Positioning method, device, equipment and readable storage medium

Abstract

The present invention provides a positioning method, apparatus, device, and readable storage medium, relating to the field of positioning technology. The positioning method includes: acquiring access point information of multiple access points received by an electronic device; determining a target access point including a coordinate position from the multiple access points based on the access point information of the multiple access points; and determining the target position of the electronic device based on the differential received signal strength between a first access point and each second access point and the coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access point is the remaining access points among the target access points except the first access point. In this way, most of the same errors in the environment in which the electronic device is located can be eliminated, thereby improving the positioning accuracy.

Description

Technical Field

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

[0002] With the rapid development of intelligent communication devices, positioning using wireless signals has become increasingly common, such as positioning based on WiFi (Wireless Fidelity) ranging. Currently, WiFi ranging-based positioning methods primarily include Time of Arrival (TOA) positioning. TOA positioning requires high time accuracy, which can easily lead to large positioning errors during the positioning process, resulting in low positioning accuracy. Summary of the Invention

[0003] Embodiments of the present invention provide a positioning method, apparatus, device, and readable storage medium to solve the problem of low existing positioning accuracy.

[0004] To solve the above-mentioned technical problems, the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides a positioning method applied to an electronic device, including:

[0006] Acquiring access point information of multiple access points received by the electronic device;

[0007] determining, from the plurality of access points, a target access point including a coordinate position according to the access point information of the plurality of access points;

[0008] Determining a target location of the electronic device based on a differential received signal strength between the first access point and each second access point and a coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point.

[0009] In a second aspect, an embodiment of the present invention provides a positioning device, applied to an electronic device, comprising:

[0010] an acquisition module, configured to acquire access point information of multiple access points received by the electronic device;

[0011] A first determining module is configured to determine a target access point including a coordinate position from the plurality of access points based on the access point information of the plurality of access points;

[0012] a second determining module, configured to determine a target location of the electronic device based on a differential received signal strength between the first access point and each second access point and a coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point.

[0013] In a third aspect, an embodiment of the present invention provides an electronic device comprising a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the positioning method as described in the first aspect.

[0014] In a fourth aspect, an embodiment of the present invention provides a readable storage medium, on which a program or instruction is stored. When the program or instruction is executed by a processor, the steps of the positioning method described in the first aspect are implemented.

[0015] In an embodiment of the present invention, the target position of the electronic device is determined based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point. Since most errors in the same environment are similar, the difference between different observation values ​​observed by the same device at the same location can eliminate most of the errors. In this way, based on the differential received signal strength between the first access point and each second access point, most of the same errors in the environment in which the electronic device is located can be eliminated, thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in describing the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0017] Figure 1 is a flowchart of a positioning method provided by an embodiment of the present invention;

[0018] Figure 2 is a module diagram of a positioning device provided by an embodiment of the present invention;

[0019] Figure 3 This is a schematic diagram of a module structure of an electronic device provided by an embodiment of the present invention;

[0020] Figure 4 The figure is a schematic diagram of the hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0021] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0022] In the embodiments of the present invention, a positioning method, apparatus, device, and readable storage medium are proposed to solve the problem that existing positioning methods based on WiFi ranging are subject to many limitations and result in low positioning accuracy.

[0023] See also Figure 1 , Figure 1 This is a flow chart of a positioning method provided by an embodiment of the present application. Figure 1 As shown, the method includes the following steps:

[0024] Step 101: Acquire access point information of multiple access points received by an electronic device;

[0025] In this embodiment, the electronic device can be an electronic device having a display screen or display area, such as a mobile phone, a cell phone, a portable computer, a wearable device, a vehicle-mounted terminal, etc., but the present application is not limited thereto. In the following description of the present application, a cell phone is used as an example of an electronic device.

[0026] The access point may be a device that can establish a networking relationship with the aforementioned electronic device. The device may be a wireless access point or a wired access point. Here, a wireless access point (AP) is used as an example for illustration. The method can be applied to a WiFi-based positioning system. When the electronic device turns on WiFi, it can collect access point information of multiple wireless receiving points. In actual situations, the coordinates of some wireless access points can be queried, while the coordinates of some wireless access points cannot be queried. In this embodiment, the wireless access points whose coordinates can be queried are regarded as anchor nodes (AN).

[0027] As an example, acquiring access point information of multiple access points received by the electronic device may be acquiring access point information of multiple access points received by the electronic device at the same location.

[0028] Step 102: Determine a target access point including a coordinate position from the multiple access points based on the access point information of the multiple access points;

[0029] Furthermore, the access point information may include coordinates of the access point, wherein the coordinates may be longitude and latitude information of the access point. In this embodiment, all anchor nodes are used as target access points.

[0030] Step 103: Determine a target location of the electronic device based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point, where the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point.

[0031] It should be noted that since most errors contained in the same environment are similar, the difference between different observation values ​​observed by the same device at the same location can eliminate most of the errors. In this way, most of the same errors in the environment where the electronic device is located can be eliminated based on the differential received signal strength between the first access point and each second access point.

[0032] In an embodiment of the present application, the target position of the electronic device is determined based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point. Since most errors in the same environment are similar, the difference between different observation values ​​observed by the same device at the same location can eliminate most of the errors. In this way, based on the differential received signal strength between the first access point and each second access point, most of the same errors in the environment in which the electronic device is located can be eliminated, thereby improving positioning accuracy.

[0033] It should be noted that before step 103, the electronic device may first obtain the received signal strength of the first access point and the received signal strength of each second access point, and calculate the differential received signal strength between the first access point and each second access point. The received signal strength of the first access point can be understood as the received signal strength of the electronic device relative to the first access point, and the received signal strength of the second access point can be understood as the received signal strength of the electronic device relative to the second access point.

[0034] Optionally, the first access point is an access point among the target access points that meets a preset condition; wherein the preset condition includes having the highest received signal strength.

[0035] Specifically, in this embodiment, the target access point with the highest signal strength is selected as the first access point. Alternatively, in other feasible embodiments, if there are multiple access points with the strongest signal strength, the access point with the smallest coverage radius is randomly selected as the first access point. The smaller the coverage radius, the closer the access point is to the device. This can reduce errors caused by signal propagation and obtain more accurate calculation results.

[0036] Optionally, determining the target position of the electronic device according to the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point includes:

[0037] Establishing a distance equation from the electronic device to each second access point based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point, wherein the distance equation from the electronic device to the second access point is related to the relative distance from the electronic device to the first access point and the differential received signal strength between the second access point and the first access point;

[0038] A distance equation from the electronic device to each second access point is solved based on a first initial relative distance to determine a target position of the electronic device, where the first initial relative distance is a first initial relative distance from the electronic device to the first access point determined according to a received signal strength of the first access point.

[0039] It should be noted that since most errors contained in the same environment are similar, the difference between different observation values ​​observed by the same device at the same location can eliminate most errors. In this way, based on the differential received signal strength between the first access point and each second access point, most of the same errors in the environment in which the electronic device is located can be eliminated. Among them, the difference between the first access point and the second access point observed by the electronic device at the same location has a high accuracy. Establishing a distance equation from the electronic device to each second access point based on this difference can make the final calculated positioning accuracy of the electronic device higher.

[0040] In the embodiment of the present application, it is assumed that the coordinate position of an electronic device is (x, y). The coordinate position can be the longitude and latitude of the electronic device. Furthermore, the longitude can be used as the horizontal coordinate of the coordinate system, and the latitude can be used as the vertical coordinate of the electronic device. Here, it is only an example and not a limitation. In this embodiment, the electronic device is positioned, that is, it can be understood that the electronic device is the electronic device to be positioned, and its coordinate position is to be measured. Positioning it is to solve the coordinate position (x, y) of the electronic device. Among them, the relationship between the coordinate position of the electronic device and the distance of each access point is as follows.

[0041]

[0042] Where k represents the first access point, d k represents the distance between the electronic device MP and the first access point KN, x represents the horizontal coordinate value of the electronic device, y represents the vertical coordinate value of the electronic device, and x represents the vertical coordinate value of the electronic device. k Indicates the horizontal coordinate value of the coordinate position of the first access point, y kThe ordinate value represents the coordinate position of the first access point. Then the equation group formed by the multiple target access points and the electronic device MP satisfies the following formula.

[0043]

[0044] Where, represents the distance between the electronic device MP and the target access point a1, represents the distance between the electronic device MP and the target access point a2, Indicates the electronic device MP to the target access point a n The distance between The horizontal coordinate value representing the coordinate position of the target access point a1, The vertical coordinate value representing the coordinate position of the target access point a1, The horizontal coordinate value representing the coordinate position of the target access point a2, The vertical coordinate value representing the coordinate position of the target access point a2, Indicates the target access point a n The horizontal coordinate value of the coordinate position, Indicates the target access point a n The vertical coordinate value of the coordinate position.

[0045] Furthermore, WiFi signals experience certain signal variations during propagation. For example, depending on the environment, the strength of the WiFi signal may be attenuated to a certain extent when there are walls or other obstructions. Furthermore, WiFi signals adhere to the relative propagation relationship of WiFi signals during propagation. In these cases, to achieve more accurate calculation results, it is necessary to perform error elimination processing on the signals of each target access point. It is worth emphasizing that most errors within the same environment are similar. Therefore, in this embodiment, the differential received signal strength between the first access point and each second access point can eliminate most of the common errors in the environment in which the electronic device is located.

[0046] Specifically, in this embodiment, the electronic device receives the received signal strength RSSI at the first access point. k Satisfies the following formula.

[0047]

[0048] Wherein, l is the environmental coefficient of signal propagation, d0 is the standard distance. In this embodiment, the standard distance is 1 meter. This is only an example and not limited here. Alternatively, in other feasible embodiments, the standard distance can also be 1.5 meters or other distance values. RSSI0 is the received signal strength at d0, Δ is a Gaussian random variable with a mean of 0 and a variance of σ. The value of Δ can be preset and used in formula (3).

[0049] Similarly, the received signal strength at a second access point, for example, the received signal strength at the second access point a1 Satisfies the following formula.

[0050]

[0051] In this embodiment, the difference between the received signal strength at the second access point and the received signal strength at the first access point is calculated. This can eliminate common errors in the same environment based on the relative signal propagation relationship, and obtain a relationship between the second access point and the first access point. This relationship satisfies the following formula.

[0052]

[0053] The above formula can be transformed into:

[0054]

[0055] Among them, d0, RSSI0, and Δ in the formula are all eliminated. In this embodiment, in order to make the determined relationship more accurate, the value of l is 2. Here, it is only used as an example. In other feasible embodiments, the value of l can be adjusted within a certain range.

[0056] Furthermore, for the convenience of calculation, the above formula (2) is reorganized, including: substituting the above formula (6) into the second equation in formula (2), we can get:

[0057]

[0058] Dividing formula (7) by formula (1) yields the following relationship:

[0059]

[0060] To facilitate calculation, Recorded as Then, the distance equation from the electronic device to each second access point can be established as follows.

[0061]

[0062] In this embodiment, the number of the second access points is n. For example, when there are three second access points in total, the second access points are access point a1, access point a2, and access point a3.

[0063] Furthermore, in this embodiment, the target position of the electronic device can be determined by solving the above formula (9) based on the first initial relative distance. In this way, the electronic device can be positioned based on the access point information received by the electronic device, and in the process of calculating the coordinate position of the electronic device, the common error of each access point is eliminated, making the positioning result more accurate.

[0064] Optionally, solving a distance equation from the electronic device to each second access point based on the first initial relative distance to determine the target position of the electronic device further includes:

[0065] Solving a distance equation from the electronic device to each second access point based on the first initial relative distance to calculate a first position of the electronic device;

[0066] calculating, based on the first position of the electronic device, a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point;

[0067] determining a first residual between the first target distance and the first initial relative distance, and a second residual between the second target distance of each second access point and a corresponding second initial relative distance, wherein the second initial relative distance corresponding to the second target distance of the second access point is determined based on the first initial relative distance and a differential received signal strength between the first access point and the second access point;

[0068] Calculate the sum of the first residual and each second residual to obtain the residual sum;

[0069] When the residual sum is less than a preset threshold, the first position of the electronic device is determined as the target position of the electronic device.

[0070] In this embodiment, the distance equation from the electronic device to each second access point is solved in the following steps.

[0071] First, expand the first equation in formula (9) to obtain the following equation.

[0072]

[0073] Combining formula (1) and formula (9), the following equation can be obtained.

[0074]

[0075] Furthermore, to facilitate calculation, x 2 +y2 Denoted as R, Let it be N, Let it be K, then:

[0076]

[0077] The above formula (12) is transformed into a matrix form as follows.

[0078]

[0079] In formula (11), the left side of the equation only has is an unknown term. In this embodiment, for the convenience of calculation, d is determined according to formula (3) k The initial value of the first initial relative distance is thus obtained. Thus, in the above formula, the left side of the equation is a known quantity, and the right side of the equation is an unknown quantity consisting of the coordinate position of the electronic device. NK is recorded as Y, and Let it be A, Denoted as X, the coordinate position of the electronic device satisfies the following relationship.

[0080] Y=AX; (14)

[0081] In this embodiment, the least square method is used to solve the above formula (14), and the first position of the electronic device satisfies the following relationship.

[0082] X=(A T A) -1 A T Y; (15)

[0083] It should be noted that in the above steps, the first initial relative distance determined is d k The first initial relative distance includes path propagation errors during signal propagation. In this embodiment, to achieve more accurate positioning of the electronic device, a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point are calculated based on the first position. Corresponding residuals are further calculated to eliminate path propagation errors.

[0084] For example, a first residual between the first target distance and the first initial relative distance is first determined. The following relationship is satisfied.

[0085]

[0086] Furthermore, a second residual between the second target distance of each second access point and the corresponding second initial relative distance is determined. Taking the second access point a1 as an example, the second residual satisfies the following relationship.

[0087]

[0088] In the case of n second access points, the sum of squares of all residuals ∑Δ is calculated. 2 , the formula satisfied is as follows.

[0089]

[0090] Furthermore, the calculation conditions of the least squares iteration are set as follows according to the above formula (18).

[0091] ∑Δ 2 <thd1;

[0092] Among them, when the sum of all residuals ∑Δ 2 If the first position of the electronic device is less than the preset threshold thd1, the first position of the electronic device is determined as the target position of the electronic device. The preset threshold thd1 can be set according to actual conditions, such as 100. It should be noted that the threshold should not be set too small to avoid non-convergence. This is for illustrative purposes only and is not limiting. Alternatively, in other feasible embodiments, the threshold can be adjusted to a certain extent.

[0093] Optionally, when the sum of the residuals is greater than or equal to a preset threshold, the first initial relative distance is updated to a first target distance, and the process returns to the step of solving a distance equation from the electronic device to each second access point based on the first initial relative distance to calculate the first position of the electronic device.

[0094] Specifically, in ∑Δ 2 ≥thd1, the first initial relative distance is updated to the first target distance, and the solution of formula (13) is returned until the sum of the residuals is less than the preset threshold. The coordinate position where the sum of the residuals is less than the preset threshold is determined as the coordinate position of the electronic device. In this way, the propagation error of the signal is eliminated, and the electronic device is positioned based on the information of each access point received by the electronic device, which can make the positioning result more accurate.

[0095] See also Figure 2 . Figure 2 This embodiment provides a positioning device 200, which is applied to an electronic device and includes:

[0096] An acquisition module 201 is configured to acquire access point information of multiple access points received by the electronic device;

[0097] A first determining module 202 is configured to determine a target access point including a coordinate position from the plurality of access points based on access point information of the plurality of access points;

[0098] The second determining module 203 is configured to determine a target location of the electronic device based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point.

[0099] Optionally, the first access point is an access point among the target access points that meets a preset condition;

[0100] The preset condition includes the maximum received signal strength.

[0101] Optionally, the second determining module 203 includes:

[0102] a first processing module, configured to establish a distance equation from the electronic device to each second access point based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point, wherein the distance equation from the electronic device to the second access point is related to the relative distance from the electronic device to the first access point and the differential received signal strength between the second access point and the first access point;

[0103] a second processing module, configured to solve a distance equation from the electronic device to each second access point based on a first initial relative distance, to determine a target location of the electronic device, where the first initial relative distance is a first initial relative distance from the electronic device to the first access point determined according to a received signal strength of the first access point.

[0104] Optionally, the second processing module includes:

[0105] a first calculation module, configured to solve a distance equation from the electronic device to each second access point based on the first initial relative distance, to calculate a first position of the electronic device;

[0106] a second calculation module, configured to calculate a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point according to the first position of the electronic device;

[0107] a third calculation module, configured to determine a first residual between the first target distance and the first initial relative distance, and a second residual between a second target distance of each second access point and a corresponding second initial relative distance, wherein the second initial relative distance corresponding to the second target distance of the second access point is determined based on the first initial relative distance and a differential received signal strength between the first access point and the second access point;

[0108] a fourth calculation module, configured to calculate the sum of the first residual and each second residual to obtain a residual sum;

[0109] A third processing module is configured to determine the first position of the electronic device as a target position of the electronic device when the residual sum is less than a preset threshold.

[0110] Optionally, the second processing module further includes:

[0111] A fourth processing module is configured to update the first initial relative distance to the first target distance when the sum of the residuals is greater than or equal to a preset threshold, and return to the step of solving the distance equation from the electronic device to each second access point based on the first initial relative distance to calculate the first position of the electronic device.

[0112] The positioning device 200 in the embodiment of the present application can be a device, or a component, integrated circuit, or chip in a terminal. The device can be a mobile electronic device or a non-mobile electronic device. For example, the mobile electronic device can be a mobile phone, a tablet computer, a laptop computer, a PDA, an in-vehicle electronic device, a wearable device, an ultra-mobile personal computer (UMPC), a netbook, or a personal digital assistant (PDA), etc. The non-mobile electronic device can be a server, a network attached storage (NAS), a personal computer (PC), a television (TV), an ATM, or an kiosks, etc., which are not specifically limited in the embodiment of the present application.

[0113] The positioning device in the embodiment of the present application may be a device having an operating system. The operating system may be an Android operating system, an iOS operating system, or other possible operating systems, which are not specifically limited in the embodiment of the present application.

[0114] The positioning device provided in the embodiment of the present application can achieve Figure 1 To avoid repetition, the various processes implemented in the method embodiment are not described here.

[0115] Optional, such as Figure 3As shown, an embodiment of the present application also provides an electronic device 300, including a processor 301, a memory 302, and a program or instruction stored in the memory 302 and executable on the processor 301. When the program or instruction is executed by the processor 301, the various processes of the above-mentioned method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, it will not be described here.

[0116] It should be noted that the electronic devices in the embodiments of the present application include the mobile electronic devices and non-mobile electronic devices mentioned above.

[0117] Figure 4 A schematic diagram of the hardware structure of an electronic device implementing an embodiment of the present application.

[0118] The electronic device 400 includes but is not limited to components such as a radio frequency unit 401 , a network module 402 , an audio output unit 403 , an input unit 404 , a sensor 405 , a display unit 406 , a user input unit 404 , an interface unit 408 , a memory 409 , and a processor 410 .

[0119] Those skilled in the art will understand that the electronic device 400 may also include a power source (such as a battery) to power each component, and the power source may be logically connected to the processor 410 through a power management system, thereby implementing functions such as charging, discharging, and power consumption management through the power management system. Figure 4 The electronic device structure shown in the figure does not constitute a limitation on the electronic device. The electronic device may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently, which will not be repeated here.

[0120] The processor 410 is configured to obtain access point information of multiple access points received by the electronic device;

[0121] determining, from the plurality of access points, a target access point including a coordinate position according to the access point information of the plurality of access points;

[0122] Determining a target location of the electronic device based on a differential received signal strength between the first access point and each second access point and a coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point.

[0123] Optionally, the first access point is an access point among the target access points that meets a preset condition;

[0124] The preset condition includes the maximum received signal strength.

[0125] Optionally, determining the target position of the electronic device according to the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point includes:

[0126] establishing a distance equation from the electronic device to each second access point based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point, wherein the distance equation from the electronic device to the second access point is related to the relative distance from the electronic device to the first access point and the differential received signal strength between the second access point and the first access point;

[0127] A distance equation from the electronic device to each second access point is solved based on a first initial relative distance, to determine a target position of the electronic device, where the first initial relative distance is a first initial relative distance from the electronic device to the first access point determined according to a received signal strength of the first access point.

[0128] Optionally, solving a distance equation from the electronic device to each second access point based on the first initial relative distance to determine the target position of the electronic device further includes:

[0129] Solving a distance equation from the electronic device to each second access point based on the first initial relative distance to calculate a first position of the electronic device;

[0130] calculating, based on the first position of the electronic device, a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point;

[0131] determining a first residual between the first target distance and the first initial relative distance, and a second residual between a second target distance of each second access point and a corresponding second initial relative distance, wherein the second initial relative distance corresponding to the second target distance of the second access point is determined based on the first initial relative distance and a differential received signal strength between the first access point and the second access point;

[0132] Calculating the sum of the first residual and each second residual to obtain a residual sum;

[0133] When the residual sum is smaller than a preset threshold, the first position of the electronic device is determined as the target position of the electronic device.

[0134] Optionally, after calculating the sum of the first residual and each second residual to obtain the residual sum, the method further includes:

[0135] If the residual sum is greater than or equal to a preset threshold, the first initial relative distance is updated to the first target distance, and the process returns to the step of solving the distance equation from the electronic device to each second access point based on the first initial relative distance to calculate the first position of the electronic device.

[0136] In an embodiment of the present application, electronic device 400 determines the target position of the electronic device based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point. Since most errors contained in the same environment are similar, the difference between different observation values ​​observed by the same device at the same location can eliminate most of the errors. In this way, based on the differential received signal strength between the first access point and each second access point, most of the same errors in the environment in which the electronic device is located can be eliminated, thereby improving positioning accuracy.

[0137] It should be understood that in an embodiment of the present application, the input unit 404 may include a graphics processing unit (GPU) 4041 and a microphone 4042, and the graphics processing unit 4041 processes the image data of a static picture or video obtained by an image capture device (such as a camera) in a video capture mode or an image capture mode. The display unit 406 may include a display panel 4061, and the display panel 4061 may be configured in the form of a liquid crystal display, an organic light emitting diode, etc. The user input unit 404 includes a touch panel 4041 and other input devices 4042. The touch panel 10041 is also called a touch screen. The touch panel 4041 may include two parts: a touch detection device and a touch controller. Other input devices 4042 may include but are not limited to a physical keyboard, function keys (such as volume control keys, switch keys, etc.), a trackball, a mouse, and an operating stick, which will not be repeated here. The memory 409 can be used to store software programs and various data, including but not limited to applications and operating systems. The processor 410 may integrate an application processor and a modem processor, wherein the application processor mainly processes the operating system, user interface, and application programs, and the modem processor mainly processes wireless communications. It is understood that the modem processor may not be integrated into the processor 410.

[0138] The embodiment of the present application also provides a readable storage medium on which a program or instruction is stored, and when the program or instruction is executed by the processor, the above Figure 1 The various processes of the embodiments of the positioning method are similar to those of the embodiments of the present invention and can achieve the same technical effects. To avoid repetition, they will not be described here.

[0139] Through the description of the above embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus the necessary general hardware platform, and of course can also be implemented by hardware, but in many cases the former is a better embodiment. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a number of instructions for enabling a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) to execute the methods described in each embodiment of the present invention.

[0140] The embodiments of the present invention are described above in conjunction with the accompanying drawings, but the present invention is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present invention, ordinary technicians in this field can also make many forms without departing from the scope of protection of the present invention and the claims, all of which are protected by the present invention.

Claims

1. A positioning method, applied to electronic equipment, characterized in that: include: Acquiring access point information of multiple access points received by the electronic device; determining, from the plurality of access points, a target access point including a coordinate position according to the access point information of the plurality of access points; determining a target location of the electronic device based on a differential received signal strength between the first access point and each second access point and a coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point; The determining the target position of the electronic device according to the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point includes: Establishing a distance equation from the electronic device to each second access point based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point; solving a distance equation from the electronic device to each second access point based on a first initial relative distance from the electronic device to the first access point, to calculate a first position of the electronic device, wherein the first initial relative distance is determined based on a received signal strength of the first access point. If the sum of the residuals of the first residual and the second residual is less than a preset threshold, determining the first position as the target position of the electronic device, wherein the first residual is a residual between a first target distance between the electronic device and the first access point and the first initial relative distance, the second residual is a second residual between a second target distance between the electronic device and each second access point and the corresponding second initial relative distance, the first target distance is a distance between the electronic device and the first access point determined based on the coordinate position, the second target distance is a distance between the electronic device and the second access point determined based on the coordinate position, the second initial relative distance is a distance from the electronic device to the second access point, and the second initial relative distance is determined based on the first initial relative distance and a differential received signal strength between the first access point and the second access point; If the residual sum is greater than or equal to a preset threshold, the first initial relative distance is updated to the first target distance, the process returns to the step of solving the distance equation from the electronic device to each second access point based on the first initial relative distance from the electronic device to the first access point to calculate the first position of the electronic device.

2. The positioning method according to claim 1, wherein: The first access point is an access point among the target access points that meets a preset condition; The preset condition includes the maximum received signal strength.

3. The positioning method according to claim 1, wherein: The distance equation from the electronic device to the second access point is related to the relative distance from the electronic device to the first access point and the differential received signal strength between the second access point and the first access point.

4. The positioning method according to claim 1, wherein: The step of determining the first position as the target position of the electronic device when the sum of the residuals of the first residual and the second residual is less than a preset threshold comprises: calculating, based on the first position of the electronic device, a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point; determining a first residual between the first target distance and the first initial relative distance, and a second residual between a second target distance of each second access point and a corresponding second initial relative distance; Calculating the sum of the first residual and each second residual to obtain a residual sum; When the residual sum is smaller than a preset threshold, the first position of the electronic device is determined as the target position of the electronic device.

5. A positioning device, applied to electronic equipment, characterized in that: include: an acquisition module, configured to acquire access point information of multiple access points received by the electronic device; A first determining module is configured to determine a target access point including a coordinate position from the plurality of access points based on the access point information of the plurality of access points; a second determining module, configured to determine a target location of the electronic device based on a differential received signal strength between the first access point and each second access point and a coordinate position of each target access point, wherein the first access point is any access point among the target access points, and the second access points are the remaining access points among the target access points except the first access point; Wherein, the second determining module includes a first processing module and a second processing module; The first processing module is configured to establish a distance equation from the electronic device to each second access point based on the differential received signal strength between the first access point and each second access point and the coordinate position of each target access point; The second processing module includes: a first calculation module, configured to solve a distance equation from the electronic device to each second access point based on a first initial relative distance from the electronic device to the first access point, to calculate a first position of the electronic device, wherein the first initial relative distance is a first initial relative distance from the electronic device to the first access point determined according to a received signal strength of the first access point; a third processing module, configured to determine the first position as the target position of the electronic device if the sum of the residuals of the first residual and the second residual is less than a preset threshold, wherein the first residual is a residual between a first target distance between the electronic device and the first access point and the first initial relative distance, the second residual is a second residual between a second target distance between the electronic device and each second access point and the corresponding second initial relative distance, the first target distance is a distance between the electronic device and the first access point determined based on the coordinate position, the second target distance is a distance between the electronic device and the second access point determined based on the coordinate position, the second initial relative distance is a distance between the electronic device and the second access point, and the second initial relative distance is determined based on the first initial relative distance and a differential received signal strength between the first access point and the second access point; and a fourth processing module, configured to, when the sum of the residuals is greater than or equal to a preset threshold, update the first initial relative distance to the first target distance, return to the step of solving the distance equation from the electronic device to each second access point based on the first initial relative distance from the electronic device to the first access point, and calculate the first position of the electronic device.

6. The positioning device according to claim 5, characterized in that The first access point is an access point among the target access points that meets a preset condition; The preset condition includes the maximum received signal strength.

7. The positioning device according to claim 5, characterized in that The distance equation from the electronic device to the second access point is related to the relative distance from the electronic device to the first access point and the differential received signal strength between the second access point and the first access point.

8. The positioning device according to claim 5, characterized in that The second processing module further includes: a second calculation module, configured to calculate a first target distance between the electronic device and the first access point and a second target distance between the electronic device and each second access point according to the first position of the electronic device; a third calculation module, configured to determine a first residual between the first target distance and the first initial relative distance, and a second residual between the second target distance of each second access point and the corresponding second initial relative distance; a fourth calculation module, configured to calculate the sum of the first residual and each second residual to obtain a residual sum; The third processing module is configured to determine the first position of the electronic device as the target position of the electronic device when the residual sum is less than a preset threshold.

9. An electronic device, characterized in that: The method comprises a processor, a memory, and a program or instruction stored in the memory and executable on the processor, wherein the program or instruction, when executed by the processor, implements the steps of the positioning method according to any one of claims 1 to 4.

10. A readable storage medium, characterized in that: The readable storage medium stores a program or instruction, and when the program or instruction is executed by a processor, the steps of the positioning method according to any one of claims 1 to 4 are implemented.

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