The invention discloses a vehicle positioning method, comprising: 1) performing satellite positioning by a multi-mode satellite positioning module to obtain satellite positioning information of a vehicle; 2) performing inertial navigation positioning by an inertial navigation module to obtain inertial navigation positioning information of the vehicle; 3) positioning by image matching to obtain image positioning information of the vehicle; 4) performing data fusion of the satellite positioning information, the inertial navigation information and the image positioning information, to obtain vehicle positioning information by Kalman filtering algorithm, the vehicle positioning information comprises data such as a vehicle positioning value, a direction angle and a dip angle. The vehicle positioning method provided by the invention can perform vehicle positioning with high efficiency and high precision, determine the geographical position of the vehicle, and does not completely rely on thepositioning information of the satellite and the BeiDou in the positioning process, thereby achieving efficient and accurate positioning.