Abstract: With the development and popularization of the application of Internet of vehicles and autonomous driving, the importance of vehicle positioning systems is becoming more and more important. Based on the principle and architecture of the vehicle positioning system, this paper focuses on the principle and application of the key technologies of vehicle high-precision positioning, including traditional satellite navigation, differential positioning, inertial navigation and combined navigation with their combination schemes, and finally, the development of vehicle positioning system is also discussed and summarized. In order to meet the needs and challenges brought by scenarios related to autonomous driving, the vehicle positioning system has gradually added differential positioning, inertial navigation system and the combination of these two for coupling navigation on the basis of the original global navigation satellite system (GNSS) positioning, which further strengthens the anti-interference capability and dynamic adaptation capability of vehicle positioning with obscured environment while improving the positioning accuracy.

Key words: Vehicle positioning system; GNSS; Real time kinetic; Inertial navigation; Combined navigation; Vehicle to everything

摘要： 随着车联网及自动驾驶相关应用的推广与普及，车载定位系统的重要性与日俱增。文 章立足于车载定位系统的原理与架构，着重介绍了车载高精定位关键技术的原理和应用，包 括传统卫星定位、差分定位、关系导航及组合导航及其组合方案，并在最后对车载定位系统 的发展进行总结与展望。为满足自动驾驶相关场景带来的需求和挑战，车载定位系统已在原 有的单一全球导航卫星系统（GNSS）定位的基础上，逐步加入差分定位、惯导系统及对前两 者进行融合的组合导航，在不断提高定位精度的同时，也进一步增强了车载定位的抗干扰能 力及带遮蔽环境下的动态适应能力。

关键词: 车载定位系统；GNSS；动态差分技术；惯性导航；组合导航；车用无线通信技术