A method, device and storage medium for determining position

Abstract

The present invention discloses a position determination method, device and storage medium, the method comprising: determining a first position coordinate in a first scene; after switching from the first scene to a second scene, determining a second position coordinate in the second scene according to the first position coordinate and information of a reference position; wherein the second position coordinate and the first position coordinate use the same coordinate system.

Description

Technical Field

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

[0002] With the continuous development of the times, the continuous progress of science, and the accelerating pace of life, image recognition is increasingly used in life, for example, product classification based on image recognition.

[0003] Among the related technologies, the more commonly used outdoor positioning methods include: using the Global Navigation Satellite System (GNSS) positioning service system for positioning (GNSS is a positioning service system that uses observable quantities such as pseudorange, carrier phase, ephemeris, and satellite signal transmission time of a group of satellites to provide three-dimensional coordinates and time information for users on the surface of the earth or in near-Earth space), using real-time kinematic (RTK) carrier phase differential positioning technology, using real-time kinematic code phase differential technology (RTD) and other methods to provide users with outdoor positioning services.

[0004] In indoor or tunnel scenarios, positioning services are provided for terminals through indoor distributed antenna systems for wireless communications, Bluetooth beacon systems, and ultra-wideband (UWB, Ultra Wideband, a wireless wave communication technology that uses nanosecond to microsecond non-sinusoidal narrow pulses to transmit data. Its sub-nanosecond ultra-narrow pulses are currently used for close-range precise indoor positioning) technology.

[0005] In single outdoor, single indoor or tunnel scenarios, terminal positioning scenarios can basically guarantee user positioning services. However, when users move between outdoor and indoor (or tunnel), it involves switching between two positioning systems and converting between two sets of coordinate systems. Since the positioning system principles, standards, and coordinate system generation used indoors and outdoors are different, how to continuously transmit positioning coordinates during movement becomes a problem. The origin of traditional indoor positioning coordinates is generally the position of a corner of the room, which cannot correspond to longitude and latitude, and indoor Bluetooth positioning cannot provide altitude information. Summary of the invention

[0006] In view of this, the main purpose of the present invention is to provide a location determination method, device and storage medium.

[0007] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0008] An embodiment of the present invention provides a location determination method, which is applied to a terminal. The method includes:

[0009] Determine a first position coordinate in a first scene;

[0010] After switching from the first scene to the second scene, determining the second position coordinates in the second scene according to the first position coordinates and the reference position information;

[0011] The second position coordinates and the first position coordinates use the same coordinate system.

[0012] In the above solution, the reference position includes: a first reference position and at least one Bluetooth;

[0013] The reference position information includes: a first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate;

[0014] The determining, according to the first position coordinates and information of the reference position, the second position coordinates in the second scene includes:

[0015] The second location coordinates of the terminal are determined according to the first location coordinates, the first reference location coordinates, and the relative offset of each Bluetooth relative to the first reference location coordinates.

[0016] In the above solution, determining the second position coordinates of the terminal according to the first position coordinates, the first reference position coordinates, and the relative offset of each Bluetooth relative to the first reference position coordinates includes:

[0017] replacing the first reference position coordinates according to the first position coordinates;

[0018] Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0019] A first Bluetooth whose distance to the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the first Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0020] In the above solution, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0021] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0022] The determining, according to the first position coordinates and the information of the reference position, the second position coordinates in the second scene includes:

[0023] Replace the second reference position coordinates according to the first position coordinates;

[0024] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0025] A second Bluetooth whose distance from the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the second Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0026] In the above solution, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0027] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0028] The determining, according to the first position coordinates and the information of the reference position, the second position coordinates in the second scene includes:

[0029] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the second reference position coordinate with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate according to the replaced second reference position coordinate;

[0030] receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system;

[0031] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0032] Determine a second Bluetooth from at least one Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario.

[0033] In the above solution, the second scenario is provided with at least two Bluetooth;

[0034] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0035] The determining, according to the first position coordinates and the information of the reference position, the second position coordinates in the second scene includes:

[0036] Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth;

[0037] Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position;

[0038] Determine the Bluetooth coordinates of the other Bluetooths except the target Bluetooth among the at least two Bluetooths according to the replaced third reference position coordinates and the correction values ​​of the other Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system;

[0039] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0040] In the above solution, the second scenario is provided with at least two Bluetooth;

[0041] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0042] The determining, according to the first position coordinates and the information of the reference position, the second position coordinates in the second scene includes:

[0043] Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth;

[0044] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate;

[0045] receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth;

[0046] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0047] In the above solution, determining a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information includes:

[0048] Determine a first candidate Bluetooth for access by the terminal;

[0049] Calculating a square sum of correction values ​​of other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth;

[0050] From the other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths, a Bluetooth whose square sum meets a preset requirement is determined as the target Bluetooth.

[0051] An embodiment of the present invention provides a position determination device, the device comprising:

[0052] A first processing module, used to determine a first position coordinate in a first scene;

[0053] A second processing module, configured to determine a second position coordinate in the second scene according to information of the first position coordinate and a reference position after switching from the first scene to the second scene;

[0054] The second position coordinates and the first position coordinates use the same coordinate system.

[0055] In the above solution, the reference position includes: a first reference position and at least one Bluetooth;

[0056] The reference position information includes: a first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate;

[0057] The second processing module is used to determine the second position coordinates of the terminal according to the first position coordinates, the first reference position coordinates, and the relative offset of each Bluetooth relative to the first reference position coordinates.

[0058] In the above solution, the second processing module is used to replace the first reference position coordinates according to the first position coordinates;

[0059] Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0060] A first Bluetooth whose distance to the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the first Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0061] In the above solution, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0062] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0063] The second processing module is used to replace the second reference position coordinates according to the first position coordinates;

[0064] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0065] A second Bluetooth whose distance from the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the second Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0066] In the above solution, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0067] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0068] The second processing module is used to send the first position coordinates to the Bluetooth system; the first position coordinates are used to inform the Bluetooth system to replace the second reference position coordinates with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates according to the replaced second reference position coordinates;

[0069] receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system;

[0070] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0071] Determine a second Bluetooth from at least one Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario.

[0072] In the above solution, the second scenario is provided with at least two Bluetooth;

[0073] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0074] The second processing module is used to determine a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information;

[0075] Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position;

[0076] Determine the Bluetooth coordinates of the other Bluetooths except the target Bluetooth among the at least two Bluetooths according to the replaced third reference position coordinates and the correction values ​​of the other Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system;

[0077] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0078] In the above solution, the second scenario is provided with at least two Bluetooth;

[0079] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0080] The second processing module is used to determine a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information;

[0081] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate;

[0082] receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth;

[0083] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0084] In the above solution, the second processing module is used to determine the first candidate Bluetooth accessed by the terminal;

[0085] Calculating a square sum of correction values ​​of other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth;

[0086] From the other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths, a Bluetooth whose square sum meets a preset requirement is determined as the target Bluetooth.

[0087] An embodiment of the present invention provides a position determination device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of any one of the above position determination methods when executing the program.

[0088] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of any of the above position determination methods are implemented.

[0089] A position determination method, device and storage medium provided by an embodiment of the present invention include: determining a first position coordinate in a first scene; after switching from the first scene to a second scene, determining a second position coordinate in the second scene based on the first position coordinate and information of a reference position; wherein the second position coordinate and the first position coordinate use the same coordinate system; thus, based on the first position coordinate, a second position coordinate in the same coordinate system as the first position coordinate is determined, corresponding to the longitude and latitude, thereby providing altitude information. BRIEF DESCRIPTION OF THE DRAWINGS

[0090] Figure 1 A schematic diagram of a positioning method based on RTK carrier phase difference technology;

[0091] Figure 2 A schematic diagram of a flow chart of a location determination method provided by an embodiment of the present invention;

[0092] Figure 3 A schematic diagram of the structure of a position determination device provided by an embodiment of the present invention;

[0093] Figure 4 A schematic structural diagram of another position determination device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0094] The present invention will be further described in detail below in conjunction with embodiments, and the related art will be described first.

[0095] Figure 1 is a schematic diagram of a positioning method based on a base station; Figure 1 As shown in the figure, RTK carrier phase differential technology, based on the relative positioning concept of GPS, places a receiver at a known point, called the base station, and marks the known coordinates as (X 0 ,Y 0 ,Z 0 ), another one or more user receivers are placed on user mobile stations, such as survey ships and dredgers, to synchronously collect signals from the same satellite;

[0096] The base station transmits its carrier observation values ​​and station coordinate information to the user mobile station in real time through the data link. Using the relative positioning principle, these observation values ​​are differentiated to achieve real-time positioning.

[0097] The method provided by an embodiment of the present invention determines the first position coordinates in a first scene; after switching from the first scene to the second scene, determines the second position coordinates in the second scene based on the first position coordinates and information of a reference position; wherein the second position coordinates and the first position coordinates use the same coordinate system.

[0098] The present invention will be further described in detail below in conjunction with the embodiments.

[0099] Figure 2 A flow chart of a location determination method provided by an embodiment of the present invention; Figure 2 As shown, the method is applied to a terminal; the terminal may be a device with a positioning function such as a smart terminal, a tablet computer (PAD), a computer, etc.; the method includes:

[0100] Step 201: Determine the first position coordinates in the first scene;

[0101] Step 202: after switching from the first scene to the second scene, determine the second position coordinates in the second scene according to the first position coordinates and the reference position information;

[0102] The second position coordinates and the first position coordinates use the same coordinate system.

[0103] The first scene represents an outdoor scene; the second scene represents an indoor scene (specifically, it may refer to indoors (or inside a house), a tunnel).

[0104] The first position coordinates and the second position coordinates adopt a latitude and longitude coordinate system, which can reflect the position of the terminal, that is, the height information of the terminal can also be determined indoors.

[0105] In some embodiments, a solution is provided for determining the second position coordinates in the second scene based on the first position coordinates and information of a reference position.

[0106] Here, the reference position includes: a first reference position and at least one Bluetooth; Here, the first reference position is an absolute position that remains unchanged;

[0107] The reference position information includes: a first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate;

[0108] In actual applications, in order to achieve positioning, it is necessary to determine the information of the reference position, and then determine the second position coordinates of the terminal in the second scenario in combination with the first position coordinates.

[0109] Before step 202, the method further includes:

[0110] Obtaining the first reference position coordinates through the room distribution network corresponding to the second scene;

[0111] The relative offset of each Bluetooth relative to the first reference position coordinates is obtained through the indoor network.

[0112] Here, each cell of the indoor network broadcasts the same absolute position coordinate A (x, y, z), so that the terminal can obtain the absolute position coordinate as the first reference position coordinate.

[0113] Correspondingly, determining the second position coordinates in the second scene according to the first position coordinates and the information of the reference position includes:

[0114] The second location coordinates of the terminal are determined according to the first location coordinates, the first reference location coordinates, and the relative offset of each Bluetooth relative to the first reference location coordinates.

[0115] The determining the second position coordinates of the terminal according to the first position coordinates, the first reference position coordinates, and the relative offset of each Bluetooth relative to the first reference position coordinates includes:

[0116] replacing the first reference position coordinates according to the first position coordinates;

[0117] Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0118] A first Bluetooth whose distance to the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the first Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0119] The step of determining, from at least one Bluetooth, a first Bluetooth whose distance from the terminal meets a preset distance requirement comprises:

[0120] According to the signal strength of each received Bluetooth, determine the Bluetooth with the strongest signal strength as the Bluetooth closest to the terminal;

[0121] The determined Bluetooth that is closest to the terminal is used as the first Bluetooth.

[0122] For example, in an outdoor scenario, the terminal accesses the wireless communication network, and the base station obtains GNSS information and calculates the RPK correction value. The terminal can use RTK positioning technology. The terminal obtains RTK correction information through the wireless communication network, and combines the terminal's own position coordinates with errors calculated by GNSS to calculate the terminal's high-precision position information, that is, the terminal realizes positioning in the outdoor scenario and determines the outdoor position coordinates.

[0123] When the terminal moves from an outdoor scene to an indoor scene, the outdoor wireless communication network (such as 2G / 3G / 4G / 5G) and the indoor wireless communication network (also known as an indoor wireless communication system, indoor network) switch. When the terminal switches according to heterogeneous frequency or heterogeneous system measurements, the terminal records the location information calculated by RTK before the switch (that is, the outdoor location coordinates mentioned above). The location information here is a longitude and latitude coordinate, that is, the first location coordinate mentioned above.

[0124] After the terminal completes the switching of the wireless communication network, it enters the indoor network. At this time, due to the lack of RTK correction values ​​sent by the base station and the inability to receive GNSS signals indoors, the terminal RKT positioning is interrupted. At this time, the Bluetooth function of the terminal is activated.

[0125] The indoor wireless communication system will broadcast the absolute coordinate position A (x, y, z) of the system, that is, the first reference position coordinate; and the indoor Bluetooth system independently broadcasts a relative offset (Δx, Δy, Δz) relative to the absolute coordinate position for each Bluetooth transmitting antenna position, that is, the relative offset of each Bluetooth in the at least one Bluetooth relative to the first reference position coordinate.

[0126] When the terminal switches from an outdoor scene to an indoor scene, determining the second position coordinates of the terminal according to the first position coordinates, the first reference position coordinates, and the relative offset of each Bluetooth relative to the first reference position coordinates includes:

[0127] After obtaining the absolute position coordinates according to the broadcast of the switched wireless cell, taking the absolute position coordinates as the initial position of the terminal entering the indoor space, and replacing the absolute position coordinates according to the first position coordinates;

[0128] According to the replaced absolute position coordinates (ie, the replaced first reference position coordinates), combined with the relative offset of each Bluetooth relative to the first reference position coordinates, indoor high-precision positioning information is obtained.

[0129] Specifically, the Bluetooth coordinates of each Bluetooth can be determined according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the first Bluetooth whose distance to the terminal meets the preset distance requirement (such as the closest distance) is determined from at least one Bluetooth, and the Bluetooth coordinates of the first Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0130] Here, the Bluetooth coordinates of each Bluetooth may be obtained by using the formula (x+Δx, y+Δy, z+Δz).

[0131] In some embodiments, another solution is provided for determining the second position information based on the first position coordinates and the reference position information after switching from the first scene to the second scene.

[0132] Here, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0133] The reference position includes: at least one second reference position and at least one Bluetooth;

[0134] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0135] In one example, determining the second position coordinates in the second scene according to the first position coordinates and information of the reference position includes:

[0136] Replace the second reference position coordinates according to the first position coordinates;

[0137] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0138] A second Bluetooth whose distance from the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the second Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0139] In another example, determining the second position coordinates in the second scene according to the first position coordinates and information of the reference position includes:

[0140] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the second reference position coordinate with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate according to the replaced second reference position coordinate;

[0141] receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system;

[0142] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0143] Determine a second Bluetooth from at least one Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario.

[0144] The correction value is equivalent to the position deviation of the Bluetooth and the second reference position coordinates or the distance on the (X, Y, Z) axis; therefore, according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates, determining the Bluetooth coordinates of each Bluetooth includes:

[0145] Using the formula (X+Δx, Y+Δy, Z+Δz), the Bluetooth coordinates of each Bluetooth are determined.

[0146] Here, determining, from at least one Bluetooth, a second Bluetooth whose distance from the terminal meets a preset distance requirement includes:

[0147] According to the signal strength of each received Bluetooth, determine the Bluetooth with the strongest signal strength as the Bluetooth closest to the terminal;

[0148] The determined Bluetooth that is closest to the terminal is used as the second Bluetooth.

[0149] For example, assuming that there are multiple entrances for a terminal to enter an indoor scene (there are relatively few tunnel entrances, usually only two), these entrances can be numbered, such as 1, 2, 3, ..., M. Other Bluetooth locations in indoor or tunnel environments are numbered AA, BB, CC, ..., NN.

[0150] A Bluetooth is installed at the entrance (the Bluetooth has a transmitting antenna); if there are multiple entrances, a Bluetooth can be installed at each entrance, that is, at least one Bluetooth is installed in the second scene.

[0151] Assume that you enter the room or tunnel from position 1, and position 1 is set to coordinate A0 (x, y, z) (i.e., a second reference position coordinate). When broadcasting, index_A is broadcasted on time. The correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔA1 (ΔA1x, ΔA1y, ΔA1z), the correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔA2 (ΔA2x, ΔA2y, ΔA2z), ..., the correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔAn (ΔAnx, ΔAny, ΔAnz);

[0152] Entering indoors / tunnel from position 2, position 2 is set to coordinate B0 (x, y, z) (i.e., a second reference position coordinate), index_B is broadcast on time, and the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔB1 (ΔB1x, ΔB1y, ΔB1z), the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔB2 (ΔB2x, ΔB2y, ΔB2z), ..., the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔBn (ΔBnx, ΔBny, ΔBnz);

[0153] …

[0154] Entering indoors / tunnel from position M, position 1 is set to coordinate M0 (x, y, z) (i.e., a second reference position coordinate), and index_M is broadcast on time. The correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔM1 (ΔM1x, ΔM1y, ΔM1z), the correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔM2 (ΔM2x, ΔM2y, ΔM2z), ..., the correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔMn (ΔMnx, ΔMny, ΔMnz).

[0155] Each Bluetooth location (AA, BB, CC, ..., NN) is broadcast as shown in Table 1.

[0156]

[0157] Table 1 shows the relative position coordinates of indoor Bluetooth

[0158] The correction values ​​of Bluetooth AA broadcast are shown in Table 2:

[0159]

[0160]

[0161] Table 2

[0162] The correction values ​​of Bluetooth NN broadcast are shown in Table 3:

[0163]

[0164] Table 3

[0165] When the terminal moves from outdoors to indoors / tunnel, the outdoor wireless communication network and the indoor wireless communication network are switched. When the terminal switches based on heterogeneous frequency or heterogeneous system measurements, the terminal records the position information calculated by RTK before the switch (i.e., the first position coordinates, a latitude and longitude coordinate).

[0166] Assume that the terminal enters the room from position 1 and connects to the Bluetooth at position 1, reads the index_A information of the broadcast position 1, and sends the high-precision outdoor positioning coordinates O_S (X, Y, Z) (i.e., the first position coordinates) of the last RTK recorded previously to the Bluetooth system inside the terminal as A0 (x, y, z); during indoor movement, the Δ coordinate correction value is adjusted on the basis of A0 (x, y, z) (it should be noted that it is actually O_S (X, Y, Z) here), so that the correction value relative to the first position coordinate based on the first position coordinate can be determined as the coordinate of each Bluetooth; in this way, the broadcast of absolute coordinates can be reduced indoors, and only the correction value is broadcast to determine the position of the terminal (specifically, the position of the nearest Bluetooth is used as the position of the terminal).

[0167] Among them, the adjustment of the Δ coordinate correction value based on A0(x, y, z) refers to the calculation of (X, Y, Z) combined with the Bluetooth corresponding position relative to position 1. For example, if entering at position 1, the position of the positioned Bluetooth (assuming it is Bluetooth AA) is (X+ΔA1x, Y+ΔA1y, Z+ΔA1z), wherein O_S(X, Y, Z)=A0(x, y, z).

[0168] For other Bluetooth, its own coordinates can be determined according to its correction value relative to position 1; when the terminal moves indoors, the coordinates of the Bluetooth with the strongest access signal can be determined as its own coordinates.

[0169] Since the position of each Bluetooth is corrected based on the longitude and latitude coordinates (ie, the first position coordinates), it can be ensured that the indoor coordinates of the terminal and the outdoor coordinates use the same coordinate system.

[0170] It should be noted that if the terminal is restarted indoors / in a tunnel, the terminal needs to extract the initial O_S (X, Y, Z) and the index of the entry position from the log (the RTK coordinates O_S (X, Y, Z) before switching from outdoor wireless communication to indoor wireless communication and the index of the entry position are written to the log) and reposition according to the connected Bluetooth broadcast.

[0171] In some embodiments, another solution is provided for determining second position information based on the first position coordinates and reference position information after switching from the first scene to the second scene.

[0172] The second scene is provided with at least two Bluetooths; the reference position includes: at least two Bluetooths;

[0173] Under this scheme, there is no need to assume Bluetooth at the entrance, and the nearest Bluetooth at each entrance can be at a certain distance from the entrance location.

[0174] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0175] In one example, determining the second position coordinates in the second scene according to the first position coordinates and information of the reference position includes:

[0176] Determine, according to the one position coordinate and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth;

[0177] Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position;

[0178] Determine the Bluetooth coordinates of other Bluetooths among the at least two Bluetooths except the target Bluetooth according to the replaced third reference position coordinates and the correction value of each Bluetooth among the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system;

[0179] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0180] In another example, determining the second position coordinates in the second scene according to the first position coordinates and information of the reference position includes:

[0181] Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth;

[0182] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate;

[0183] receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth;

[0184] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0185] Specifically, determining a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information includes:

[0186] Determine a first candidate Bluetooth for access by the terminal;

[0187] Calculating a square sum of correction values ​​of other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth;

[0188] From the other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths, a Bluetooth whose square sum meets a preset requirement is determined as the target Bluetooth.

[0189] Here, the Bluetooth broadcast with the strongest access signal is considered to be the Bluetooth closest to the terminal, and is used as the first candidate Bluetooth for the terminal to access.

[0190] Here, the square sum calculation adopts the following formula: x*x+y*y+z*z.

[0191] That is, the square sum of the correction values ​​of other Bluetooths broadcasted by the first candidate Bluetooth is calculated, and the Bluetooth with the smallest calculation result is used as the target Bluetooth.

[0192] Then, the third reference position coordinates of the target Bluetooth are replaced according to the first coordinate position; and the Bluetooth coordinates of other Bluetooths among the at least two Bluetooths except the target Bluetooth are determined according to the replaced third reference position coordinates and the correction value of each Bluetooth among the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth.

[0193] The step of adjusting the correction values ​​of other Bluetooths except the target Bluetooth among the at least two Bluetooths relative to the target Bluetooth according to the replaced third reference position coordinates includes:

[0194] Using the formula (X+ΔB1x, Y+ΔB1y, Z+ΔB1z), determine the Bluetooth coordinates of each Bluetooth.

[0195] Here, determining a third Bluetooth whose distance from the terminal meets a preset distance requirement from other Bluetooths except the target Bluetooth among the at least two Bluetooths, and using the Bluetooth coordinates of the third Bluetooth as the second position coordinates of the terminal in the second scenario, includes:

[0196] According to the signal strength of each received Bluetooth, determine the Bluetooth with the strongest signal strength as the Bluetooth closest to the terminal;

[0197] The determined Bluetooth that is closest to the terminal is used as the third Bluetooth.

[0198] That is to say, after adjusting the coordinates of all Bluetooths and moving the terminal, the Bluetooth with the strongest signal strength can be determined as the Bluetooth closest to the terminal based on the signal strength of each received Bluetooth; the Bluetooth closest to the terminal is determined as the third Bluetooth.

[0199] For example, there may be multiple entrances into a room (there are relatively few entrances to a tunnel, usually only two), and these entrances are numbered, such as 1, 2, 3, ..., M. Other Bluetooth locations in indoor or tunnel areas are numbered AA, BB, CC, ..., NN.

[0200] There is no Bluetooth installed at each entrance, and the nearest Bluetooth antenna at each entrance is at a distance from the entrance.

[0201] Entering indoors / tunnel from position 1, position 1 is set to coordinate A0 (0, 0, 0), the correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔA1 (ΔA1x, ΔA1y, ΔA1z), the correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔA2 (ΔA2x, ΔA2y, ΔA2z), ..., the correction value of the relative A0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔAn (ΔAnx, ΔAny, ΔAnz);

[0202] Entering indoors / tunnel from position 2, position 2 is set to coordinate B0 (0, 0, 0), index_B is broadcast on time, the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔB1 (ΔB1x, ΔB1y, ΔB1z), the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔB2 (ΔB2x, ΔB2y, ΔB2z), ..., the correction value of the relative B0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔBn (ΔBnx, ΔBny, ΔBnz);

[0203] …

[0204] Entering indoors / tunnel from position M, position M is set to coordinate M0 (x, y, z), index_M is broadcast on time, the correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point AA is recorded as ΔM1 (ΔM1x, ΔM1y, ΔM1z), the correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point BB is recorded as ΔM2 (ΔM2x, ΔM2y, ΔM2z), ..., the correction value of the relative M0 coordinate corresponding to other indoor Bluetooth point NN is recorded as ΔMn (ΔMnx, ΔMny, ΔMnz);

[0205] Each Bluetooth location (AA, BB, CC, ..., NN) is broadcast as shown in Table 4.

[0206]

[0207] Table 4 shows the indoor Bluetooth relative position coordinate group

[0208] The correction values ​​for AA broadcast are shown in Table 5:

[0209]

[0210] Table 5

[0211] The correction values ​​for NN broadcast are shown in Table 6:

[0212]

[0213] Table 6

[0214] When the terminal moves from outdoor to indoor / tunnel, the outdoor wireless communication network and the indoor wireless communication network are switched. When the terminal switches according to different frequency or system measurements, the terminal records the location information (latitude and longitude coordinates) calculated by RTK before the switch.

[0215] When the terminal enters the room from position 1, the terminal sends the high-precision outdoor positioning coordinates O_S (X, Y, Z) of the last RTK recorded in the terminal to the Bluetooth system; after the terminal accesses the Bluetooth of the indoor AA position (that is, the Bluetooth signal with the strongest signal received at the indoor position 1 is the signal of the indoor AA position Bluetooth), according to the set of coordinate values ​​broadcasted by the AA position, the three-dimensional square sum of all the coordinate values ​​broadcasted by the AA position (that is, the coordinates of ΔA1, ΔB1, ... ΔM1 shown in Table 5) is calculated, and the minimum value of the square sum is found (or the absolute value of the three dimensions is calculated and then summed to find the minimum value); according to the minimum value, it is confirmed which group of correction values ​​(for example, ΔB1 ​​(ΔB1x, ΔB1y, Δ B1z)), thereby finding the position of the Bluetooth closest to the entry position and confirming the position from which it entered (for example, determining that the position of the Bluetooth closest to the entry position is ΔB1(ΔB1x, ΔB1y, ΔB1z), it can be determined that it entered from position 2) into the room or tunnel, and bringing the correction value of the most recent Bluetooth broadcast (ΔB1(ΔB1x, ΔB1y, ΔB1z)) into the coordinate value O_S(X, Y, Z) last recorded by RTK to obtain a new position (that is, using the formula (X+ΔB1x, Y+ΔB1y, Z+ΔB1z)); thereafter, the terminal uses the same set of coordinates relative to the entry position (such as using the relative coordinate information of position 2) to update its position during its indoor movement.

[0216] Specifically, the square sum adopts the formula: §=x*x+y*y+z*z; where it is assumed that the strongest Bluetooth signal broadcast received by the user is:

[0217]

[0218] That is, calculate respectively:

[0219] §A=ΔA1x*ΔA1x+ΔA1y*ΔA1y+ΔA1z*ΔA1z;

[0220] §B=ΔB 1x*ΔB 1x+ΔB 1y*ΔB 1y+ΔB 1z*ΔB 1z;

[0221] …

[0222] §M=ΔM 1x*ΔM 1x+ΔM 1y*ΔM 1y+ΔM 1z*ΔM 1z;

[0223] Based on the calculation results, determine the set of coordinates corresponding to the smallest § among §A, §B, …, §M, and use it as the current coordinates of the terminal.

[0224] Assuming that the smallest § is §B, the current coordinates of the terminal are determined to be the position of ΔB1.

[0225] It should be noted that if the terminal is restarted indoors or in a tunnel, the terminal needs to extract the initial O_S (X, Y, Z) and entry position when entering the room (the RTK coordinates O_S (X, Y, Z) before switching from outdoor wireless communication to indoor wireless communication and the entry position are written into the log) from the log and reposition according to the connected Bluetooth broadcast.

[0226] The method provided by the embodiment of the present invention is based on obtaining three-dimensional absolute coordinates outdoors, and obtains the three-dimensional relative coordinate system indoors through the conversion relationship between relative coordinates and absolute coordinates (absolute longitude and latitude), thereby ensuring the continuity of the terminal obtaining high-precision positioning coordinates; after entering the room, elevation information can also be provided to distinguish overlapping positions introduced by heights such as floors; and the origin of the indoor coordinate system (specifically referring to the above three Bluetooth setting methods) can be flexibly set according to the location, and the solution is highly flexible in implementation.

[0227] Figure 3 A schematic diagram of the structure of a position determination device provided by an embodiment of the present invention; Figure 3 As shown, the device comprises:

[0228] A first processing module, used to determine a first position coordinate in a first scene;

[0229] A second processing module, configured to determine a second position coordinate in the second scene according to information of the first position coordinate and a reference position after switching from the first scene to the second scene;

[0230] The second position coordinates and the first position coordinates use the same coordinate system.

[0231] In one embodiment, the reference location includes: a first reference location and at least one Bluetooth;

[0232] The reference position information includes: a first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate;

[0233] The second processing module is used to determine the second position coordinates of the terminal according to the first position coordinates, the first reference position coordinates, and the relative offset of each Bluetooth relative to the first reference position coordinates.

[0234] Specifically, the second processing module is specifically configured to replace the first reference position coordinates according to the first position coordinates;

[0235] Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0236] A first Bluetooth whose distance to the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the first Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0237] In one embodiment, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0238] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0239] The second processing module is used to replace the second reference position coordinates according to the first position coordinates;

[0240] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0241] A second Bluetooth whose distance from the terminal meets a preset distance requirement is determined from at least one Bluetooth, and the Bluetooth coordinates of the second Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0242] In one embodiment, at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth;

[0243] The reference position information includes: a second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate;

[0244] The second processing module is used to send the first position coordinates to the Bluetooth system; the first position coordinates are used to inform the Bluetooth system to replace the second reference position coordinates with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates according to the replaced second reference position coordinates;

[0245] receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system;

[0246] Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system;

[0247] Determine a second Bluetooth from at least one Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario.

[0248] In one embodiment, the second scenario is provided with at least two Bluetooth;

[0249] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0250] The second processing module is used to determine a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information;

[0251] Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position;

[0252] Determine the Bluetooth coordinates of the other Bluetooths except the target Bluetooth among the at least two Bluetooths according to the replaced third reference position coordinates and the correction values ​​of the other Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system;

[0253] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0254] In one embodiment, the second scenario is provided with at least two Bluetooth;

[0255] The reference position information includes: sub-reference position information corresponding to at least one candidate Bluetooth; each sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooth among at least two Bluetooths except the candidate Bluetooth relative to the candidate Bluetooth;

[0256] The second processing module is used to determine a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information;

[0257] The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate;

[0258] receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth;

[0259] A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

[0260] Specifically, the second processing module is specifically used to determine the first candidate Bluetooth accessed by the terminal;

[0261] Calculating a square sum of correction values ​​of other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth;

[0262] From the other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths, a Bluetooth whose square sum meets a preset requirement is determined as the target Bluetooth.

[0263] It should be noted that: the location determination device provided in the above embodiment only uses the division of the above program modules as an example when implementing the corresponding location determination method. In actual applications, the above processing can be assigned to different program modules as needed, that is, the internal structure of the server is divided into different program modules to complete all or part of the processing described above. In addition, the device provided in the above embodiment and the embodiment of the corresponding method belong to the same concept, and the specific implementation process is detailed in the method embodiment, which will not be repeated here.

[0264] Figure 4 A schematic diagram of the structure of another position determination device provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the device 40 includes: a processor 401 and a memory 402 for storing a computer program that can be run on the processor; when the processor 401 is used to run the computer program, it executes: determining a first position coordinate in a first scene; after switching from the first scene to the second scene, determining a second position coordinate in the second scene based on the first position coordinate and information of a reference position; wherein the second position coordinate and the first position coordinate use the same coordinate system.

[0265] The processor 401 is also used to execute the steps of each position determination method in the embodiment of the present invention when running the computer program, which will not be described in detail here for the sake of brevity.

[0266] In actual application, the device 40 may further include: at least one network interface 403. The various components in the device 40 are coupled together via a bus system 404. It is understood that the bus system 404 is used to achieve connection and communication between these components. In addition to the data bus, the bus system 404 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, Figure 4 In the figure, various buses are labeled as bus system 404. There may be at least one processor 401. The network interface 403 is used for wired or wireless communication between the apparatus 40 and other devices.

[0267] The memory 402 in the embodiment of the present invention is used to store various types of data to support the operation of the device 40 .

[0268] The method disclosed in the above embodiment of the present invention can be applied to the processor 401, or implemented by the processor 401. The processor 401 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit in the processor 401 or the instruction in the form of software. The above processor 401 can be a general processor, a digital signal processor (DSP, DiGital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor 401 can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general processor can be a microprocessor or any conventional processor, etc. The steps of the method disclosed in the embodiment of the present invention can be directly embodied as a hardware decoding processor to execute, or the hardware and software modules in the decoding processor can be combined to execute. The software module can be located in a storage medium, which is located in the memory 402. The processor 401 reads the information in the memory 402 and completes the steps of the above method in combination with its hardware.

[0269] In an exemplary embodiment, the device 40 can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the aforementioned method.

[0270] An embodiment of the present invention also provides a computer-readable storage medium having a computer program stored thereon; when the computer program is executed by a processor, the computer program executes: determining a first position coordinate in a first scene; after switching from the first scene to a second scene, determining a second position coordinate in the second scene based on information of the first position coordinate and a reference position; wherein the second position coordinate and the first position coordinate use the same coordinate system.

[0271] When the computer program is executed by the processor, the steps of each position determination method in the embodiment of the present invention are also executed, which will not be described in detail here for the sake of brevity.

[0272] In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0273] The units described above as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0274] In addition, all functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be separately used as a unit, or two or more units may be integrated into one unit; the above-mentioned integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0275] A person skilled in the art can understand that: all or part of the steps of implementing the above method embodiment can be completed by hardware related to program instructions, and the aforementioned program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps of the above method embodiment; and the aforementioned storage medium includes: mobile storage devices, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), disks or optical disks, etc. Various media that can store program codes.

[0276] Alternatively, if the above-mentioned integrated unit of the present invention is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present invention can be essentially or partly reflected in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as mobile storage devices, ROM, RAM, magnetic disks or optical disks.

[0277] It should be noted that: "first", "second", etc. are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence.

[0278] In addition, the technical solutions described in the embodiments of the present application can be combined arbitrarily without conflict.

[0279] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

Claims

1. A method for determining a position, characterized in that: Applied to a terminal, the method comprises: Determine a first position coordinate in a first scene; After switching from the first scene to the second scene, determining the second position coordinates in the second scene according to the first position coordinates and the reference position information; Wherein, the second position coordinates and the first position coordinates use the same coordinate system; The reference location information includes one of the following: A first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate; wherein the reference position includes: a first reference position and at least one Bluetooth, the first reference position is an absolute position that remains unchanged; A second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate; wherein at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth, and the reference position includes: at least one second reference position and at least one Bluetooth; Sub-reference position information corresponding to at least one candidate Bluetooth; each of the sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooths other than the candidate Bluetooth relative to the candidate Bluetooth among at least two Bluetooths; wherein the second scene is provided with at least two Bluetooths, and the reference position includes: at least two Bluetooths; The determining, according to the first position coordinates and information of the reference position, the second position coordinates in the second scene includes: replacing the first reference position coordinates according to the first position coordinates; Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a first Bluetooth whose distance to the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the first Bluetooth as the second position coordinates of the terminal in the second scenario; or, Replace the second reference position coordinates according to the first position coordinates; Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a second Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario; or, The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the second reference position coordinate with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate according to the replaced second reference position coordinate; receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system; Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a second Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario; or, Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth; Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position; Determine the Bluetooth coordinates of the other Bluetooths except the target Bluetooth among the at least two Bluetooths according to the replaced third reference position coordinates and the correction values ​​of the other Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system; Determine a third Bluetooth whose distance from the terminal meets a preset distance requirement from other Bluetooths except the target Bluetooth among the at least two Bluetooths, and use the Bluetooth coordinates of the third Bluetooth as the second position coordinates of the terminal in the second scenario; or, Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth; The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate; receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth; A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

2. The method according to claim 1, characterized in that The step of determining a target Bluetooth that meets the position relationship requirement from the at least one candidate Bluetooth according to the first position coordinates and each of the sub-reference position information includes: Determine a first candidate Bluetooth for access by the terminal; Calculating a square sum of correction values ​​of other Bluetooths, except the first candidate Bluetooth, among the at least two Bluetooths broadcasted by the first candidate Bluetooth relative to the first candidate Bluetooth; From the other Bluetooths except the first candidate Bluetooth among the at least two Bluetooths, a Bluetooth whose square sum meets a preset requirement is determined as the target Bluetooth.

3. A position determination device, characterized in that: The device comprises: A first processing module, used to determine a first position coordinate in a first scene; A second processing module, configured to determine a second position coordinate in the second scene according to information of the first position coordinate and a reference position after switching from the first scene to the second scene; The second position coordinates and the first position coordinates use the same coordinate system; the reference position information includes one of the following: A first reference position coordinate and a relative offset of each Bluetooth in at least one Bluetooth relative to the first reference position coordinate; wherein the reference position includes: a first reference position and at least one Bluetooth, the first reference position is an absolute position that remains unchanged; A second reference position coordinate and a correction value of each Bluetooth in at least one Bluetooth relative to the second reference position coordinate; wherein at least one second reference position is provided at the junction of the first scene and the second scene, and the second scene is provided with at least one Bluetooth, and the reference position includes: at least one second reference position and at least one Bluetooth; Sub-reference position information corresponding to at least one candidate Bluetooth; each of the sub-reference position information includes: a third reference position coordinate of the candidate Bluetooth and a correction value of the other Bluetooths other than the candidate Bluetooth relative to the candidate Bluetooth among at least two Bluetooths; wherein the second scene is provided with at least two Bluetooths, and the reference position includes: at least two Bluetooths; The second processing module is specifically used for: replacing the first reference position coordinates according to the first position coordinates; Determine the Bluetooth coordinates of each Bluetooth according to the replaced first reference position coordinates and the relative offset of each Bluetooth relative to the first reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a first Bluetooth whose distance to the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the first Bluetooth as the second position coordinates of the terminal in the second scenario; or, Replace the second reference position coordinates according to the first position coordinates; Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a second Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario; or, The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the second reference position coordinate with the first coordinate position, and adjust the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinate according to the replaced second reference position coordinate; receiving a correction value of each of the at least one Bluetooth relative to the second reference position coordinate after adjustment broadcasted by the Bluetooth system; Determine the Bluetooth coordinates of each Bluetooth according to the replaced second reference position coordinates and the correction value of each Bluetooth in the at least one Bluetooth relative to the second reference position coordinates; the Bluetooth coordinates and the first position coordinates use the same coordinate system; Determine, from at least one Bluetooth, a second Bluetooth whose distance from the terminal meets a preset distance requirement, and use the Bluetooth coordinates of the second Bluetooth as the second position coordinates of the terminal in the second scenario; or, Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth; Replace the third reference position coordinates of the target Bluetooth according to the first coordinate position; Determine the Bluetooth coordinates of the other Bluetooths except the target Bluetooth among the at least two Bluetooths according to the replaced third reference position coordinates and the correction values ​​of the other Bluetooths except the target Bluetooth relative to the target Bluetooth; the Bluetooth coordinates and the first position coordinates adopt the same coordinate system; Determine a third Bluetooth whose distance from the terminal meets a preset distance requirement from other Bluetooths except the target Bluetooth among the at least two Bluetooths, and use the Bluetooth coordinates of the third Bluetooth as the second position coordinates of the terminal in the second scenario; or, Determine, according to the first position coordinates and each of the sub-reference position information, a target Bluetooth that meets the position relationship requirements from the at least one candidate Bluetooth; The first position coordinate is sent to the Bluetooth system; the first position coordinate is used to inform the Bluetooth system to replace the third reference position coordinate of the target Bluetooth with the first coordinate position, and adjust and broadcast the correction value of the other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth according to the replaced third reference position coordinate; receiving adjusted correction values ​​of other Bluetooths of the at least two Bluetooths except the target Bluetooth relative to the target Bluetooth; A third Bluetooth whose distance from the terminal meets a preset distance requirement is determined from other Bluetooths of the at least two Bluetooths except the target Bluetooth, and the Bluetooth coordinates of the third Bluetooth are used as the second position coordinates of the terminal in the second scenario.

4. A position determination device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the program, the steps of the method according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 2 are implemented.

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