Monitoring method and device for fusion positioning system of vehicle

The invention provides a monitoring method and device for a fusion positioning system of a vehicle. The method comprises the following steps: outputting multi-frame vehicle positioning information, acceleration and speed, images, wheel rotation speed and point cloud data through a plurality of sensors, processing the multi-frame data through a preset inertial positioning algorithm, a preset image positioning algorithm and a preset radar positioning algorithm, outputting an inertial positioning result, a visual positioning result and a laser radar positioning result, and carrying out fusion processing on the positioning results through a preset fusion positioning algorithm to output a fusion positioning result. A data effective result is determined according to the communication state, the receiving frequency, the transmission time delay and the data range of the multi-frame data, and the fault state of the vehicle is determined according to the data effective result and a positioning effective result generate