Indoor positioning test method, device, electronic equipment and storage medium

Abstract

In order to solve the problem of testing indoor positioning systems, the embodiments of the present invention disclose an indoor positioning test method, device, electronic device and storage medium, the method comprising: obtaining a first map related to the indoor test site carried by the indoor positioning system to be tested; obtaining a second map with latitude and longitude information of the indoor test site; determining a target test map associated with the indoor test site based on the first map and the second map; obtaining first position information of a certain test point located by the indoor positioning system to be tested when testing the indoor positioning system to be tested; and obtaining second position information of the test point based on the target test map; comparing the first position information and the second position information; and determining the positioning performance of the indoor positioning system to be tested at the test point based on the comparison result. The method and device provided by the embodiments of the present invention can at least partially solve the above problems.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to an indoor positioning test method, device, electronic equipment and storage medium. Background Art

[0002] In recent years, the demand for indoor location awareness has increased dramatically, and a large number of indoor positioning systems have emerged, such as Wi-Fi positioning systems, Bluetooth positioning systems, ultra-wideband (UWB) positioning systems, base station positioning systems, Zigbee positioning systems, etc. Indoor positioning systems usually need to be tested to determine their positioning accuracy and success rate, and also as a feedback method to continuously optimize system performance, so a suitable testing method is particularly important. Summary of the invention

[0003] In view of this, the main purpose of the present invention is to provide an indoor positioning test method, device, electronic device and storage medium, to provide a convenient and efficient indoor positioning system testing method, which can realize the testing of the positioning performance of the indoor positioning system and realize the seamless integration of the indoor positioning system and the outdoor positioning system.

[0004] To achieve the above object, the technical solution of the present invention is achieved as follows:

[0005] In a first aspect, an embodiment of the present invention provides an indoor positioning test method, the method comprising:

[0006] Obtaining a first map related to the indoor test site carried by the indoor positioning system to be tested; obtaining a second map with latitude and longitude information of the indoor test site;

[0007] Determining a target test map associated with the test site indoors based on the first map and the second map;

[0008] When testing the indoor positioning system to be tested, obtaining first position information of a certain test point located by the indoor positioning system to be tested; and obtaining second position information of the test point based on the target test map;

[0009] comparing the first location information and the second location information;

[0010] The positioning performance of the indoor positioning system to be tested at the test point is determined according to the comparison result.

[0011] In a second aspect, an embodiment of the present invention further provides an indoor positioning test device, the device comprising: a first obtaining unit, a first determining unit, a second obtaining unit, a comparing unit, and a second determining unit, wherein:

[0012] The first obtaining unit is used to obtain a first map related to the indoor test site carried by the indoor positioning system to be tested; and obtain a second map with latitude and longitude information of the indoor test site;

[0013] The first determining unit is used to determine a target test map associated with the test site indoors based on the first map and the second map;

[0014] The second obtaining unit is used to obtain first position information of a certain test point located by the indoor positioning system to be tested when testing the indoor positioning system to be tested; and obtain second position information of the test point based on the target test map;

[0015] The comparing unit is used to compare the first location information and the second location information;

[0016] The second determining unit is used to determine the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result.

[0017] In a third aspect, an embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program implements the steps of any of the aforementioned methods when executed by a processor.

[0018] In a fourth aspect, an embodiment of the present invention further provides an electronic device, comprising: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor executes the steps of any one of the aforementioned methods when running the computer program.

[0019] The embodiment of the present invention provides an indoor positioning test method, device, electronic device and storage medium, wherein the method includes: obtaining a first map related to the indoor test site carried by the indoor positioning system to be tested; obtaining a second map with longitude and latitude information in the indoor test site; determining a target test map associated with the indoor test site based on the first map and the second map; obtaining first position information of the indoor positioning system to be tested for locating a certain test point when testing the indoor positioning system to be tested; and obtaining second position information of the test point based on the target test map; comparing the first position information and the second position information; determining the positioning performance of the indoor positioning system to be tested at the test point based on the comparison result. The method and device provided by the present invention form a target test map with longitude and latitude information by combining the second map with longitude and latitude information with the first map indoors, and implement the positioning performance test of the indoor positioning system to be tested on the basis of the target test map. Because a test map with longitude and latitude information is used, the indoor positioning system and the outdoor positioning system can be seamlessly combined to avoid additional fusion overhead; and the present invention can also compare the real-time positioning position information (first position information) and the calculated actual position information (second position information) during the movement, so that the indoor positioning system to be tested can be optimized in real time, improving the optimization efficiency of the positioning algorithm in the indoor positioning system to be tested. In addition, the test method of the present invention is suitable for testing various indoor positioning systems and is highly convenient. And the test method of the present invention can be used as a separate positioning method to obtain position information, and can also test the performance of the positioning system to be tested, with higher flexibility. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 A schematic diagram of a flow chart of an indoor positioning test method provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a flow chart of another indoor positioning test method provided by an embodiment of the present invention;

[0022] Figure 3 A schematic diagram of the structure of an indoor positioning test device provided by an embodiment of the present invention;

[0023] Figure 4 A schematic diagram of the connection between an indoor positioning test device and an indoor positioning system to be tested provided by an embodiment of the present invention;

[0024] Figure 5 A schematic diagram of a hardware structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0025] In order to make the purpose, technical scheme and advantages of the embodiments of the present invention clearer, the specific technical scheme of the invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention. In the absence of conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other arbitrarily. The steps shown in the flowchart of the accompanying drawings are executed in a computer system such as a set of computer executable instructions. In addition, although the logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that here.

[0026] At present, most of the ways to test indoor positioning systems are to draw indoor maps, establish a rectangular coordinate system covering the test area, use the indoor positioning system to be tested to locate the static point or dynamic path to be tested in the test area, and then determine the indoor relative coordinates of the test point based on the established rectangular coordinates, keep the log of the obtained indoor relative coordinates, and after the test is completed, import it into the map carried by the aforementioned indoor positioning system to be tested, and then compare and analyze the located position with the calculated relative indoor position, and optimize the indoor positioning system to be tested based on the comparison results. This test method cannot support the needs of seamless indoor and outdoor navigation, and in the test process of dynamic paths, the specific moment positioning results are generally ignored. Even if the time factor is considered, additional reference equipment is required to synchronize the measurement time. The cost of the general reference equipment is relatively high, and the synchronization test time requires the reference device clock to be adjusted to achieve time synchronization. In addition, the log capture and comparison after the above test method is also very inconvenient. When optimizing the indoor positioning system to be tested, only one or two parameters can be modified. In short, the aforementioned test method cannot implement the update of the positioning algorithm of the indoor positioning system to be tested, and the efficiency is extremely low.

[0027] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0028] Figure 1 The following is a flow chart of an indoor positioning test method provided by an embodiment of the present invention. Figure 1 As shown, the method includes:

[0029] S101: Obtain a first map related to the indoor test site carried by the indoor positioning system to be tested; obtain a second map with latitude and longitude information of the indoor test site.

[0030] It should be noted that the indoor positioning system to be tested can be any one of the following: Wi-Fi positioning system, Bluetooth positioning system, Ultra Wide Band (UWB) positioning system, base station positioning system, Zigbee positioning system. The first map can be a map of the indoor test site, and its establishment process can be: select a relative coordinate origin, and use this relative coordinate origin to establish a rectangular coordinate system map covering the test site, wherein the relative coordinate origin is not based on the absolute coordinates of the earth, but is a reference point selected artificially. The second map is a map with longitude and latitude information covering the test site obtained by specific means, wherein the specific means can be engineering surveying, that is, using engineering surveying to draw an engineering survey map of the test site, and the points in the engineering survey map carry longitude and latitude information.

[0031] Here, the first map and the second map are used only to distinguish between two maps for the convenience of description and are not used to limit the present invention.

[0032] S102: Determine a target test map associated with the test site indoors based on the first map and the second map.

[0033] Here, the target test map is a combination of the first map and the second map. Since the first map and the second map are for the same test site and are drawn using different coordinate systems, the same point on the test site has both a coordinate representation on the first map and a coordinate representation on the second map. That is to say, the target test map can represent the same point using coordinates in the first map and coordinates in the second map. That is, on the target test map, the coordinates of each point on the first map have a one-to-one correspondence with the coordinates on the second map.

[0034] Specifically, in some embodiments, determining the target test map associated with the test site indoors based on the first map and the second map may include:

[0035] Determine first indoor coordinate information corresponding to a first point on the first map; the first point is any point in the indoor test site;

[0036] Determining first latitude and longitude information of the first point on the second map;

[0037] Determine an association relationship between the first indoor coordinate information and the first longitude and latitude information;

[0038] Obtaining association relationships corresponding to a plurality of the first points;

[0039] A target test map associated with the test site indoors is determined based on each corresponding association relationship.

[0040] It should be noted that the target test map here can be displayed as a vector map on a computer, which uses straight lines and curves to describe graphics. The elements of these graphics are some points, lines, rectangles, polygons, circles and arcs, etc. Since these elements can be calculated by mathematical formulas, the file size of the vector map is very small, and it will not be distorted regardless of enlargement, reduction or rotation. In other words, when determining the target test map, multiple identical points are selected, the coordinates of each point on the first map are determined, and the coordinates of each point on the second map are determined, and an association relationship between the two coordinates corresponding to the same point is established and stored in the computer. The association relationship can be a coordinate pair composed of the coordinates of the aforementioned identical point on the first map and the second map. For example, the association relationship of the aforementioned first point can be the following coordinate pair: (first indoor coordinate information, first longitude and latitude information).

[0041] S103: when testing the indoor positioning system to be tested, obtaining first position information of a certain test point located by the indoor positioning system to be tested; and obtaining second position information of the test point based on the target test map;

[0042] What is described here is that when testing the indoor positioning system to be tested, the indoor positioning system to be tested is started, the indoor positioning system to be tested locates a certain test point, and then the first position information of the test point obtained by positioning is sent to the indoor positioning test device provided by the embodiment of the present invention; the indoor positioning test device obtains the second position information of the test point based on the aforementioned determined target test map, wherein the second position information is obtained by utilizing the association relationship in the target test map. It should be noted that the first position information and the second position information used here are only for the convenience of description, and the position information obtained by testing the test point in different test methods does not limit the present invention.

[0043] In actual application, the test of the indoor positioning system to be tested can be divided into two types: static point test and dynamic path test. Different types of tests use different methods to calculate the second position information. Specifically, in some embodiments, when the test point is a static test point, obtaining the second position information of the test point based on the target test map includes:

[0044] Searching for target coordinate information corresponding to the test point on the target test map; the target coordinate information is the second position information.

[0045] It should be noted that the meaning of the implicit calculation mentioned here is to search. It should be understood that there are hundreds or thousands of points on the target test map. It is impossible to store all of them when storing them in the computer. Since the target test map is a vector map, its storage can be to store the coordinates of several selected reference points, and also store an algorithm for calculating the coordinates of any point on the target test map using the coordinates of the aforementioned selected reference points. This algorithm can be simply referred to as a position calculation method. Therefore, what is mentioned here is to search for the coordinate information corresponding to the test point on the target test map, that is, to calculate the coordinate information corresponding to the test point using the coordinates of the aforementioned stored reference points and the stored position calculation method. The coordinate information is the second position information.

[0046] It should be understood that in order to increase the test speed and reduce calculations, in some embodiments, the reference points selected above may also be static test points, that is, the reference points stored in the computer are the test points, and the coordinate information corresponding to the test points can then be directly obtained by searching without further calculation.

[0047] In some other embodiments, when the test point is a dynamic test point, obtaining the second position information of the test point based on the target test map includes:

[0048] Obtaining starting point coordinate information and end point coordinate information of the test section where the test point is located on the target test map; the test section is a section of a test path decomposed into multiple test sections;

[0049] Get the moving speed and moving time of the test equipment;

[0050] The second position information of the test point is determined based on the starting point coordinate information, the ending point coordinate information, the moving speed and the moving time.

[0051] It should be noted that the test path is already selected before the test, so the starting point coordinate information and the end point coordinate information of a test section in the test path on the target test map are relatively easy to obtain, and will not be repeated here. It should be understood that the starting point coordinate information may include the starting point longitude and latitude coordinates and the starting point indoor coordinates, and the end point coordinate information includes the end point longitude and latitude coordinates and the end point indoor coordinates.

[0052] Here, the test device can be a device with a mobile function, which moves on the test section in the test path. The moving speed can be uniform, and the moving speed can be uploaded by the test device to the aforementioned indoor positioning test device, or input by the tester into the indoor positioning test device. The specific method can be determined according to the specific test environment. The moving time is the time difference between the start of movement on the test path and the completion of positioning of the mobile device by the indoor positioning system to be tested, wherein the start of movement time can be the time recorded by the indoor positioning test device when the mobile device starts to move; the time when the indoor positioning system to be tested completes positioning for the mobile device can be the time when the indoor positioning test device records the location information of the mobile device sent by the indoor positioning system to be tested.

[0053] In some embodiments, when the starting point coordinate information includes the starting point longitude and latitude coordinates and the starting point indoor coordinates, and the end point coordinate information includes the end point longitude and latitude coordinates and the end point indoor coordinates, determining the second position information of the test point based on the starting point coordinate information, the end point coordinate information, the moving speed and the moving time includes:

[0054] Determine a first difference between the latitude and longitude coordinates of the end point and the latitude and longitude coordinates of the starting point;

[0055] Determine a second difference between the indoor coordinates of the end point and the indoor coordinates of the start point;

[0056] Determine the moving distance of the test device based on the moving speed and the moving time;

[0057] The second location information is determined based on the first difference, the second difference, the moving distance, and the latitude and longitude coordinates of the starting point.

[0058] In some embodiments, the determining of the second location information based on the first difference, the second difference, the moving distance and the latitude and longitude coordinates of the starting point can be expressed by the following two formulas:

[0059]

[0060]

[0061] Wherein, X is the longitude coordinate of the test point; X i is the longitude coordinate of the starting point of the test section; i+1 is the longitude coordinate of the end point of the test section; i+1 -X i is the first difference in longitude; x i+1x is the indoor coordinate of the end point of the test section in the X-axis direction on the aforementioned first map; i x is the indoor coordinate of the starting point of the test section in the X-axis direction on the aforementioned first map; i+1 -x i is the second difference in the X-axis direction on the aforementioned first map; Δx is the moving distance of the mobile device in the X-axis direction on the aforementioned first map, which is Δx=v x ·(tt i ), v x is the average moving speed of the mobile device in the X-axis direction on the aforementioned first map; Y is the latitude coordinate of the test point; Y i Y is the latitude coordinate of the starting point of the test section; i+1 Y is the latitude coordinate of the end point of the test section; i+1 -Y i is the first difference in the latitude direction; y i+1 y is the indoor coordinate of the end point of the test section in the Y-axis direction on the aforementioned first map; i y is the indoor coordinate of the starting point of the test section in the Y-axis direction on the aforementioned first map; i+1 -y i is the second difference in the Y-axis direction on the aforementioned first map; Δy is the moving distance of the mobile device in the Y-axis direction on the aforementioned first map, which is Δy=v y ·(tt i )Δx=v x ·(tt i ), v y is the average moving speed of the mobile device in the Y-axis direction on the aforementioned first map; tt i For moving time.

[0062] S104: Compare the first location information and the second location information;

[0063] S105: Determine the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result.

[0064] In some embodiments, comparing the first location information and the second location information may include:

[0065] Obtaining a third difference between the first position information and the second position information;

[0066] Comparing the absolute value of the third difference with a preset threshold to obtain a comparison result;

[0067] Correspondingly, determining the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result includes:

[0068] When the comparison result is that the absolute value of the third difference is not greater than the preset threshold, it is determined that the positioning performance of the indoor positioning system to be tested at the test point meets the requirement;

[0069] When the comparison result is that the absolute value of the third difference is greater than the preset threshold, it is determined that the positioning performance of the indoor positioning system to be tested at the test point does not meet the requirement.

[0070] What is described here is to compare the first position information located by the indoor positioning system to be tested and the second position information obtained based on the target test map provided by the present invention, or the third difference between the two. It should be understood that the third difference can be the first position information minus the second position information, or the second position information minus the first position information. Because the located first position information may be greater than the real second position information, or may be less than the real second position information, therefore, when making a judgment, the absolute value of the third difference is used to compare with the preset threshold. Whether the positioning performance of the test point mentioned here meets the requirements can refer to whether the positioning error is less than the preset threshold. When the absolute value of the third difference is not greater than the preset threshold, it is considered that the performance of the indoor positioning system to be tested at the test point meets the requirements; when the absolute value of the third difference is greater than the preset threshold, it is considered that the performance of the indoor positioning system to be tested at the test point does not meet the requirements. Among them, the preset threshold is related to the maximum positioning deviation of the indoor positioning system to be tested. For example, the maximum positioning deviation of a fingerprint-based Bluetooth positioning system may be 5 meters. When the indoor positioning system to be tested is a fingerprint-based Bluetooth positioning system, if the absolute value of the third difference at a certain test point is greater than 5 meters, it is considered that the performance of the fingerprint-based Bluetooth positioning system at the certain test point does not meet the requirements.

[0071] In some embodiments, after determining that the positioning performance of the indoor positioning system to be tested at the test point does not meet the requirements, the method further includes: feeding back the third difference to the indoor positioning system to be tested.

[0072] What is described here is that when the tested performance does not meet the requirements, the third difference is fed back to the indoor positioning system to be tested, so that the indoor positioning system to be tested optimizes its own positioning performance.

[0073] It should be noted that, in practical applications, the test of the indoor positioning system to be tested is not just a one-time test, but multiple static test points can be selected, and multiple dynamic paths can also be tested to achieve real-time testing and optimization.

[0074] The embodiment of the present invention provides an indoor positioning test method, which can be applied to various indoor positioning systems. For example, the aforementioned fingerprint-based Bluetooth positioning system, when tested using the indoor positioning test method provided by the embodiment of the present invention, because a test map with longitude and latitude information is used, the indoor positioning system can be seamlessly combined with the outdoor positioning system to avoid additional fusion overhead; and the present invention can also compare the real-time positioning position information (first position information) and the calculated actual position information (second position information) during the movement process, so that the indoor positioning system to be tested can be optimized in real time, and the optimization efficiency of the positioning calculation in the indoor positioning system to be tested is improved. In addition, the test method of the present invention is applicable to the testing of various indoor positioning systems, and is highly convenient. And the test method of the present invention can be used as a separate positioning method to obtain position information, and can also test the performance of the positioning system to be tested, with higher flexibility.

[0075] In actual application, the starting point, turning point, and end point of each broken line segment decomposed in the selected static test point and the dynamic path are the same as the reference point part of the stored target test map. In this case, the specific process of the test method provided by the embodiment of the present invention may include:

[0076] S201: Establishing an indoor vector map of the test site with longitude and latitude coordinates; determining a static point and a dynamic path to be tested based on the indoor vector map;

[0077] Among them, this embodiment uses the method of combining the engineering survey map with the map carried by the indoor positioning system to be tested to draw the map of the test site, and obtain the indoor vector map of the test site with longitude and latitude coordinates, wherein a plurality of reference points to be measured for longitude and latitude information are stored in the computer. This embodiment adopts the test method of static points and dynamic paths, decomposes the curve segment in the dynamic path to be tested into a plurality of broken line segments, and calculates the coordinates of the static points according to the coordinate information of the map and the reference points, and calculates the coordinates of the starting point of the dynamic path, the coordinates of the turning point, and the coordinates of the end point; the turning point is the coordinate of the connection point of two adjacent broken line segments in a broken line segment. The indoor vector map, reference points, and the points to be tested calculated above can all be stored in the following map module, which also includes a method for calculating position information, and can quickly obtain the coordinates of any point in the test site.

[0078] S202: Testing the indoor positioning system to be tested based on the indoor vector map, the determined static points to be tested, and the dynamic path.

[0079] The specific test process can be as follows: start the positioning system periodically for positioning. After each positioning is completed, the positioning system returns the location information obtained by this positioning to the test module, and the test module obtains the actual location information at the current moment from the map module. If it is a static point test, it is the stored static point coordinates. If it is a dynamic path test, it is the coordinates calculated by the map module through the above formulas (1) and (2). Finally, the actual location information obtained by the indoor positioning test device is compared with the location information obtained by the indoor positioning system to be tested, and the difference in location information is used to judge the quality of the indoor positioning system to be tested.

[0080] S203: Adaptively optimizing the indoor positioning system to be tested.

[0081] This embodiment adopts a fingerprint-based Bluetooth positioning system. After the optimization module receives the positioning position error calculated by the test module, it determines whether it exceeds a preset threshold. The value of the threshold is related to the maximum positioning deviation expected by the positioning system, for example, 5m. If it exceeds the expected threshold, the positioning position offset vector is transmitted to the positioning system. When the same fingerprint is scanned in the subsequent positioning, the corresponding offset is subtracted to obtain the positioning position, thereby reducing the positioning error and optimizing the performance of the positioning system.

[0082] Based on the same inventive concept, the embodiment of the present invention also provides an indoor positioning test device, such as Figure 3 As shown, the device 30 includes: a first obtaining unit 301, a first determining unit 302, a second obtaining unit 303, a comparing unit 304 and a second determining unit 305, wherein:

[0083] The first obtaining unit 301 is used to obtain a first map related to the indoor test site carried by the indoor positioning system to be tested; and obtain a second map with latitude and longitude information of the indoor test site;

[0084] The first determining unit 302 is configured to determine a target test map associated with the test site indoors based on the first map and the second map;

[0085] The second obtaining unit 303 is used to obtain the first position information of a test point located by the indoor positioning system under test when testing the indoor positioning system under test; and obtain the second position information of the test point based on the target test map;

[0086] The comparing unit 304 is used to compare the first location information with the second location information;

[0087] The second determining unit 305 is used to determine the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result.

[0088] In some embodiments, the first determining unit 302 is specifically used to: determine first indoor coordinate information corresponding to a first point on the first map; the first point is any point in the indoor test site;

[0089] Determining first latitude and longitude information of the first point on the second map;

[0090] Determine an association relationship between the first indoor coordinate information and the first longitude and latitude information;

[0091] Obtaining association relationships corresponding to a plurality of the first points;

[0092] A target test map associated with the test site indoors is determined based on each corresponding association relationship.

[0093] In some embodiments, the second obtaining unit 303 is specifically used to: when the test point is a static test point, search for target coordinate information corresponding to the test point on the target test map; the target coordinate information is the second position information.

[0094] In some embodiments, the second obtaining unit 303 is further specifically used to: obtain the starting point coordinate information and the ending point coordinate information of the test section where the test point is located on the target test map; the test section is a section of a test path decomposed into multiple test sections;

[0095] Get the moving speed and moving time of the test equipment;

[0096] The second position information of the test point is determined based on the starting point coordinate information, the ending point coordinate information, the moving speed and the moving time.

[0097] In some embodiments, the second obtaining unit 303 is further specifically used to: determine a first difference between the longitude and latitude coordinates of the endpoint and the longitude and latitude coordinates of the starting point when the starting point coordinate information includes the longitude and latitude coordinates of the starting point and the indoor coordinates of the starting point, and the end point coordinate information includes the longitude and latitude coordinates of the end point and the indoor coordinates of the end point;

[0098] Determine a second difference between the indoor coordinates of the end point and the indoor coordinates of the start point;

[0099] Determine the moving distance of the test device based on the moving speed and the moving time;

[0100] The second location information is determined based on the first difference, the second difference, the moving distance, and the latitude and longitude coordinates of the starting point.

[0101] In some embodiments, the comparison unit 304 is specifically configured to: obtain a third difference between the first position information and the second position information;

[0102] Comparing the absolute value of the third difference with a preset threshold to obtain a comparison result;

[0103] Correspondingly, the second determination unit 305 is specifically used to: when the comparison result is that the absolute value of the third difference is not greater than the preset threshold, determine that the positioning performance of the indoor positioning system to be tested at the test point meets the requirements; when the comparison result is that the absolute value of the third difference is greater than the preset threshold, determine that the positioning performance of the indoor positioning system to be tested at the test point does not meet the requirements.

[0104] In some embodiments, the device further includes a feedback unit configured to feed back the third difference to the indoor positioning system to be tested.

[0105] In actual application, the first acquisition unit and the first determination unit in the aforementioned indoor positioning test device 30 are arranged together in a map module, and the map module stores the reference points in the aforementioned target test map and the position calculation method. The coordinates of static test points and the coordinates of the starting points and end points of each decomposed section of the dynamic path can also be stored. The aforementioned second acquisition unit, the comparison unit and the second determination unit are jointly arranged in a test module for testing the indoor positioning system to be tested. The above-mentioned feedback unit is arranged in an optimization module, which is used to optimize the indoor positioning system to be tested based on the feedback positioning difference. Specifically, the connection diagram between the indoor positioning test device 30 and the indoor positioning system to be tested is shown in the figure. Figure 4 shown.

[0106] An embodiment of the present invention further provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the steps of the above-mentioned method embodiment are implemented. The aforementioned storage medium includes: a mobile storage device, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and other media that can store program codes.

[0107] An embodiment of the present invention further provides an electronic device, comprising: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor executes the steps of the above method embodiment stored in the memory when running the computer program.

[0108] Figure 5A schematic diagram of the hardware structure of an electronic device provided in an embodiment of the present invention, the electronic device 50 includes: at least one processor 501, a memory 502, and optionally, the electronic device 50 may further include at least one communication interface 503. The various components in the electronic device 50 are coupled together through a bus system 504. It can be understood that the bus system 504 is used to realize the connection and communication between these components. In addition to the data bus, the bus system 504 also includes a power bus, a control bus, and a status signal bus. However, for the sake of clarity, in Figure 5 Various buses are labeled as bus system 504 .

[0109] It can be understood that the memory 502 can be a volatile memory or a non-volatile memory, and can also include both volatile and non-volatile memories. Among them, the non-volatile memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory, a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM); the magnetic surface memory can be a disk memory or a tape memory. The volatile memory can be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static random access memory (SRAM), synchronous static random access memory (SSRAM), dynamic random access memory (DRAM), synchronous dynamic random access memory (SDRAM), double data rate synchronous dynamic random access memory (DDRSDRAM), enhanced synchronous dynamic random access memory (ESDRAM), synchronous link dynamic random access memory (SLDRAM), and direct rambus random access memory (DRRAM).The memory 502 described in the embodiments of the present invention is intended to include, but is not limited to, these and any other suitable types of memory.

[0110] The memory 502 in the embodiment of the present invention is used to store various types of data to support the operation of the electronic device 50. Examples of such data include: any computer program for operating on the electronic device 50, such as the implementation of determining the target test map associated with the indoor test site based on the first map and the second map, etc. The program for implementing the method of the embodiment of the present invention may be included in the memory 502.

[0111] The method disclosed in the above embodiment of the present invention can be applied to the processor 501, or implemented by the processor 501. The processor may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by an integrated logic circuit of hardware in the processor or an instruction in the form of software. The above processor may be a general-purpose processor, a digital signal processor (DSP, Digital Signal Processor), or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components, etc. The processor can implement or execute the methods, steps and logic block diagrams disclosed in the embodiment of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. In combination with the steps of the method disclosed in the embodiment of the present invention, it can be directly embodied as a hardware decoding processor to execute, or it can be executed by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium, which is located in a memory, and the processor reads the information in the memory and completes the steps of the above method in combination with its hardware.

[0112] In an exemplary embodiment, the electronic device 50 can be implemented by one or more application specific integrated circuits (ASIC), DSP, programmable logic device (PLD), complex programmable logic device (CPLD), field programmable gate array (FPGA), general processor, controller, microcontroller (MCU), microprocessor, or other electronic components to execute the above method.

[0113] In the several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as: multiple units or components can be combined, or can be integrated into another system, or some features can be ignored, or not executed. In addition, the coupling, direct coupling, or communication connection between the components shown or discussed can be through some interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms. The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units; some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment. In addition, the functional units in the embodiments of the present invention may be all integrated in one processing unit, or each unit may be a separate unit, or two or more units may be integrated in one unit; the above integrated units may be implemented in the form of hardware or in the form of hardware plus software functional units.

[0114] The above description is only a preferred embodiment of the present invention and is not intended to limit the protection scope of the present invention.

Claims

1. An indoor positioning test method, characterized in that: The method comprises: Obtaining a first map related to the indoor test site carried by the indoor positioning system to be tested; obtaining a second map with latitude and longitude information of the indoor test site; Determining a target test map associated with the test site indoors based on the first map and the second map; When testing the indoor positioning system to be tested, obtaining first position information of a certain test point positioned by the indoor positioning system to be tested; In the case where the test point is a static test point, searching for target coordinate information corresponding to the test point on the target test map; the target coordinate information is the second position information; In the case where the test point is a dynamic test point, the starting point coordinate information and the end point coordinate information of the test section where the test point is located on the target test map are obtained; the moving speed and moving time of the test device are obtained; the second position information of the test point is determined based on the starting point coordinate information, the end point coordinate information, the moving speed and the moving time; the test section is a section of a test path decomposed into multiple test sections; comparing the first location information and the second location information; The positioning performance of the indoor positioning system to be tested at the test point is determined according to the comparison result.

2. The method according to claim 1, characterized in that The determining, based on the first map and the second map, a target test map associated with the test site indoors comprises: Determine first indoor coordinate information corresponding to a first point on the first map; the first point is any point in the indoor test site; Determining first latitude and longitude information of the first point on the second map; Determine an association relationship between the first indoor coordinate information and the first longitude and latitude information; Obtaining association relationships corresponding to a plurality of the first points; A target test map associated with the test site indoors is determined based on each corresponding association relationship.

3. The method according to claim 1, characterized in that In a case where the starting point coordinate information includes the starting point longitude and latitude coordinates and the starting point indoor coordinates, and the end point coordinate information includes the end point longitude and latitude coordinates and the end point indoor coordinates, the second position information of the test point is determined based on the starting point coordinate information, the end point coordinate information, the moving speed and the moving time, including: Determine a first difference between the latitude and longitude coordinates of the end point and the latitude and longitude coordinates of the starting point; Determine a second difference between the indoor coordinates of the end point and the indoor coordinates of the start point; Determine the moving distance of the test device based on the moving speed and the moving time; The second location information is determined based on the first difference, the second difference, the moving distance, and the latitude and longitude coordinates of the starting point.

4. The method according to claim 1, characterized in that: The comparing the first location information and the second location information includes: Obtaining a third difference between the first position information and the second position information; Comparing the absolute value of the third difference with a preset threshold to obtain a comparison result; Correspondingly, determining the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result includes: When the comparison result is that the absolute value of the third difference is not greater than the preset threshold, it is determined that the positioning performance of the indoor positioning system to be tested at the test point meets the requirement; When the comparison result is that the absolute value of the third difference is greater than the preset threshold, it is determined that the positioning performance of the indoor positioning system to be tested at the test point does not meet the requirement.

5. The method according to claim 4, characterized in that After determining that the positioning performance of the indoor positioning system to be tested at the test point does not meet the requirements, the method further includes: The third difference is fed back to the indoor positioning system to be tested.

6. An indoor positioning test device, characterized in that: The device comprises: a first obtaining unit, a first determining unit, a second obtaining unit, a comparing unit, and a second determining unit, wherein: The first obtaining unit is used to obtain a first map related to the indoor test site carried by the indoor positioning system to be tested; and obtain a second map with latitude and longitude information of the indoor test site; The first determining unit is used to determine a target test map associated with the test site indoors based on the first map and the second map; The second obtaining unit is used to obtain the first position information of a test point located by the indoor positioning system to be tested when testing the indoor positioning system to be tested; when the test point is a static test point, search for the target coordinate information corresponding to the test point on the target test map; the target coordinate information is the second position information; when the test point is a dynamic test point, obtain the starting point coordinate information and the end point coordinate information of the test section where the test point is located on the target test map; obtain the moving speed and moving time of the test equipment; determine the second position information of the test point based on the starting point coordinate information, the end point coordinate information, the moving speed and the moving time; the test section is a section of a test path decomposed into multiple test sections; The comparing unit is used to compare the first location information and the second location information; The second determining unit is used to determine the positioning performance of the indoor positioning system to be tested at the test point according to the comparison result.

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

8. An electronic device, characterized in that: The electronic device comprises: a processor and a memory for storing a computer program that can be run on the processor, wherein the processor executes the steps of the method according to any one of claims 1 to 5 when running the computer program.

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