Mobile terminal positioning system, establishing method thereof, and positioning method of mobile terminal

The invention discloses a mobile terminal positioning system, an establishment method thereof, and a positioning method of a mobile terminal. The method comprises the steps: arranging a first geographic coordinate label on a communication base station in a positioning system; identifying the first geographic coordinate label in a VIO calculation process; calculating a feature descriptor and a world coordinate system coordinate value of the first geographic coordinate label; solving a coordinate system transformation matrix based on the first geographic coordinate system coordinate values in atleast three non-collinear first geographic coordinate tags and the corresponding world coordinate system coordinate values; updating the key frame data set obtained by VIO calculation into a key frame data set based on geographic coordinate system coordinate values and uploading the key frame data set to a server, and obtaining an environmental understanding result by the server according to theupdated key frame data set