Positioning method and device

Abstract

The embodiment of the present application discloses a positioning method and device. The method comprises the following steps: determining the signal characteristics of the wireless signal of the reference position of a first AP in N APs, wherein the signal characteristics comprise N signal qualities or / and N transmission durations, and N is an integer greater than or equal to 3; acquiring a signal sequence in a first time period according to the signal characteristics of the wireless signal of the reference position of the first AP, wherein the signal sequence comprises the signal characteristics of a plurality of time units, and the signal characteristics of the first time unit in the signal sequence are the same as the signal characteristics of the wireless signal of the reference position of the first AP; determining the coordinate position of a terminal device in each time unit in the first time period according to the signal sequence; and establishing the corresponding relationship between the signal characteristics and the coordinate position. The corresponding relationship between the signal characteristics and the coordinate position is used for positioning, and the accuracy of positioning can be improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, and particularly relates to a positioning method and device. BACKGROUND

[0002] With the development of mobile broadband (MBB), the demand for data services has risen sharply, and more data services come from indoor environments. In order to improve the quality and capacity of wireless networks in indoor environments, mainstream equipment manufacturers have launched large indoor digital coverage solutions for large indoor scenarios such as airports and stadiums. The solutions digitize digital intermediate frequencies or baseband signals through optical fibers or Ethernet network cables, and process the signals digitally at active head ends to receive and transmit radio frequency (RF) signals. Meanwhile, with the popularization of wireless networks and intelligent terminals, positioning applications are increasingly relied on by users, such as positioning navigation and positioning clock-in. However, due to the shielding of buildings, the accuracy of indoor positioning is not high. SUMMARY

[0003] Embodiments of the present application provide a positioning method and device, which establishes a correspondence between signal features and coordinate positions to improve the accuracy of positioning in indoor environments.

[0004] In a first aspect, embodiments of the present application provide a positioning method, including: determining a signal feature of a wireless signal of a reference position of a first access point (AP) in N APs, wherein the signal feature includes N signal qualities or / and N transmission durations, and the N is an integer greater than or equal to 3; obtaining a signal sequence in a first time period according to the signal feature of the wireless signal of the reference position of the first AP, wherein the signal sequence includes signal features of multiple time units, and a signal feature of a first time unit in the signal sequence is the same as the signal feature of the wireless signal of the reference position of the first AP; determining a coordinate position of a terminal device in each time unit in the first time period according to the signal sequence; and establishing a correspondence between the signal feature and the coordinate position, and the correspondence between the signal feature and the coordinate position is used for positioning.

[0005] By determining the signal feature of the reference position of the first AP, obtaining the signal sequence of the wireless signal of the UE passing through the reference position of the first AP, and sequentially determining the coordinate positions of the terminal devices corresponding to the signal features of other time units in the signal sequence through the coordinate of the reference position of the first AP, the efficiency and accuracy of establishing the correspondence between the signal feature and the coordinate position are improved, and the positioning is performed through the established correspondence between the signal feature and the coordinate position, thereby further improving the accuracy of positioning.

[0006] In one possible design, a first signal quality obtained by measuring the wireless signal by the first AP and a second signal quality obtained by measuring the wireless signal by each of the N APs other than the first AP are obtained; a determination is made as to whether the difference between the first signal quality and the second signal quality measured by each of the other APs is greater than or equal to a first threshold; and when the difference between the first signal quality and the second signal quality measured by each of the other APs is greater than or equal to the first threshold, the first signal quality and the second signal quality measured by each of the other APs are used as signal characteristics of the wireless signal at the reference position of the first AP. By determining whether the difference between the first signal quality and the second signal quality measured by each of the other APs is greater than or equal to the first threshold, it is determined that the UE is located at the reference position of the first AP, and the coordinate position of the UE in each time unit is determined based on the reference position of the first AP, thereby improving the efficiency of establishing the correspondence between signal characteristics and coordinate positions.

[0007] In another possible design, a first distance between the first AP and the reference location of the first AP and a second distance between each of the other APs and the reference location of the first AP are obtained; and the first threshold is determined based on the first distance and the second distance. By determining different first thresholds for different APs as the threshold value for determining whether the UE is located at the reference location of the first AP, accuracy of the determination is improved.

[0008] In another possible design, the first threshold=k log d2 / d1, where k is a distance loss coefficient, d1 is the first distance, and d2 is the second distance.

[0009] In another possible design, a first transmission duration for the wireless signal sent by the terminal device to reach the first AP and a second transmission duration for the wireless signal sent by the terminal device to reach each of the N APs other than the first AP are obtained; a determination is made as to whether the difference between the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to a second threshold; and when the difference between the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to the second threshold, the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs are used as signal characteristics of the wireless signal at the reference location of the first AP. By determining whether the difference between the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to the second threshold, the UE is determined to be at the reference location of the first AP, and the coordinate position of the UE in each time unit is determined based on the reference location of the first AP, thereby improving the efficiency of establishing the correspondence between signal characteristics and coordinate positions.

[0010] In another possible design, a first distance between the first AP and a reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP are obtained; and the second threshold is determined according to the first distance and the second distance. By determining different first thresholds corresponding to different APs as threshold values for judging whether the UE is located at the reference position of the first AP, the accuracy of the judgment is improved.

[0011] In another possible design, the second threshold = (d2-d1) / c, where c is a propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

[0012] In another possible design, a coordinate position of the terminal device at a second time unit is determined according to a signal feature at a first time unit, a signal feature at the second time unit, and a coordinate position of the terminal device at the first time unit, where the second time unit is a next time unit of the first time unit. By sequentially determining the coordinate positions of the terminal device at the other time units in the signal sequence according to the reference position of the first AP corresponding to the signal feature at the first time unit, the efficiency of establishing the correspondence between the signal features and the coordinate positions is improved.

[0013] In another possible design, an error term is constructed according to the coordinate positions of the terminal device at each time unit, and the coordinate position of the terminal device at each time unit is updated according to the error term. By optimizing the coordinate positions of the terminal device at each time unit through the error term, the accuracy of establishing the correspondence between the signal features and the coordinate positions is improved.

[0014] In another possible design, the error term includes: an error between a change distance of the updated coordinate position of the terminal device at two adjacent time units and a change distance of the coordinate position of the terminal device at the two adjacent time units before being updated; an error between the updated coordinate positions of the terminal device corresponding to two different time units when the signal features at the two different time units are the same; and an error between the updated coordinate position of the terminal device corresponding to a time unit and the reference position of the first AP when the signal feature at the time unit is the same as the signal feature of the wireless signal at the reference position of the first AP.

[0015] In a second aspect, an embodiment of the present application provides a positioning apparatus, including:

[0016] a processing module, configured to determine signal characteristics of a wireless signal at a reference position of a first access point (AP) among N access points (APs), wherein the signal characteristics include N signal qualities and / or N transmission durations, where N is an integer greater than or equal to 3;

[0017] an acquisition module, configured to acquire a signal sequence within a first time period based on a signal characteristic of a wireless signal at a reference position of the first AP, wherein the signal sequence includes signal characteristics of multiple time units, and a signal characteristic of a first time unit in the signal sequence is the same as a signal characteristic of the wireless signal at the reference position of the first AP;

[0018] The processing module is also used to determine the coordinate position of the terminal device in each time unit within the first time period based on the signal sequence; establish a correspondence between the signal characteristics and the coordinate position, and the correspondence between the signal characteristics and the coordinate position is used for positioning.

[0019] In one possible design, the obtaining module is further configured to obtain a first signal quality obtained by the first AP measuring the wireless signal, and a second signal quality obtained by each of the N APs other than the first AP measuring the wireless signal;

[0020] The processing module is also used to determine whether the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to a first threshold; when the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to the first threshold, the first signal quality and the second signal quality measured by each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

[0021] In one possible design, the acquisition module is also used to obtain a first distance between the first AP and the reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; the processing module is also used to determine the first threshold based on the first distance and the second distance.

[0022] In another possible design, the first threshold=k log d2 / d1, where k is a distance loss coefficient, d1 is the first distance, and d2 is the second distance.

[0023] In another possible design, the acquisition module is also used to obtain a first transmission duration of the wireless signal sent by the terminal device to reach the first AP, and a second transmission duration of the wireless signal sent by the terminal device to reach each of the N APs except the first AP; the processing module is also used to determine whether the difference between the first transmission duration and the second transmission duration of the wireless signal to reach each of the other APs is greater than or equal to a second threshold; when the difference between the first transmission duration and the second transmission duration of the wireless signal to reach each of the other APs is greater than or equal to the second threshold, the first transmission duration and the second transmission duration of the wireless signal to reach each of the other APs are used as signal characteristics of the wireless signal at the reference position of the first AP.

[0024] In another possible design, the acquisition module is further used to obtain a first distance between the first AP and the reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; the processing module is further used to determine the second threshold based on the first distance and the second distance.

[0025] In another possible design, the second threshold = (d2 - d1) / c, where C is the propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

[0026] In another possible design, the processing module is also used to determine the coordinate position of the terminal device in the second time unit based on the signal characteristics of the first time unit and the signal characteristics of the second time unit in the signal sequence, and the coordinate position of the terminal device in the first time unit, wherein the second time unit is the next time unit of the first time unit.

[0027] In another possible design, the processing module is further used to construct an error term based on the coordinate position of the terminal device in each time unit; and update the coordinate position of the terminal device in each time unit based on the error term.

[0028] In another possible design, the error term includes: the error between the change distance of the updated coordinate position of the terminal device in two adjacent time units and the change distance of the coordinate position of the terminal device before the update in two adjacent time units; when the signal characteristics of two different time units are the same, the error between the updated coordinate positions of the terminal device corresponding to the two different time units; and when the signal characteristics of a time unit are the same as the signal characteristics of the wireless signal of the reference position of the first AP, the error between the updated coordinate position of the terminal device corresponding to the time unit and the reference position of the first AP.

[0029] The operations and beneficial effects performed by the positioning device can refer to the method and beneficial effects described in the first aspect above, and the repeated parts will be omitted.

[0030] In a third aspect, the present application provides a positioning device, which may be a positioning server, a device in a positioning server, or a device that can be used in conjunction with a positioning server. The positioning device may also be a chip system. The positioning device may execute the method described in the first aspect. The functions of the positioning device may be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above functions. The module may be software and / or hardware. The operations and beneficial effects performed by the positioning device may refer to the methods and beneficial effects described in the first aspect above, and any repetitions will not be repeated.

[0031] In a fourth aspect, the present application provides a positioning device, comprising a processor, wherein when the processor calls a computer program in a memory, the method described in any one of the first aspects is executed.

[0032] In a fifth aspect, the present application provides a positioning device, which includes a processor and a memory, wherein the memory is used to store a computer program; the processor is used to execute the computer program stored in the memory, so that the positioning device performs the method as described in any one of the first aspects.

[0033] In a sixth aspect, the present application provides a positioning device, which includes a processor, a memory, and a transceiver, wherein the transceiver is used to receive a channel or signal, or send a channel or signal; the memory is used to store a computer program; and the processor is used to call the computer program from the memory to execute the method as described in any one of the first aspects.

[0034] In a seventh aspect, the present application provides a positioning device, which includes a processor and an interface circuit, wherein the interface circuit is used to receive a computer program and transmit it to the processor; the processor runs the computer program to execute the method as described in any one of the first aspects.

[0035] In an eighth aspect, the present application provides a computer-readable storage medium for storing a computer program, which, when executed, enables the method described in any one of the first aspects to be implemented.

[0036] In a ninth aspect, the present application provides a computer program product comprising a computer program, which, when executed, enables the method described in any one of the first aspects to be implemented.

[0037] In a tenth aspect, an embodiment of the present application provides a positioning system, which includes at least one AP, at least one terminal device and at least one positioning server, and the positioning server is used to perform the steps in the above-mentioned first aspect. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the background technology, the drawings required for use in the embodiments of the present application or the background technology will be described below.

[0039] Figure 1 This is a schematic diagram of the architecture of a positioning system provided by an embodiment of the present application;

[0040] Figure 2 This is a flow chart of a positioning method provided in an embodiment of the present application;

[0041] Figure 3 is a schematic diagram of a reference position of an AP;

[0042] Figure 4 This is a schematic diagram of a NLOS scenario for wireless signals;

[0043] Figure 5 This is a schematic structural diagram of a positioning device provided in an embodiment of the present application;

[0044] Figure 6 This is a structural diagram of a positioning server provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The embodiments of the present application are described below in conjunction with the drawings in the embodiments of the present application.

[0046] like Figure 1 As shown, Figure 1: This is a schematic diagram of the architecture of a positioning system provided in an embodiment of the present application. The positioning system includes a positioning server, one or more access points (APs), and one or more terminal devices.

[0047] The positioning server is used to obtain the signal characteristics measured by each AP, generate a wireless feature library based on the signal characteristics, and locate the terminal device through the wireless feature library.

[0048] An AP is an access point for mobile users to access a wired network. It is primarily deployed in homes, buildings, and campuses, with a typical coverage radius of tens to hundreds of meters. It can also be deployed outdoors. An AP acts as a bridge between wired and wireless networks, connecting wireless network clients and then connecting the wireless network to the Ethernet. Examples include small remote radio units (pRRUs), home gateways, routers, servers, switches, and bridges; evolved Node Bs (eNBs), radio network controllers (RNCs), Node Bs (NBs), base station controllers (BSCs), base transceiver stations (BTSs), home base stations (e.g., home evolved Node Bs or HNBs), baseband units (BBUs), wireless relay nodes, wireless backhaul nodes, and transmission and reception points (TRPs or TPs). An AP can also be a 5G device, such as a gNB or a transmission point (TRP or TP) in a new radio (NR) system, or one or a group of antenna panels (including multiple antenna panels) of a base station in a 5G system. Alternatively, an AP can be a network node that constitutes a gNB or a transmission point, such as a baseband unit (BBU), a distributed unit (DU), or a roadside unit (RSU) with base station functionality.

[0049] The terminal device can be a user equipment (UE), a mobile phone, a wireless data card, a personal digital assistant (PDA) computer, a laptop computer, a Pad, an ultra-mobile personal computer (UMPC), a netbook, a computer with wireless transceiver function, a machine type communication (MTC) terminal, a virtual reality (VR) terminal device, an augmented reality (AR) terminal device, an internet of things (IoT) terminal device, a wireless terminal in industrial control, a wireless terminal in self driving, a wireless terminal in remote medical treatment, a wireless terminal in smart grid, a wireless terminal in transportation safety, a wireless terminal in smart city (for example, a smart water meter, a smart electricity meter, a smart air detection node, etc.), a wireless terminal in smart home (for example, a game console, a projector, a smart camera, a smart television, a smart sound box, a smart refrigerator, a fitness equipment, etc.), a vehicle-mounted terminal, an RSU with terminal function. The access terminal can be a cellular phone, a cordless phone, a session initiation protocol (SIP) phone, a wireless local loop (WLL) station, a personal digital assistant (PDA), a handset with wireless communication function, a computing device, or other processing device connected to a wireless modem, a wearable device, etc. Hereinafter, the UE is taken as the terminal device for illustration.

[0050] With the popularity of wireless networks and smart terminals, positioning applications are increasingly relied on by users, such as positioning navigation, positioning clock-in, and the like. However, due to the shielding of indoor buildings, the global positioning system (GPS) cannot be used to provide high-precision indoor positioning, and therefore a high-precision indoor wireless positioning service is needed. The sounding reference signal (SRS) of a UE is measured by an AP in a wireless base station, and under the condition that the deployment position of the AP is known, the signal characteristics of the SRS can be used to determine the position coordinates of the UE. The positioning methods include:

[0051] (1) Field strength triangular positioning: the reference signal received power (RSRP) measured by more than three APs is used to construct a distance equation of the UE to each AP through the relationship between signal loss and propagation distance, and the coordinate position of the UE is determined.

[0052] (2) Time difference of arrival (TDOA) positioning: the time of arrival (TOA) of the SRS measured by more than three APs is used to construct a distance equation of the UE to each AP through the propagation time, and the coordinate position of the UE is determined.

[0053] (3) Wireless feature library matching positioning: first, the signal characteristics of the UE at each coordinate position to be positioned are collected to generate a wireless feature library, and the wireless feature library includes the correspondence between the coordinate position and the wireless feature, and one coordinate position corresponds to one signal feature. Among them, the signal characteristics can include at least one of the RSRP, TOA, received signal strength indicator (RSSI), and reference signal received quality (RSRQ) measured by each AP. When positioning the UE, the coordinate position matching the signal characteristics of the wireless signal reported by the UE is found from the wireless feature library as the coordinate position of the UE.

[0054] The triangle positioning and TDOA positioning algorithm are purely mathematical solving methods, but the indoor environment is complex and has many obstructions, and in a non line of sight (NLOS) scene of wireless signal transmission, the coordinates of the UE determined by the triangle positioning and TDOA positioning algorithm are not accurate, so in the NLOS scene, a wireless feature library matching positioning method needs to be used. However, the wireless feature library matching positioning method needs to collect the signal features of the area to be positioned in advance, and establish the corresponding relationship between the coordinate position and the signal feature.

[0055] The establishment of the corresponding relationship between the coordinate position and the signal feature includes the following ways:

[0056] The first way is to collect the signal features by using the collection application on the UE in an artificial way. The collection personnel are located at the collection points specified by the collection application, and collect the signal features of the wireless signal in a period of time to complete the collection of a collection point. The collection density is related to the positioning accuracy, and 400 collection points need to be set every 5 meters to achieve a positioning accuracy of 3 meters. The collection time of one collection point is about 20 seconds. A positioning area with a length and width of 100*100 square meters needs to set 400 collection points, and the indoor area of a general medium or large building reaches 20,000-50,000 square meters, or even 100,000 square meters, which needs to set more collection points.

[0057] However, collecting the signal features by the artificial way needs to collect at each collection point in the area to be positioned, which has a high labor cost, and each collection point needs to collect for 20 seconds, so it takes a long time to complete the collection and has a low collection efficiency. In addition, the positioning accuracy depends on the accuracy of the coordinate position specified by the artificial collection, and there is a large difference in the estimation of the coordinate position on the map by different collection personnel, so it is difficult to guarantee the collection accuracy, especially in an open environment, it is difficult to judge one's own position by referring to the reference. In addition, the indoor environment may change, and when the obstruction changes, the signal features of some areas need to be collected again.

[0058] The second way is to generate a wireless feature library by a radar car. The radar car can be used to provide the coordinate position for collecting the signal features, and the wireless collection terminal is bound with the radar car, so as to bind the collected signal features of the wireless signal with the coordinate position of the radar car, thereby generating the wireless feature library. The efficiency and accuracy of collecting the signal features by the radar car are improved compared with the artificial way. In this process, the radar car can scan the map of the entire environment in advance to establish the built-in radar map, and the coordinate position output by the radar car is the coordinate system of the built-in radar map, so it needs to be converted offline to the wireless positioning coordinate system, and then the coordinate position corresponding to the time is aligned with the signal features, thereby generating the wireless feature library and importing it into the wireless positioning system.

[0059] However, due to the complex indoor environment, the radar cart cannot proceed when encountering staircases, elevators, and other cross-floor scenarios or obstacles, which may cause data collection to be interrupted and ultimately require manual intervention. Furthermore, the problem of partial invalidation of the wireless signature library due to environmental changes remains unresolved, requiring re-collection of signal signatures in some areas.

[0060] In order to solve the above technical problems, the embodiments of the present application provide the following solutions.

[0061] like Figure 2 As shown, Figure 2 : is a flowchart of a positioning method provided in an embodiment of the present application. The steps in the embodiment of the present application at least include:

[0062] S201, a positioning server determines signal characteristics of a wireless signal at a reference position of a first AP among N access points AP, wherein the signal characteristics include N signal qualities and / or N transmission durations, and N is an integer greater than or equal to 3.

[0063] The N signal qualities are obtained by measuring the wireless signal transmitted by the UE by the N APs when the UE is located at the reference position of the first AP. Each signal quality corresponds to one AP. Signal quality can be, for example, reference signal received power (RSRP), received signal strength indicator (RSSI), and reference signal received quality (RSRQ).

[0064] The N transmission durations are the transmission durations for the wireless signal sent by the UE to reach each of the N APs when the UE is located at the reference position of the first AP, and one transmission duration corresponds to one AP.

[0065] The wireless signal may be a sounding reference signal (SRS).

[0066] The first AP may be any one of the N APs.

[0067] Optionally, the reference position may be a position directly below the first AP. Figure 3 As shown, Figure 3is a schematic diagram of a reference position of an AP. The AP1, AP2 and AP3 are deployed in a room, and the coordinate positions of the AP1, AP2 and AP3 deployment can be determined. When the UE passes the reference position of the AP1, the coordinate position of the UE is equal to the coordinate position of the AP1, and the distance between the AP1 and the UE is the height of the in-room deployment of the AP1 minus the height from the ground when the user uses the UE, wherein the height of the in-room deployment of the AP and the height from the ground when the user uses the UE can be set to a constant value. After determining the coordinate position of the UE and the distance between the AP1 and the UE, the distance between the UE and the AP2 can be determined according to the coordinate position of the AP2, and the distance between the UE and the AP3 can be determined according to the coordinate position of the AP3.

[0068] Specifically, the positioning server determining the signal feature of the wireless signal of the reference position of the first AP in the N access points AP can include the following manners:

[0069] The first optional manner is that the positioning server obtains a first signal quality measured by the first AP on the wireless signal, and a second signal quality measured by each of the other APs in the N APs on the wireless signal. For example, the first AP and each of the other APs can measure the wireless signal sent by the terminal device in real time, the first AP sends the measured first signal quality to the positioning server, and each of the other APs sends the measured second signal quality to the positioning server. Then, the positioning server determines whether the difference between the first signal quality and the second signal quality measured by each of the other APs is greater than or equal to a first threshold value; when the difference between the first signal quality and the second signal quality measured by each of the other APs is greater than or equal to the first threshold value, the first signal quality and the second signal quality measured by each of the other APs are taken as the signal feature of the wireless signal of the reference position of the first AP. Wherein, one of the other APs corresponds to one of the first threshold values, and if the distances between the other APs and the reference position of the first AP are different, the sizes of the first threshold values are also different.

[0070] Further, the first distance between the first AP and the reference position of the first AP, and the second distance between each of the other APs and the reference position of the first AP can be obtained; and the first threshold value is determined according to the first distance and the second distance. Specifically, the first distance can be calculated by subtracting the height from the ground when the user uses the UE from the height of the in-room deployment of the first AP, and the second distance can be calculated according to the coordinate position of each of the other APs, the coordinates of the reference position of the first AP and the first distance.

[0071] Wherein, the first threshold value = k logd2 / d1, the k is a distance loss coefficient, the d1 is the first distance, and the d2 is the second distance.

[0072] As Figure 3 shown, if the UE is located at the reference location of AP1, the signal quality of the wireless signal transmitted by the UE is Tx, the signal quality of the wireless signal of the UE measured by AP1 is RSRP AP1 , the signal quality of the wireless signal of the UE measured by AP2 is RSRP AP2 , and the signal quality of the wireless signal of the UE measured by AP3 is RSRP AP3 .

[0073] For AP1, the calculation formula of the path loss PL1 of the wireless signal transmission is as follows:

[0074] PL1 = 20log(f) + klog(d1) + L f(n) - 28dB + X δ (1)

[0075] wherein PL1 = T x -RSRP AP1 , f represents the signal frequency, L f(n) represents the penetration loss coefficient, X δ is the slow fading margin, k is the distance loss coefficient, d1 is the distance from AP1 to the reference location of AP1, and L f(n) = P*W, P is the wall loss, and W is the product of the number of walls.

[0076] For AP2, the calculation formula of the path loss PL2 of the wireless signal transmission is as follows:

[0077] PL2 = 20log(f) + klog(d2) + L f(n) - 28dB + X δ (2)

[0078] wherein PL2 = T x -RSRP AP2 , d2 is the distance from AP2 to the reference location of AP1, and other parameters are as described above.

[0079] According to formula (1) to formula (2), it can be obtained that:

[0080] RSRP AP1 -RSRP AP2 = klog(d2 / d1) (3)

[0081] As can be seen from the above derivation, the difference between the RSRP of the wireless signal of the UE measured by AP1 and the RSRP of the wireless signal of the UE measured by AP2 has a logarithmic relationship with the ratio of the distance of the UE to AP1 and the distance of the UE to AP2. When the UE is at the reference position of AP1, the difference between the RSRP of the wireless signal of the UE measured by AP1 and the RSRP of the wireless signal of the UE measured by AP2 is the largest because the ratio of d2 / d1 is the largest. When the UE deviates from the reference position of AP1, the difference between the RSRP of the wireless signal of the UE measured by AP1 and the RSRP of the wireless signal of the UE measured by AP2 is not the largest because the ratio of d2 / d1 is not the largest. Similarly, the difference between the RSRP of the wireless signal of the UE measured by AP1 and the RSRP of the wireless signal of the UE measured by AP3 also satisfies the above relationship.

[0082] Through the above analysis, the coordinate position of AP1 can be taken as the coordinate of the reference position of AP1. In the case that the distance d1 of AP1 to the reference position of AP1 (the height of the in-room deployment of AP1 minus the height of the user using the UE from the ground), the coordinate position of AP2, and the coordinate position of AP3 are known, the distance d2 of AP2 to the reference position of AP1 and the distance d3 of AP3 to the reference position of AP1 are calculated respectively. Then, according to the distance d1 of AP1 to the reference position of AP1 and the distance d2 of AP2 to the reference position of AP1, a first value klog(d2 / d1) is calculated; according to the distance d1 of AP1 to the reference position of AP1 and the distance d3 of AP3 to the reference position of AP1, a second value klog(d3 / d1) is calculated. Finally, the first value klog(d2 / d1) and the second value klog(d3 / d1) are taken as the threshold value for judging whether the UE is at the reference position of AP1.

[0083] In the case that the transmission of the wireless signal is unobstructed, if the difference between the RSRP of the UE measured by AP1 and the RSRP of the UE measured by AP2 is equal to klog(d2 / d1), and the difference between the RSRP of the UE measured by AP1 and the RSRP of the UE measured by AP3 is equal to klog(d3 / d1), it is determined that the UE is at the reference position of AP1. When the transmission of the wireless signal to AP2 or AP3 is obstructed, the RSRP measured by AP2 or AP3 will be smaller due to the penetration loss, while the RSRP measured by AP1 remains unchanged (the transmission of the wireless signal is unobstructed when the UE is at the reference position of AP1). Therefore, if the difference between the RSRP of the UE measured by AP1 and the RSRP of the UE measured by AP2 is greater than klog(d2 / d1), and the difference between the RSRP of the UE measured by AP1 and the RSRP of the UE measured by AP3 is greater than klog(d3 / d1), it is determined that the UE is at the reference position of AP1.

[0084] Finally, if it is determined that the UE is located at the reference position of AP1, the RSRP measured by AP1 to the UE, the RSRP measured by AP2 to the UE, and the RSRP measured by AP3 to the UE can be used as signal characteristics of the wireless signal at the reference position of AP1.

[0085] In a second optional manner, the positioning server obtains a first transmission duration for the wireless signal sent by the UE to reach the first AP, and a second transmission duration for the wireless signal sent by the UE to reach each of the N APs other than the first AP. For example, the first AP and each of the other APs may measure the wireless signal sent by the terminal device in real time. The first AP sends the measured first transmission duration to the positioning server, and each of the other APs sends the measured second transmission duration to the positioning server. The positioning server then determines whether the difference between the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to a second threshold. When the difference between the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to the second threshold, the first transmission duration and the second transmission duration for the wireless signal to reach each of the other APs are used as signal characteristics of the wireless signal at the reference location of the first AP. Each other AP corresponds to a second threshold, and if the distance between the other APs and the reference location of the first AP is different, the second threshold also varies.

[0086] Furthermore, a first distance between the first AP and the reference location of the first AP and a second distance between each of the other APs and the reference location of the first AP can be obtained; and the second threshold value can be determined based on the first distance and the second distance. Specifically, the first distance can be calculated by subtracting the height of the first AP from the ground when the user uses the UE from the indoor deployment height of the first AP, and the second distance can be calculated based on the coordinate positions of each of the other APs, the coordinates of the reference location of the first AP, and the first distance.

[0087] The second threshold = (d2-d1) / c, where C is the propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

[0088] Another example Figure 3 As shown in the figure, the distance between the UE and AP1 is d1, and the transmission time of the wireless signal sent by the UE to reach AP1 is TOA1. The distance between the UE and AP2 is d2, and the transmission time of the wireless signal sent by the UE to reach AP2 is TOA2. The distance between the UE and AP3 is d3, and the transmission time of the wireless signal sent by the UE to reach AP3 is TOA3. For AP1 and AP2, the following calculation formulas exist:

[0089] d1 = c*TOA1 (4)

[0090] d2 = c*TOA2 (5)

[0091] Wherein, c is the propagation speed of wireless signal.

[0092] Formula (5) - formula (4), can get:

[0093] TOA2-TOA1 = (d2-d1) / c (6)

[0094] From the above derivation can be seen, the UE sent wireless signal respectively to reach the transmission time difference between AP1 and AP2 and the UE to AP1 and AP2 distance difference exists. When the UE is located at the reference position of AP1, because d2-d1 is maximum, therefore the UE sent wireless signal respectively to reach the transmission time difference between AP1 and AP2 is maximum. When the UE deviates from the reference position of AP1, because d2-d1 is not the maximum, therefore the UE sent wireless signal respectively to reach the transmission time between AP1 and AP2 is not the maximum. Similarly, the UE sent wireless signal respectively to reach the transmission time between AP1 and AP3 also satisfy the above relationship.

[0095] From the above analysis, the coordinate position of AP1 can be taken as the coordinate of the reference position of AP1. In the case of known distance d1 between AP1 and the reference position of AP1, the coordinate position of AP2 and the coordinate position of AP3, the distance d2 between AP2 and the reference position of AP1 and the distance d3 between AP3 and the reference position of AP1 are calculated respectively. Then according to the distance d1 between AP1 and the reference position of AP1 and the distance d2 between AP2 and the reference position of AP1, the third value (d2-d1) / c is calculated; according to the distance d1 between AP1 and the reference position of AP1 and the distance d3 between AP3 and the reference position of AP1, the fourth value (d3-d1) / c is calculated. Finally, the third value (d2-d1) / c and the fourth value (d3-d1) / c are taken as the threshold value for judging whether the UE is located at the reference position of AP1.

[0096] In the case that the wireless signal transmitted by the UE reaches AP1 and AP2 without obstruction, if the difference between the transmission time of the wireless signal reaching AP1 and AP2 is equal to (d2-d1) / c, and the difference between the transmission time of the wireless signal reaching AP1 and AP3 is equal to (d3-d1) / c, it is determined that the UE is located at the reference position of AP1. When the wireless signal is obstructed during transmission to AP2 or AP3, the transmission time measured by AP2 or AP3 will be smaller due to the penetration loss, while the transmission time measured by AP1 remains unchanged (the wireless signal is transmitted without obstruction when the UE is located at the reference position of AP1). Therefore, if the difference between the transmission time of the wireless signal reaching AP1 and AP2 is greater than (d2-d1) / c, and the difference between the transmission time of the wireless signal reaching AP1 and AP3 is greater than (d3-d1) / c, it is determined that the UE is located at the reference position of AP1.

[0097] Finally, if it is determined that the UE is located at the reference position of AP1, the transmission time of the wireless signal reaching AP1 is TOA1, the transmission time of the wireless signal reaching AP2 is TOA2, and the transmission time of the wireless signal reaching AP3 is TOA3, which are taken as the signal characteristics of the wireless signal at the reference position of AP1.

[0098] Optionally, multiple measurements can be performed at the reference position of the first AP, and the average of the signal characteristics obtained through the multiple measurements is taken as the signal characteristics of the reference position of the first AP.

[0099] Optionally, if the difference between the first signal quality measured by the first AP and the second signal quality measured by each of the other APs is the largest, the N signal qualities measured at this time are taken as the signal characteristics of the reference position of the first AP. Alternatively, if the difference between the first transmission time measured by the first AP and the second transmission time measured by each of the other APs is the largest, the N transmission times measured at this time are taken as the signal characteristics of the reference position of the first AP.

[0100] It should be noted that the signal characteristics of the wireless signal at the reference position of each AP in the indoor environment can be determined through the above method. For the case that the number of APs in the indoor environment is greater than 3, similar operations are not repeated here.

[0101] S202, obtaining a signal sequence in a first time period according to the signal characteristics of the wireless signal at the reference position of the first AP, wherein the signal sequence includes signal characteristics of multiple time units, and the signal characteristics of the first time unit in the signal sequence are the same as the signal characteristics of the wireless signal at the reference position of the first AP.

[0102] The time unit can be a time point or a time interval.

[0103] Specifically, when the UE moves indoors, N APs indoors can measure the UE to obtain a continuous long-term signal sequence. The long-term signal sequence includes signal characteristics of multiple time units. The long-term signal sequence can be compared with the signal characteristics of the wireless signal of the reference position of the first AP. If the signal characteristics of a certain time unit in the long-term signal sequence are the same as the signal characteristics of the wireless signal of the reference position of the first AP, the long-term signal sequence is divided at the signal characteristics of the time unit, and the coordinate position corresponding to the signal characteristics of the time unit is the coordinate of the reference position of the first AP. If the signal characteristics of another time unit in the long-term signal sequence are the same as the signal characteristics of the wireless signal of the reference position of other APs, the long-term signal sequence is divided again at the signal characteristics of the other time unit. By analogy, the long-term signal sequence can be divided into signal sequences within multiple time periods.

[0104] Among them, the signal characteristics of the first time unit in the signal sequence within each time period are the same as the signal characteristics of the wireless signal at the reference position of the corresponding AP, and the coordinate position corresponding to the signal characteristics of the first time unit in the signal sequence within each time period is the coordinate of the reference position of the corresponding AP.

[0105] Alternatively, multiple UEs may be used to perform measurements indoors to obtain multiple long-term signal sequences, and then each long-term signal sequence may be divided, thereby obtaining multiple signal sequences based on the signal characteristics of the wireless signal at the reference position of each AP.

[0106] S203: Determine the coordinate position of the UE in each time unit within the first time period according to the signal sequence.

[0107] Optionally, the coordinate position of the UE in the second time unit can be determined based on the signal characteristics of the first time unit and the signal characteristics of the second time unit in the signal sequence, and the coordinate position of the UE in the first time unit, wherein the second time unit is the next time unit of the first time unit.

[0108] For example, if AP1, AP2, and AP3 are deployed indoors, the path loss generated when a wireless signal sent by a UE is transmitted to AP1, AP2, and AP3 respectively is calculated as follows:

[0109] PL1=20log(f)+klog(d1)+L f(n) -28dB+X δ (7)

[0110] PL2=20log(f)+klog(d2)+L f(n) -28dB+X δ (8)

[0111] PL3=20log(f)+klog(d3)+L f(n) -28dB+X δ (9)

[0112] Where PL1 = T x -RSRP AP1 , PL2=T x -RSRP AP2 , PL3=T x -RSRP AP3 . T x RSRP is the signal quality of the wireless signal sent by the terminal device. AP1 The signal quality of the wireless signal measured for AP1, RSRP AP2 The signal quality of the wireless signal measured for AP2, RSRP AP3 The signal quality of the wireless signal measured for AP3. f represents the signal frequency, L f(n) represents the penetration loss coefficient, X δ is the slow fading margin, k is the distance loss coefficient, d1 is the distance from AP1 to the reference position of AP1, d2 is the distance from AP2 to the reference position of AP1, and d3 is the distance from AP3 to the reference position of AP1. f(n) =P*W, P is the wall loss, W is the product of the number of walls.

[0113] When the wireless signal is transmitted in a straight line of sight (LOS) without any obstruction, there is no penetration loss L. f(n) , can be obtained by subtracting the signal strength measured by the two APs at each moment:

[0114] RSRP AP1 -RSRP AP2 =klog(d2 / d1) (10)

[0115] RSRP AP2 -RSRP AP3 =klog(d3 / d2) (11)

[0116] RSRP AP1 -RSRP AP3 =klog(d3 / d1) (12)

[0117] In determining RSRP AP1 、RSRP AP2 and RSRP AP3In this case, d1, d2, and d3 can be calculated respectively. The coordinate position of the UE is determined by d1, d2, and d3.

[0118] like Figure 4 As shown, Figure 4 This is a schematic diagram of a non-line of sight (NLOS) scenario for wireless signal transmission. In this NLOS scenario, the wireless signal sent by the UE is blocked during transmission to AP1, and the wireless signal sent by the UE is blocked during transmission to AP2, resulting in different penetration losses for AP1 and AP2. Therefore, the coordinate position of the UE is not determined directly using the signal characteristics of a certain time unit. However, if the coordinate position of the UE at time T1 is known, and the interval between time T2 and time T1 is very close (no more than 1 to 2 seconds), the low speed and continuity of indoor movement can be used to approximately assume that the penetration losses at the two times are equal, so that the penetration loss can be eliminated through the differential formula between time T1 and time T2, thereby more accurately deriving the coordinate position of the UE at the next time through the coordinate position of the UE at the previous time.

[0119] The difference formula of AP1 at time T1 and time T2 is:

[0120] RSRP AP1_t1 -RSRP AP1_t2 =klog(d AP1_t2 / d AP1_t1 )+Δ Tx (13)

[0121] Among them, RSRP AP1_t1 is the signal quality of the wireless signal measured by AP1 at time T1, RSRP AP1_t2 is the signal quality of the wireless signal measured by AP1 at time T2, d AP1_t1 The distance between AP1 and UE at time T1, d AP1_t2 The distance between AP1 and UE at time T2.

[0122] The difference formula of AP2 at time T1 and time T2 is:

[0123] RSRP AP2_t1 -RSRP AP2_t2 =klog(d AP2_t2 / d AP2_t1 )+Δ Tx (14)

[0124] Among them, RSRP AP2_t1 is the signal quality of the wireless signal measured by AP2 at time T1, RSRP AP2_t2 is the signal quality of the wireless signal measured by AP2 at time T2, dAP2_t1 Distance between AP2 and UE at T1 time, d AP2_t2 Distance between AP2 and UE at T2 time.

[0125] AP3 differential formula at T1 time and T2 time:

[0126] RSRP AP3_t1 RSRP AP3_t2 = k log(d AP3_t2 / d AP3_t1 )+ Δ Tx (15)

[0127] wherein, RSRP AP3_t1 is the signal quality of wireless signal measured by AP3 at T1 time, RSRP AP3_t2 is the signal quality of wireless signal measured by AP3 at T2 time, d AP3_t1 Distance between AP3 and UE at T1 time, d AP3_t2 Distance between AP3 and UE at T2 time.

[0128] It should be noted that Δ Tx is caused by different signal transmission power of UE at two times, Δ Tx is equal to the difference between the signal quality of wireless signal sent by UE at T1 time and the signal quality of wireless signal sent by UE at T2 time. In order to eliminate Δ Tx , the differential formula of two APs can be subtracted:

[0129] Formula (13) - formula (14), can be obtained:

[0130]

[0131] wherein, ΔRSRP AP1 = RSRP AP1_t1 - RSRP AP1_t2 , ΔRSRP AP2 = RSRP AP2_t1 - RSRP AP2_t2 .

[0132] Formula (13) - formula (15), can be obtained:

[0133]

[0134] wherein, ΔRSRP AP3 = RSRP AP3_t1 - RSRP AP3_t2 .

[0135] Formula (14) - formula (15), can be obtained:

[0136]

[0137] In formulas (16), (17) and (18), d at time T1 is AP1_t1 d AP2_t1 and d AP3_t1 Known, RSRP AP1_t1 、RSRP AP2_t1 and RSRP AP3_t1 is the signal feature at time T1 in the signal sequence, RSRP AP1_t2 、RSRP AP2_t2 and RSRP AP3_t2 is the signal characteristic at time T2 in the signal sequence. d can be calculated by formulas (16), (17) and (18) respectively. AP1_t2 d AP2_t2 and d AP3_t2 Then through d AP1_t2 d AP2_t2 and d AP3_t2 , determine the coordinate position of the UE at time T2.

[0138] For example, Figure 4 As shown in the figure, AP1, AP2 and AP3 are deployed indoors. Since the wireless signal sent by the UE is blocked during transmission to AP1, the TOA measured by AP1 is AP1_t2 There is an occlusion error, assuming the occlusion error is T E , at time T2, there is the following calculation formula:

[0139] TOA AP1_t2 -T E =d AP1_t2 / c (19)

[0140] Among them, TOA AP1_t2 is the transmission time of the wireless signal reaching AP1 at time T2, d AP1_t2 The distance between UE and AP1 at time T2.

[0141] Assuming that there is no obstruction when the wireless signal sent by the UE is transmitted to AP2, at time T2, the following calculation formula exists:

[0142] TOA AP2_t2 =d AP2_t2 / c (20)

[0143] Among them, TOA AP2_t2 is the transmission time of the wireless signal reaching AP2 at time T2, d AP2_t2 The distance between UE and AP2 at time T2.

[0144] Assume that there is no obstruction when the wireless signal sent by the UE is transmitted to AP3. At time T2, the following calculation formula exists:

[0145] TOA AP3_t2 =d AP3_t2 / c (21)

[0146] Among them, TOA AP3_t2 is the transmission time of the wireless signal reaching AP3 at time T2, d AP3_t2 The distance between UE and AP3 at time T2.

[0147] Due to the occlusion error T E It cannot be eliminated, and the coordinate position of the UE at time T2 cannot be directly calculated using formulas (19), (20), and (21). Since the difference between time T1 and time T2 is only 1 to 2 seconds, in the case of low-speed indoor movement, the occlusion error at time T1 and the occlusion error at time T2 can be considered equal. When the coordinate position of the UE at time T1 is known, the occlusion error at time T2 can be eliminated by the occlusion error at time T1, and thus the coordinate position of the UE at time T2 can be solved based on the coordinate position of the UE at time T1.

[0148] For AP1, at time T1, the following calculation formula exists:

[0149] TOA AP1_t1 -T E =d AP1_t1 / c (22)

[0150] Among them, TOA AP1_t1 is the transmission time of the wireless signal reaching AP1 at time T1, d AP1_t1 The distance between UE and AP1 at time T1.

[0151] For AP2, at time T1, the following calculation formula exists:

[0152] TOA AP2_t1 =d AP2_t1 / c (23)

[0153] Among them, TOA AP2_t1 is the transmission time of the wireless signal to AP2 at time T1, d AP2_t1 The distance between UE and AP2 at time T1.

[0154] For AP3, at time T1, the following calculation formula exists:

[0155] TOA AP3_t1 =d AP3_t1 / c (24)

[0156] Among them, TOAAP3_t1 is the transmission time of the wireless signal to AP3 at time T1, d AP3_t1 The distance between UE and AP3 at time T1.

[0157] Formula (22)-Formula (19), we can get:

[0158] TOA AP1_t1 -TOA AP1_t2 =(d AP1_t1 -d AP1_t2 ) / c (25)

[0159] Formula (23)-Formula (20), we can get:

[0160] TOA AP2_t1 -TOA AP2_t2 =(d AP2_t1 -d AP2_t2 ) / c (26)

[0161] Formula (24)-Formula (21), we can get:

[0162] TOA AP3_t1 -TOA AP3_t2 =(d AP3_t1 -d AP3_t2 ) / c (27)

[0163] In formulas (25), (26) and 27), d at time T1 is AP1_t1 d AP2_t1 and d AP3_t1 Known, TOA AP1_t1 、TOA AP2_t1 and TOA AP3_t1 is the signal characteristic at time T1 in the signal sequence, TOA AP1_t2 、TOA AP2_t2 and TOA AP3_t2 is the signal feature at time T2 in the signal sequence. Through (25), (26) and 27), d AP1_t2 d AP2_t2 and d AP3_t2 Then through d AP1_t2 d AP2_t2 and d AP3_t2 , determine the coordinate position of the UE at time T2.

[0164] In summary, starting from the signal feature of the first moment of the signal sequence, the coordinate position corresponding to the signal feature of the next moment can be deduced in sequence, thereby obtaining the coordinate position of the UE corresponding to the signal sequence at each moment.

[0165] It should be noted that the above example is given by taking the case where the number of APs deployed indoors is 3. The case where the number of APs deployed indoors is greater than 3 is similar and will not be described one by one here.

[0166] S204: Establish a correspondence between the signal feature and the coordinate position, where the correspondence between the signal feature and the coordinate position is used for positioning.

[0167] Optionally, a correspondence between the signal feature and the coordinate position is established to generate a wireless feature library. The wireless feature library includes a correspondence between a signal feature and a coordinate position. When locating a UE moving indoors, each AP can measure the UE's wireless signal to obtain a signal feature. The coordinate position corresponding to the signal feature is then searched from the wireless feature library as the UE's indoor coordinate position.

[0168] It should be noted that after the coordinate positions corresponding to the signal characteristics of other time units are continuously recursively calculated using the signal characteristics of the first time unit of the signal sequence, the occlusion error cannot be completely eliminated. The cumulative error generated in the process of deduction will gradually increase. Therefore, it is necessary to optimize and calibrate all the obtained coordinate positions. To eliminate the cumulative error, the coordinate position of the UE in each time unit needs to be updated.

[0169] Optionally, an error term may be constructed based on the coordinate position of the UE in each time unit; and the coordinate position of the UE in each time unit may be updated based on the error term.

[0170] The error terms include: the error between the change distance of the updated coordinate position of the UE in two adjacent time units and the change distance of the coordinate position of the UE before the update in two adjacent time units; the error between the updated coordinate positions of the UE corresponding to the two different time units when the signal characteristics of the two different time units are the same; and the error between the updated coordinate position of the UE corresponding to a time unit and the reference position of the first AP when the signal characteristics of the wireless signal of the reference position of the first AP are the same. Each error term is described below:

[0171] (1) The distance between the updated UE coordinate position and the ...

[0172]

[0173] Among them, x i ,yi x i+1 y i+1 x', y' represents the updated coordinate position of the UE in two adjacent time units i and i+1, x' i+1 y' i+1 x, y represents the pre-updated coordinate position of the UE in two adjacent time units i and i+1. E1 represents the error between the change distance of the updated coordinate position of the UE in two adjacent time units and the change distance of the pre-updated coordinate position of the UE in two adjacent time units, and N represents the number of all APs in the indoor environment where the UE is located.

[0174] (2) When the signal features of two different time units are the same (or the Euclidean distance of the signal features is less than a minimum value), the updated coordinate positions of the UEs corresponding to the two different time units should be the same. Wherein, the two time units can be two time units in the same signal sequence, or two time units in the signal sequences of different UEs. Taking this relationship as a constraint relationship, an error term is established:

[0175]

[0176] Wherein, x i y i x' represents the updated coordinate position of the UE in time unit i, x k y k x' represents the updated coordinate position of the UE in time unit j, and the signal features of time unit i and time unit k are the same. E2 is the error between the updated coordinate positions of the UEs corresponding to the two different time units, and N represents the number of all APs in the indoor environment where the UE is located.

[0177] (3) When the signal feature of a certain time unit is the same as the signal feature of the wireless signal of the reference position of the first AP (or the Euclidean distance of the signal features is less than a minimum value), the updated coordinate position of the UE corresponding to the time unit should be the same as the reference position of the first AP. Taking this relationship as a constraint relationship, an error term is established:

[0178]

[0179] Wherein, x i y i x' represents the updated coordinate position of the UE in time unit i, x a y ais the coordinate of the reference position of the first AP. The signal characteristics of the wireless signal of the UE in time unit i are the same as the signal characteristics of the wireless signal at the reference position of the first AP. E3 is the error between the updated coordinate position of the UE and the reference position of the first AP. N represents the number of all APs in the indoor environment where the UE is located.

[0180] Therefore, the sum of error terms E is constructed as:

[0181] E=E1+E2+E3 (31)

[0182] It can be seen that when the value of E is the minimum, the updated coordinate position of the UE is the value that best matches the actual location of the UE. In order to minimize the value of E, the updated coordinate position can be determined by the following method:

[0183] In the first optional method, the sum of the error terms E is a quadratic function, which can be regarded as a binomial sum function of N x and N y. There are N coordinate positions to be updated, namely (x1, y1), (x2, y2), ... (x N ,y N ). For x1, x2, ..., x N Find the partial derivatives and the derivatives of y1, y2, ..., y N The partial derivatives do not affect each other, and there is no common term between them, so we can first calculate x1, x2, ..., x N , and then calculate y1, y2, ..., y N , the calculation process is the same. Calculate x1, x2, ..., x N The process is as follows:

[0184] For x1, x2, ..., x N Find the partial derivatives and form N linear equations:

[0185]

[0186] Expand the above N linear equations, sum the constant terms, and move the summed constant terms to the right side of the equation. The equations are expanded as follows:

[0187]

[0188] Among them, w 11 is the coefficient of x1 after taking the partial derivative of x1, w 21 is the coefficient of x1 after taking the partial derivative with respect to x2, ..., w N1 For x N Find the coefficient of x1 after partial derivative. Correspondingly, w 1N After taking the partial derivative of x1, x N The coefficient of w 2NThe coefficients of x N , …, w NN are the coefficients of x N , …, w N after the partial derivative of x N is taken. Other coefficients are similar and are not described here. b1 is a constant term after the partial derivative of x1 is taken, b2 is a constant term after the partial derivative of x2 is taken, …, b N is a constant term after the partial derivative of x N is taken.

[0189] The coefficients of x N , the to-be-solved x N , and the constant terms b1, b2, …, b are written in matrix form:

[0190]

[0191] WX = B

[0192] X = W -1 B

[0193] Thus, the values of the updated coordinate positions x1, x2, …, x N are finally determined. Similarly, the values of the updated coordinate positions y1, y2, …, y N can be solved according to the above method.

[0194] Y = W' -1 B'

[0195] The second optional mode is that since the sum of error terms E is a convex function, x and y can be updated in small steps from the initial values in the direction of gradient descent. Finally, with the update of x and y, the value of E can reach the minimum value. Therefore, the partial derivatives of x1, x2, …, x N are taken to obtain The partial derivatives of y1, y2, …, y N are taken to obtain are represented as follows:

[0196]

[0197] The coordinate positions (x k+1 , y k+1 ) are values derived from the signal sequence recursion as initial iteration values. Each round of iteration update is to add an offset to the last coordinate positions (x k , y k ) in the direction of gradient descent to approach the minimum point of E.

[0198]

[0199]

[0200] wherein, η is a small number greater than 0, representing a step size of each update, ensuring that the coordinate position will not change too much each time it is updated, and finding the minimum value of E smoothly.

[0201] In the embodiment of the present application, the signal sequence of the wireless signal of the UE passing through the reference position of the first AP is obtained by determining the signal feature of the reference position of the first AP, and the coordinate position corresponding to the signal feature of the first time unit in the signal sequence is the coordinate of the reference position of the first AP. The coordinates of the terminal device corresponding to the signal features of other time units in the signal sequence are sequentially deduced from the coordinate of the reference position of the first AP, and finally the correspondence between the signal features and the coordinates is established, thereby improving the efficiency and accuracy of establishing the correspondence between the signal features and the coordinates. The positioning is performed by establishing the correspondence between the signal features and the coordinates, thereby further improving the accuracy of the positioning.

[0202] It can be understood that the method and operation realized by the positioning server in each method embodiment described above can also be realized by a component (such as a chip or a circuit) that can be used for the positioning server.

[0203] The above mainly introduces the scheme provided by the embodiments of the present application from the perspective of each interaction. It can be understood that, in order to realize the above functions, it contains the hardware structure and / or software module corresponding to the execution of each function. Those skilled in the art should realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed in the present text, the present application can be realized in the form of hardware or the combination of hardware and computer software. Whether a certain function is executed in the form of hardware or computer software driven hardware depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods to realize the described functions for each specific application, but such implementation should not be considered beyond the scope of the present application.

[0204] The embodiments of the present application can divide the functional modules of the positioning server according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated in one processing module. The above integrated module can be realized in the form of hardware or in the form of software functional module. It should be noted that the division of modules in the embodiments of the present application is illustrative, and is only a logical function division. When actually implemented, there can be another division manner. The following will be described taking the division of each functional module according to each function as an example.

[0205] The above, in combination with Figure 2The method provided in the embodiment of the present application is described in detail. Figure 5 The positioning device provided in the embodiment of the present application is described in detail. It should be understood that the description of the device embodiment corresponds to the description of the method embodiment, so that the contents not described in detail can be referred to the above method embodiment, and for the sake of brevity, they are not repeated here.

[0206] See Figure 5 , Figure 5 1 is a schematic diagram of the structure of a positioning device provided in an embodiment of the present application. The device may include an acquisition module 501 and a processing module 502. The acquisition module 501 can communicate with the outside, for example, to receive signal quality measured by an AP, and the processing module 502 is used to perform the actions performed by the positioning server in the above method embodiment, for example, to locate the UE.

[0207] The positioning device may implement steps or processes corresponding to those performed by the positioning server in the above method embodiment. For example, it may be a positioning server, or a chip or circuit configured in the positioning server.

[0208] A processing module 502 is configured to determine signal characteristics of a wireless signal at a reference location of a first access point (AP) among N access points (APs), wherein the signal characteristics include N signal qualities and / or N transmission durations, where N is an integer greater than or equal to 3;

[0209] an acquisition module 501, configured to acquire a signal sequence within a first time period based on a signal characteristic of a wireless signal at a reference location of the first AP, wherein the signal sequence includes signal characteristics of multiple time units, and a signal characteristic of a first time unit in the signal sequence is the same as a signal characteristic of the wireless signal at the reference location of the first AP;

[0210] The processing module 502 is also used to determine the coordinate position of the terminal device in each time unit within the first time period based on the signal sequence; establish a correspondence between the signal characteristics and the coordinate position, and the correspondence between the signal characteristics and the coordinate position is used for positioning.

[0211] Optionally, the acquiring module 501 is further configured to acquire a first signal quality obtained by the first AP measuring the wireless signal, and a second signal quality obtained by each of the N APs other than the first AP measuring the wireless signal;

[0212] The processing module 502 is also used to determine whether the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to a first threshold; when the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to the first threshold, the first signal quality and the second signal quality measured by each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

[0213] Optionally, the acquiring module 501 is further configured to acquire a first distance between the first AP and the reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP;

[0214] The processing module 502 is further configured to determine the first threshold according to the first distance and the second distance.

[0215] Optionally, the first threshold = k log d2 / d1, where k is a distance loss coefficient, d1 is the first distance, and d2 is the second distance.

[0216] Optionally, the acquisition module 501 is further configured to acquire a first transmission duration for the wireless signal sent by the terminal device to reach the first AP, and a second transmission duration for the wireless signal sent by the terminal device to reach each of the N APs except the first AP;

[0217] The processing module 502 is also used to determine whether the difference between the first transmission duration and the second transmission duration of the wireless signal reaching each other AP is greater than or equal to a second threshold; when the difference between the first transmission duration and the second transmission duration of the wireless signal reaching each other AP is greater than or equal to the second threshold, the first transmission duration and the second transmission duration of the wireless signal reaching each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

[0218] Optionally, the acquiring module 501 is further configured to acquire a first distance between the first AP and the reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP;

[0219] The processing module 502 is further configured to determine the second threshold according to the first distance and the second distance.

[0220] Optionally, the second threshold = (d2 - d1) / c, where c is the propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

[0221] Optionally, the processing module 502 is also used to determine the coordinate position of the terminal device in the second time unit based on the signal characteristics of the first time unit and the signal characteristics of the second time unit in the signal sequence, and the coordinate position of the terminal device in the first time unit, wherein the second time unit is the next time unit of the first time unit.

[0222] Optionally, the processing module 502 is further configured to construct an error term based on the coordinate position of the terminal device in each time unit; and update the coordinate position of the terminal device in each time unit based on the error term.

[0223] Optionally, the error term includes:

[0224] An error between a change distance between the updated coordinate position of the terminal device in two adjacent time units and a change distance between the coordinate position of the terminal device before the update in two adjacent time units; and

[0225] When the signal characteristics of two different time units are the same, the error between the updated coordinate positions of the terminal device corresponding to the two different time units; and

[0226] When the signal characteristics of a time unit are the same as the signal characteristics of the wireless signal of the reference position of the first AP, the error between the updated coordinate position of the terminal device corresponding to the time unit and the reference position of the first AP.

[0227] It should be noted that the implementation of each module can also refer to Figure 2 The corresponding description of the method embodiment shown executes the method and functions performed by the positioning server in the above embodiment.

[0228] Figure 6 This is a schematic diagram of the structure of a positioning server provided in an embodiment of the present application. The positioning server can be applied to Figure 1 In the system shown, the functions of the positioning server in the above method embodiment are executed, or the steps or processes executed by the positioning server in the above method embodiment are realized.

[0229] like Figure 6As shown, the positioning server includes a processor 601 and a transceiver 602. Optionally, the positioning server also includes a memory 603. The processor 601, transceiver 602, and memory 603 can communicate with each other via internal connection paths to transmit control and / or data signals. The memory 603 is used to store computer programs, and the processor 601 is used to call and execute the computer programs from the memory 603 to control the transceiver 602 to transmit and receive signals. Optionally, the positioning server may also include an antenna for transmitting uplink data or uplink control signaling output by the transceiver 602 via wireless signals.

[0230] The processor 601 and the memory 603 can be combined into a processing device. Figure 5 Corresponding to the processing module in , the processor 601 is used to execute the program code stored in the memory 603 to implement the above functions. In specific implementation, the memory 603 can also be integrated into the processor 601, or independent of the processor 601.

[0231] The transceiver 602 can be used with Figure 5 The transceiver 602 may include a receiver (or receiver, receiving circuit) and a transmitter (or transmitter, transmitting circuit). The receiver is used to receive signals, and the transmitter is used to transmit signals.

[0232] It should be understood that Figure 6 The positioning server shown can achieve Figure 2 The illustrated method embodiments involve various processes in a positioning server. The operations and / or functions of the various modules in the positioning server are respectively for implementing the corresponding processes in the aforementioned method embodiments. For details, please refer to the description of the aforementioned method embodiments; to avoid repetition, detailed descriptions are omitted here.

[0233] The processor 601 can be used to execute the actions implemented by the positioning server as described in the previous method embodiment, and the transceiver 602 can be used to execute the actions described in the previous method embodiment to obtain key activity events reported by each device. Please refer to the description of the previous method embodiment for details, which will not be repeated here.

[0234] Among them, the processor 601 can be a central processing unit, a general-purpose processor, a digital signal processor, an application-specific integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component or any combination thereof. It can implement or execute the various exemplary logic blocks, modules and circuits described in conjunction with the disclosure of this application. The processor 601 can also be a combination that implements computing functions, such as a combination of one or more microprocessors, a combination of a digital signal processor and a microprocessor, and so on. The communication bus 604 can be a peripheral component interconnect standard PCI bus or an extended industry standard architecture EISA bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one thick line is used to represent it, but it does not mean that there is only one bus or one type of bus. The communication bus 604 is used to realize the connection and communication between these components. Among them, the transceiver 602 in the embodiment of the present application is used to communicate signaling or data with other node devices. The memory 603 may include volatile memory, such as non-volatile dynamic random access memory (NVRAM), phase change random access memory (PRAM), magnetoresistive random access memory (MRAM), etc., and may also include non-volatile memory, such as at least one disk storage device, electrically erasable programmable read-only memory (EEPROM), flash memory devices, such as NOR flash memory or NAND flash memory, semiconductor devices, such as solid state disk (SSD), etc. The memory 603 may optionally be at least one storage device located away from the aforementioned processor 601. The memory 603 may also optionally store a set of computer program code or configuration information. Optionally, the processor 601 may also execute a program stored in the memory 603. The processor may cooperate with the memory and the transceiver to execute any one of the methods and functions of the positioning server in the above-mentioned application embodiments.

[0235] An embodiment of the present application also provides a chip system, which includes a processor for supporting a positioning server to implement the functions involved in any of the above embodiments, such as generating or processing the correspondence between the signal characteristics and coordinate positions involved in the above method. In one possible design, the chip system may also include a memory, which is used to locate the computer programs and data necessary for the server. The chip system can be composed of a chip, or it can include a chip and other discrete devices. Among them, the input and output of the chip system correspond to the receiving and sending operations of the positioning server in the method embodiment, respectively.

[0236] The present application also provides a positioning device, including a processor and an interface. The processor can be used to execute the method in the above method embodiment.

[0237] It should be understood that the positioning device may be a chip. For example, the positioning device may be a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on chip (SoC), a central processor unit (CPU), a network processor (NP), a digital signal processor (DSP), a microcontroller unit (MCU), a programmable logic device (PLD), or other integrated chips.

[0238] During implementation, each step of the above method can be completed by an integrated logic circuit of the hardware in the processor or by instructions in the form of software. The steps of the method disclosed in conjunction with the embodiments of the present application can be directly embodied as being executed by a hardware processor, or can be executed by a combination of hardware and software modules in the processor. The software module can be located in a storage medium mature in the art such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory, and the processor reads the information in the memory and completes the steps of the above method in conjunction with its hardware. To avoid repetition, it will not be described in detail here.

[0239] It should be noted that the processor in the embodiments of the present application can be an integrated circuit chip with a processing capability of signals. In the implementation process, each step of the method embodiments described above can be completed by integrated logic circuits of hardware in the processor or instructions in the form of software. The processor described above can be a general processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The disclosed methods, steps and logic block diagrams in the embodiments of the present application can be implemented or executed. The general processor can be a microprocessor or the processor can also be any conventional processor. The steps of the method disclosed in combination with the embodiments of the present application can be directly embodied as a hardware code processor for execution, or a combination of hardware and software modules in the code processor for execution. The software module can be located in a random access memory, a flash memory, a read only memory, a programmable read only memory or an electrically erasable programmable memory, a register or other mature storage medium in the art. The storage medium is located in the memory, and the processor reads the information in the memory and combines the hardware to complete the steps of the above method.

[0240] According to the method provided in the embodiments of the present application, the present application further provides a computer program product, which comprises a computer program, when the computer program runs on a computer, causes the computer to execute the method of any one of the embodiments shown. Figure 2 The method of any one of the embodiments shown.

[0241] According to the method provided in the embodiments of the present application, the present application further provides a computer readable medium, which stores a computer program, when the computer program runs on a computer, causes the computer to execute the method of any one of the embodiments shown. Figure 2 The method of any one of the embodiments shown.

[0242] According to the method provided in the embodiments of the present application, the present application further provides a system, which comprises one or more first APs, one or more terminal devices and one or more positioning servers.

[0243] In the above embodiments, all or part of the embodiments may be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments may be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions described in the embodiments of the present application are generated. The computer may be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server or data center that includes one or more available media integrated therein. The available medium may be a magnetic medium (eg, a floppy disk, a hard disk, a magnetic tape), an optical medium (eg, a high-density digital video disc (DVD)), or a semiconductor medium (eg, a solid state disc (SSD)).

[0244] Those skilled in the art will appreciate that the various illustrative logical blocks and steps described in conjunction with the embodiments disclosed herein can be implemented using electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0245] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0246] If the functions are implemented in the form of software function units and sold or used as independent products, they can be stored in a computer readable storage medium. Based on this understanding, the technical solutions of the present application essentially or the parts that contribute to the prior art or parts of the technical solutions can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a positioning server, etc.) to execute all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: a U disk, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk, and various media that can store program codes.

[0247] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A positioning method, characterized in that: include: Determining signal characteristics of a wireless signal at a reference position of a first access point (AP) among N access points (APs), wherein the signal characteristics include N signal qualities and / or N transmission durations, where N is an integer greater than or equal to 3; Acquire, based on a signal characteristic of a wireless signal at a reference location of the first AP, a signal sequence within a first time period, wherein the signal sequence includes signal characteristics of a plurality of time units, and a signal characteristic of a first time unit in the signal sequence is the same as a signal characteristic of the wireless signal at the reference location of the first AP; determining, according to the signal sequence, a coordinate position of the terminal device at each time unit within the first time period; A correspondence between the signal feature and the coordinate position is established, and the correspondence between the signal feature and the coordinate position is used for positioning.

2. The method according to claim 1, wherein The signal characteristics of the wireless signal for determining the reference position of the first AP among the N access points AP include: Obtaining a first signal quality obtained by the first AP measuring the wireless signal, and a second signal quality obtained by each of the N APs other than the first AP measuring the wireless signal; determining whether a difference between the first signal quality and a second signal quality measured by each of the other APs is greater than or equal to a first threshold; When the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to the first threshold, the first signal quality and the second signal quality measured by each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

3. The method according to claim 2, wherein The method further comprises: Obtaining a first distance between the first AP and a reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; The first threshold is determined according to the first distance and the second distance.

4. The method according to claim 3, wherein The first threshold=klogd2d1, where k is the distance loss coefficient, d1 is the first distance, and d2 is the second distance.

5. The method according to claim 1, wherein The signal characteristics of the wireless signal for determining the reference position of the first AP among the N access points AP include: Obtaining a first transmission duration for the wireless signal sent by the terminal device to reach the first AP, and a second transmission duration for the wireless signal sent by the terminal device to reach each of the N APs except the first AP; determining whether a difference between the first transmission duration and a second transmission duration for the wireless signal to reach each of the other APs is greater than or equal to a second threshold; When the difference between the first transmission duration and the second transmission duration of the wireless signal reaching each other AP is greater than or equal to the second threshold, the first transmission duration and the second transmission duration of the wireless signal reaching each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

6. The method according to claim 5, wherein The method further comprises: Obtaining a first distance between the first AP and a reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; The second threshold is determined according to the first distance and the second distance.

7. The method according to claim 6, wherein The second threshold=(d2-d1) / c, where c is the propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

8. The method according to any one of claims 1 to 7, wherein: Determining the coordinate position of the terminal device in each time unit within the first time period according to the signal sequence includes: The coordinate position of the terminal device in the second time unit is determined based on the signal characteristics of the first time unit and the signal characteristics of the second time unit in the signal sequence, and the coordinate position of the terminal device in the first time unit, wherein the second time unit is the next time unit of the first time unit.

9. The method according to any one of claims 1 to 7, wherein: The method further comprises: constructing an error term according to the coordinate position of the terminal device in each time unit; The coordinate position of the terminal device in each time unit is updated according to the error term.

10. The method according to claim 9, wherein The error terms include: an error between a change distance between the updated coordinate position of the terminal device in two adjacent time units and a change distance between the coordinate position of the terminal device before the update in two adjacent time units; When the signal characteristics of two different time units are the same, the error between the updated coordinate positions of the terminal device corresponding to the two different time units; and When the signal characteristics of a time unit are the same as the signal characteristics of the wireless signal of the reference position of the first AP, the error between the updated coordinate position of the terminal device corresponding to the time unit and the reference position of the first AP.

11. A positioning device, characterized in that: include: a processing module, configured to determine signal characteristics of a wireless signal at a reference position of a first access point (AP) among N access points (APs), wherein the signal characteristics include N signal qualities and / or N transmission durations, where N is an integer greater than or equal to 3; an acquisition module, configured to acquire a signal sequence within a first time period based on a signal characteristic of a wireless signal at a reference position of the first AP, wherein the signal sequence includes signal characteristics of multiple time units, and a signal characteristic of a first time unit in the signal sequence is the same as a signal characteristic of the wireless signal at the reference position of the first AP; The processing module is also used to determine the coordinate position of the terminal device in each time unit within the first time period based on the signal sequence; establish a correspondence between the signal characteristics and the coordinate position, and the correspondence between the signal characteristics and the coordinate position is used for positioning.

12. The device according to claim 11, wherein The acquisition module is further configured to acquire a first signal quality obtained by the first AP measuring the wireless signal, and a second signal quality obtained by each of the N APs other than the first AP measuring the wireless signal; The processing module is further used to determine whether the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to a first threshold; when the difference between the first signal quality and the second signal quality measured by each other AP is greater than or equal to the first threshold, the first signal quality and the second signal quality measured by each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

13. The device according to claim 12, wherein The acquisition module is further configured to acquire a first distance between the first AP and a reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; The processing module is further configured to determine the first threshold value according to the first distance and the second distance.

14. The device according to claim 13, wherein The first threshold=klogd2d1, where k is the distance loss coefficient, d1 is the first distance, and d2 is the second distance.

15. The device according to claim 11, wherein The acquisition module is further configured to acquire a first transmission duration of the wireless signal sent by the terminal device to reach the first AP, and a second transmission duration of the wireless signal sent by the terminal device to reach each of the N APs other than the first AP; The processing module is also used to determine whether the difference between the first transmission duration and the second transmission duration of the wireless signal reaching each other AP is greater than or equal to a second threshold; when the difference between the first transmission duration and the second transmission duration of the wireless signal reaching each other AP is greater than or equal to the second threshold, the first transmission duration and the second transmission duration of the wireless signal reaching each other AP are used as signal characteristics of the wireless signal at the reference position of the first AP.

16. The device according to claim 15, characterized in that The acquisition module is further configured to acquire a first distance between the first AP and a reference position of the first AP, and a second distance between each of the other APs and the reference position of the first AP; The processing module is further configured to determine the second threshold value according to the first distance and the second distance.

17. The device according to claim 16, wherein The second threshold=(d2-d1) / c, where c is the propagation speed of the wireless signal, d1 is the first distance, and d2 is the second distance.

18. The device according to any one of claims 11 to 17, characterized in that The processing module is also used to determine the coordinate position of the terminal device in the second time unit based on the signal characteristics of the first time unit and the signal characteristics of the second time unit in the signal sequence, and the coordinate position of the terminal device in the first time unit, wherein the second time unit is the next time unit of the first time unit.

19. The device according to any one of claims 11 to 17, characterized in that The processing module is further configured to construct an error term based on the coordinate position of the terminal device in each time unit; and update the coordinate position of the terminal device in each time unit based on the error term.

20. The device according to claim 19, wherein The error terms include: an error between a change distance between the updated coordinate position of the terminal device in two adjacent time units and a change distance between the coordinate position of the terminal device before the update in two adjacent time units; When the signal characteristics of two different time units are the same, the error between the updated coordinate positions of the terminal device corresponding to the two different time units; and When the signal characteristics of a time unit are the same as the signal characteristics of the wireless signal of the reference position of the first AP, the error between the updated coordinate position of the terminal device corresponding to the time unit and the reference position of the first AP.

21. A positioning device, characterized in that: The apparatus comprises a processor and a memory, wherein the memory is used to store a computer program, and the processor runs the computer program to enable the apparatus to perform the method according to any one of claims 1 to 10.

22. A chip, characterized in that: The chip is a chip in a positioning server, the chip includes a processor and an input interface and an output interface connected to the processor, the chip also includes a memory, and when the computer program in the memory is executed, the method described in any one of claims 1-10 is executed.

23. A computer-readable storage medium, characterized in that Used to store a computer program, which, when executed on a computer, causes the computer to execute the method according to any one of claims 1 to 10.

24. A computer program product, characterized in that The computer program product comprises a computer program, and when the computer program is run on a computer, the computer is caused to perform the method according to any one of claims 1 to 10.

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