The utility model relates to a vehicle indoor positioning device based on a Beidou satellite. The vehicle indoor positioning device, comprising an indoor positioning device arranged in a garage, is characterized by also comprising a vehicle positioning device and a plurality of Beidou signal receiving devices; the vehicle positioning device includes a power supplying unit, a central processor, and an indoor positioning signal transmit-receive module, a communication module and an input display module that are connected to an MCU; the central processor communicates with the indoor positioning device through the indoor positioning signal transmit-receive module and an indoor positioning transmit-receive antenna adopted by the indoor positioning signal transmit-receive module; each Beidou signal receiving device includes a Beidou antenna and a Beidou signal transponder connected to the Beidou antenna; and the Beidou signal transponders are connected to the indoor positioning device. Through adoption of the above hardware devices, the vehicle indoor positioning device can position vehicles in the garage by according with relevant protocols of the conventional Beidou communication technology.