## 5 Conclusions  
First, the logarithmic distance propagation model was calibrated. The classical location methods based on ranging and non-ranging were integrated so that a vehicle wireless location fusion algorithm based on error weighting could be proposed. Then, based on the algorithm, a vehicle wireless positioning fusion method weighted by distance error and positioning error was proposed. Finally, the positioning accuracy of the fusion algorithm was verified by using the actual field measurement data. The article shows that the results of the different fusion location methods are different. The fusion positioning scheme based on the integration of ranging and non-ranging positioning methods has the highest positioning accuracy and is better than the other two comparison schemes. The positioning effect of the other two fusion schemes is also significantly improved compared with the single positioning results. The model parameters have reasonable calibration values, which makes the positioning accuracy of the fusion algorithm optimal. The main contributions of this study can be summarized as follows:  
1. This article innovatively proposes a local vehicle positioning method as a supplement to GPS and trilateral positioning methods when the vehicle environment and positioning conditions are unstable; the method improves the robustness of vehicle wireless positioning. 2. Based on the data samples in the field experiment, the logarithmic propagation model is used to fit the distance propagation model of the node spacing in the positioning calculation. The model calibrates the environmental impact factor \(A\) and path loss coefficient \(n\). 3. A vehicle wireless location fusion algorithm using error weighting to eliminate line-of-sight and non-line-of-sight errors is proposed. 4. The positioning accuracy of the fusion algorithm is compared and verified using data samples, and the sensitivity of the influencing factors in the distance propagation model to the positioning error of the fusion algorithm is analyzed. 5. It assists in the all-day real-time recognition of regional traffic congestion status and makes up for the inaccurate traffic status recognition caused by the traditional vehicle positioning method due to the short-term position loss. In further research, we will further discuss the applied research of the algorithm and optimize the algorithm to improve positioning accuracy. Starting from the calculation of improved weights, we will simulate and calculate the positioning information that can obtain the accurate position through GPS positioning within the service range of the base station and obtain the corresponding weight values of these points as the target weight reference value set. According to the space-time distance between the position obtained by each weight reference value and the target position (signal loss coordinate point), the weight reference value set is comprehensively processed to obtain the analog weight value of the target position. At the same time, more vehicle driving information, such as vehicle speed and vehicle loading rate, can be considered with the location algorithm to make it more suitable for the complex urban road environment and to solve the increasingly serious traffic congestion. According to the work of this article, we can continue to research other supporting algorithms of urban traffic congestion recognition. For example, the algorithm of vehicle speed can be based on the research result of this research. After completing the construction of all supporting algorithm systems, a complete set of urban traffic congestion recognition methods can be obtained, and, in cooperation with urban traffic managers, they can be applied to actual urban traffic management scenarios. Conceptualization, X.L. ; Funding acquisition, X.L. ; Methodology, J.W. ; Project administration, X.C. ; Resources, J.W. ; Supervision, X.C. ; Validation, C.G. ; Visualization, C.G. ; Writing--original draft, C.G. All authors have read and agreed to the published version of the manuscript.