Positioning method and device, electronic equipment and storage medium

Abstract

The invention relates to a positioning method and device, electronic equipment and a storage medium. The positioning method comprises the following steps: determining a target distance between a to-be-positioned point and network equipment; determining a plurality of candidate reference points based on the target distance; determining a fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the to-be-positioned point; and determining the geographic position of the to-be-positioned point based on the fingerprint matching degree. The positioning method is high in accuracy, can realize indoor high-precision positioning, carries out positioning by means of network equipment, is wide in applicability, and does not need extra power consumption.

Description

Technical Field

[0001] The present disclosure relates to the field of positioning technology, and in particular to a positioning method, device, electronic device, and storage medium. Background Art

[0002] Positioning technologies include outdoor positioning technology and indoor positioning technology. In outdoor environments, the Global Navigation Satellite System (GNSS) provides meter-level positioning services, which can help users solve the problem of accurate positioning in outdoor spaces. However, in indoor environments, which are more common in users' daily lives, the positioning accuracy of GNSS is sharply reduced due to obstruction by buildings and multipath effects, and therefore cannot meet the needs of precise indoor positioning. Summary of the Invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a positioning method, device, electronic device and storage medium.

[0004] According to a first aspect of an embodiment of the present disclosure, a positioning method is provided, the method comprising:

[0005] Determine the target distance between the point to be located and the network device;

[0006] Based on the target distance, determining a plurality of candidate reference points;

[0007] Determining a fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the point to be located;

[0008] Based on the fingerprint matching degree, the geographical location of the point to be located is determined.

[0009] In an exemplary embodiment, determining a target distance between the point to be located and the network device includes:

[0010] Obtaining the signal transmission time of the point to be located and the signal reception time of the network device;

[0011] Determining a signal transmission time based on the signal transmission time and the signal reception time;

[0012] The target distance is determined based on the signal transmission speed and the signal transmission time.

[0013] In an exemplary embodiment, determining a plurality of candidate reference points based on the target distance includes:

[0014] Obtaining a reference distance between each reference point and the network device;

[0015] A distance difference between the reference distance and the target distance is determined, and all reference points whose distance difference is less than or equal to a preset value are used as candidate reference points.

[0016] In an exemplary embodiment, determining the fingerprint matching degree between the location fingerprint of each candidate reference point and the location fingerprint of the point to be located includes:

[0017] Acquire, in chronological order, a plurality of first position fingerprint data of each candidate reference point and a plurality of second position fingerprint data of the point to be located, wherein the first position fingerprint data and the second position fingerprint data correspond to each other in chronological order;

[0018] The fingerprint matching degree is determined according to the plurality of first position fingerprint data and the plurality of second position fingerprint data.

[0019] In an exemplary embodiment, determining the fingerprint matching degree according to the plurality of first position fingerprint data and the plurality of second position fingerprint data includes:

[0020] Determining first fusion data according to the plurality of first position fingerprint data;

[0021] determining second fusion data according to the plurality of second position fingerprint data;

[0022] determining third fusion data according to a plurality of third position fingerprint data, wherein the third position fingerprint data is determined according to the first position fingerprint data and the second position fingerprint data;

[0023] The fingerprint matching degree is determined according to the first fused data, the second fused data, and the third fused data.

[0024] In an exemplary embodiment, the third location fingerprint data is a product of the first location fingerprint data and the corresponding second location fingerprint data.

[0025] In an exemplary embodiment, determining the geographic location of the point to be located based on the fingerprint matching degree includes:

[0026] The geographical location of the candidate reference point with the highest fingerprint matching degree is determined as the geographical location of the point to be located.

[0027] In an exemplary embodiment, the method further comprises:

[0028] Taking the geographical location of the network device as the center, determining a plurality of circular areas at preset intervals, wherein the circular areas include the point to be located;

[0029] Determine a plurality of reference points on the edge of the circular area, wherein, among the reference points on the same edge, the distance between any two adjacent reference points is equal;

[0030] Determine the position fingerprint of each reference point.

[0031] In an exemplary embodiment, the network device is a millimeter wave network device.

[0032] According to a second aspect of an embodiment of the present disclosure, a positioning device is provided, the device comprising:

[0033] A first determining module is configured to determine a target distance between the point to be located and the network device;

[0034] a second determining module configured to determine a plurality of candidate reference points based on the target distance;

[0035] A third determination module is configured to determine a fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the point to be located;

[0036] The fourth determining module is configured to determine the geographical location of the point to be located based on the fingerprint matching degree.

[0037] In an exemplary embodiment, the first determining module is further configured to:

[0038] Obtaining the signal transmission time of the point to be located and the signal reception time of the network device;

[0039] Determining a signal transmission time based on the signal transmission time and the signal reception time;

[0040] The target distance is determined based on the signal transmission speed and the signal transmission time.

[0041] In an exemplary embodiment, the second determining module is further configured to:

[0042] Obtaining a reference distance between each reference point and the network device;

[0043] A distance difference between the reference distance and the target distance is determined, and all reference points whose distance difference is less than or equal to a preset value are used as candidate reference points.

[0044] In an exemplary embodiment, the third determining module is further configured to:

[0045] Acquire, in chronological order, a plurality of first position fingerprint data of each candidate reference point and a plurality of second position fingerprint data of the point to be located, wherein the first position fingerprint data and the second position fingerprint data correspond to each other in chronological order;

[0046] The fingerprint matching degree is determined according to the plurality of first position fingerprint data and the plurality of second position fingerprint data.

[0047] In an exemplary embodiment, the third determining module is further configured to:

[0048] Determining first fusion data according to the plurality of first position fingerprint data;

[0049] determining second fusion data according to the plurality of second position fingerprint data;

[0050] determining third fusion data according to a plurality of third position fingerprint data, wherein the third position fingerprint data is determined according to the first position fingerprint data and the second position fingerprint data;

[0051] The fingerprint matching degree is determined according to the first fused data, the second fused data, and the third fused data.

[0052] In an exemplary embodiment, the third location fingerprint data is a product of the first location fingerprint data and the corresponding second location fingerprint data.

[0053] In an exemplary embodiment, the fourth determining module is further configured to:

[0054] The geographical location of the candidate reference point with the highest fingerprint matching degree is determined as the geographical location of the point to be located.

[0055] In an exemplary embodiment, the apparatus further includes a fifth determining module configured to:

[0056] Taking the geographical location of the network device as the center, determining a plurality of circular areas at preset intervals, wherein the circular areas include the point to be located;

[0057] Determine a plurality of reference points on the edge of the circular area, wherein, among the reference points on the same edge, the distance between any two adjacent reference points is equal;

[0058] Determine the position fingerprint of each reference point.

[0059] In an exemplary embodiment, the network device is a millimeter wave network device.

[0060] According to a third aspect of an embodiment of the present disclosure, there is provided an electronic device, including:

[0061] processor;

[0062] a memory for storing processor-executable instructions;

[0063] The processor is configured to execute the method as described in the first aspect of the embodiment of the present disclosure.

[0064] According to a fourth aspect of an embodiment of the present disclosure, a non-temporary computer-readable storage medium is provided, which, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to execute the method described in the first aspect of the embodiment of the present disclosure.

[0065] The above method disclosed in the present invention has the following beneficial effects: the positioning method is highly accurate, can achieve high-precision indoor positioning, and is positioned with the help of network equipment, has wide applicability and does not require additional power consumption.

[0066] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0068] Figure 1 is a flow chart showing a positioning method according to an exemplary embodiment;

[0069] Figure 2 is a schematic diagram of an application scenario according to an exemplary embodiment;

[0070] Figure 3 is a flow chart showing a positioning method according to an exemplary embodiment;

[0071] Figure 4 is a flow chart showing a method of establishing a reference fingerprint library according to an exemplary embodiment;

[0072] Figure 5 is a schematic diagram of reference points according to an exemplary embodiment;

[0073] Figure 6 is a block diagram of a positioning device according to an exemplary embodiment;

[0074] Figure 7 It is a block diagram of an electronic device according to an exemplary embodiment. DETAILED DESCRIPTION

[0075] Exemplary embodiments will be described in detail herein, with examples illustrated in the accompanying drawings. In the following description, when referring to the drawings, identical numerals in different figures represent identical or similar elements, unless otherwise indicated. The embodiments described in the following exemplary embodiments are not intended to represent all possible embodiments consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.

[0076] Indoor positioning technologies include A-GPS (Assisted Global Positioning System), WIFI, and infrared positioning. A-GPS uses base station signals from terminal devices in conjunction with GPS satellites for positioning; WIFI uses signal transmission between a wireless AP (Access Point) and the terminal device for positioning; and infrared positioning uses information transmission between an infrared transmitter and a fixed infrared receiver placed indoors. However, because A-GPS primarily uses GPS satellites for positioning, its positioning accuracy in indoor environments is poor and cannot be used for indoor navigation. WIFI requires the presence of a wireless AP in the current indoor environment, which limits its application scenarios. Infrared positioning consumes a lot of power and can be blocked by indoor walls or objects, making it less practical.

[0077] In exemplary embodiments of the present disclosure, to overcome the problems of poor positioning accuracy, limited application scenarios, or high power consumption associated with related indoor positioning technologies, a positioning method is provided, including: determining a target distance between a point to be located and a network device; based on the target distance, identifying multiple candidate reference points; determining a fingerprint match between the location fingerprint of each candidate reference point and the location fingerprint of the point to be located; and determining the geographic location of the point to be located based on the fingerprint match. This positioning method is highly accurate, capable of achieving high-precision indoor positioning, and, utilizing network devices for positioning, has wide applicability and requires no additional power consumption.

[0078] In an exemplary embodiment of the present disclosure, a positioning method is provided. Figure 1 FIG. 1 is a flow chart showing a positioning method according to an exemplary embodiment. Figure 1 As shown, the following steps are included:

[0079] Step S101, determining the target distance between the point to be located and the network device;

[0080] Step S102, determining multiple candidate reference points based on the target distance;

[0081] Step S103, determining the fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the point to be located;

[0082] Step S104: Determine the geographic location of the point to be located based on the fingerprint matching degree.

[0083] The positioning method in the embodiments of the present disclosure is applied to electronic devices, including electronic devices with wireless communication functions, such as smart terminal devices such as smartphones, tablets, personal computers, smart wearable devices such as smart watches and smart bracelets, smart home devices such as smart TVs, and smart car machines.

[0084] In step S101, the point to be located is the location of the electronic device, which can be either an indoor or outdoor location. The network device is a wireless communication device, such as an access network device or core network device, to which the electronic device is currently connected, such as a base station. The network device and the electronic device support the same frequency band. The target distance between the point to be located and the network device is the distance between the current location of the electronic device and the location of the network device. The target distance can be determined using any distance measurement method, such as ranging through signal transmission between the electronic device and the network device.

[0085] In some embodiments, the network device is a millimeter wave network device. Millimeter waves have narrow beams, good directionality, and extremely high spatial resolution. Due to their short signal transmission period and high temporal accuracy, millimeter wave positioning is highly accurate. Furthermore, the small size of millimeter wave components can save structural space for electronic and network equipment. Furthermore, millimeter wave signals have strong reflections in indoor environments, enabling multipath propagation to obtain more location information, further improving positioning accuracy. Therefore, the use of millimeter wave network devices can effectively improve the precision and accuracy of indoor positioning.

[0086] In step S102, the reference point is a reference location point in space. The geographic location of the reference point is pre-set, and the distance between the reference point and the network device is also pre-set. Based on the target distance, multiple candidate reference points are selected from the reference points. The distance between the candidate reference points and the network device is close to the target distance. The geographic location of the point to be located is determined based on the geographic location of the candidate reference points.

[0087] In step S103, the location fingerprint represents a feature that can uniquely characterize a certain location point in space. For example, a single feature: the RSSI (Received Signal Strength Indication) of the signal detected from the network device, or the CSI (Channel State Information) of the signal, etc. is used as the location fingerprint, or a combination of multiple features is used as the location fingerprint. For the same feature, a combination of multiple values ​​in the feature can also be used as the location fingerprint. Since the CSI fingerprint has better time resolution, frequency resolution and stability, the embodiment of the present disclosure takes the CSI fingerprint as an example of the location fingerprint. The combination of the CSI of the signals from each network device received by the electronic device can be used as the location fingerprint, or the CSI of the signal of a certain network device received by the electronic device can be used as the location fingerprint. The location fingerprint of each candidate reference point and the location fingerprint of the point to be located are obtained respectively, and the fingerprint matching degree between the location fingerprint of each candidate reference point and the location fingerprint of the point to be located is determined. The fingerprint matching degree is determined by the similarity. The calculation method of the similarity is not limited in this embodiment.

[0088] In one example, Figure 2 is a schematic diagram of an application scenario according to an exemplary embodiment. Figure 2 As shown, the user equipment (UE) is located within the signal range of multiple millimeter wave base stations. The CSI of the signal from the millimeter wave base station with the strongest signal can be used as the location fingerprint of the user equipment's location, or the CSI combination of the signals from multiple millimeter wave base stations can be used as the location fingerprint of the user equipment's location.

[0089] In step S104, the higher the fingerprint matching degree, the closer it is to the geographic location of the target location. The fingerprint matching degree corresponding to each candidate reference point is sorted, and one or more candidate reference points with the highest fingerprint matching degree are determined. Based on the geographic locations of the candidate reference points, the geographic location of the target location can be inferred. The geographic location is represented by three-dimensional geographic coordinates, where the vertical axis coordinate value represents the height information, which can be used to determine the floor information in an indoor environment.

[0090] In an exemplary embodiment of the present disclosure, a target distance between a point to be located and a network device is determined, and based on the target distance, a plurality of candidate reference points are determined, and a fingerprint matching degree between a location fingerprint of each candidate reference point and a location fingerprint of the point to be located is determined, and based on the fingerprint matching degree, a geographic location of the point to be located is determined. The determined geographic location of the point to be located has high accuracy, can achieve high-precision indoor positioning, and is positioned with the aid of a network device, has wide applicability, and does not require additional power consumption.

[0091] In an exemplary embodiment of the present disclosure, a positioning method is provided. Figure 3 FIG. 1 is a flow chart showing a positioning method according to an exemplary embodiment. Figure 3 As shown, the following steps are included:

[0092] Step S301, obtaining the signal transmission time of the point to be located and the signal reception time of the network device;

[0093] Step S302, determining the signal transmission time based on the signal transmission time and the signal reception time;

[0094] Step S303, determining the target distance based on the signal transmission speed and the signal transmission time;

[0095] Step S304, obtaining a reference distance between each reference point and the network device;

[0096] Step S305 , determining the distance difference between the reference distance and the target distance, and taking all reference points whose distance difference is less than or equal to a preset value as candidate reference points;

[0097] Step S306: Acquire multiple first position fingerprint data of each candidate reference point and multiple second position fingerprint data of the point to be located in chronological order, wherein the first position fingerprint data and the second position fingerprint data correspond to each other in chronological order.

[0098] Step S307, determining the fingerprint matching degree based on the plurality of first position fingerprint data and the plurality of second position fingerprint data;

[0099] Step S308: Determine the geographical location of the candidate reference point with the highest fingerprint matching degree as the geographical location of the point to be located.

[0100] In steps S301 to S303, the electronic device sends a signal to the network device, such as a millimeter wave signal, and records the signal transmission time. When the network device receives the signal, it records the signal reception time. Based on the signal transmission time and the signal reception time, the signal transmission time can be determined. Based on the signal transmission time and the signal transmission speed, the target distance between the electronic device and the network device can be determined.

[0101] In one example, the target distance is determined by the following formula:

[0102] d=(t1-t0)×v

[0103] Where d represents the target distance, t1 represents the signal reception time of the network device, t0 represents the signal transmission time of the electronic device, and v represents the signal transmission speed.

[0104] In steps S304 and S305, the reference distances of multiple reference points corresponding to each network device are stored in a cloud database. The electronic device then retrieves the reference distance between each reference point corresponding to the current network device and the network device from the cloud database. The electronic device calculates the distance difference between each reference distance and the target distance, and selects all reference points with a distance difference less than or equal to a preset value as candidate reference points. The preset value is set based on the actual distribution of the reference points; a smaller preset value indicates higher accuracy and positioning precision.

[0105] In step S306-step S307, in order to improve accuracy, the location fingerprint data of multiple time points are used as the location fingerprint. For example, when the CSI of the signal received from the network device is used as the location fingerprint, the CSI of the signal received from the network device at multiple different time points is combined as the location fingerprint. When obtaining the second location fingerprint data of the point to be located at multiple time points, the time interval between the multiple time points is the same as the time interval between the multiple time points when the candidate reference point obtains the multiple first location fingerprint data. In the order of the acquisition time, the first location fingerprint data and the second location fingerprint data correspond one to one. For example, the first location fingerprint data obtained at the first time point corresponds to the second location fingerprint data obtained at the first time point. Determining the fingerprint matching degree based on the multiple first location fingerprint data and the multiple second location fingerprint data can improve accuracy.

[0106] In some embodiments, determining a fingerprint matching degree based on the plurality of first-position fingerprint data and the plurality of second-position fingerprint data includes:

[0107] Determining first fusion data according to the plurality of first position fingerprint data;

[0108] determining second fusion data according to the plurality of second position fingerprint data;

[0109] determining third fused data according to a plurality of third position fingerprint data, wherein the third position fingerprint data is determined according to the first position fingerprint data and the second position fingerprint data;

[0110] A fingerprint matching degree is determined based on the first fused data, the second fused data, and the third fused data.

[0111] Among them, the fused data can be the sum of multiple position fingerprint data or the average value of multiple position fingerprint data. The third position fingerprint data is the product of the first position fingerprint data and the corresponding second position fingerprint data, that is, the product of the first position fingerprint data and the second position fingerprint data is obtained at the same time point in the order of acquisition time.

[0112] In one example, the sum of fingerprint data at multiple locations is used as fused data, and the fingerprint matching degree is determined by the following formula:

[0113]

[0114] Among them, M represents the fingerprint matching degree, C cur (i) represents the second position fingerprint data of the point to be located obtained at the i-th time point, C j (i) represents the first position fingerprint data of the candidate reference point obtained at the i-th time point, C cur (i)C j (i) represents the third position fingerprint data obtained at time point i, k represents the first time point, represents the second fusion data, represents the first fusion data, Represents the third fused data.

[0115] In step S308, the fingerprint matching degrees corresponding to all candidate reference points are sorted by magnitude, and the candidate reference point with the highest fingerprint matching degree is selected, and the geographic location of the candidate reference point is used as the geographic location of the point to be located. If there are multiple candidate reference points with the highest fingerprint matching degree, the median of the geographic locations of the multiple candidate reference points is determined as the geographic location of the point to be located. For example, if the candidate reference points with the highest fingerprint matching degree include candidate reference point 1 and candidate reference point 2, and the geographic location coordinates of candidate reference point 1 are (20, 25, 30) and the geographic location coordinates of candidate reference point 2 are (22, 25, 30), then the geographic location coordinates of the point to be located are determined to be (21, 25, 30).

[0116] In some embodiments, before positioning, a reference fingerprint library is also established. Figure 4 FIG. 1 is a flow chart showing a method for establishing a reference fingerprint library according to an exemplary embodiment. Figure 4 As shown, the following steps are included:

[0117] Step S401, taking the geographical location of the network device as the center, determining a plurality of circular areas at preset intervals, wherein the circular areas include the point to be located;

[0118] Step S402: determining a plurality of reference points on the edge of the circular area, wherein the distance between any two adjacent reference points on the same edge is equal;

[0119] Step S403: Determine the location fingerprint of each reference point.

[0120] The preset interval is set according to actual needs. The smaller the preset interval, the higher the positioning accuracy and the higher the positioning precision. The number of reference points on the edge of the circular area is set according to actual needs. The more reference points there are, the higher the positioning accuracy and the higher the positioning precision. The position fingerprints of all reference points corresponding to each network device are stored in the database as a reference fingerprint library. When positioning, the position fingerprint of each candidate reference point is obtained from the reference fingerprint library. In an example, the network device takes a base station as an example. Figure 5 is a schematic diagram of reference points according to an exemplary embodiment, as shown in FIG. Figure 5 As shown, with the geographical location of the base station as the center and the distance n×D as the radius, multiple circular areas are determined, where n is an integer greater than 0. The target object represents the geographical location of the point to be located, and the origin on the edge of the circular area represents the reference point. The distance between any two adjacent reference points on the same edge is equal. The position fingerprint of each reference point is determined and saved in the database.

[0121] In an exemplary embodiment of the present disclosure, a positioning device is provided. Figure 6 is a block diagram of a positioning device according to an exemplary embodiment. Figure 6 As shown, the positioning device includes:

[0122] The first determining module 601 is configured to determine a target distance between the point to be located and the network device;

[0123] A second determination module 602 is configured to determine a plurality of candidate reference points based on the target distance;

[0124] The third determination module 603 is configured to determine the fingerprint matching degree between the location fingerprint of each candidate reference point and the location fingerprint of the point to be located;

[0125] The fourth determining module 604 is configured to determine the geographic location of the point to be located based on the fingerprint matching degree.

[0126] In an exemplary embodiment, the first determining module 601 is further configured to:

[0127] Obtain the signal transmission time of the point to be located and the signal reception time of the network device;

[0128] Determine the signal transmission time based on the signal transmission time and the signal reception time;

[0129] Based on the signal transmission speed and signal transmission time, the target distance is determined.

[0130] In an exemplary embodiment, the second determining module 602 is further configured to:

[0131] Obtain the reference distance between each reference point and the network device;

[0132] The distance difference between the reference distance and the target distance is determined, and all reference points whose distance difference is less than or equal to a preset value are selected as candidate reference points.

[0133] In an exemplary embodiment, the third determining module 603 is further configured to:

[0134] Acquire multiple first position fingerprint data of each candidate reference point and multiple second position fingerprint data of the point to be located in chronological order, wherein the first position fingerprint data and the second position fingerprint data correspond to each other in chronological order;

[0135] A fingerprint matching degree is determined based on the plurality of first position fingerprint data and the plurality of second position fingerprint data.

[0136] In an exemplary embodiment, the third determining module 603 is further configured to:

[0137] Determining first fusion data according to the plurality of first position fingerprint data;

[0138] determining second fusion data according to the plurality of second position fingerprint data;

[0139] determining third fused data according to a plurality of third position fingerprint data, wherein the third position fingerprint data is determined according to the first position fingerprint data and the second position fingerprint data;

[0140] A fingerprint matching degree is determined based on the first fused data, the second fused data, and the third fused data.

[0141] In an exemplary embodiment, the third location fingerprint data is a product of the first location fingerprint data and the corresponding second location fingerprint data.

[0142] In an exemplary embodiment, the fourth determining module 604 is further configured to:

[0143] The geographical location of the candidate reference point with the highest fingerprint matching degree is determined as the geographical location of the point to be located.

[0144] In an exemplary embodiment, the positioning device further includes a fifth determining module 605 configured to:

[0145] Taking the geographical location of the network device as the center, a plurality of circular areas are determined at preset intervals, wherein the circular areas include the point to be located;

[0146] Determine a plurality of reference points on the edge of the circular area, wherein, among the reference points on the same edge, the distances between any two adjacent reference points are equal;

[0147] Determine the position fingerprint of each reference point.

[0148] In an exemplary embodiment, the network device is a millimeter wave network device.

[0149] Regarding the apparatus in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0150] Figure 7 is a block diagram of an electronic device 700 according to an exemplary embodiment.

[0151] Reference Figure 7 , electronic device 700 may include one or more of the following components: a processing component 702 , a memory 704 , a power component 706 , a multimedia component 708 , an audio component 710 , an input / output (I / O) interface 712 , a sensor component 714 , and a communication component 716 .

[0152] The processing component 702 generally controls the overall operation of the electronic device 700, such as operations associated with display, phone calls, data communications, camera operation, and recording operations. The processing component 702 may include one or more processors 720 to execute instructions to perform all or part of the steps of the above-described method. In addition, the processing component 702 may include one or more modules to facilitate interaction between the processing component 702 and other components. For example, the processing component 702 may include a multimedia module to facilitate interaction between the multimedia component 708 and the processing component 702.

[0153] The memory 704 is configured to store various types of data to support operations on the electronic device 700. Examples of such data include instructions for any application or method operating on the electronic device 700, contact data, phone book data, messages, pictures, videos, etc. The memory 704 can be implemented by any type of volatile or non-volatile storage device, or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk, or optical disk.

[0154] The power supply component 706 provides power to the various components of the electronic device 700. The power supply component 706 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to the electronic device 700.

[0155] The multimedia component 708 includes a screen that provides an output interface between the electronic device 700 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, slides, and gestures on the touch panel. The touch sensor can not only sense the boundaries of the touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 708 includes a front camera and / or a rear camera. When the electronic device 700 is in an operating mode, such as a shooting mode or a video mode, the front camera and / or the rear camera can receive external multimedia data. Each front camera and rear camera can be a fixed optical lens system or have a focal length and optical zoom capability.

[0156] The audio component 710 is configured to output and / or input audio signals. For example, the audio component 710 includes a microphone (MIC), which is configured to receive external audio signals when the electronic device 700 is in an operating mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal can be further stored in the memory 704 or transmitted via the communication component 716. In some embodiments, the audio component 710 also includes a speaker for outputting audio signals.

[0157] I / O interface 712 provides an interface between processing component 702 and peripheral interface modules, such as a keyboard, click wheel, buttons, etc. These buttons may include but are not limited to: a home button, volume buttons, a start button, and a lock button.

[0158] The sensor assembly 714 includes one or more sensors for providing various aspects of status assessment for the electronic device 700. For example, the sensor assembly 714 can detect the open / closed state of the electronic device 700, the relative positioning of components, such as the display and keypad of the electronic device 700. The sensor assembly 714 can also detect changes in the position of the electronic device 700 or a component of the electronic device 700, the presence or absence of user contact with the electronic device 700, the orientation or acceleration / deceleration of the electronic device 700, and temperature changes of the electronic device 700. The sensor assembly 714 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. The sensor assembly 714 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 714 may also include an accelerometer, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

[0159] The communication component 716 is configured to facilitate wired or wireless communication between the electronic device 700 and other devices. The electronic device 700 can access a wireless network based on a communication standard, such as WiFi, 2G or 3G, or a combination thereof. In an exemplary embodiment, the communication component 716 receives a broadcast signal or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 716 also includes a near field communication (NFC) module to facilitate short-range communication. For example, the NFC module can be implemented based on radio frequency identification (RFID) technology, infrared data association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology and other technologies.

[0160] In an exemplary embodiment, the electronic device 700 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the above methods.

[0161] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 704 including instructions, and the instructions can be executed by the processor 720 of the electronic device 700 to perform the above method. For example, the non-transitory computer-readable storage medium can be a ROM, a random access memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, etc.

[0162] A non-transitory computer-readable storage medium, when instructions in the storage medium are executed by a processor of an electronic device, enables the electronic device to perform a positioning method, wherein the method includes any one of the above methods.

[0163] Other embodiments of the present disclosure will readily occur to those skilled in the art after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not disclosed herein. The description and examples are to be considered as exemplary only, with the true scope and spirit of the present disclosure being indicated by the following claims.

[0164] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes can be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A positioning method, characterized in that: The method comprises: Determine the target distance between the point to be located and the network device; Based on the target distance, determining a plurality of candidate reference points; Determining a fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the point to be located; Based on the fingerprint matching degree, the geographical location of the point to be located is determined.

2. The positioning method according to claim 1, wherein: Determining the target distance between the point to be located and the network device includes: Obtaining the signal transmission time of the point to be located and the signal reception time of the network device; Determining a signal transmission time based on the signal transmission time and the signal reception time; The target distance is determined based on the signal transmission speed and the signal transmission time.

3. The positioning method according to claim 1, wherein: The determining of a plurality of candidate reference points based on the target distance includes: Obtaining a reference distance between each reference point and the network device; A distance difference between the reference distance and the target distance is determined, and all reference points whose distance difference is less than or equal to a preset value are used as candidate reference points.

4. The positioning method according to claim 1, wherein: Determining the fingerprint matching degree between the position fingerprint of each candidate reference point and the position fingerprint of the point to be located includes: Acquire, in chronological order, a plurality of first position fingerprint data of each candidate reference point and a plurality of second position fingerprint data of the point to be located, wherein the first position fingerprint data and the second position fingerprint data correspond to each other in chronological order; The fingerprint matching degree is determined according to the plurality of first position fingerprint data and the plurality of second position fingerprint data.

5. The positioning method according to claim 4, characterized in that: The determining the fingerprint matching degree according to the plurality of first position fingerprint data and the plurality of second position fingerprint data includes: Determining first fusion data according to the plurality of first position fingerprint data; determining second fusion data according to the plurality of second position fingerprint data; determining third fusion data according to a plurality of third position fingerprint data, wherein the third position fingerprint data is determined according to the first position fingerprint data and the second position fingerprint data; The fingerprint matching degree is determined according to the first fused data, the second fused data, and the third fused data.

6. The positioning method according to claim 5, characterized in that: The third position fingerprint data is the product of the first position fingerprint data and the corresponding second position fingerprint data.

7. The positioning method according to claim 1, characterized in that: Determining the geographical location of the point to be located based on the fingerprint matching degree includes: The geographical location of the candidate reference point with the highest fingerprint matching degree is determined as the geographical location of the point to be located.

8. The positioning method according to claim 3, characterized in that: The method further comprises: Taking the geographical location of the network device as the center, determining a plurality of circular areas at preset intervals, wherein the circular areas include the point to be located; Determine a plurality of reference points on the edge of the circular area, wherein, among the reference points on the same edge, the distance between any two adjacent reference points is equal; Determine the position fingerprint of each reference point.

9. The positioning method according to claim 1, characterized in that: The network device is a millimeter wave network device.

10. A positioning device, characterized in that: The device comprises: A first determining module is configured to determine a target distance between the point to be located and the network device; a second determining module configured to determine a plurality of candidate reference points based on the target distance; A third determination module is configured to determine a fingerprint matching degree between a location fingerprint of each candidate reference point and a location fingerprint of the point to be located; The fourth determining module is configured to determine the geographic location of the point to be located based on the fingerprint matching degree.

11. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to execute the positioning method according to any one of claims 1 to 9.

12. A non-transitory computer-readable storage medium, characterized in that When the instructions in the storage medium are executed by a processor of an electronic device, the electronic device is enabled to execute the positioning method according to any one of claims 1 to 9.

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