Radio Frequency Fingerprint Map Update Method, Device, Equipment, Medium and Program Product

Abstract

An embodiment of the present application discloses a method, apparatus, device, medium and program product for updating a radio frequency fingerprint map, belonging to the field of positioning technology. The method includes: obtaining first positioning information, where the first positioning information includes a first position of a first electronic device in a radio frequency fingerprint map; obtaining at least two groups of second positioning information from at least two second electronic devices, where the second electronic devices are electronic devices that perform device-to-device communication with the first electronic device; adjusting the first position based on the at least two groups of second positioning information to obtain an adjusted second position; updating the second position to the first positioning information to obtain updated first positioning information; and updating the radio frequency fingerprint map based on the updated first positioning information and the at least two groups of second positioning information. This method can improve the quality of the collected positioning information by adjusting the positioning information of the first electronic device through the positioning information of multiple second electronic devices.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of positioning technology, and in particular, to a method, device, equipment, medium, and program product for updating a radio frequency fingerprint map. Background Art

[0002] In the case where the Global Positioning System (GPS) or GPS from satellites cannot track signals due to various obstacles, radio frequency fingerprint positioning technology can be used for positioning.

[0003] In radio frequency fingerprint positioning technology, the quality of the radio frequency fingerprint map affects the positioning accuracy. Since radio frequency fingerprints change over time and environment, it is necessary to update the radio frequency fingerprint map in a timely and accurate manner.

[0004] Because the cost of maintaining the radio frequency fingerprint map by manual collection is too high, the crowdsourcing method is mainly considered to implement the maintenance of the radio frequency fingerprint map. However, due to factors such as differences in user equipment and acquisition errors of user equipment, it is difficult to guarantee the quality of the data collected by the crowdsourcing method. Summary of the Invention

[0005] The embodiments of the present application provide a method, device, equipment, medium, and program product for updating a radio frequency fingerprint map. The technical solutions are as follows:

[0006] According to one aspect of the present application, there is provided a method for updating a radio frequency fingerprint map, which is applied to a first electronic device, and the method includes:

[0007] Obtain first positioning information, where the first positioning information includes a first position of the first electronic device in the radio frequency fingerprint map;

[0008] Obtain at least two sets of second positioning information from at least two second electronic devices, where the second positioning information is used to indicate the position information of the second electronic device, and the second electronic device is an electronic device that performs device-to-device communication with the first electronic device;

[0009] Adjust the first position based on the at least two sets of second positioning information to obtain an adjusted second position;

[0010] Update the second position to the first positioning information to obtain updated first positioning information;

[0011] Update the radio frequency fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

[0012] According to another aspect of the present application, a radio frequency fingerprint map updating device is provided. The device includes:

[0013] An acquisition module, configured to acquire first positioning information, where the first positioning information includes a first position of the first electronic device in the radio frequency fingerprint map; and acquire at least two sets of second positioning information from at least two second electronic devices, where the second positioning information is used to indicate the position information of the second electronic device, and the second electronic device is an electronic device that performs device-to-device communication with the first electronic device;

[0014] An adjustment module, configured to adjust the first position based on the at least two sets of second positioning information to obtain an adjusted second position; update the second position to the first positioning information to obtain updated first positioning information;

[0015] An update module, configured to update the radio frequency fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

[0016] According to another aspect of the present application, an electronic device is provided. The electronic device includes a processor and a memory connected to the processor. A program instruction is stored on the memory. When the processor executes the program instruction, the radio frequency fingerprint map updating method provided in various aspects of the present application is implemented.

[0017] According to another aspect of the present application, a computer-readable storage medium is provided. A program instruction is stored in the computer-readable storage medium. When the program instruction is executed by a processor, the radio frequency fingerprint map updating method provided in various aspects of the present application is implemented.

[0018] According to another aspect of the present application, a computer program product (or computer program) is provided. The computer program product (or computer program) includes computer instructions, and the computer instructions are stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the method provided in various alternative implementations of the above radio frequency fingerprint map updating method.

[0019] According to another aspect of the present application, a chip is provided. The chip includes programmable logic circuits and / or program instructions, and when the chip runs, it is used to implement the radio frequency fingerprint map updating method provided in various aspects of the present application.

[0020] The beneficial effects brought by the technical solutions provided in the embodiments of the present application may include:

[0021] In the above radio frequency fingerprint map updating method, the first electronic device is used as the collection device. After obtaining the first positioning information, the second positioning information of at least two second electronic devices is also obtained through device-to-device communication, and then the first positioning information is adjusted based on the second positioning information, so as to ensure the accuracy of the collected first positioning information. That is, in the case of crowdsourcing collection, it is ensured that high-quality positioning information can be collected, and then the accuracy of the updated radio frequency fingerprint map is ensured. Description of the Drawings

[0022] To introduce the technical solutions in the embodiments of the present application more clearly, the following will briefly introduce the drawings required for the description of the embodiments of the present application. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 Shows a schematic diagram of a communication system provided by an exemplary embodiment of the present application;

[0024] Figure 2 Shows a flowchart of a radio frequency fingerprint map updating method provided by an exemplary embodiment of the present application;

[0025] Figure 3 Shows a flowchart of a radio frequency fingerprint map updating method provided by another exemplary embodiment of the present application;

[0026] Figure 4 Shows a flowchart of a radio frequency fingerprint map updating method provided by another exemplary embodiment of the present application;

[0027] Figure 5 Shows a flowchart of a radio frequency fingerprint map updating method provided by another exemplary embodiment of the present application;

[0028] Figure 6 Shows a flowchart of a positioning method based on radio frequency fingerprint provided by an exemplary embodiment of the present application;

[0029] Figure 7 Shows a flowchart of a radio frequency fingerprint map updating method provided by another exemplary embodiment of the present application;

[0030] Figure 8 Shows a schematic diagram of an interface of a function setting provided by an exemplary embodiment of the present application;

[0031] Figure 9 Shows a schematic diagram of a cooperative perception network provided by an exemplary embodiment of the present application;

[0032] Figure 10The block diagram of a radio frequency fingerprint map updating device provided by an exemplary embodiment of the present application is shown;

[0033] Figure 11 The structural schematic diagram of a computer device provided by an exemplary embodiment of the present application is shown. Detailed implementation manners

[0034] To make the objectives, technical solutions, and advantages of the present application clearer, the embodiments of the present application will be described in further detail below with reference to the accompanying drawings.

[0035] When the following description refers to the accompanying drawings, unless otherwise indicated, the same numerals in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0036] In the description of the present application, it should be understood that terms such as "first", "second", etc. are only used for descriptive purposes and cannot be construed as indicating or implying relative importance. In the description of the present application, it should be noted that unless otherwise clearly specified and limited, the terms "connected" and "coupled" should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or an integral connection; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present application can be understood according to specific circumstances. In addition, in the description of the present application, unless otherwise stated, "a plurality of" means two or more. "And / or" describes the association relationship of associated objects and indicates that three relationships may exist. For example, A and / or B may represent: A exists alone, A and B exist simultaneously, and B exists alone. The character " / " generally represents an "or" relationship between the associated objects before and after.

[0037] Radio frequency fingerprint refers to radio frequency data used to mark geographical locations. For example, each location has a unique radio frequency fingerprint.

[0038] The implementation of radio frequency fingerprint positioning technology includes two stages, namely the construction stage of the radio frequency fingerprint map and the real-time positioning stage based on radio frequency fingerprints.

[0039] In the above real-time positioning stage, the current positioning information of the electronic device is collected, and the current positioning information is matched with the fingerprint position features in the radio frequency fingerprint database. The fingerprint position feature data with the highest similarity is selected as the positioning result. The fingerprint position feature is composed of a set of wireless signal feature data and represents the unique feature information of a certain position.

[0040] When GPS cannot track signals due to various obstacles, the above-mentioned radio frequency fingerprint positioning technology can be used for positioning. The factors affecting the positioning accuracy of the radio frequency fingerprint positioning technology include: the quality of the radio frequency fingerprint map and the radio frequency characteristics of the electronic device, etc. Since the radio frequency fingerprint will change over time and with the environment, it is necessary to update the radio frequency fingerprint map in a timely and accurate manner.

[0041] Because the cost of maintaining the radio frequency fingerprint map by manual collection is too high, the crowdsourcing method is mainly considered to achieve the maintenance of the radio frequency fingerprint map. However, due to factors such as the differences in user equipment and the acquisition errors of user equipment, it is difficult to guarantee the quality of the data collected by the crowdsourcing method.

[0042] Therefore, this application proposes a method for updating the radio frequency fingerprint map. For the detailed content of its implementation manner, please refer to the following embodiments.

[0043] Figure 1 Fig. shows a schematic structural diagram of a communication system provided by an exemplary embodiment of this application. The communication system includes a first electronic device 110 and a second electronic device 120.

[0044] Both the above-mentioned first electronic device 110 and second electronic device 120 have the function of wireless communication. Optionally, the first electronic device 110 and the second electronic device 120 can perform wireless communication through a short-distance transmission method. Exemplarily, the short-distance transmission method includes but is not limited to at least one of the following: Wireless Fidelity Direct (WiFi Direct) communication, Ultra Wide Band (UWB) communication, Near Field Communication (NFC), WiFi Aware, Mobile Direct (including 3G / 4G / 5G direct) communication, and Bluetooth communication. Among them, 3G refers to the 3rd Generation Communications System, 4G refers to the 4th Generation Communications System, and 5G refers to the 5th Generation Mobile Wireless Networks. Exemplarily, the electronic device includes but is not limited to at least one of the following: smart terminal, tablet computer, notebook computer, smart watch, e-reader, smart robot, and in-vehicle device.

[0045] Exemplarily, the first electronic device 110 includes a positioning component 111, a processor 112, a memory 113, and a communication component 114. At least one instruction is stored in the memory 113, and the at least one instruction is loaded and executed by the processor 112 to control the positioning component 111 to obtain its own location information; and to control the communication component 114 to perform wireless communication with the communication component 124 in the second electronic device 120.

[0046] The second electronic device 120 includes a positioning component 121, a processor 122, a memory 123, and a communication component 124. At least one instruction is stored in the memory 123, and the at least one instruction is loaded and executed by the processor 122 to control the positioning component 121 to obtain its own location information; and to control the communication component 124 to perform wireless communication with the communication component 114 in the first electronic device 110.

[0047] Exemplarily, the above-mentioned positioning component includes but is not limited to at least one of the following: a radio frequency fingerprint positioning component; a positioning component using UWB technology; a positioning component using WiFi communication technology; a positioning component using Bluetooth Low Energy (BLE) technology; a GPS positioning component.

[0048] The processor may include one or more processing cores. The processor uses various interfaces and lines to connect various parts within the electronic device, and by running or executing instructions, programs, code sets, or instruction sets stored in the memory, and by calling data stored in the memory, it executes various functions of the electronic device (including the user terminal) and processes data.

[0049] Optionally, the processor may be implemented in at least one of the following hardware forms: Digital Signal Processing (DSP), Field-Programmable Gate Array (FPGA), Programmable Logic Array (PLA). The processor may integrate one or a combination of several of a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), and a modem. Among them, the CPU mainly processes the operating system, the user interface, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communication. It can be understood that the above-mentioned modem may not be integrated into the processor and may be implemented separately by a chip.

[0050] The memory may include a Random Access Memory (RAM), or may also include a Read-Only Memory (ROM). Optionally, the memory includes a non-transitory computer-readable storage medium. The memory can be used to store instructions, programs, codes, code sets, or instruction sets. The memory may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image processing function, an information interaction function, etc.), instructions for implementing the following various method embodiments, etc.; the data storage area may store data involved in the following various method embodiments, etc.

[0051] The communication component may include at least one of the following: a WiFi Direct communication component, a UWB communication component, an NFC component, a WiFi Aware communication component, a mobile direct connection (including 3G / 4G / 5G direct connection) communication component, and a Bluetooth communication component. Exemplarily, the communication component is used to establish a wireless communication connection between the first electronic device 110 and the second electronic device 120, and perform data transmission through the wireless communication connection.

[0052] Exemplarily, the above communication system further includes a server ( Figure 1 not shown in the figure). The first electronic device 110 is connected to the server through a communication network, and the second electronic device 120 is also connected to the server through a communication network. The communication network can be a wired network or a wireless network. Exemplarily, the wired network can be a metropolitan area network, a local area network, an optical fiber network, etc.; the wireless network can be a mobile communication network or WiFi.

[0053] The above server may include at least one of a single server, multiple servers, a cloud computing platform, and a virtualization center. Those skilled in the art can know that the number of electronic devices in the above communication system can be more or less. For example, there may be only one electronic device in the above communication system, or dozens or hundreds, or a larger number. The embodiments of the present application do not limit the number and type of electronic devices in the communication system.

[0054] Figure 2 The flowchart of a radio frequency fingerprint map update method provided by an exemplary embodiment of the present application is shown. This method can be applied to Figure 1 the first electronic device shown in the figure. The method includes:

[0055] Step 210, obtain first positioning information, where the first positioning information includes the first position of the first electronic device in the radio frequency fingerprint map.

[0056] Exemplarily, the above first positioning information includes the radio frequency fingerprint corresponding to the first electronic device and the first position of the first electronic device in the radio frequency fingerprint map. Exemplarily, the above first position may be the initial position of the first electronic device during this positioning process.

[0057] When the first electronic device has the function of radio frequency fingerprint positioning, the first electronic device collects its own corresponding radio frequency fingerprint and locates its first position in the radio frequency fingerprint map based on the radio frequency fingerprint; wherein, the above radio frequency fingerprint map refers to a positioning map constructed based on the correspondence between the radio frequency fingerprint and the geographical location. The radio frequency fingerprint is used to indicate the signal characteristics of the radio frequency at the geographical location corresponding to the radio frequency fingerprint; it can also be described as that the radio frequency fingerprint is the characteristic data of the radio frequency signal at the geographical location corresponding to the radio frequency fingerprint.

[0058] Exemplarily, if the first electronic device is in the network environment of a mobile communication network, the radio frequency fingerprint of the first electronic device includes but is not limited to at least one of the following data: network operator, cell identifier (ID), frequency band, reference signal receiving power (RSRP); if the first electronic device is in the network environment of a WiFi network, the radio frequency fingerprint of the first electronic device includes but is not limited to at least one of the following data: received signal strength indicator (RSSI), basic service set identifier (BSSID).

[0059] When the first electronic device cannot use the function of radio frequency fingerprint positioning and has other positioning functions, the first electronic device uses other positioning functions to obtain its first position. Exemplarily, the first electronic device uses the GPS positioning method to obtain its first position.

[0060] Step 220, obtain at least two sets of second positioning information from at least two second electronic devices, where the second electronic devices are electronic devices that perform device-to-device communication with the first electronic device.

[0061] The first electronic device uses Device-to-Device (D2D) communication to send a location request to at least two second electronic devices. This location request is used to request the second electronic devices to cooperate with itself (i.e., the first electronic device) for location determination; and receives the second positioning information returned by at least two electronic devices. The second positioning information is used to indicate the location information of the second electronic device, and the location information of the second electronic device may include at least one of the relative position between the first electronic device and the second electronic device, and the location of the second electronic device in the map. The location of the second electronic device in the map may be the location of the second electronic device located in the radio frequency fingerprint map, or the location of the second electronic device based on GPS positioning. Exemplarily, the second positioning information includes the radio frequency fingerprint corresponding to the second electronic device, the location of the second electronic device in the radio frequency fingerprint map, and the measurement information of D2D communication. Exemplarily, the location of the above-mentioned second electronic device includes the initial location of the second electronic device.

[0062] Exemplarily, if the second electronic device is in the network environment of a mobile communication network, the radio frequency fingerprint of the second electronic device includes but is not limited to at least one of the following data: network operator, cell ID, frequency band, RSRP; if the second electronic device is in the network environment of a WiFi network, the radio frequency fingerprint of the second electronic device includes but is not limited to at least one of the following data: RSSI, BSSID.

[0063] When the second electronic device has the function of radio frequency fingerprint positioning, the location of the above-mentioned second electronic device can be obtained by the second electronic device based on its own radio frequency fingerprint and located in the radio frequency fingerprint map.

[0064] When the second electronic device cannot use the function of radio frequency fingerprint positioning and has other positioning functions, the location of the above-mentioned second electronic device is obtained by the second electronic device using other positioning functions. The above other positioning functions include the function of GPS positioning.

[0065] Exemplarily, the above D2D communication includes short-distance transmission methods, such as WiFi Direct communication, UWB communication, NFC, WiFi Aware, 3G / 4G / 5G direct connection communication, Bluetooth communication, etc. The measurement information of D2D communication refers to the information obtained by the second electronic device through signal measurement for a location request. The above measurement information is used to determine the position of the first electronic device relative to the second electronic device. For example, the above measurement information includes the relative distance between the second electronic device and the first electronic device. Or, the above measurement information includes the reception timestamp of the location request and the transmission timestamp of the second positioning information; the first electronic device records the transmission timestamp of the location request (or the transmission timestamp of the location request is also carried in the above measurement information), and the first electronic device can calculate the relative distance between the first electronic device and the second electronic device based on the transmission timestamp and reception timestamp of the location request, and the transmission timestamp and reception timestamp of the second positioning information.

[0066] It should be noted that the execution order of step 210 and step 220 in the embodiments of the present application is not limited.

[0067] Step 230, adjust the first position based on at least two sets of second positioning information to obtain an adjusted second position.

[0068] The first electronic device determines n candidate positions of itself based on at least two sets of second positioning information, where n is a positive integer; the first electronic device selects a second position from the n candidate positions and the first position. Exemplarily, if the second position is selected from the n candidate positions, the second position is updated to the first positioning information; if the first position is selected as the second position, step 250 is directly executed.

[0069] Optionally, after the first electronic device determines n candidate positions of the first electronic device based on at least two sets of second positioning information, obtain the first confidence levels of the n candidate positions and the first confidence level of the first position, to obtain n + 1 first confidence levels; based on the n + 1 first confidence levels, determine the second position from the first position and the n candidate positions. Among them, the first confidence level is used to indicate the accuracy of the position.

[0070] Exemplarily, the first electronic device can determine the maximum first confidence level from the n + 1 first confidence levels; determine the position with the maximum first confidence level from the n + 1 positions as the second position, where the n + 1 positions include the first position and the n candidate positions. For example, the first confidence level of a candidate position is 0.89, and the first confidence level of a first position is 0.80, then the first electronic device determines the candidate position as the second position.

[0071] Alternatively, the first electronic device calculates the product of the value of each dimension in the first position and the first confidence level of the first position respectively, to obtain first weighted values on at least two dimensions; and for each of the n candidate positions, calculates the product of the value of each dimension in the candidate position and the first confidence level of the candidate position respectively, to obtain second weighted values on at least two dimensions; adds the first weighted value on the same dimension to the n second weighted values corresponding to the n candidate positions, to obtain sum values on at least two dimensions, and determines the sum values on at least two dimensions as the second position, that is, determines the sum values on at least two dimensions as the values on at least two dimensions in the second position.

[0072] For example, the position includes values on two dimensions of longitude and latitude; the first electronic device calculates the product of the longitude and latitude in the first position and the first confidence level of the first position respectively, to obtain first weighted values on longitude and latitude respectively; and for each of the n candidate positions, calculates the product of the longitude and latitude in the candidate position and the first confidence level of the candidate position respectively, to obtain second weighted values on longitude and latitude respectively, thereby obtaining n sets of second weighted values corresponding to the n candidate positions;

[0073] adds the first weighted value on longitude of the first position, the n second weighted values, to obtain the value on longitude in the second position; and adds the first weighted value on latitude of the first position, the n second weighted values, to obtain the value on latitude in the second position.

[0074] Optionally, when the second positioning information includes measurement information of D2D communication and the position of the second electronic device in the map, the first electronic device may perform positioning based on at least two sets of measurement information corresponding to at least two sets of second positioning information, to obtain the relative position of the first electronic device relative to at least two second electronic devices; and determines n candidate positions based on the relative position and the position of the second electronic device in the map.

[0075] Exemplarily, the first electronic device calculates the azimuth angle and distance of the second electronic device relative to the first electronic device based on each set of measurement information of D2D communication; calculates candidate positions based on the above azimuth angle, distance, and the position information of the second electronic device.

[0076] Exemplarily, when the measurement information of D2D communication includes the relative distance between the second electronic device and the first electronic device, the first electronic device calls a trilateration algorithm to calculate the candidate position of the first electronic device based on the three relative distances corresponding to every three second electronic devices and the three positions (i.e., the positions of the second electronic devices in the map).

[0077] Exemplarily, when the measurement information for D2D communication includes the transmission timestamp and reception timestamp of the location request, and the transmission timestamp and reception timestamp of the second positioning information, the first electronic device calculates the relative distance between the first electronic device and the second electronic device based on the transmission timestamp and reception timestamp of the location request, the transmission timestamp and reception timestamp of the second positioning information, and the speed of light; and calls a trilateration algorithm to calculate the candidate location of the first electronic device based on the three relative distances and three positions corresponding to every three second electronic devices.

[0078] That is, the first electronic device can use at least one algorithm among Time of Arrival (ToA), Time Difference of Arrival (TDoA), Received Signal Strength (RSS), Angle of Arrival (AoA), and Time of Flight (ToF) for positioning.

[0079] Step 240: Update the second location to the first positioning information to obtain the updated first positioning information.

[0080] That is, the first electronic device replaces the first location in the first positioning information with the second location to obtain the updated first positioning information.

[0081] Step 250: Update the radio frequency fingerprint map based on the updated first positioning information and at least two sets of second positioning information.

[0082] The radio frequency fingerprint map is downloaded and stored offline in the first electronic device; the first electronic device updates the radio frequency fingerprint map stored offline based on the updated first positioning information and at least two sets of second positioning information to obtain the updated radio frequency fingerprint map.

[0083] Meanwhile, the first electronic device also uploads the updated first positioning information and at least two sets of second positioning information to the server simultaneously. Alternatively, the first electronic device uploads the updated first positioning information and each set of second positioning information to the server in sequence to update the radio frequency fingerprint map.

[0084] Exemplarily, the first electronic device also receives the positioning information reported by other electronic devices sent by the server, and updates the radio frequency fingerprint map stored offline based on the positioning information reported by other electronic devices. For example, the server caches the positioning information reported by the first electronic device and other electronic devices for map update; the first electronic device periodically sends an update request to the server, and obtains the positioning information reported by other electronic devices from the server based on the update request to update the radio frequency fingerprint map cached by itself.

[0085] Exemplarily, in the case where the updated first positioning information and / or at least one set of second positioning information does not exist in the RF fingerprint map, the first electronic device and the server also construct the RF fingerprint map based on the updated first positioning information and / or at least one set of second positioning information; and / or, in the case where the positioning information of other electronic devices does not exist in the RF fingerprint map, the first electronic device and the server also construct the RF fingerprint map based on the positioning information of other electronic devices.

[0086] In some embodiments, the first electronic device may also adopt an online positioning method. Exemplarily, after obtaining the updated first positioning information, the first electronic device directly uploads the updated first positioning information and at least two sets of second positioning information to the server; the server updates the RF fingerprint map to obtain an updated RF fingerprint map for the electronic device to perform online RF fingerprint positioning.

[0087] Exemplarily, in the case where the updated first positioning information and / or at least one set of second positioning information does not exist in the RF fingerprint map, the server also constructs the RF fingerprint map based on the updated first positioning information and / or at least one set of second positioning information.

[0088] Exemplarily, the first electronic device may also periodically download the RF fingerprint map from the server again to ensure that the RF fingerprint map cached offline by itself is accurate.

[0089] In summary, for the RF fingerprint map update method provided in this embodiment, the first electronic device is used as a collection device. After obtaining the first positioning information, it also obtains the second positioning information of at least two second electronic devices through device-to-device communication, and then adjusts the first positioning information based on the second positioning information, thereby ensuring the accuracy of the collected first positioning information. That is, in the case of crowdsourcing collection, it is ensured that high-quality positioning information can be collected, and then the accuracy of the constructed and updated RF fingerprint map is ensured.

[0090] Moreover, in this embodiment, adjusting the first position based on the position confidence can improve the accuracy of the position information of the first electronic device carried in the updated first positioning information.

[0091] After updating the positioning information, the first electronic device also filters the RF fingerprints, completes the RF fingerprints at the same position, and reduces redundancy. Exemplarily, the first electronic device determines whether the first RF fingerprint of the first electronic device and the second RF fingerprint of the second electronic device indicate the same position based on the updated first positioning information and the second positioning information.

[0092] For example, the first electronic device can also match the second location with the location of the second electronic device on the map to determine whether the first RF fingerprint and the second RF fingerprint indicate the same location; if the matching is successful, it is determined that the first RF fingerprint and the second RF fingerprint indicate the same location; if the matching fails, it is determined that the first RF fingerprint and the second RF fingerprint indicate different locations.

[0093] Alternatively, the first electronic device can also match the cell IDs in the first RF fingerprint and the second RF fingerprint to determine whether the first RF fingerprint and the second RF fingerprint indicate the same location; if the matching is successful, it is determined that the first RF fingerprint and the second RF fingerprint indicate the same location; if the matching fails, it is determined that the first RF fingerprint and the second RF fingerprint indicate different locations.

[0094] Alternatively, the first electronic device can also calculate the similarity between the first RF fingerprint and the second RF fingerprint; if the similarity is greater than or equal to the similarity threshold, it is determined that the first RF fingerprint and the second RF fingerprint indicate the same location; if the similarity is less than the similarity threshold, it is determined that the first RF fingerprint and the second RF fingerprint indicate different locations.

[0095] When the first RF fingerprint and the second RF fingerprint indicate the same location, the first RF fingerprint and the second RF fingerprint are merged to obtain a merged RF fingerprint; the first RF fingerprint in the first positioning information is updated to the merged RF fingerprint, or the second RF fingerprint in the second positioning information is updated to the merged RF fingerprint to obtain merged positioning information; then, the RF fingerprint map is updated based on the merged positioning information, and the merged positioning information is uploaded to the server; when the first RF fingerprint and the second RF fingerprint indicate different locations, the RF fingerprint map is updated based on the first positioning information and the second positioning information, and the first positioning information and the second positioning information are both uploaded to the server.

[0096] Exemplarily, taking the calculation of the similarity between two RF fingerprints as an example, step 250 is implemented through steps 310 to 330, as Figure 3 shown, the steps are as follows:

[0097] Step 310, calculate the similarity between the first RF fingerprint and the second RF fingerprint.

[0098] The first positioning information includes the first radio frequency fingerprint of the first electronic device, and the second positioning information includes the second radio frequency fingerprint of the second electronic device. Exemplarily, each set of radio frequency fingerprints includes at least one item of data; the first electronic device calculates the similarity of the same item of data in the first radio frequency fingerprint and the second radio frequency fingerprint to obtain at least one similarity; weights corresponding to each item of data are set in the first electronic device, and based on the at least one weight corresponding to the at least one item of data, the at least one similarity is weighted and summed to obtain the similarity between the first radio frequency fingerprint and the second radio frequency fingerprint.

[0099] For example, if the first radio frequency fingerprint includes: the first cell ID, the first frequency band, and the first RSRP, and the second radio frequency fingerprint includes the second cell ID, the second frequency band, and the second RSRP; the first electronic device calculates the first similarity between the first cell ID and the second cell ID, calculates the second similarity between the first frequency band and the second frequency band, and calculates the third similarity between the first RSRP and the second RSRP; multiplies the first similarity by the first weight corresponding to the cell ID to obtain the first product, multiplies the second similarity by the second weight corresponding to the frequency band to obtain the second product, and multiplies the first RSRP by the third weight corresponding to the RSRP to obtain the third product; sums the first product, the second product, and the third product to obtain the similarity between the first radio frequency fingerprint and the second radio frequency fingerprint.

[0100] Step 320, in the case where the similarity is greater than the similarity threshold, merge the updated first positioning information and the second positioning information to obtain the merged positioning information.

[0101] A similarity threshold is set in the first electronic device. Exemplarily, in the case where the above similarity is greater than or equal to the similarity threshold, the first electronic device determines the first radio frequency fingerprint or the second radio frequency fingerprint as the target radio frequency fingerprint, and determines the second position or the position information of the second electronic device as the target position, that is, the merged positioning information is obtained.

[0102] Exemplarily, the merged positioning information includes the merged radio frequency fingerprint and the merged position; in the case where the above similarity is greater than or equal to the similarity threshold, the first electronic device merges the first radio frequency fingerprint and the second radio frequency fingerprint to obtain the merged radio frequency fingerprint; and merges the second position and the position information of the second electronic device to obtain the merged position.

[0103] For the above combination of radio frequency fingerprints, for the same item of data in the two sets of radio frequency fingerprints, the first electronic device selects the data with the highest confidence as the data in the combined radio frequency fingerprint; or, takes the average of the two values corresponding to the same item of data as the data in the combined radio frequency fingerprint. If there is an item of data that only exists in the first radio frequency fingerprint or the second radio frequency fingerprint, retain this item of data in the combined radio frequency fingerprint.

[0104] For the combination of the above positions, the first electronic device selects the second position with high confidence or the position information of the second electronic device in the map as the combined position; or, takes the average of the values on the same dimension in the second position and the position information of the second electronic device to obtain the combined position.

[0105] Step 330, update the radio frequency fingerprint map based on the combined positioning information.

[0106] Exemplarily, while the first electronic device updates and constructs the radio frequency fingerprint map stored offline based on the combined positioning information, it also uploads the combined positioning information to the server so that the server can update and construct the radio frequency fingerprint map.

[0107] Exemplarily, in the case where the first electronic device uses online positioning, the first electronic device directly uploads the combined positioning information to the server.

[0108] It should be noted that in the case where the similarity is less than the similarity threshold, the updated first positioning information and the second positioning information are uploaded to the server at the same time. The first electronic device compares the first positioning information with each second positioning information, and also compares the second positioning information pairwise; when the similarity between two pairwise radio frequency fingerprints is greater than or equal to the similarity threshold, the two radio frequency fingerprints corresponding to the same position are combined to obtain the combined positioning information; update and construct the radio frequency fingerprint map based on the combined positioning information, and upload the combined positioning information to the server to reduce the redundancy of the data in the radio frequency fingerprint; in the case where the similarity between two pairwise radio frequency fingerprints is less than the similarity threshold, update and construct the radio frequency fingerprint map based on the radio frequency fingerprints corresponding to different positions, and upload the radio frequency fingerprints corresponding to different positions to the server to complete the radio frequency fingerprints at different positions in the radio frequency fingerprint map.

[0109] For example, since the first electronic device and the second electronic device are in the same cell, both the first electronic device and the second electronic device have collected the radio frequency fingerprints of this cell, so the first radio frequency fingerprint and the second radio frequency fingerprint are combined. For example, take the average value of the RSRP values in the first radio frequency fingerprint and the second radio frequency fingerprint, so as to reduce the redundancy of the radio frequency fingerprint.

[0110] For another example, since the first electronic device and the second electronic device are in different cells, the first electronic device and the second electronic device collect RF fingerprints of different cells, and then the RF fingerprints of the two cells can be uploaded to the server simultaneously, so that the RF fingerprints can be complemented.

[0111] In summary, the RF fingerprint map update method provided in this embodiment can also complement RF fingerprints and reduce redundancy by comparing between pairwise RF fingerprints, improving the acquisition quality of RF fingerprints.

[0112] In some embodiments, during the acquisition process of RF fingerprints, the first electronic device also records the RF fingerprints it has acquired and filters out the acquired ones during subsequent RF fingerprint acquisition processes. Exemplarily, as Figure 4 shown, the first electronic device can also implement step 250 through steps 410 to 420, and the steps are as follows:

[0113] Step 410: Match at least two RF fingerprints corresponding to at least two second electronic devices with the RF fingerprints in the RF fingerprint list of the first electronic device, and screen out target RF fingerprints that do not exist in the RF fingerprint list from the at least two RF fingerprints.

[0114] The second positioning information includes the RF fingerprints of the second electronic device. Exemplarily, the first electronic device matches each of the at least two RF fingerprints with the RF fingerprints in the RF fingerprint list. For example, based on the similarity between two RF fingerprints, or cell ID, or location information, to determine whether the two RF fingerprints indicate the same location; in the case of indicating the same location, determine whether the third RF fingerprint has the data items in the fourth RF fingerprint; if so, merge the third RF fingerprint and the fourth RF fingerprint and upload them to the server; if not, then do not have, and eliminate the third RF fingerprint from the at least two RF fingerprints; where the third RF fingerprint is one of the at least two RF fingerprints, and the fourth RF fingerprint is the RF fingerprint in the RF fingerprint list that matches the third RF fingerprint.

[0115] Step 420: Update the RF fingerprint map based on at least two sets of second positioning information corresponding to the target RF fingerprint.

[0116] While updating and constructing the offline stored RF fingerprint map based on at least two sets of second positioning information corresponding to the target RF fingerprint, the first electronic device uploads at least two sets of second positioning information corresponding to the target RF fingerprint to the server, so that the server updates and constructs the RF fingerprint map based on at least two sets of second positioning information corresponding to the target RF fingerprint.

[0117] Exemplarily, when the first electronic device uses online positioning, the first electronic device directly uploads at least two sets of second positioning information corresponding to the target radio frequency fingerprint to the server.

[0118] It should be noted that steps 410 to 420 can be implemented in the same embodiment as steps 310 to 330, and the present application does not limit the execution order of these two sets of steps.

[0119] In summary, the radio frequency fingerprint map update method provided in this embodiment can also screen out the uploaded radio frequency fingerprints, thereby reducing the data volume and the wireless resource consumption during information upload.

[0120] In some embodiments, to ensure the accuracy of the second position, the second position is also sent to at least two second electronic devices for scoring. Exemplarily, as Figure 5 shown, step 250 can also be implemented as steps 510 to 530:

[0121] Step 510, send the updated first positioning information to at least two second electronic devices.

[0122] The first electronic device sends a scoring request to at least two second electronic devices, and this scoring request is used to request the second electronic devices to determine the accuracy of the updated first positioning information. Optionally, if the first electronic device sends the second position to at least two second electronic devices, then the above scoring request is used to request the second electronic devices to determine the accuracy of the second position.

[0123] Step 520, receive at least two second confidence levels fed back by at least two second electronic devices, and the second confidence level is used to indicate the accuracy of the updated first positioning information.

[0124] Optionally, the second confidence level is used to indicate the accuracy of the second position.

[0125] Step 530, when at least two second confidence levels meet the confidence level condition, update the radio frequency fingerprint map based on the updated first positioning information and at least two sets of second positioning information.

[0126] When at least two second confidence levels meet the confidence level condition, the first electronic device updates and constructs the offline stored radio frequency fingerprint map based on the updated first positioning information and at least two sets of second positioning information, and uploads the updated first positioning information and at least two sets of second positioning information to the server.

[0127] Exemplarily, when the first electronic device uses online positioning, the first electronic device can also directly upload the updated first positioning information and at least two sets of second positioning information to the server.

[0128] Exemplarily, the first electronic device calculates the confidence mean of at least two second confidences. When the confidence mean is greater than the confidence threshold, the RF fingerprint map is updated based on the updated first positioning information and at least two sets of second positioning information, and the updated first positioning information and at least two sets of second positioning information are uploaded to the server.

[0129] Exemplarily, the first electronic device determines target confidences greater than the confidence threshold from at least two second confidences, and counts the number of target confidences; when the ratio of the number of target confidences to the number of at least two second confidences is greater than the target ratio, the RF fingerprint map is updated based on the updated first positioning information and at least two sets of second positioning information, and the updated first positioning information and at least two sets of second positioning information are uploaded to the server.

[0130] It should be noted that when at least two second confidences do not meet the confidence condition, the first positioning information of the first electronic device is re - determined.

[0131] In summary, for the RF fingerprint map update method provided in this embodiment, at least two second electronic devices can also participate in determining the accuracy of the updated first positioning information, thereby improving the accuracy rate of the first positioning information.

[0132] The above - mentioned first position can be obtained by using the RF fingerprint positioning method. Exemplarily, as Figure 6 shown, the process of RF fingerprint positioning the first position is described separately as follows:

[0133] Step 610, the first electronic device obtains at least two sets of third positioning information from at least two third electronic devices.

[0134] The first electronic device uses the D2D communication method to send a position request to at least two third electronic devices. The position request is used to request the third electronic devices to assist itself in position determination; receives the third positioning information returned by at least two third electronic devices; wherein, the third positioning information includes the position of the third electronic device in the map and the measurement information of D2D communication. Exemplarily, the position of the third electronic device in the map can be obtained by using RF fingerprint positioning, or can be obtained by using other positioning methods, such as GPS positioning.

[0135] Exemplarily, the third electronic device is an electronic device other than the second electronic device; or, some of the at least two third electronic devices are second electronic devices.

[0136] Step 620, determine the first position of the first electronic device based on at least two sets of third positioning information.

[0137] The first electronic device determines the third position of the first electronic device based on at least two sets of third positioning information; when the first electronic device has obtained the fourth position, the fourth position is adjusted based on the third position to obtain the first position; when the first electronic device has not obtained the fourth position, the third position is determined as the first position; wherein, the fourth position refers to the position located in the radio frequency fingerprint map based on the radio frequency fingerprint of the first electronic device, or the fourth position refers to the position obtained by the first electronic device using other positioning methods (such as GPS positioning).

[0138] For the calculation method of the third position, the first electronic device calculates the azimuth angle and distance of the second electronic device relative to the first electronic device based on a set of measurement information of D2D communication, and calculates the third position based on the above azimuth angle, distance, and the position information of the third electronic device.

[0139] Alternatively, the measurement information of D2D communication includes the relative distance between the third electronic device and the first electronic device; the first electronic device invokes the trilateration algorithm to calculate the third position of the first electronic device based on the three relative distances corresponding to every three third electronic devices and three sets of positions.

[0140] If the measurement information of D2D communication includes the sending timestamp and receiving timestamp of the position request, and the sending timestamp and receiving timestamp of the third positioning information, the first electronic device can also first calculate the relative distance between the first electronic device and the third electronic device based on the measurement information of D2D communication.

[0141] In summary, the radio frequency fingerprint positioning method provided in this embodiment realizes the positioning of the first electronic device through adjacent third electronic devices, and can achieve accurate positioning when the first electronic device cannot be directly positioned; when the first electronic device can be directly positioned, the result of direct positioning is adjusted to improve the positioning accuracy.

[0142] Figure 7 The flowchart of the radio frequency fingerprint map update method provided by an exemplary embodiment of the present application is shown, and this method can be applied to Figure 1 the second electronic device shown, and this method includes:

[0143] Step 1110, receive a position request sent by the first electronic device.

[0144] The second electronic device and the first electronic device use D2D communication. The above position request is used to request the second electronic device to assist the first electronic device in determining its position.

[0145] Step 1120, send second positioning information to the first electronic device based on the position request.

[0146] The second electronic device obtains its second positioning information based on the location request and sends the second positioning information to the first electronic device.

[0147] The second positioning information includes the second radio frequency fingerprint of the second electronic device and the measurement information of D2D communication; the second electronic device performs communication measurement based on the location request to obtain the measurement result of D2D communication; determines the measurement information of D2D communication based on the measurement result of D2D communication; and performs radio frequency fingerprint collection based on the location request to obtain the second radio frequency fingerprint of the second electronic device.

[0148] Exemplarily, in the case where the network environment where the second electronic device is located is a mobile communication network, the second radio frequency fingerprint of the second electronic device includes at least one of the following data: network operator, cell ID, frequency band, RSRP; in the case where the network environment where the second electronic device is located is a WiFi network, the second radio frequency fingerprint of the second electronic device includes at least one of the following data: RSSI, BSSID.

[0149] Exemplarily, the measurement result of D2D communication includes the reception timestamp of the location request; the second electronic device determines the reception timestamp of the location request and the transmission timestamp of the second positioning information as the measurement information of D2D communication; this enables the first electronic device to calculate the relative distance between the first electronic device and the second electronic device based on the transmission timestamp of the location request recorded by itself, the reception timestamp of the measured second positioning information, and the timestamp carried in the measurement information of D2D communication. Alternatively, the location request also carries the transmission timestamp of the location request; the second electronic device can also determine the transmission timestamp and reception timestamp of the location request, and the transmission timestamp of the second positioning information as the measurement information of D2D communication; this enables the first electronic device to calculate the relative distance between the first electronic device and the second electronic device based on the reception timestamp of the measured second positioning information and the timestamp carried in the measurement information of D2D communication.

[0150] Alternatively, the location request carries the transmission timestamp of the location request; the second electronic device calculates the relative distance between the first electronic device and the second electronic device based on the measured reception timestamp of the location request and the above-mentioned transmission timestamp of the location request, and determines the above-mentioned relative distance as the measurement information of D2D communication.

[0151] Optionally, the second positioning information includes the location of the second electronic device in the map. Exemplarily, in the case where the second electronic device has the function of radio frequency fingerprint positioning, the second electronic device locates in the radio frequency fingerprint map to obtain the location of the second electronic device in the map.

[0152] Exemplarily, when the second electronic device is unable to use the radio frequency fingerprint positioning function and has other positioning functions, the second electronic device uses other positioning functions for positioning to obtain the position of the second electronic device on the map. For example, the second electronic device uses GPS positioning to obtain the position of the second electronic device on the map.

[0153] Exemplarily, the above D2D communication includes short-distance transmission methods, such as WiFi Direct communication, UWB communication, NFC, WiFi Aware, 3G / 4G / 5G direct connection communication, Bluetooth communication, etc.

[0154] In some embodiments, after the second electronic device sends the second positioning information, it also receives the updated first positioning information sent by the first electronic device; calculates the confidence level of the updated first positioning information to obtain a second confidence level, where the second confidence level is used to indicate the accuracy of the updated first positioning information; and feeds back the second confidence level to the first electronic device. Exemplarily, the updated first positioning information includes a second position, where the second position is the position of the first electronic device adjusted based on the second positioning information; and the second confidence level is used to indicate the confidence level of the second position.

[0155] In summary, the radio frequency fingerprint map update method provided in this embodiment enables the first electronic device to be assisted by the second electronic device for positioning, thereby obtaining a more accurate position of the first electronic device.

[0156] In some embodiments, each time the first electronic device uses radio frequency fingerprint positioning, it needs to consume points. Exemplarily, during the radio frequency fingerprint positioning process of the first electronic device, the positioning points of the first electronic device are updated. For example, the server updates the points of the first electronic device based on the consumption of points by the first electronic device to obtain the updated positioning points; the server sends an update instruction to the first electronic device to synchronize the updated positioning points to the first electronic device; the first electronic device receives the update instruction from the server, where the update instruction is used to indicate the updated positioning points; and the first electronic device updates the updated positioning points to the storage location of the point score. The update of the positioning points during the radio frequency fingerprint positioning process is to calculate the difference between the positioning points of the first electronic device and a preset point, that is, subtract the preset point from the positioning points of the first electronic device. The preset point is the positioning point (Credit) consumed each time for positioning that is preset in advance.

[0157] In some other embodiments, each time the first electronic device participates in the update and construction of the radio frequency fingerprint map, it will be rewarded with points. Exemplarily, when the first electronic device participates in the update and construction of the radio frequency fingerprint map, it also updates the positioning points of the first electronic device. For example, when the server updates the radio frequency fingerprint map based on the positioning information reported by the first electronic device, it updates the points of the first electronic device to obtain the updated positioning points; the server sends an update instruction to the first electronic device to synchronize the updated positioning points to the first electronic device; the first electronic device receives the update instruction from the server, and the update instruction is used to indicate the updated positioning points; the first electronic device updates the updated positioning points to the storage location of the positioning points. During the update and construction of the radio frequency fingerprint map, the update of the positioning points is to calculate the sum of the positioning points of the first electronic device and the preset reward points, that is, to increase the positioning points of the first electronic device by the preset reward points. The preset reward points are the positioning points rewarded each time for participating in the update and construction of the radio frequency fingerprint map, which are set in advance.

[0158] Exemplarily, the first electronic device obtains the positioning points of the first electronic device from the server. The positioning points include at least one of the following: the reward points for the first electronic device to participate in the construction and update of the radio frequency fingerprint map; the reward points for the first electronic device to assist other electronic devices in positioning in the radio frequency fingerprint map.

[0159] Among them, the positioning points refer to the virtual currency circulated among devices during the processes of positioning, cooperative positioning, and participating in the construction and update of the radio frequency fingerprint map.

[0160] It should be noted that during the processes of positioning, cooperative positioning, and participating in the construction and update of the radio frequency fingerprint map, the second electronic device also needs to update the positioning points of the second electronic device. The update method is the same as that of the positioning points of the first electronic device and will not be elaborated here.

[0161] Exemplarily, as Figure 8 shown, the system function or application function of the first electronic device includes a radio frequency fingerprint positioning function. A user interface 701 corresponding to the radio frequency fingerprint positioning function is displayed on the first electronic device, and "remaining location request count" is displayed on the user interface 701. The value of "remaining location request count" will decrease and increase with consumption and rewards.

[0162] In some other embodiments, when the first electronic device performs crowdsourcing collection, it is also necessary to determine whether the available network traffic and power of the first electronic device can support the execution of the crowdsourcing collection function. Exemplarily, the first electronic device obtains the device operation information of the first electronic device; in response to the device operation information of the first electronic device meeting the triggering conditions for crowdsourcing collection, it executes the steps of the first electronic device in the radio frequency fingerprint map updating method provided in the above embodiments; wherein, the triggering conditions include at least one of the following:

[0163] The first electronic device is connected to a WiFi network;

[0164] The available network traffic of the first electronic device is higher than the network traffic threshold, and the available network traffic refers to the network traffic that the electronic device can use;

[0165] The power of the first electronic device is higher than the power threshold.

[0166] When the second electronic device cooperates with the first electronic device to perform crowdsourcing collection, it is also necessary to determine whether the available network traffic and power of the second electronic device can support the execution of the crowdsourcing collection function. Exemplarily, the second electronic device obtains the device operation information of the second electronic device; in response to the device operation information of the second electronic device meeting the triggering conditions for crowdsourcing collection, it executes the steps of the second electronic device in the radio frequency fingerprint map updating method provided in the above embodiments; wherein, the triggering conditions include at least one of the following:

[0167] The second electronic device is connected to a WiFi network;

[0168] The available network traffic of the second electronic device is higher than the network traffic threshold, and the available network traffic refers to the network traffic that the electronic device can use;

[0169] The power of the second electronic device is higher than the power threshold.

[0170] Exemplarily, as Figure 8 shown, taking the triggering judgment of the first electronic device as an example, the first electronic device displays a power threshold setting control 702 and a network traffic threshold setting control 703 on the user interface 701. The user can customize the power threshold through the setting control 702 and customize the network traffic threshold through the setting control 703. When the available network traffic of the first electronic device is lower than the network traffic threshold and / or the power of the first electronic device is lower than the power threshold, the crowdsourcing collection function of the radio frequency fingerprint is automatically turned off.

[0171] It should be noted that for the crowdsourcing collection and collaborative perception positioning of radio frequency fingerprints, the first electronic device needs to establish a collaborative perception network with other electronic devices. Exemplarily, the first electronic device searches for at least two second electronic devices; a collaborative perception network is constructed between the first electronic device and the at least two second electronic devices. The collaborative perception network is used to assist the first electronic device in collecting radio frequency fingerprints and is also used to assist the electronic devices in the collaborative perception network in radio frequency fingerprint positioning. Exemplarily, the first electronic device establishes a collaborative perception network with at least two second electronic devices within a preset distance range by means of broadcasting.

[0172] It should be noted that the above-mentioned first electronic device and at least one third electronic device are also in the same collaborative perception network. The second electronic device and the third electronic device are different electronic devices in the same collaborative perception network, or the second electronic device and the third electronic device are the same or different electronic devices in different collaborative perception networks.

[0173] Exemplarily, as Figure 9 shown, the first electronic device 801 constructs a collaborative perception network with multiple other electronic devices 802 within a preset range. Within this collaborative perception network, the first electronic device 801 can request other electronic devices 802 to assist itself in crowdsourcing collection or positioning of radio frequency fingerprints. Exemplarily, as Figure 8 shown, the first electronic device displays a start control 704 for collaborative perception positioning service and a start control 705 for radio frequency fingerprint crowdsourcing on the user interface 701; after the user activates the collaborative perception positioning service through the start control 704, the first electronic device can construct a collaborative perception network; after the user activates radio frequency fingerprint crowdsourcing through the start control 705, the first electronic device can perform crowdsourcing collection of radio frequency fingerprints.

[0174] In summary, the construction of the collaborative perception network in this embodiment can support the first electronic device in crowdsourcing collection of radio frequency fingerprints and positioning based on radio frequency fingerprints.

[0175] As shown in the above embodiment, the technical solution provided by this application can include the following four parts:

[0176] First, the construction of the collaborative perception network:

[0177] The electronic device (i.e., the first electronic device in the above embodiments) constructs a D2D cooperative perception network with other electronic devices through a short-distance transmission method. The electronic device autonomously forms a cluster based on its own environmental information (i.e., Context information) and the environmental information of other electronic devices through the cooperative perception network, and assigns a cluster ID to each other electronic device. Among them, the cluster is the basic execution unit for RF fingerprint positioning and RF fingerprint crowdsourcing collection. That is, when performing RF fingerprint positioning, it is assisted by other electronic devices in the cluster (i.e., the third electronic device in the above embodiments) to complete the electronic device, and when performing RF fingerprint crowdsourcing collection, it is assisted by other electronic devices in the cluster (i.e., the second electronic device in the above embodiments) to complete the electronic device.

[0178] Among them, the above environmental information may include data such as the location information, device type, and running services of the electronic device; the above environmental information can be uploaded to the server as positioning information.

[0179] Second, the RF fingerprint positioning function:

[0180] In this application, the electronic device uses RF fingerprint positioning in the following two ways: online positioning method and offline positioning method. In the online positioning method, the positioning algorithm and the RF fingerprint map are deployed in the server; in the offline positioning method, the positioning algorithm is deployed in the electronic device, and at the same time, the electronic device needs to cache the required RF fingerprint map from the server.

[0181] The RF fingerprint positioning process is as follows:

[0182] Step A1, when the electronic device in the cooperative perception network needs to be positioned, it can initiate a location request to other electronic devices in the group where the electronic device is located (by broadcasting, and initiating a request requires positioning points, and each use of positioning will consume positioning points).

[0183] Step A2, after other electronic devices in the group receive the location request, if the following conditions are met, they can reply to the request: a. The device can perform RF fingerprint positioning; b. The device is using other positioning means such as GPS; the positioning information returned by other electronic devices in the group includes its own positioning result and the measurement information of the D2D communication between itself and the electronic device that initiated the location request; the above data is returned through an encrypted transmission method.

[0184] Step A3, after the electronic device that initiated the location request receives the data returned by other electronic devices, based on the positioning results of other electronic devices and the measurement information of D2D communication (if there is delay measurement, the relative distance can be estimated according to the delay, if not, the signal power can be used for relative distance estimation), trilateration is performed to calculate the location of the electronic device.

[0185] Step A4: If the electronic device has no other positioning means, the positioning result obtained through the cooperative perception network is the positioning result of the electronic device; if the electronic device itself performs RF fingerprint positioning, the positioning result can correct (i.e., adjust) its positioning result.

[0186] Third, the crowdsourcing collection function of RF fingerprints:

[0187] The crowdsourcing collection function of RF fingerprints in this application includes two modes: correction mode and authentication mode.

[0188] (1) Correction mode

[0189] In the correction mode, the position of the electronic device is corrected according to the measurement information of device-to-device (D2D) communication between the electronic device and other electronic devices in the group. The process is as follows:

[0190] Step B1: Each electronic device in the group obtains its initial position through RF fingerprint positioning. If an electronic device is using GPS or other positioning means, its positioning result can be used as a reference.

[0191] Step B2: The electronic device sends a position request to other electronic devices in the group. After receiving the position request, other electronic devices (i.e., neighboring devices) send their own positions, measurement information of D2D communication, and RF fingerprints to the electronic device.

[0192] Step B3: According to the measurement information of D2D communication (if there is delay measurement, relative distance estimation can be performed according to the delay; if not, signal power can be used for relative distance estimation), trilateration is performed to correct the initial position of the electronic device.

[0193] Step B4: The electronic device performs the processing of RF fingerprint completion and redundancy reduction according to the RF fingerprints of other electronic devices to obtain the integrated RF fingerprint (i.e., the merged RF fingerprint).

[0194] Step B5: The integrated RF fingerprint and environmental information are uploaded to the cloud server through wireless transmission.

[0195] (2) Authentication mode

[0196] In the authentication mode, the process is as follows:

[0197] Step C1: The electronic device sends its own RF fingerprint and position information to other electronic devices in the group.

[0198] Step C2: After receiving the data, other electronic devices determine the confidence levels of the radio frequency fingerprints and location information of the electronic device by combining their own radio frequency fingerprints and location information, as well as the measurement information of D2D communication, and then send the confidence levels back to the electronic device.

[0199] Step C3: After performing weighted averaging on the received confidence levels, the electronic device can upload the data only when the confidence level condition is met.

[0200] Fourth, incentive mechanism:

[0201] Since the method provided in this application is implemented based on collaborative sensing and crowdsourcing, an incentive mechanism is designed to encourage users to participate. The incentive mechanism is as follows:

[0202] · Location incentive: During the location process, the server pays location points to the electronic devices that assist in location.

[0203] · Crowdsourcing incentive: During the location process, the server pays location points to the electronic devices that initiate crowdsourcing and the electronic devices that collaborate in crowdsourcing.

[0204] · When an electronic device initiates a location request to other electronic devices in the collaborative sensing network, the electronic device pays location points.

[0205] In summary, in the method provided in this embodiment, the radio frequency fingerprint data can be complemented and redundancy reduced, improving the data quality of the radio frequency fingerprints and reducing the overall resource consumption of the devices; by adopting the collaborative location method, the location accuracy of the electronic device can be improved; and by adopting the incentive mechanism, users can be more actively involved in crowdsourcing collection, thereby improving the quality of radio frequency fingerprint location.

[0206] The following is an apparatus embodiment of the present application, which can be used to execute the method embodiment of the present application. For details not disclosed in the apparatus embodiment of the present application, please refer to the method embodiment of the present application.

[0207] Figure 10 The block diagram of a radio frequency fingerprint map updating apparatus provided by an exemplary embodiment of the present application is shown. The radio frequency fingerprint map updating apparatus can be implemented as all or part of the first wireless device through software, hardware, or a combination of both. The apparatus includes:

[0208] An obtaining module 910, configured to obtain first location information, where the first location information includes the first position of the first electronic device in the radio frequency fingerprint map; and obtain at least two groups of second location information from at least two second electronic devices, where the second location information is used to indicate the location information of the second electronic device, and the second electronic device is an electronic device that performs device-to-device communication with the first electronic device.

[0209] An adjustment module 920, configured to adjust the first position based on the at least two sets of second positioning information to obtain an adjusted second position; update the second position to the first positioning information to obtain updated first positioning information;

[0210] An update module 930, configured to update the radio frequency fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

[0211] In some embodiments, the adjustment module 920 is configured to:

[0212] Determine n candidate positions of the first electronic device based on the at least two sets of second positioning information, where n is a positive integer;

[0213] Obtain a first confidence level of the n candidate positions and a first confidence level of the first position to obtain n + 1 first confidence levels;

[0214] Determine the second position from the first position and the n candidate positions based on the n + 1 first confidence levels.

[0215] In some embodiments, the adjustment module 920 is configured to:

[0216] Determine the maximum first confidence level from the n + 1 first confidence levels; determine the position with the maximum first confidence level from the n + 1 positions as the second position, where the n + 1 positions include the first position and the n candidate positions;

[0217] Alternatively, calculate the product of the value of each dimension in the first position and the first confidence level of the first position to obtain at least two first weighted values in different dimensions; and calculate the product of the value of each dimension in the candidate position and the first confidence level of the candidate position to obtain the at least two second weighted values in different dimensions; add the first weighted value in the same dimension to the n second weighted values corresponding to the n candidate positions to obtain the sum values in the at least two dimensions, and determine the sum values in the at least two dimensions as the second position.

[0218] In some embodiments, the second positioning information includes measurement information of device - to - device communication and the position of the second electronic device in the map; the adjustment module 920 is configured to:

[0219] Perform positioning based on at least two sets of measurement information corresponding to the at least two sets of second positioning information to obtain the relative position of the first electronic device relative to the at least two second electronic devices;

[0220] Determine the n candidate locations based on the relative position and the position of the second electronic device in the map.

[0221] In some embodiments, the first positioning information includes the first RF fingerprint of the first electronic device, and the second positioning information includes the second RF fingerprint of the second electronic device; the updating module 930 is configured to:

[0222] Calculate the similarity between the first RF fingerprint and the second RF fingerprint;

[0223] In the case where the similarity is greater than the similarity threshold, merge the updated first positioning information and the second positioning information to obtain the merged positioning information;

[0224] Update the RF fingerprint map based on the merged positioning information.

[0225] In some embodiments, the second positioning information includes the RF fingerprint of the second electronic device; the updating module 930 is configured to:

[0226] Match the at least two RF fingerprints corresponding to the at least two second electronic devices with the RF fingerprints in the RF fingerprint list of the first electronic device, and screen out the target RF fingerprints that do not exist in the at least two RF fingerprints;

[0227] Update the RF fingerprint map based on the at least two sets of second positioning information corresponding to the target RF fingerprints.

[0228] In some embodiments, the updating module 930 is configured to:

[0229] Send the updated first positioning information to the at least two second electronic devices;

[0230] Receive at least two second confidence levels fed back by the at least two second electronic devices, where the second confidence level is used to indicate the accuracy of the updated first positioning information;

[0231] In the case where the at least two second confidence levels meet the confidence level condition, update the RF fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

[0232] In some embodiments, the obtaining module 910 is configured to:

[0233] Obtain at least two sets of third positioning information from at least two third electronic devices;

[0234] Determine the first position of the first electronic device based on the at least two sets of third positioning information.

[0235] In some embodiments, an acquisition module 910 is configured to:

[0236] Determine a third position of the first electronic device based on the at least two sets of third positioning information;

[0237] When the first electronic device has obtained a fourth position, adjust the fourth position based on the third position to obtain the first position;

[0238] When the first electronic device has not obtained the fourth position, determine the third position as the first position;

[0239] Wherein, the fourth position refers to a position located in the radio frequency fingerprint map based on the radio frequency fingerprint of the first electronic device.

[0240] In some embodiments, the apparatus further includes: an integral increase and decrease module 940;

[0241] The integral increase and decrease module 940 is configured to update the positioning integral of the first electronic device, where the positioning integral is virtual currency circulated among devices during the positioning process.

[0242] In some embodiments, the apparatus further includes: a construction module 950;

[0243] Before obtaining the first positioning information, the construction module 950 is configured to search for the at least two second electronic devices; and construct a collaborative perception network with the at least two second electronic devices, where the collaborative perception network is used to assist the electronic devices in the collaborative perception network to perform radio frequency fingerprint positioning.

[0244] In some embodiments, the apparatus further includes: an integral increase and decrease module 940;

[0245] The integral increase and decrease module 940 is configured to obtain the positioning integral of the first electronic device from a server, where the positioning integral includes at least one of the following:

[0246] Reward points for the first electronic device to participate in the construction and update of the radio frequency fingerprint map;

[0247] Reward points for the first electronic device to assist other electronic devices in positioning in the radio frequency fingerprint map.

[0248] In some embodiments, an acquisition module 910 is configured to:

[0249] Obtain the device operation information of the first electronic device;

[0250] In response to the device operation information meeting the trigger condition for crowdsourcing collection, obtain the first positioning information;

[0251] Among them, the triggering condition includes at least one of the following:

[0252] The available network traffic of the first electronic device is higher than the network traffic threshold;

[0253] The power of the first electronic device is higher than the power threshold.

[0254] In summary, the radio frequency fingerprint map updating device provided in this embodiment uses the first electronic device as the acquisition device. After obtaining the first positioning information, it also obtains the second positioning information of at least two second electronic devices through device-to-device communication, and then adjusts the first positioning information based on the second positioning information, thereby ensuring the accuracy of the collected first positioning information. That is, in the case of crowdsourcing acquisition, it ensures that high-quality positioning information can be collected, and then ensures the accuracy of the constructed and updated radio frequency fingerprint map.

[0255] Figure 11 The structural schematic diagram of a computer device provided by an exemplary embodiment of the present application is shown. This computer device can be a device that executes the radio frequency fingerprint map updating method provided by the present application. Specifically:

[0256] The computer device 1000 includes a central processing unit (CPU, Central Processing Unit) 1001, a system memory 1004 including a random access memory (RAM, Random Access Memory) 1002 and a read only memory (ROM, Read Only Memory) 1003, and a system bus 1005 connecting the system memory 1004 and the central processing unit 1001. The computer device 1000 also includes a basic input / output system (I / O system, Input Output System) 1006 for facilitating the transmission of information between various components within the computer, and a mass storage device 1007 for storing an operating system 1013, application programs 1014, and other program modules 1015.

[0257] The basic input / output system 1006 includes a display 1008 for displaying information and input devices 1009 such as a mouse and a keyboard for user input of information. Among them, both the display 1008 and the input devices 1009 are connected to the central processing unit 1001 through an input / output controller 1010 connected to the system bus 1005. The basic input / output system 1006 may also include an input / output controller 1010 for receiving and processing inputs from multiple other devices such as a keyboard, a mouse, or an electronic stylus. Similarly, the input / output controller 1010 also provides output to a display screen, a printer, or other types of output devices.

[0258] The mass storage device 1007 is connected to the central processing unit 1001 through a mass storage controller (not shown) connected to the system bus 1005. The mass storage device 1007 and its associated computer-readable medium provide non-volatile storage for the computer device 1000. That is, the mass storage device 1007 may include a computer-readable medium (not shown) such as a hard disk or a compact disc read-only memory (CD-ROM) drive.

[0259] Computer-readable media can include computer storage media and communication media. Computer storage media includes volatile and non-volatile, removable and non-removable media implemented by any method or technology for storing information such as computer-readable instructions, data structures, program modules, or other data. Computer storage media includes RAM, ROM, erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other solid-state storage technologies, CD-ROM, digital versatile disc (DVD), or solid-state drives (SSD), other optical storage, magnetic tape cartridges, tapes, magnetic disk storage, or other magnetic storage devices. Among them, random access memory can include resistive random access memory (ReRAM) and dynamic random access memory (DRAM). Of course, those skilled in the art will know that computer storage media is not limited to the above several types. The above system memory 1004 and mass storage device 1007 can be collectively referred to as memory.

[0260] According to various embodiments of the present application, the computer device 1000 can also run by connecting to a remote computer on the network through a network such as the Internet. That is, the computer device 1000 can be connected to the network 1012 through the network interface unit 1011 connected to the system bus 1005. Or rather, the network interface unit 1011 can also be used to connect to other types of networks or remote computer systems (not shown).

[0261] The above-mentioned memory further includes one or more programs, and the one or more programs are stored in the memory and configured to be executed by the CPU to implement the radio frequency fingerprint map updating method as described above.

[0262] An embodiment of the present application further provides a computer-readable storage medium. The computer-readable storage medium stores at least one instruction, and the at least one instruction is loaded and executed by a processor to implement the radio frequency fingerprint map updating method described in the above various embodiments.

[0263] Optionally, the computer-readable storage medium may include: read-only memory (ROM, Read Only Memory), random access memory (RAM, Random Access Memory), solid state drive (SSD, Solid State Drives), or optical disc, etc. Among them, the random access memory may include resistive random access memory (ReRAM, Resistance Random Access Memory) and dynamic random access memory (DRAM, Dynamic Random Access Memory).

[0264] It should be noted that when the radio frequency fingerprint map updating device provided in the above embodiment executes the radio frequency fingerprint map updating method, only the division of the above-mentioned functional modules is used for illustration. In actual application, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the radio frequency fingerprint map updating device provided in the above embodiment and the embodiment of the radio frequency fingerprint map updating method belong to the same concept, and the specific implementation process can be seen in the method embodiment, which will not be elaborated here.

[0265] The serial numbers of the above embodiments of the present application are only for description and do not represent the advantages and disadvantages of the embodiments.

[0266] Those of ordinary skill in the art can understand that all or part of the steps to implement the above embodiments can be completed by hardware, or can be completed by a program instructing relevant hardware. The program can be stored in a computer-readable storage medium, and the above-mentioned storage medium can be read-only memory, magnetic disk or optical disc, etc.

[0267] The above are only exemplary embodiments that can be implemented in the present application, and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A method for updating a radio frequency fingerprint map, characterized in that, Applied to a first electronic device, the method includes: Obtaining first positioning information, where the first positioning information includes a first position of the first electronic device in a radio frequency fingerprint map; Obtaining at least two sets of second positioning information from at least two second electronic devices, where the second positioning information is used to indicate the position information of the second electronic device, the second electronic device is an electronic device that communicates device-to-device with the first electronic device, and the second positioning information includes at least one of measurement information of device-to-device communication and the position of the second electronic device in the radio frequency fingerprint map, and the measurement information is used to determine the position of the first electronic device relative to the second electronic device; Adjusting the first position based on the at least two sets of second positioning information to obtain an adjusted second position, where the second position is selected by the first electronic device from n candidate positions and the first position, and the n candidate positions are determined by the first electronic device from the at least two sets of second positioning information, and n is a positive integer; Updating the second position to the first positioning information to obtain updated first positioning information; Updating the radio frequency fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

2. The method according to claim 1, wherein The adjusting the first position based on the at least two sets of second positioning information to obtain an adjusted second position includes: Determining n candidate positions of the first electronic device based on the at least two sets of second positioning information, where n is a positive integer; Obtaining a first confidence level of the n candidate positions and a first confidence level of the first position to obtain n + 1 first confidence levels; Determining the second position from the first position and the n candidate positions based on the n + 1 first confidence levels.

3. The method according to claim 2, wherein The determining the second position from the first position and the n candidate positions based on the n + 1 first confidence levels includes: Determining the maximum first confidence level from the n + 1 first confidence levels; determining the position having the maximum first confidence level from the n + 1 positions as the second position, where the n + 1 positions include the first position and the n candidate positions; Or, Calculating the product of the value of each dimension in the first position and the first confidence level of the first position to obtain first weighted values in at least two dimensions; and calculating the product of the value of each dimension in the candidate position and the first confidence level of the candidate position to obtain second weighted values in the at least two dimensions; adding the first weighted values and the n second weighted values corresponding to the n candidate positions in the same dimension to obtain sum values in the at least two dimensions, and determining the sum values in the at least two dimensions as the second position.

4. The method according to claim 2, wherein The second positioning information includes measurement information of device-to-device communication and the position of the second electronic device in the radio frequency fingerprint map; The determining n candidate positions of the first electronic device based on the at least two sets of second positioning information includes: Perform positioning based on at least two sets of measurement information corresponding to the at least two sets of second positioning information to obtain the relative position of the first electronic device relative to the at least two second electronic devices; Determine the n candidate positions based on the relative position and the positions of the second electronic devices in the radio frequency fingerprint map.

5. The method according to any one of claims 1 to 4, characterized in that The first positioning information includes the first radio frequency fingerprint of the first electronic device, and the second positioning information includes the second radio frequency fingerprint of the second electronic device; The method further includes: Calculate the similarity between the first radio frequency fingerprint and the second radio frequency fingerprint; In the case where the similarity is greater than the similarity threshold, merge the updated first positioning information and the second positioning information to obtain the merged positioning information; Update the radio frequency fingerprint map based on the merged positioning information.

6. The method according to any one of claims 1 to 4, characterized in that, The second positioning information includes the radio frequency fingerprint of the second electronic device; The method further includes: Match the at least two radio frequency fingerprints corresponding to the at least two second electronic devices with the radio frequency fingerprints in the radio frequency fingerprint list of the first electronic device, and screen out the target radio frequency fingerprints that do not exist in the at least two radio frequency fingerprints; Update the radio frequency fingerprint map based on the at least two sets of second positioning information corresponding to the target radio frequency fingerprints.

7. According to the method described in any one of claims 1 to 4, characterized in that The method further includes: Send the updated first positioning information to the at least two second electronic devices; Receive at least two second confidence levels feedback by the at least two second electronic devices, where the second confidence level is used to indicate the accuracy of the updated first positioning information; In the case where the at least two second confidence levels meet the confidence level condition, update the radio frequency fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

8. The method according to any one of claims 1 to 4, characterized in that The obtaining of the first positioning information includes: Obtain at least two sets of third positioning information from at least two third electronic devices; Determine the first position of the first electronic device based on the at least two sets of third positioning information.

9. The method according to claim 8, characterized in that, The determining the first position of the first electronic device based on the at least two sets of third positioning information includes: Determine the third position of the first electronic device based on the at least two sets of third positioning information; In the case where the first electronic device has obtained the fourth position, adjust the fourth position based on the third position to obtain the first position; In the case where the first electronic device has not obtained the fourth position, determine the third position as the first position; Wherein, the fourth position refers to the position located in the radio frequency fingerprint map based on the radio frequency fingerprint of the first electronic device.

10. The method according to claim 8, wherein After obtaining at least two sets of third positioning information from at least two third electronic devices, it further includes: Update the positioning score of the first electronic device, where the positioning score is virtual currency circulated between devices during the positioning process.

11. According to the method as claimed in any one of claims 1 to 4, characterized in that, Before obtaining the first positioning information, it includes: Search for the at least two second electronic devices; Construct a collaborative perception network with the at least two second electronic devices, where the collaborative perception network is used to assist the electronic devices in the collaborative perception network for RF fingerprint positioning.

12. The method according to any one of claims 1 to 4, characterized in that The method further includes: Obtain the positioning score of the first electronic device from a server, where the positioning score includes at least one of the following: The reward score for the first electronic device to participate in the construction and update of the RF fingerprint map; The reward score for the first electronic device to assist other electronic devices in positioning in the RF fingerprint map.

13. According to the method described in any one of claims 1 to 4, characterized in that, The obtaining the first positioning information includes: Obtain the device operation information of the first electronic device; In response to the device operation information meeting the trigger condition for crowdsourcing collection, obtain the first positioning information; Wherein, the trigger condition includes at least one of the following: The available network traffic of the first electronic device is higher than the network traffic threshold; The battery power of the first electronic device is higher than the battery power threshold.

14. A radio frequency fingerprint map updating device, characterized in that The device includes: An obtaining module, configured to obtain first positioning information, where the first positioning information includes the first position of a first electronic device in an RF fingerprint map; obtain at least two sets of second positioning information from at least two second electronic devices, where the second positioning information is used to indicate the position information of the second electronic device, and the second electronic device is an electronic device that performs device-to-device communication with the first electronic device, and the second positioning information includes at least one of measurement information for device-to-device communication and the position of the second electronic device in the RF fingerprint map, and the measurement information is used to determine the position of the first electronic device relative to the second electronic device; An adjustment module, configured to adjust the first position based on the at least two sets of second positioning information to obtain an adjusted second position, where the second position is selected by the first electronic device from n candidate positions and the first position, and the n candidate positions are determined by the first electronic device from the at least two sets of second positioning information, and n is a positive integer; Update the second position to the first positioning information to obtain updated first positioning information; An update module, configured to update the RF fingerprint map based on the updated first positioning information and the at least two sets of second positioning information.

15. An electronic device, characterized in that, The electronic device includes a processor and a memory connected to the processor, where program instructions are stored on the memory, and when the processor executes the program instructions, the RF fingerprint map update method according to any one of claims 1 to 13 is implemented.

16. A computer-readable storage medium, characterized in that, Program instructions are stored in the computer-readable storage medium, and when the program instructions are executed by a processor, the RF fingerprint map update method according to any one of claims 1 to 13 is implemented.

17. A computer program product, characterized in that, The computer program product includes computer instructions, where the computer instructions are stored in a computer-readable storage medium; a processor of a computer device reads the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, so that the computer device executes the RF fingerprint map update method according to any one of claims 1 to 13.

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