The invention discloses a positioning method,
system and device based on multi-vehicle cooperation in
the Internet of Vehicles and a medium, and relates to the technical field of Internet of Vehicles positioning, and the method comprises the steps: judging whether a target vehicle is located in an
anchor point coverage area composed of a plurality of UWB anchor points or not; if yes, based on the distance between the target vehicle and each UWB
anchor point and the coordinate of each UWB
anchor point, a spatial distance intersection
algorithm is adopted to obtain the coordinate of the target vehicle; if not, judging whether the target vehicle can form a motorcade self-organizing network with the adjacent vehicle or not, and starting a multi-vehicle cooperative positioning mechanism; if yes, obtaining the coordinates of the target vehicle according to a multi-vehicle cooperative positioning
mechanism based on identity
authentication and key negotiation; the multi-vehicle cooperative positioning mechanism obtains a plurality of adjacent vehicle coordinates for the target vehicle through V2V communication, and the coordinates of the target vehicle are obtained according to the coordinates of the adjacent vehicles; and if not, obtaining the coordinates of the target vehicle by adopting an
inertial measurement unit and a
global positioning system. According to the invention, the safety and precision of
vehicle positioning are improved through V2V cooperative positioning.