehicle's state transitions. The predicted state mean is:

[0133] Predicted covariance is

[0134] in, and is the weight of the mean and covariance, and Q is the process noise covariance matrix.

[0135] 3. Update Phase

[0136] The sensor measurements are propagated to the measurement space using an unscented transformation for state updates: First, the projection of the Sigma point through the measurement model h(x) is calculated.

[0137] The predicted measurement mean is:

[0138] Measurement covariance matrix:

[0139] Where R is the measurement noise covariance matrix. Therefore, the cross-covariance between the state and the measurement is:

[0140] In summary, the Kalman gain of the UKF-PDR is K. n =P xz *P zz -1 ,

[0141] After updating the state using Kalman gain, we can obtain:

[0142] The covariance matrix is ​​updated as follows: P n =P n|n-1 -K n *P zz *K n -1 ,

[0143] The advantages of using the UKF-PDR algorithm are as follows:

[0144] Handling nonlinear problems: UKF uses unscented transformation, which can process nonlinear sensor data (such as gyroscope and accelerometer data) in PDR more accurately.

[0145] Multi-sensor fusion: UKF can process data from multiple sensors simultaneously (such as accelerometers, gyroscopes, and magnetometers), making vehicle trajectory prediction more accurate.

[0146] High robustness: UKF has a strong ability to adapt to model nonlinear errors and sensor noise, and is suitable for complex indoor environments and vehicle driving modes.

[0147] As shown in Figure 1, in the wheel trajectory recognition algorithm of the present invention, the height recognition algorithm may be static vertical lifting recognition, dynamic angle driving recognition, or a combination of static vertical lifting recognition and dynamic angle driving recognition.

[0148] Specifically, for static vertical lift recognition, the system monitors the wheel state values, attitude values, and dynamic signals such as magnetic pole direction, pitch angle, roll angle, and roll angle of the inertial measurement unit (IMU) in the sensor attached to the vehicle's steering wheel when the vehicle is in a static state while the height value of the sensor is changing. Based on the change in the height value of the sensor, the system identifies the vertical lift state of the vehicle's steering wheel when it is stationary, and at the same time calculates the change in the vehicle's height.

[0149] Referring to Figures 6 and 7, the static vertical lift recognition algorithm is used in the wheel trajectory recognition algorithm of this invention for the three-dimensional spatial positioning of vehicle A when it takes the vertical lift D in the positioning and navigation scenario of the multi-level parking lot C. By measuring the change in the height value of the sensing device, the algorithm can accurately locate which floor of the multi-level parking lot C (building) vehicle A has taken the vertical lift D to (Z-axis coordinate positioning). The inertial measurement unit (IMU) and attitude heading reference system (AHRS) can accurately locate which area of ​​the vertical lift D in the multi-level parking lot C (building) vehicle A is located in (XY-axis coordinate positioning).

[0150] The dynamic angle driving recognition system monitors the gait and attitude values ​​of the inertial measurement unit (IMU) in the sensor attached to the vehicle's steering wheel, the dynamic signals such as the magnetic pole direction, pitch angle, roll angle, and roll angle of the attitude heading reference system (AHRS), and the height value of the sensor. When all three are in a state of change, the system identifies the vehicle's oblique angle rise and fall state while driving based on the changes in the height value of the sensor, the gait and attitude values ​​of the inertial measurement unit (IMU), and the attitude heading reference system (AHRS). At the same time, the system calculates the vehicle's position and height change values.

[0151] Referring to Figures 3 and 6, the dynamic angle driving recognition algorithm is used in the wheel trajectory recognition algorithm of this invention for the three-dimensional spatial positioning (i.e., uphill or downhill state) of vehicle A when driving in a positioning and navigation scenario (overpass B or underground multi-story parking lot C). As shown in Figure 5, the height value change of the sensing device can accurately locate which level of overpass B or underground multi-story parking lot C vehicle A is driving on (Z-axis coordinate positioning). The inertial measurement unit (IMU) and attitude heading reference system (AHRS) can accurately locate which lane E of overpass B or which parking space of underground multi-story parking lot C vehicle A is driving on (XY-axis coordinate positioning).

[0152] The vehicle indoor and outdoor positioning and navigation system of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0153] As shown in Figures 1 and 2, the vehicle indoor and outdoor positioning and navigation system of the present invention, based on the wheel trajectory recognition algorithm of the present invention, further includes a first attachment terminal and a second attachment terminal, an initial positioning method, a display terminal and a server terminal, and the first attachment terminal and the second attachment terminal are equipped with sensing devices.

[0154] The first attachment terminal is attached to the vehicle's steering wheel. In the positioning and navigation system, its built-in sensors detect the number of turns, direction, and angle of the steering wheel while the vehicle is in motion. The second attachment terminal is attached to the vehicle body. In the positioning and navigation system, its built-in sensors detect the vehicle's direction while it is in motion and stationary states.

[0155] The first and second attachment terminals, with their built-in sensors, work together to sense information such as the number of wheel rotations, direction, angle, attitude, and amplitude of the vehicle. In the positioning and navigation system, these sensors work in conjunction with wheel state recognition algorithms, direction recognition algorithms, steering recognition algorithms, and height recognition algorithms to achieve high-precision three-dimensional spatial positioning of the vehicle in indoor and outdoor XYZ axes. This meets the precise navigation needs of vehicles in urban overpasses, underground parking garages in large commercial complexes, and large industrial and mining enterprises.

[0156] As shown in Figures 1 and 2, the server terminal is a local server or a cloud server. The server terminal stores real-world location and navigation information from maps or buildings, and also internally stores a location and navigation scene model. The driving trajectory recognition algorithm is written to and stored on the server terminal. The location and navigation scene model can be generated by importing a 3D scan of a map or building's actual location and navigation scene into the server terminal, or it can be generated by importing a virtual model created using software. The location and navigation scene model is identical to the real-world location and navigation information stored on the server terminal.

[0157] The display terminal is used to receive and display the positioning and driving trajectory data of the vehicle using the first and second attached terminals within the positioning and navigation scene model. The positioning and navigation scene model displayed by the display terminal is the same as the actual positioning and navigation scene of the vehicle in reality.

[0158] As shown in Figure 1, the initial positioning method includes the following steps;

[0159] The first step is for the server terminal to receive wheel direction, angle and GPS position information collected by the sensors of the first attachment terminal on the vehicle's steering wheel and the second attachment terminal on the vehicle body, and to confirm the vehicle's front direction and initial driving direction through the attitude recognition algorithm in the steering wheel trajectory recognition algorithm.

[0160] The second step is for the server to import the data information received from the first and second attached terminals into the positioning and navigation scene model inside its service terminal.

[0161] The third step involves the server sending the driving data and location information of the first and second attached terminals imported in step two to the display terminal. The positioning and navigation scene model collected by the server terminal and the positioning information of the vehicle within the positioning and navigation scene model are then displayed on the display terminal.

[0162] Referring to Figures 3-7, after the first and second attachment terminals are powered on, they are attached to the steering wheel and body of vehicle A, respectively. When vehicle A enters the real-world map or building positioning and navigation scene recorded by the server terminal (overpass B or underground multi-level parking lot C), the server terminal receives the communication signals from the first and second attachment terminals and imports their specific locations into its built-in positioning and navigation scene through a travel trajectory recognition algorithm. The first and second attachment terminals use the location and trajectory information of vehicle A in the positioning and navigation scene to simulate the navigation scene model through the server terminal and display it through the display terminal.

[0163] Referring to Figures 3-7, in the vehicle indoor and outdoor positioning and navigation system of the present invention, the internally stored positioning and navigation scene model is any one of a map scene, a 3D building scene, and a 3D workplace scene, or a combination of two or more scenes. Correspondingly, the positioning and navigation real-world scene where the first and second attachment terminals and their vehicle A are located is any one of a map scene, a building scene, and a workplace scene, or a combination of two or more scenes.

[0164] Furthermore, in the vehicle indoor and outdoor positioning and navigation system described in this invention, the aforementioned map scenario is any one of online map scenarios, offline map scenarios, and simulated map scenarios, or a combination of two or more scenarios.

[0165] Referring to Figure 3, the map scene is mainly used in the positioning and navigation system of this invention for the positioning and navigation of vehicles in urban three-dimensional road traffic overpass B. The urban overpass B model in the map scene is a 3D model scene of the overpass generated by proportional real-scene scanning or software modeling of the overpass B in the map scene.

[0166] Referring to Figure 6, the 3D building scene in the positioning and navigation system of this invention is mainly used for the positioning and navigation of vehicles in the underground parking lot C of a large urban commercial complex. The large urban commercial complex in the 3D building scene is generated by proportional real-scene scanning or software modeling of the underground parking lot C in the actual building scene.

[0167] The 3D scene of the work site is mainly used in the positioning and navigation system of this invention for the positioning and navigation of vehicles in large industrial and mining areas. The factory buildings and roads in the 3D scene of the work site are generated by proportional real-scene scanning or software modeling of the factory buildings and roads in the actual work site scene.

[0168] To improve the vehicle positioning accuracy in the vehicle indoor and outdoor positioning and navigation system of the present invention, the positioning and navigation system also includes positioning beacons. The system automatically identifies and analyzes the layout of the positioning and navigation real-world scene, intelligently calculates and suggests the optimal beacon placement points.

[0169] Referring to Figure 2, several positioning beacons are deployed on roads, buildings, factories, and large equipment within the real-world positioning and navigation scene. The positioning beacons establish a wireless connection with either a first or second attached terminal via Bluetooth. The beacons periodically broadcast information. When the first or second attached terminal, attached to the vehicle's steering wheel or body, enters the beacon's signal coverage area, it scans these Bluetooth signals, acquires the broadcast packets, and calculates the distance to the beacon based on the signal strength. Accuracy is improved by collecting and weighting the signal strength values ​​from multiple positioning beacons. The first or second attached terminal then sends the calculated distance data to a server terminal. The server terminal further processes and analyzes the received distance data to ultimately determine the vehicle's real-time location.

[0170] Referring further to Figures 1 and 2, the vehicle indoor / outdoor positioning and navigation system of the present invention includes a display terminal that can be a mobile display terminal, a fixed display terminal, or a combination of a mobile display terminal and a fixed display terminal. The mobile display terminal is a portable device with display capabilities, such as a mobile phone or tablet computer, or a vehicle central control display screen. An app installed on the mobile phone, tablet computer, or vehicle central control display screen establishes a communication connection with the server terminal in the positioning and navigation system. The fixed display terminal is a wall-mounted large screen, a desktop monitor, or other portable device with display capabilities.

[0171] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 2, the mobile display terminal, the first attachment terminal, and the second attachment terminal are all installed on the same vehicle. The vehicle can display the specific location and driving trajectory of the first attachment terminal and the second attachment terminal in the navigation real-world view through the mobile display terminal. The fixed display terminal displays the location and driving trajectory of the first attachment terminal and the second attachment terminal in the navigation real-world view separately in the positioning and navigation system, or the fixed display terminal displays the location and driving trajectory of the first attachment terminal, the second attachment terminal, and the mobile display terminal in the navigation real-world view simultaneously in the positioning and navigation system.

[0172] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 2, the first and second attachment terminals are attached to the vehicle's steering wheel and body. A mobile display terminal is carried by a manager, who can display the specific location and driving trajectory of the vehicle using the first and second attachment terminals in the navigation view. The fixed display terminal either displays the location and driving trajectory of the vehicle using the first and second attachment terminals separately, or simultaneously displays the location and driving trajectory of the vehicle using the first and second attachment terminals and the mobile display terminal (held by the manager). This embodiment applies to the management of subordinate office vehicles by an enterprise. Managers can monitor and manage the location and driving trajectory information of subordinate work vehicles at any time through the mobile display terminal, while the fixed display terminal simultaneously displays the location and driving trajectory of the first and second attachment terminals and the mobile display terminal in the navigation view.

[0173] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 2, one or more mobile display terminals (held by security personnel or management personnel) can simultaneously display the specific location and driving trajectory of the vehicle in the navigation real-world view using several first and second attached terminals. This embodiment applies the positioning and driving trajectory tracking of vehicles entering large parking lots, large mining areas, or large earthwork construction sites. The mobile display terminals are carried by management or security personnel, and several first and second attached terminals are attached to the steering wheels and body positions of their corresponding work vehicles. Management personnel can monitor the positioning and driving trajectory information of work vehicles in the workplace at any time through the mobile display terminals. The fixed display terminal simultaneously displays the positioning and driving trajectory of the attached first and second attached terminals as well as the mobile display terminals in the navigation real-world view.

[0174] The vehicle indoor and outdoor positioning and navigation system of the present invention further includes an identification and authentication module, which consists of an electronic tag, a reading device, and a computing program loaded in a server terminal. The electronic tag is installed in a first or second attachment terminal, and the reading device is installed within the positioning and navigation real-world view. When a vehicle enters the area where the reading device is located within the positioning and navigation real-world view, the reading device reads the data information of nearby electronic tags. After the system identifies and authenticates the electronic tag data information, it sends instructions to the first or second attachment terminal and the display terminal.

[0175] The vehicle indoor / outdoor positioning and navigation system of this invention has an identification and authentication module primarily used to authenticate and identify the specific identity information of vehicles using RFID tags entering large industrial and mining areas. Each RFID tag is equipped with an RFID electronic tag storing the vehicle's identification information. A processing program within the server terminal records the identity information of all RFID electronic tags authorized to enter the factory area. When a vehicle using an RFID tag enters the factory area, the reading device reads the RFID electronic tag's identification information and uploads it to the server terminal. Factory management personnel can then perform a one-to-one matching between all RFID electronic tag information recorded on the server terminal and the vehicle's identity information. Through this process, the system can accurately associate the device with the vehicle, achieving identification and location tracking for each vehicle using an RFID tag. Factory management personnel can manage and query the binding status of RFID electronic tags with vehicles using RFID tags through the server terminal, ensuring that the RFID tag accurately reflects the real-time location information of the corresponding vehicle during positioning and monitoring. This improves the accuracy and management efficiency of vehicles using RFID tags within the vehicle indoor / outdoor positioning system of this invention.

[0176] The vehicle indoor and outdoor positioning and navigation system of the present invention also includes a hazard warning module. Specifically, the hazard warning module has several implementation methods in specific applications of the positioning and navigation system.

[0177] Example 1;

[0178] The system delineates danger zones within the real-world navigation scene. When the system detects a vehicle using the tagging terminal approaching or entering a danger zone, it sends a warning signal via the server terminal to the first tagging terminal, the second tagging terminal, a mobile display terminal, or a fixed display terminal. The driver of the vehicle using the tagging terminal responds to the warning signal from the first tagging terminal, the second tagging terminal, or the mobile display terminal to prompt the vehicle to leave the danger zone. Upon receiving the warning signal, management and security personnel supervise or urge the driver of the vehicle using the tagging terminal to leave the danger zone via the mobile display terminal or the fixed display terminal.

[0179] Example 2;

[0180] The system sets up an electronic fence within the positioning and navigation scenario. When the system detects a vehicle using the tagging terminal approaching or entering the electronic fence, it sends a warning signal via the server terminal to the first tagging terminal, the second tagging terminal, a mobile display terminal, or a fixed display terminal. The driver of the vehicle using the tagging terminal is prompted to leave the electronic fence area via the warning signal from the first tagging terminal, the second tagging terminal, or the mobile display terminal. After receiving the warning signal, management and security personnel supervise or urge the driver of the vehicle using the tagging terminal to leave the electronic fence area via the mobile display terminal or the fixed display terminal.

[0181] Example 3;

[0182] When the system detects that the steering wheel position, heading, attitude, and altitude data of the vehicle using the attached terminal have not been updated for an extended period, the system sends a warning signal to the first attached terminal, the second attached terminal, the mobile display terminal, or the fixed display terminal via the server terminal. In the operation of the vehicle indoor / outdoor positioning and navigation system of this invention, prolonged lack of updates by the first and second attached terminals often manifests as the attached terminal detaching from the steering wheel or vehicle body, or the vehicle remaining in a single, non-moving state for an extended period. When the first or second attached terminal detaches from the steering wheel or vehicle body, the driver can detect and locate it via the warning signal from the mobile display terminal, or with the assistance of management and security personnel, via the warning signals from both the mobile and fixed display terminals. When the vehicle remains in a non-moving state for an extended period, the driver can adjust their movement after receiving the warning signal via the mobile display terminal, or provide feedback to the system via the mobile display terminal indicating that the vehicle is in a safe state.

[0183] Example 4;

[0184] The system records and stores data on the wheel position, driving posture, and trajectory of vehicles using the first and second sticker terminals under normal conditions. During daily use, when abnormalities occur in the vehicle's motion data, the system uses AI algorithms to analyze the differences between the abnormal information and the recorded data on the vehicle's wheel position, driving posture, and trajectory under normal conditions. Once the system identifies these abnormalities in the driving data of the vehicles using the first and second sticker terminals, it sends a warning signal via the server terminal to the first or second sticker terminal, a mobile display terminal, or a fixed display terminal. The vehicle driver receives the warning signal via the mobile display terminal and adjusts the vehicle's driving posture or stops driving. Management and security personnel, upon receiving the warning signal, supervise or urge the vehicle driver to adjust the vehicle's driving posture or stop driving via the mobile or fixed display terminal.

[0185] Example 5;

[0186] When the system detects that the data information from the first and second tagging terminals sent by the reading devices set up within the navigation view is inconsistent with the data information stored in the system, the system sends a warning signal through the server terminal to the first tagging terminal, the second tagging terminal, the mobile display terminal, or the fixed display terminal. The driver is prompted by the warning signal from the first tagging terminal, the second tagging terminal, or the mobile display terminal to leave the area where the reading devices are set up within the navigation view or to stop driving. After receiving the warning signal, management personnel and security personnel supervise or urge the driver to leave the area where the reading devices are set up within the navigation view or to stop driving through the mobile display terminal or the fixed display terminal.

[0187] Example 6;

[0188] The system monitors the driving time of vehicles using the first and second sticker terminals within a specific area of ​​the navigation view in real time using location data. If the driving time exceeds the system's preset safety threshold, the system sends a warning signal to the first or second sticker terminal, or a mobile or fixed display terminal via the server terminal. The driver, prompted by the warning signal, drives the vehicle away from the designated area within the navigation view or stops driving. Management and security personnel, upon receiving the warning signal, supervise or urge the driver to leave the designated area or stop driving via the mobile or fixed display terminal.

[0189] Example 7;

[0190] The positioning beacon transmits data collected by its built-in barometer and accelerometer via Bluetooth broadcast signals. When the system detects changes in the beacon's barometer and accelerometer data through the first or second attachment terminal, the fixed beacon transmits its built-in barometer and accelerometer data via real-time Bluetooth broadcast signals. The fixed beacon continuously monitors its own status using the first or second attachment terminal. When the beacon is in a normally fixed state, the readings of its internal barometer and accelerometer remain stable. Once the positioning beacon is moved or experiences abnormal displacement, the first or second attachment terminal will receive a warning signal indicating significant movement or vibration changes in the beacon's barometer or accelerometer, thus indicating that the system may have moved or damaged the positioning beacon.

[0191] In the aforementioned specific embodiments one to six of the vehicle indoor and outdoor positioning and navigation system of the present invention, the location and trajectory information of the vehicle used by the first and second attachment terminals, as well as the location and trajectory information of the management personnel or security personnel carrying mobile display terminals, are further displayed on a fixed display terminal. After receiving a warning signal, the management personnel and security personnel can use the vehicle location information displayed on the mobile display terminal or the fixed display terminal to check the specific status of the vehicle and driver using the first and second attachment terminals on-site.

[0192] The vehicle indoor and outdoor positioning and navigation system of the present invention also includes an alarm and rescue module. Specifically, the alarm and rescue module has several implementation methods in the specific application of the positioning and navigation system.

[0193] Example 1;

[0194] When the system cannot detect the signal of the first or second sticker terminal, or the signal of the first or second sticker terminal suddenly disappears, or the signal of the first or second sticker terminal fluctuates violently, the system sends location information and a rescue signal through the server terminal to the back-end management personnel, security personnel, drivers of other vehicles using the first or second sticker terminals nearby, or other users of mobile display terminals. The management personnel, security personnel, drivers of other vehicles using the first or second sticker terminals nearby, or other users of mobile display terminals receive the location information of the rescue signal through the sticker terminal displayed on the mobile or fixed display terminal and proceed to the scene to rescue and assist the vehicle or driver.

[0195] Example 2;

[0196] When the system receives a warning signal that the first or second tagging terminal has entered a danger zone or electronic fence and issues a warning signal to the drivers of the vehicles using the first and second tagging terminals, the system continuously monitors the wheel position, heading, driving posture, and altitude data of the vehicles using the tagging terminals. If there are no changes, or if there are drastic fluctuations in these data, the system sends location information and a rescue signal via the server terminal to back-end management personnel, security personnel, drivers of other nearby tagging terminals, or users of other mobile display terminals. Management personnel, security personnel, drivers of other nearby tagging terminals, or users of mobile display terminals can then use the location information displayed on their mobile or fixed display terminals to receive the rescue signal and proceed to the scene to rescue and assist the vehicles and drivers using the first and second tagging terminals.

[0197] The vehicle indoor and outdoor positioning and navigation system of the present invention also includes a data storage and analysis module. Specifically, the data storage and analysis module has the following various implementation methods in specific applications of the positioning and navigation system.

[0198] Example 1;

[0199] The system automatically counts the number of first and second tagging terminals within the real-time location and navigation view. By analyzing the number of tags, it determines the traffic flow and density of vehicles using these terminals within the area. Management personnel can use this data to control traffic flow in real-time via a server terminal. Security personnel can also use this data to enhance real-time patrols of specific controlled areas.

[0200] Example 2;

[0201] The system stores historical motion data of the first and second tagging terminals of several vehicles through the service terminal. Through big data analysis, it generates motion trajectory data of each vehicle using the tagging terminal and its driver behavior preference data. Managers provide customized and personalized management and services based on the motion trajectory data of the first and second tagging terminals and their driver behavior preference data recorded by the system.

[0202] Example 3;

[0203] The system monitors the real-time location information of the first and second tagging terminals to track the exact times when vehicles enter and leave the real-world navigation scene. Based on this time data, the system calculates the attendance coefficient and working hours of the drivers using the tagging terminals, further analyzing the work efficiency of the vehicles and their drivers at both terminals. Managers can then adjust driver salaries and additional bonuses based on the attendance coefficients and working hours recorded by the server.

[0204] The first and second attachment terminals in the vehicle indoor and outdoor positioning and navigation system of the present invention will be further described below with reference to the accompanying drawings and specific embodiments.

[0205] As shown in Figure 8, the first attachment terminal A1 and the second attachment terminal A2 are hardware devices that are attached to the wheels and the vehicle body to monitor and acquire vehicle dynamics in real time. The optimal configuration is that the first attachment terminal A1 is attached and fixed to the vehicle's steering wheel, rotating with the steering wheel to monitor its state information. The second attachment terminal A2 is attached and fixed to the vehicle body to monitor the vehicle's position and direction information. Both the first and second attachment terminals A1 and A2, through their built-in sensor modules, monitor and acquire vehicle driving dynamics in real time and upload the acquired vehicle dynamic information to the server terminal.

[0206] The structure of the first attach terminal A1 is shown in Figure 9. The outer casing 1 of the first attach terminal A1 contains a PCB integrated circuit board 2 and a positioning and initialization identification unit 3, a cycle state identification unit 4, a wireless communication unit 6, and a power supply unit 6, all electrically connected to the PCB integrated circuit board. The outer casing 1 consists of an upper casing 1a and a lower casing 1b.

[0207] The structure of the second attach terminal A1 is shown in Figure 9. The outer casing 1 of the second attach terminal A2 contains a PCB integrated circuit board and a positioning and initialization identification unit 1, a wireless communication unit 3, and a power supply unit 4, all electrically connected to the PCB integrated circuit board. The outer casing 1 consists of an upper casing 1a and a lower casing 1b.

[0208] As shown in Figures 8 and 9, the positioning and initialization identification unit 3 of the first attachment terminal A1 is used for initial positioning and initial attitude identification on the vehicle's steering wheels after power-on. The positioning and initialization identification unit 3 of the second attachment terminal A2 is used for initial positioning and initial attitude identification on the vehicle body after power-on. The positioning and initialization identification unit 3 includes a GPS module 3a, an IMU inertial measurement module 3b, and a magnetometer 3c.

[0209] Referring to Figure 8, the GPS modules 1a of the first attachment terminal A1 and the second attachment terminal A2 receive satellite signals and read the GPS data of the attachment terminals through the map loading module of the server terminal, thereby achieving accurate positioning of the attachment terminals and real-time monitoring and tracking of the location of the vehicles using the attachment terminals. Furthermore, the GPS module 1a can employ a low-power satellite chip integrating GNSS dual-frequency positioning (such as L1+L5 bands).

[0210] Referring to Figures 8, 9, and 10, the magnetometer 3c achieves navigation and positioning functions by detecting the strength and direction of the magnetic field. It utilizes the principles of anisotropic magnetoresistive force, the Hall effect, or the Lorentz force to sense the magnetic induction intensity through changes in the electromagnetic field, thereby identifying the direction, azimuth, and orientation angle of the first attachment terminal A1 and the second attachment terminal A2. The first attachment terminal A1 identifies the direction, azimuth, and orientation angle of the vehicle's steering wheels, while the first attachment terminal A2 identifies the direction, azimuth, and orientation angle of the vehicle body. The server terminal B calculates the orientation and angle of the vehicle body and steering wheels in either the active or stationary state based on the directions and azimuth angles of the two attachment terminals.

[0211] As shown in Figure 9, vehicle attitude initialization is performed through the IMU (Inertial Measurement Unit) module 3b. The IMU module 1b is a six-axis multi-sensor fusion system, including an integrated 3-axis gyroscope 3b1 and a 3-axis accelerometer 3b2. After the IMU has been stationary for a period of time, the system can analyze the data from the accelerometer 3b2 and gyroscope 3b1 to measure the acceleration and angular velocity information of the attached terminal, thereby determining the absolute orientation of the attached terminal. Referring to Figure 8, the first attached terminal A1 calculates and identifies the relative attitude of the steering wheels, and the second attached terminal A2 calculates and identifies the relative attitude of the vehicle body. The server terminal B calculates the vehicle's motion attitude based on the attitudes of the two attached terminals, providing accurate orientation and motion information for subsequent positioning or trajectory analysis.

[0212] As shown in Figure 9, the wheel state recognition unit 4 is used by the first attachment terminal A1 to identify the steering wheel rotation frequency, number of rotations, and changes in vehicle movement direction and height during vehicle operation. It includes an accelerometer 4a, a gyroscope 4c, and a barometer 4d, which are separately mounted on the PCB integrated circuit board 2, independent of the IMU inertial measurement module 3b.

[0213] Referring to Figures 8 and 9, the accelerometer 4a collects acceleration data of the steering wheel rotation during vehicle operation. The system uses the accelerometer 4a to collect acceleration data of the rotating steering wheel and performs spectral analysis on this data to identify periodic peaks in the acceleration signal. Each peak corresponds to one complete rotation of the steering wheel, and the time interval between peaks reflects the speed of the steering wheel rotation. By analyzing the frequency of the peaks, the system can accurately determine the rotation frequency of the vehicle's steering wheel. The system calculates the circumference of the vehicle's steering wheel rotation using preset specifications and models of the vehicle's steering wheel tires. The server terminal B then calculates the vehicle's speed by adding the rotation frequency and circumference of the steering wheel.

[0214] Referring to Figures 8 and 9, when the vehicle's steering wheel rotates at high speed, the gyroscope 4c detects the angular motion of the first attachment terminal that rotates with the steering wheel by using the angular momentum characteristic. The server terminal B can calculate the angular displacement or angular velocity of the vehicle's steering wheel relative to the inertial space by using the angular motion information of the first attachment terminal A1.

[0215] Referring to Figures 8 and 9, the gyroscope 4c identifies the relative angular velocity information of the vehicle's steering wheels, and the magnetometer 3c provides reference information for the vehicle's absolute direction of travel. The system uses a Kalman filter algorithm to fuse the data from these three sources. The Kalman filter can effectively filter out noise during dynamic changes and estimate the absolute angle and absolute direction values ​​of the current first attachment terminal A1, thereby achieving accurate identification of the vehicle's direction information under different motion states.

[0216] Referring to Figure 9, the barometer 4d is used to provide information on the relative altitude of the vehicle. The system first acquires reference sea-level air pressure data as a benchmark. Then, by combining the current barometer reading of barometer 4d with a physical model of atmospheric pressure and altitude (such as the international standard atmospheric model), the system can accurately calculate the altitude of the attached terminal relative to the sea level, further providing real-time monitoring information on changes in vehicle altitude.

[0217] Referring to Figure 9, the invention provides an indoor and outdoor positioning and navigation system for vehicles. This system uses the GPS module 1a of the positioning and initialization identification unit 1 of the attached terminal and the barometer 4d of the wheel state identification unit 4 to complete the positioning and navigation in three-dimensional space within roads, buildings, factories, and mining areas. The GPS module 1a is used for XY axis coordinate positioning, and the barometer 4d is used for Z axis coordinate positioning.

[0218] As shown in Figures 8 and 9, the wireless communication unit 5 is used for data communication between the first attached terminal A1 and the second attached terminal A2 and the server terminal B, and between the server terminal B and the display terminal C. It consists of one or more modules, including an NB-IoT narrowband Internet of Things module 5a, a Bluetooth communication module 5b, a cellular mobile communication module 5c, a LoRa module 5d, and a Wi-Fi module 5e.

[0219] Referring to Figures 8 and 9, the first and second attached terminals A1 and B, and server B and display terminal C, establish data communication connections via one or two of the following modules: NB-IoT narrowband Internet of Things module 5a, cellular mobile communication module 5c, LoRa module 5a, and Wi-Fi module 5e. The first or second attached terminal A1 establishes data communication connections with other hardware via Bluetooth communication module 5b.

[0220] As shown in Figures 9 and 10, the power supply unit is used to supply the power required for the standby or working state of the first mounting terminal A1 or the second mounting terminal A2. The power supply unit includes a power management chip 6a, a switch 6b, a battery 6c, and a charging element that are electrically connected to the PCB integrated circuit board 2.

[0221] The vehicle indoor and outdoor positioning and navigation system of the present invention includes the following configuration modes for its first or second attachment terminal charging element;

[0222] Referring to Figure 11, (i) the charging element 6d is a wireless receiving coil 61 electrically connected to the power management chip and disposed inside the housing of the first attach terminal A1 or the second attach terminal A2. (ii) the charging element is a charging port 62 electrically connected to the power management chip and disposed inside the housing of the first attach terminal A1 or the second attach terminal A2. (iii) the charging element is a solar panel 63 electrically connected to the power management chip and disposed outside the housing of the first attach terminal A1 or the second attach terminal A2.

[0223] The vehicle indoor and outdoor positioning and navigation system of the present invention includes a server terminal as shown in Figures 8 and 9. The server terminal B is equipped with a wireless communication unit 5 that matches the first attachment terminal A1 and the second attachment terminal A2. The server terminal B, the first attachment terminal A1, and the second attachment terminal A2 establish wireless communication connections through the following two modes.

[0224] Mode 1;

[0225] Server terminal B establishes an interactive communication connection with the first sticker terminal A1 and the second sticker terminal A2 simultaneously through wireless communication unit 5. Server terminal B receives and stores the steering wheel angle and rotation information monitored by the first sticker terminal A1, and at the same time receives and stores the vehicle trajectory, direction and position information monitored by the second sticker terminal A2.

[0226] Mode 2;

[0227] Server terminal B establishes an interactive communication connection with either the first attachment terminal A1 or the second attachment terminal A2 via wireless communication unit 5. The first attachment terminal A1 and the second attachment terminal A2 also establish an interactive communication connection via wireless communication unit 5. The server terminal receives wheel state information of the steering wheels monitored by the first attachment terminal and vehicle direction and position information monitored by the second attachment terminal via either the first or second attachment terminal.

[0228] Furthermore, referring to Figure 8, server terminal B is responsible for receiving data from multiple groups of attached terminals (one first attached terminal A1 and one second attached terminal A2 form a group) and display terminal C. Referring to Figure 9, each group of attached terminals establishes a communication connection with server terminal B through an NB-IoT narrowband IoT module 5a, a cellular mobile communication module 5c, a LoRa module 5d, or a Wi-Fi module 5e. It uploads real-time vehicle driving information (including acceleration, direction, position, etc.) sensor data to server terminal B via an encrypted internet connection. Server terminal B seamlessly integrates with mainstream online map positioning and navigation systems.

[0229] The vehicle indoor and outdoor positioning and navigation system of this invention comprises a positioning and navigation area within the server terminal, consisting of an accessed online map, imported 3D scene models of buildings, and 3D scene models of factories and mines. The 3D scene models of buildings and factories / mines are generated by panoramic scanning or 3D modeling of actual buildings and factories / mines, and then imported into the server terminal. The server terminal can simultaneously process data streams from multiple attached terminals, ensuring real-time data reception and processing even under high load, and supporting parallel positioning of multiple attached terminals in road, commercial area, and factory / mine area scenarios.

[0230] Online maps provide accurate geographic reference coordinates and real-time navigation data. During system operation, the server retrieves geographic information from map services and combines it with the user's real-time location to generate personalized navigation routes. This functionality allows users to navigate easily in complex environments such as ships, buildings, or industrial sites, helping managers and operators move efficiently across a wide range of work scenarios.

[0231] 3D model scenes of buildings and factories / mines are particularly suitable for multi-layered, multi-functional shipbuilding or large industrial scenarios. By interfacing with the 3D models, the server can present a 3D visualization scene on a map display terminal, showcasing multi-layered building structures and the real-time distribution of vehicle positions within them. This 3D modeling technology provides managers with a clearer global view, facilitating real-time monitoring of vehicle operating status and activity trajectories, and is especially suitable for emergency management and dispatching in complex scenarios.

[0232] Referring further to Figure 8, in the vehicle indoor and outdoor positioning and navigation system of the present invention, a data storage and analysis module is provided in the server terminal B. Specifically, the data storage and analysis module has several implementation methods in the specific application of the hardware terminal for vehicle inertial navigation.

[0233] Example 1;

[0234] The data storage and analysis module automatically counts the number of multiple sets of sticker terminals (one first sticker terminal A1 and one second sticker terminal A2 form a group) in the positioning and navigation area, and analyzes the traffic flow and density information of vehicles using sticker terminals in the area by analyzing the number of sticker terminal groups.

[0235] Example 2;

[0236] The data storage and analysis module stores the historical motion data of multiple sets of sticker terminals (one first sticker terminal A1 and one second sticker terminal A2 as a group) through the service terminal, and generates the driving trajectory and travel status data of the vehicles using each set of sticker terminals through big data analysis.

[0237] Example 3;

[0238] The data storage and analysis module monitors the real-time location information of multiple sets of attached terminals (one first attached terminal A1 and one second attached terminal A2 as a group) through the service terminal, tracking the specific times when the vehicles using these terminals enter and leave the positioning and navigation area.

[0239] Referring to Figure 8, the vehicle indoor and outdoor positioning and navigation system of the present invention is used to display the wheel state, driving trajectory and location information of the vehicle used by multiple sets of attached terminals (a first attached terminal A1 and a second attached terminal A2 as a set) received and stored by the server terminal B. It is equipped with a wireless communication unit 5 (as shown in Figure 9) that matches the first attached terminal A1 and the second attached terminal A2.

[0240] Referring further to Figure 8, the display terminal C can synchronize data with the first attachment terminal A1 and a second attachment terminal A2 via the server terminal B, displaying the current location information of the vehicles used by the first attachment terminal A1 and the second attachment terminal A2 in real time. The display terminal C establishes a communication connection with the server terminal B via a wireless communication unit or data cable, displaying the wheel status information monitored by the first attachment terminal A1 and the trajectory, direction, and location information of the vehicles monitored by the second attachment terminal A2, received and stored by the server terminal B. The location of each vehicle is displayed as an icon within the positioning and navigation area, allowing managers to clearly see their distribution throughout the workplace. This function is particularly important in complex scenarios such as ships and construction sites, helping managers quickly identify vehicles in key locations and make corresponding dispatching decisions.

[0241] Referring further to Figure 8, the display terminal C is composed of one or more of a fixed display screen C1, a vehicle central control screen, and a mobile display C2.

[0242] The fixed display screen C1 is typically a large screen fixed to an indoor wall, but it can also be a desktop computer monitor. After connecting to the server terminal B via wireless communication technology or a data cable, the fixed display screen C1 synchronizes data with the first attached terminal A1 and one second attached terminal A2. The location of the vehicle used by each of the first attached terminal A1 and the second attached terminal A2 is displayed as an icon within the positioning and navigation area, and the steering wheel angle, rotation speed, trajectory, direction, and position information of the vehicle used by the first attached terminal A1 and the second attached terminal A2 are displayed in real time.

[0243] The mobile display C2 is typically a mobile phone or tablet computer, but can also be a portable handheld display with human-computer interaction capabilities. After connecting to the server terminal B via wireless communication technology, the mobile display C2 synchronizes data with the first attachment terminal A1 and the second attachment terminal A2. The location of the vehicle used by each of the first attachment terminal A1 and the second attachment terminal A2 is displayed as an icon within the positioning and navigation area, and the steering wheel angle, rotation speed, trajectory, direction, and position information of the vehicle used by the first attachment terminal A1 and the second attachment terminal A2 are displayed in real time.

[0244] When the display terminal C includes a fixed display screen C1 and a vehicle central control screen, the fixed display screen C1 displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 within the navigation area, and the vehicle central control screen displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 of the vehicle.

[0245] When the display terminal C includes a fixed display screen C1 and a mobile display screen C2, the fixed display screen C1 displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 within the navigation area, and the mobile display screen C2 displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 within the navigation area.

[0246] When the display terminal C includes a vehicle central control screen and a mobile display C2, the vehicle central control screen displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 of the vehicle, and the mobile display C2 displays the vehicle information monitored by the first attachment terminal A1 and the second attachment terminal A2 within the navigation area.

[0247] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 8, the mobile display C2 and a set of attached terminals (a first attached terminal A1 and a second attached terminal A2) are simultaneously carried and used by the same vehicle. The vehicle using the set of attached terminals A1 / A2 can display the specific steering wheel angle, rotation speed, vehicle trajectory, direction, and position information of its location within the positioning and navigation area via the mobile display C2. The fixed display screen C1 separately displays the steering wheel angle, rotation speed, vehicle trajectory, direction, and position information of the vehicle using the set of attached terminals A1 / A2 within the positioning and navigation area.

[0248] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 8, the set of attached terminals (a first attached terminal A1 and a second attached terminal A2) is carried by the vehicle, and the mobile display C2 is carried by the vehicle driver and manager respectively. The vehicle driver and manager can display the specific location and movement trajectory of the vehicle using the set of attached terminals A1 / A2 in the positioning and navigation area through the mobile display C2. The fixed display screen C1 in the positioning and navigation system either displays the location and movement trajectory of the vehicle using the set of attached terminals A1 / A2 alone, or displays the location and movement trajectory of the vehicle using the set of attached terminals A1 / A2 and the mobile display C2 simultaneously.

[0249] In the vehicle indoor and outdoor positioning and navigation system of the present invention, referring to Figure 8, the one or more mobile displays C2 can simultaneously display the specific location and driving trajectory of several sets of attached terminals (a first attached terminal A1 and a second attached terminal A2) using the vehicle in the positioning and navigation area. This embodiment is applied to the positioning and motion trajectory tracking of several sets of attached terminals A1 / A2 using vehicles (work vehicles) in the real-world work environment within a large factory or mining area. The mobile displays C2 are carried by managers or vehicle drivers within the factory or mining area. Several sets of attached terminals A1 / A2 are attached to the steering wheels and body of their corresponding vehicles. The vehicle driver or manager can monitor the positioning and motion trajectory information of the several sets of attached terminals A1 / A2 using the vehicles (work vehicles) in real time within the large factory or mining area through the mobile displays C2 or the fixed display screen C1.

[0250] To make the vehicle indoor and outdoor positioning and navigation system of the present invention more compatible and to further improve its positioning and trajectory recognition accuracy during vehicle operation.

[0251] As shown in Figures 8 and 9, the first attachment terminal A1 and the second attachment terminal A2 are also equipped with a beacon identification unit. The beacon identification unit includes a Bluetooth SOC chip 7a and a beacon body (shown in Figure 8). The Bluetooth SOC chip 7a is located inside the first attachment terminal A1 or the second attachment terminal A2 and is electrically connected to the PCB integrated circuit board 2. The beacon body is located within the positioning and navigation area. The Bluetooth SOC chip 7a in the first attachment terminal A1 or the second attachment terminal A2 communicates unidirectionally with the beacon body within the positioning and navigation area via the Bluetooth communication module 5b.

[0252] As shown in Figures 8 and 9, the hardware terminal administrator deploys the beacon within the positioning and navigation area according to the system's recommended location. The deployed beacon establishes a wireless connection with either the first attachment terminal A1 or the second attachment terminal A2 via Bluetooth. The server terminal B merges the beacon's location data with the positioning data from either the first attachment terminal A1 or the second attachment terminal A2. The location information provided by the beacon is obtained by either the first attachment terminal A1 or the second attachment terminal A2 via Bluetooth communication. This beacon location information provides high-precision positioning data within the server terminal B's positioning and navigation area. The first attachment terminal A1 or the second attachment terminal A2 then transmits the beacon's location information to the server terminal B via wireless communication to further determine the location of the vehicle in use.

[0253] To expand the commercial management functions of the vehicle indoor and outdoor positioning and navigation system of the present invention, and to enable the affixing terminal to have the function of identifying and managing vehicle identity information, the first affixing terminal or the second affixing terminal is also equipped with an electronic tag.

[0254] As shown in Figures 8 and 9, the electronic tag includes a coupling element 8a, an RFID chip 8b, and a reading device. The coupling element 8a and the RFID chip 8b are disposed in the first attachment terminal A1 or the second attachment terminal A2 and are electrically connected to the PCB integrated circuit board 2.

[0255] Referring to Figure 8, the reading device is set within the positioning and navigation area. The server terminal B contains a processing program. When the first attached terminal A1 or the second attached terminal A2 uses a vehicle to enter the area where the reading device is set within the map view, building view, or factory / mining area view, the coupling element 8a within the first attached terminal A1 or the second attached terminal A2 establishes a data connection with the reading device. The reading device reads the RFID chip 8b data information of the first attached terminal A1 or the second attached terminal A2. After the system identifies and authenticates the RFID chip 8b data information, it sends the identification information to the server terminal B, which then further authenticates and confirms it.

[0256] Referring to Figure 8, the electronic tags of the hardware terminals are mainly used to authenticate and identify the specific identity information of vehicles using the first tagging terminal A1 and the second tagging terminal A2 to enter the large factory and mining area. The first tagging terminal A1 or the second tagging terminal A2 is equipped with RFID electronic tags, which store the vehicle's identification information. The processing program in the server terminal B records the identity information of all RFID electronic tag vehicles authorized to enter the factory area.

[0257] When vehicles using the first tagging terminal A1 and the second tagging terminal A2 enter the factory area, the reading device reads the RFID tag identification information of the vehicles and uploads it to the server terminal B. Factory management personnel can then use the RFID tag information recorded on the server terminal B to perform a one-to-one matching with the vehicle identification information of the first tagging terminal A1 and the second tagging terminal A2. Through this process, the system can accurately associate vehicles with their drivers, achieving identification and location tracking for each vehicle using the first tagging terminal A1 and the second tagging terminal A2. Factory management personnel can manage and query the binding status of RFID tags with vehicles through the server terminal B, ensuring that the first tagging terminal A1 and the second tagging terminal A2 accurately reflect the real-time location information of the corresponding vehicles during positioning and monitoring. This improves the positioning accuracy and management efficiency of vehicles using the first tagging terminal A1 and the second tagging terminal A2.

[0258] To enhance the operational stability and accuracy of the first attachment terminal in the vehicle indoor and outdoor positioning and navigation system of the present invention, further monitor the stability of the first attachment terminal on the vehicle steering wheel, and monitor the uncertain damage to the first attachment terminal when the vehicle steering wheel rotates at high speed in real time, the first attachment terminal also includes a vibration sensor.

[0259] As shown in Figure 10, the vibration sensor 9a is electrically connected to the PCB integrated circuit board 2. The vibration sensor 9a monitors in real time the frequency and amplitude information of the first attachment terminal A1 relative to the steering wheel when it rotates with the vehicle's steering wheel, and also monitors in real time the frequency and amplitude information of the vehicle's steering wheel relative to the vehicle body when it is in motion, and sends the frequency and amplitude information of both to the server terminal through the wireless communication unit 5.

[0260] Referring to Figure 10, the first attachment terminal A1 is attached to the vehicle's steering wheel and rotates with it. The sensitive element (such as a MEMS chip or piezoelectric material) of the vibration sensor 9a senses the vibration signal. Through the piezoelectric effect, magnetoelectric effect, or eddy current principle, the vibration sensor 91 converts the mechanical vibration signal of the first attachment terminal A1, which rotates at high speed with the steering wheel, into an electrical signal. When the first attachment terminal A1 becomes loose or displaced on the steering wheel, parameters such as displacement, rotational speed, and acceleration of the first attachment terminal A1 on the steering wheel will become abnormal. The output signal of the vibration sensor 91 is amplified and processed, and the data analysis of the server terminal enables real-time monitoring and surveillance of the status of the first attachment terminal A1. The system will issue a fault warning or remote diagnostic prompt for the first attachment terminal A1 through the server terminal.

[0261] The vehicle indoor and outdoor positioning and navigation system of the present invention further includes a warning unit composed of a buzzer, a warning light speaker, or a combination of two or more of them in the first or second attachment terminal.

[0262] As shown in Figure 10, the buzzer 9a, warning light 9b, and speaker 9c are mounted on the first attachment terminal A1 or the second attachment terminal A2 and electrically connected to its PCB integrated circuit board 2. When the program in the server terminal determines that the vehicle using the attachment terminal is in a dangerous state, the server terminal drives the warning light 9b, buzzer 9a, or speaker 9c installed in the first attachment terminal A1 or the second attachment terminal A2 to issue a warning.

[0263] Example 1 of the warning unit's operation (refer to Figure 8);

[0264] The server terminal delineates danger zones or electronic fences within the positioning and navigation area and issues real-time alerts to vehicles using attached terminals that enter the area via warning units on the first or second attached terminal. When the system within the server terminal detects that the first or second attached terminal is approaching or entering a danger zone or electronic fence, the system sends a warning signal to the first or second attached terminal via the server terminal. Upon receiving the warning signal, the driver of the attached terminal vehicle drives the vehicle away from the danger zone. Simultaneously, the system sends a warning signal to a display terminal (fixed display screen, vehicle center console screen, or mobile display). Management and security personnel, upon receiving the alarm signal, monitor or urge the driver of the attached terminal vehicle to leave the danger zone or electronic fence via the display terminal (fixed display screen, vehicle center console screen, or mobile display).

[0265] This function is applicable to scenarios such as shipbuilding, construction sites, and warehouses. By pre-defining hazardous areas (such as high-voltage areas, hazardous operation areas, and construction sites), the server terminal can monitor whether vehicles enter these areas and send notifications or alarms to relevant personnel and managers through the display terminal. This function significantly improves the efficiency of vehicle safety management in factories and mines, and reduces the occurrence of safety accidents.

[0266] Example 2 of the warning unit operation (refer to Figure 8);

[0267] When the server terminal system detects that the wheel position, heading, vehicle direction, and altitude data of the vehicles using the first and second affixing terminals have not been updated for an extended period, or when the server terminal system monitors in real time, via positioning data, that the driving time of the vehicles using the first and second affixing terminals in a specific area within the positioning and navigation area exceeds the system's preset time safety limit threshold, the system will send a warning signal to the first or second affixing terminal via the server terminal. Upon receiving the warning signal, the driver of the vehicle using the affixing terminal will adjust their driving posture or stop driving. Simultaneously, the system will send a warning signal to the display terminal (fixed display screen, vehicle center console screen, or mobile display). Upon receiving the alarm signal, management and security personnel will supervise or urge the driver of the vehicle using the affixing terminal to adjust their driving posture or stop driving via the display terminal (fixed display screen, vehicle center console screen, or mobile display).

[0268] Example 3 of the warning unit operation (refer to Figure 8);

[0269] The server terminal system records and stores data on the wheel position, direction, and trajectory of vehicles using the first and second sticker terminals under normal conditions. When the real-time driving data received by the server terminal is inconsistent with the recorded data, the system sends a warning signal to either the first or second sticker terminal. Upon receiving the warning signal, the driver of the vehicle using the sticker terminal adjusts their driving posture or stops driving. Simultaneously, the system sends a warning signal to the display terminal (fixed display screen, vehicle center console screen, or mobile monitor). Upon receiving the alarm signal, management and security personnel monitor or urge the driver of the vehicle using the sticker terminal to adjust their driving posture or stop driving through the display terminal (fixed display screen, vehicle center console screen, or mobile monitor).

[0270] Example 4 of the warning unit operation (refer to Figure 8);

[0271] When the server terminal system detects that the data information from the electronic tag in the first or second affixed terminal sent by the reading device set up within the positioning and navigation area is inconsistent with the data information stored in the system, or when the server terminal system monitors in real time through positioning data that the time the vehicle using the affixed terminal travels in a specific area within the positioning and navigation area exceeds the system's preset time safety limit threshold, the system sends a warning signal to the first or second affixed terminal through the server terminal. After receiving the warning signal, the driver of the vehicle using the affixed terminal drives the vehicle away from the specific area set by the reading device within the navigation real-view or stops driving the vehicle. At the same time, the system sends a warning signal to the display terminal (fixed display screen, vehicle central control screen, or mobile display) through the server terminal. After receiving the alarm signal, management personnel and security personnel supervise or urge the driver of the vehicle using the affixed terminal to drive the vehicle away from the specific area set by the reading device within the navigation real-view or stop driving the vehicle through the display terminal (fixed display screen, vehicle central control screen, or mobile display).

[0272] In the above-described specific embodiments one to four of the vehicle indoor and outdoor positioning and navigation system of the present invention, further (referring to Figure 8), the location and trajectory information of the vehicle used by the first or second affixed terminal, the location and trajectory information of the management personnel and security personnel carrying the mobile display are displayed on a fixed display terminal; or the location and trajectory information of the vehicle used by the first or second affixed terminal, the location and trajectory information of the management personnel and security personnel carrying the mobile display are displayed on the central control screen of the vehicle in which the management personnel and security personnel are riding. After receiving the warning signal, the management personnel and security personnel can check the specific status of the vehicle used by the affixed terminal on-site through the location information of the vehicle used by the first or second affixed terminal displayed on the central control screen or mobile display.

[0273] The above is a detailed description of the vehicle indoor and outdoor positioning and navigation system and its wheel trajectory recognition algorithm provided by the embodiments of the present invention. For those skilled in the art, based on the ideas of the embodiments of the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be construed as a limitation of the present invention, and any changes made in accordance with the design ideas of the present invention are within the protection scope of the present invention.

Claims

1. A wheel trajectory recognition algorithm, characterized in that, A sensor is installed on the vehicle's steering wheel that rotates with the wheel; the recognition algorithm includes: Wheel state recognition algorithm, including wheel circumference length recognition and wheel rotation frequency recognition; The system obtains the current steering wheel circumference value by using the diameter data of the vehicle model and tire specification table pre-established by the system. The sensor collects the wheel rotation signal, and Fourier transforms the frequency domain characteristics of the acceleration and / or angular velocity in the wheel rotation signal. The time domain signal of the frequency domain characteristics is converted into a frequency domain signal by Fourier transform to obtain the wheel rotation circle value. The vehicle's driving speed, distance and position data are calculated by multiplying the wheel circumference value and the wheel rotation circle value. Direction recognition algorithm; The system pre-sets the rotation direction of the wheel corresponding to the clockwise and counterclockwise rotation frequency domain signals of the angular velocity vector of the sensor. When the sensor is in contact with the left front wheel of the vehicle, the system detects the counterclockwise rotation of the wheel through the angular velocity vector signal and identifies it as the vehicle is moving forward. Conversely, the vehicle is in a reversing state. Turning recognition algorithm; The system receives wheel state signals collected by different sensors in the attitude heading reference system (AHRS) of the sensing device, and calculates the attitude of the sensor device through a complementary filtering algorithm. By continuously correcting the changes in the orientation and tilt angle information of the sensor device, the system calculates the turning angle and direction of the vehicle. High-resolution recognition algorithm; Using the baseline air pressure information as a reference value, the sensor measures the real-time air pressure value at its altitude. The system calculates the current altitude data of the sensor by the air pressure difference between the baseline air pressure and the real-time air pressure of the sensor, and then estimates the current altitude of the vehicle relative to the ground.

2. The wheel trajectory recognition algorithm according to claim 1, characterized in that, The recognition algorithm also includes a posture recognition algorithm; The system analyzes and corrects the data deviations of the accelerometer and gyroscope collected by the IMU (Inertial Measurement Unit) of the sensor when the sensor is stationary, and determines the orientation of the sensor by combining the orientation data of the magnetometer (compass) of the sensor. The orientation of the parked vehicle is estimated by the orientation of the sensor.

3. The wheel trajectory recognition algorithm according to claim 1, characterized in that, The recognition algorithm also includes any one of the following algorithms: beacon fusion algorithm, map fusion algorithm, and GPS fusion algorithm, or a combination of two or more algorithms. The beacon fusion algorithm fuses beacon location data with sensor positioning data. After the sensor positioning data and beacon location data are predicted, corrected and optimized by Kalman filtering, the system recalculates the sensor position information in the dynamic environment, thereby identifying the vehicle's current position data. The map fusion algorithm generates a large number of random particles based on the historical trajectory information and current location information of the sensor. Each particle simulates and predicts different target movement states based on the movement information. The particle filtering algorithm matches the simulation results with the map to eliminate incorrect particle estimates. By continuously eliminating incorrect particle predictions, the estimation converges, identifies the specific location of the current sensor, and then calculates the vehicle's current location data. The GPS fusion algorithm, using a Kalman filter, combines the positioning data provided by the GPS sensor with the data from the inertial measurement unit (IMU) sensor built into the sensor. By weightedly fusing the GPS and IMU data, the Kalman filter dynamically adjusts the IMU sensor error to accurately determine the sensor's position information and calculate the vehicle's current position.

4. The wheel trajectory recognition algorithm according to claim 1, characterized in that, Height estimation algorithms include static vertical ascent and descent recognition and / or dynamic angular travel recognition; Static vertical lifting recognition; When the system monitors the wheel rotation and angular velocity vector values ​​in the sensor device and they are in a stationary state while the height value is changing, the system identifies the vehicle as being in a vertical lifting state while stationary based on the change in the height value of the sensor device. At the same time, the system calculates the change in the vehicle's height. Dynamic angle driving recognition; When the system monitors the wheel rotation value, angular velocity vector value, and height value in the sensor device, it identifies whether the vehicle is traveling at an angle (i.e., uphill or downhill) based on the changes in these three values. At the same time, the system calculates the changes in the vehicle's position and height.

5. A vehicle indoor and outdoor positioning and navigation system, comprising the wheel trajectory recognition algorithm as described in any one of claims 1-4, characterized in that, The positioning and navigation system also includes a first and second attachment terminals equipped with sensing devices, an initial positioning method, a display terminal, and a server terminal. The first attachment terminal is attached to the vehicle's steering wheel to sense the vehicle's driving dynamics, and the second attachment terminal is attached to the vehicle body to sense the vehicle's direction. The server terminal is a local server or cloud server connected to a positioning and navigation scenario. The positioning and navigation scenario corresponds to the real-time positioning and navigation scene while the vehicle is in motion. The display terminal is used to receive and display the positioning and motion trajectory data of the first and second attachment terminals within the positioning and navigation scenario. The initial positioning method includes the following steps: The S1 server terminal receives GPS location information from the first or second attachment terminal and uses an attitude recognition algorithm to confirm the vehicle's front direction and initial driving direction. The S2 server imports the data information received from the first and second attached terminals into the positioning and navigation scene within the server terminal. The S3 server sends the data imported in step S2 to the display terminal.

6. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation scene is any one of the following: map scene, building 3D model scene, and workplace 3D model scene, or a combination of two or more scenes. The corresponding positioning and navigation real scene is any one of the following: map real scene, building real scene, and workplace real scene, or a combination of two or more real scenes. The map scene can be any one of the online map scene, offline map scene, and simulated map scene, or a combination of two or more scenes; The 3D model scene of the building is generated by scanning the actual 3D scene of the building or by computer 3D modeling, and the 3D model scene of the workplace is generated by scanning the actual 3D scene of the workplace or by computer 3D modeling.

7. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation system also includes positioning beacons deployed within the positioning and navigation real-world scene; The positioning beacon establishes a wireless connection with the first or second attached terminal via Bluetooth. The data collected by its built-in barometer and accelerometer are transmitted outward via Bluetooth broadcast signals. When the system detects changes in the positioning beacon's barometer and accelerometer data, the positioning beacon sends out warning information via Bluetooth signals.

8. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The display terminal is a mobile display terminal and / or a fixed display terminal; The mobile display terminal, the first attachment terminal, and the second attachment terminal are all carried and used simultaneously in one vehicle; or The first and second attach terminals are carried and used by the same vehicle, while the mobile display terminal is carried and used by other personnel. The fixed display terminal in the positioning and navigation system separately displays the positioning and movement trajectory of the first attached terminal and / or the second attached terminal; or The fixed display terminal simultaneously displays the location and driving trajectory of the first attached terminal and / or the second attached terminal, as well as the mobile display terminal, in the positioning and navigation system.

9. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation system also includes an identification and authentication module consisting of an electronic tag, a reading device, and a computing program loaded in a server. The electronic tag is set in the first or second attachment terminal. The reading device is set up within the positioning and navigation real-world scene to read data information from nearby electronic tags. After the system identifies and authenticates the data information of the electronic tags, it sends an authentication command to the display terminal.

10. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation system also includes a hazard warning module; Within the real-world positioning and navigation scene, a danger zone is defined or an electronic fence is set up. When the system detects that the first or second attached terminal is approaching or entering the danger zone or electronic fence, the system sends a warning signal to the mobile display terminal and / or the fixed display terminal; or When the system detects that the wheel position, direction, steering, and height data of the first and second attach terminals have not been updated for an extended period, the system will issue a warning signal to the mobile display terminal and / or the fixed display terminal; or the system uses AI algorithms to analyze, record, and store data on the vehicle's speed, driving status, and driving trajectory under normal conditions using the first and second attach terminals. When abnormalities in the aforementioned driving data are identified by the system, the system will issue a warning signal to the mobile display terminal and / or the fixed display terminal; or When the system detects a discrepancy between the electronic tag data sent by the reading device and the stored data, the system sends a warning signal and location information to the fixed display terminal and security personnel; or The system monitors the dwell time of vehicles using the first and second attachment terminals in the real-time location navigation scene through positioning data. If the dwell time exceeds the system's preset time safety limit threshold, the system will send a warning signal to the mobile display terminal and / or the fixed display terminal.

11. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation system also includes an alarm and rescue module; When the system cannot detect the signals of the first and second attached terminals, or the signals of the first and second attached terminals suddenly disappear, or the signals of the first and second attached terminals fluctuate violently, the system sends location information and rescue signals to the back-end rescue personnel or other nearby mobile display terminals; or After receiving a warning signal that it has entered a dangerous area or an electronic fence, if the system detects that the wheel position, direction, posture, and height data of the first and second attached terminals have not changed or fluctuate drastically, the system will send location information and rescue signals to the back-end rescue personnel or other nearby mobile display terminals through the server terminal.

12. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The positioning and navigation system also includes a data storage and analysis module; The system automatically counts the first and second tagging terminals within the real-world positioning and navigation area, and analyzes the number to determine the traffic flow and density information of vehicles in the area; or The system stores historical travel data from several first and second tagging terminals, and uses big data analysis to generate travel trajectory and behavioral preference data for each vehicle, thereby providing customized personalized services for vehicles using the first and second tagging terminals; or The system monitors the specific times when vehicles enter and leave the real-time positioning and navigation scene by using the real-time positioning information of the first and second attachment terminals. Based on this time data, the system can calculate the vehicle's attendance coefficient and working hours, and further analyze the vehicle's working efficiency.

13. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The first mounting terminal housing is provided with a PCB integrated circuit board and a positioning and initialization identification unit, a wheel state identification unit, a wireless communication unit and a power supply unit electrically connected to the PCB integrated circuit board; The second mounting terminal housing is provided with a PCB integrated circuit board and a positioning and initialization identification unit, a wireless communication unit and a power supply unit electrically connected to the PCB integrated circuit board; The positioning and initialization identification unit includes a GPS module, a magnetometer, and an IMU inertial measurement module; The wheel state recognition unit includes an accelerometer, a gyroscope, and a barometer; The wireless communication unit includes one or more of the following modules: NB-IoT narrowband Internet of Things module, Bluetooth communication module, cellular mobile communication module, LoRa communication module, and Wi-Fi communication module. The power supply unit includes a power management chip, a switch, a battery, and charging components that are electrically connected to the PCB integrated circuit board.

14. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The server terminal is equipped with a wireless communication unit that matches the first and second attached terminals. The first and second attach terminals simultaneously establish interactive communication connections with the server terminal via a wireless communication unit. The server terminal simultaneously receives and stores wheel state information of the steering wheels detected by the first attach terminal and vehicle direction and position information detected by the second attach terminal; or The first and second attach terminals establish an interactive communication connection through a wireless communication unit. The server terminal establishes an interactive communication connection with either the first or second attach terminal through a wireless communication unit. The server terminal receives wheel state information of the steering wheel monitored by the first attach terminal and vehicle direction and position information monitored by the second attach terminal through the first or second attach terminal.

15. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The display terminal is equipped with a wireless communication unit that matches the first and second attach terminals; The display terminal establishes a communication connection with the server terminal via a wireless communication unit or data cable and displays the wheel status information monitored by the first attachment terminal and the vehicle direction and position information monitored by the second attachment terminal, which are received and stored by the server terminal.

16. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The display terminal consists of one or more of a fixed display screen, a vehicle central control screen, and a mobile display. When the display terminal includes a fixed display screen and a vehicle central control screen, the fixed display screen displays the vehicle information monitored by the first and second attachment terminals within the navigation area, and the vehicle central control screen displays the information monitored by the first and second attachment terminals of the vehicle. When the display terminal includes a fixed display screen and a mobile display screen, the fixed display screen and the mobile display screen display vehicle information monitored by the first and second attachment terminals within the navigation area; When the display terminal includes a vehicle central control screen and a mobile display, the vehicle central control screen displays vehicle information monitored by the first and second attachment terminals of the vehicle, and the mobile display displays vehicle information monitored by the first and second attachment terminals within the navigation area.

17. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The first or second attach terminal is equipped with a beacon identification unit consisting of a Bluetooth SOC chip that communicates with the beacon body within the navigation area. The Bluetooth SOC chip is electrically connected to the PCB integrated circuit board of the first or second attach terminal, and the first or second attach terminal communicates unidirectionally with the beacon body via Bluetooth signal. The first or second attached terminal sends the location information of the beacon body to the server terminal via a wireless communication unit to further determine the location information of the first or second attached terminal within the navigation area.

18. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The first or second tagging terminal is equipped with an electronic tag unit consisting of a coupling element and an RFID chip that communicates with a reading device within the navigation area. The coupling element and RFID chip are electrically connected to the PCB integrated circuit board of the first or second attach terminal. The first or second attach terminal and the reading device set in the navigation area achieve spatial coupling of radio frequency signals through the coupling element, thereby completing the data transmission and data exchange.

19. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The first or second attaching terminal also includes a warning and distress unit consisting of one or more of a warning light, a buzzer, and a speaker, or a combination of two or more of these, which are electrically connected to the PCB integrated circuit board.

20. The vehicle indoor and outdoor positioning and navigation system according to claim 5, characterized in that, The charging element of the first and second attach terminals is a wireless receiving coil electrically connected to the power management chip and disposed inside the casing of the attach terminal; or a charging port electrically connected to the power management chip and disposed on the casing of the attach terminal; or A solar panel that is electrically connected to the power management chip and installed on the outside of the mounting terminal housing.

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