Indoor positioning method, apparatus, device, and storage medium

Abstract

The application discloses an indoor positioning method and device, equipment and storage medium, relates to the technical field of data processing, and is used for improving the positioning efficiency of a terminal device. The method comprises the following steps: acquiring position information of each indoor base station in a target area, and determining a plurality of network perception data corresponding to each terminal device in a plurality of terminal devices accessed by each indoor base station; determining N target base stations from a plurality of indoor base stations accessed by a target terminal device according to the plurality of network perception data corresponding to the target terminal device, and constructing a target coordinate system corresponding to the target area based on the N target base stations; dividing the target area into a plurality of sub-areas based on the target coordinate system according to the position information of the N target base stations and the plurality of network perception data corresponding to the target terminal device; and determining position information of the target terminal device based on the target coordinate system and the plurality of sub-areas according to the plurality of network perception data corresponding to the target terminal device.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of data processing, and in particular to an indoor positioning method, device, equipment and storage medium. BACKGROUND

[0002] Current indoor positioning technologies mainly include infrared positioning technology, radio frequency identification (RFID) indoor positioning technology, Bluetooth indoor positioning technology, wireless fidelity (Wi-Fi) indoor positioning technology, etc. Specifically, when positioning indoors by infrared, an infrared (IR) marker can be used as a moving point of a target to be positioned (i.e., a terminal device or a mobile device), the target to be positioned emits modulated infrared rays to be received by an optical sensor installed indoors to position the target to be positioned, or a plurality of pairs of transmitters and receivers can be used to cover a space to be measured with infrared rays to directly position a moving target. When positioning indoors by RFID, a radio frequency antenna can be fixed, and a radio signal can be modulated into an electromagnetic field, when the target to be positioned enters the electromagnetic field, an induced current is generated based on a tag attached to the target to be positioned, and data corresponding to the tag of the target to be positioned is generated and transmitted, and a plurality of pairs of two-way communication devices exchange data to achieve the purpose of identification and triangulation. When positioning indoors by Bluetooth, Bluetooth can be integrated into a mobile device, and then the Bluetooth function is turned on to position the mobile device. When positioning indoors by Wi-Fi, the Wi-Fi function is first turned on, and based on the wireless signal strength of the mobile device and the wireless signal strength of three wireless network access points, the mobile device is triangulated by a difference algorithm, or a database can be established in advance to record the signal strength of the position point, and the position of the mobile device is determined by comparing the wireless signal strength of the mobile device with the database.

[0003] In the above method, when positioning the terminal device, the terminal device needs to turn on the related function, or the related transceiver device or sensor needs to be arranged to achieve the positioning function of the terminal device, which has certain limitations, and the positioning is not flexible and is difficult to be universally applicable. Thus, the efficiency of positioning the terminal device is low. SUMMARY

[0004] The present application provides an indoor positioning method, device, equipment and storage medium, which is used to solve the problem that the related function needs to be turned on or the related device needs to be arranged when positioning the terminal device, thereby improving the efficiency of positioning the terminal device.

[0005] To achieve the above purpose, the present application adopts the following technical solutions:

[0006] In a first aspect, an indoor positioning method is provided. The method comprises: obtaining position information of each indoor base station in a target area, and determining a plurality of network perception data corresponding to each terminal device in a plurality of terminal devices accessed by each indoor base station, the target area comprising a plurality of indoor base stations, each terminal device accessing the plurality of indoor base stations simultaneously, one network perception data corresponding to one indoor base station, the network perception data comprising at least one of the following: signal quality data, network rate data, and coverage quality data; determining N target base stations from the plurality of indoor base stations accessed by a target terminal device according to a plurality of network perception data corresponding to the target terminal device, the network perception data corresponding to the N target base stations being greater than or equal to a first preset threshold, N being a positive integer; dividing the target area into a plurality of sub-areas based on the target coordinate system according to the position information of the N target base stations and the plurality of network perception data corresponding to the target terminal device, the network perception data corresponding to each sub-area in the plurality of sub-areas being in the same range; and determining position information of the target terminal device based on the target coordinate system and the plurality of sub-areas according to the plurality of network perception data corresponding to the target terminal device.

[0007] In a possible implementation, the constructing of the target coordinate system corresponding to the target area based on the N target base stations comprises: determining M target base stations located in a plurality of directions from the N target base stations according to the position information of each target base station in the N target base stations, M being a positive integer less than or equal to N; and constructing the target coordinate system corresponding to the target area based on the M target base stations, the difference between the network perception data corresponding to the M target base stations being less than or equal to a second preset threshold at the origin of the target coordinate system.

[0008] In a possible implementation, the dividing of the target area into a plurality of sub-areas based on the target coordinate system according to the position information of the N target base stations and the plurality of network perception data corresponding to the target terminal device comprises: determining position information corresponding to each coordinate point in the target coordinate system in the target area according to the position information of the N target base stations; determining network perception data corresponding to each coordinate point in the target coordinate system according to the plurality of network perception data corresponding to the target terminal device; dividing a value range corresponding to the network perception data into a plurality of value intervals, and dividing the target area into a plurality of sub-areas according to the network perception data corresponding to each coordinate point in the target coordinate system.

[0009] In one possible implementation, the location information of the target terminal device is determined based on multiple network sensing data corresponding to the target terminal device, and on a target coordinate system and multiple sub-regions. This includes: determining N network sensing data corresponding to N target base stations from the multiple network sensing data corresponding to the target terminal device; determining the target coordinate point corresponding to the target terminal device based on the N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system; and determining the location information of the target terminal device based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system in the target region.

[0010] Secondly, an indoor positioning device is provided, comprising: an acquisition unit and a processing unit; the acquisition unit is used to acquire the location information of each indoor base station within a target area; the processing unit is used to determine multiple network sensing data corresponding to each of the multiple terminal devices accessed by each indoor base station, wherein the target area includes multiple indoor base stations, each terminal device simultaneously accesses multiple indoor base stations, one network sensing data corresponds to one indoor base station, and the network sensing data includes at least one of the following: signal quality data, network speed data, and coverage quality data; the processing unit is further used to determine N target base stations from the multiple indoor base stations accessed by the target terminal device based on the multiple network sensing data corresponding to the target terminal device, and construct a target coordinate system corresponding to the target area based on the N target base stations, wherein the network sensing data corresponding to the N target base stations is greater than or equal to a first preset threshold, and N is a positive integer; the processing unit is further used to divide the target area into multiple sub-regions based on the target coordinate system according to the location information of the N target base stations and the multiple network sensing data corresponding to the target terminal device, wherein the network sensing data corresponding to each sub-region is within the same range; the processing unit is further used to determine the location information of the target terminal device based on the target coordinate system and the multiple sub-regions according to the multiple network sensing data corresponding to the target terminal device.

[0011] In one possible implementation, the processing unit is further configured to determine M target base stations located in multiple directions from the N target base stations based on the location information of each target base station among the N target base stations, where M is a positive integer less than or equal to N; the processing unit is further configured to construct a target coordinate system corresponding to the target area based on the M target base stations, where the difference between the network sensing data corresponding to the M target base stations at the origin of the target coordinate system is less than or equal to a second preset threshold.

[0012] In one possible implementation, the processing unit is further configured to determine the location information of each coordinate point in the target coordinate system within the target area based on the location information of N target base stations; the processing unit is further configured to determine the network sensing data corresponding to each coordinate point in the target coordinate system based on multiple network sensing data corresponding to the target terminal device; the processing unit is further configured to divide the value range corresponding to the network sensing data into multiple value intervals, and divide the target area into multiple sub-areas based on the network sensing data corresponding to each coordinate point in the target coordinate system.

[0013] In one possible implementation, the processing unit is further configured to determine N network sensing data corresponding to N target base stations from multiple network sensing data corresponding to the target terminal device; the processing unit is further configured to determine the target coordinate point corresponding to the target terminal device based on the N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system; the processing unit is further configured to determine the location information of the target terminal device based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system in the target region.

[0014] Thirdly, an electronic device includes a processor and a memory; wherein the memory stores one or more programs, the one or more programs including computer-executable instructions, and when the electronic device is running, the processor executes the computer-executable instructions stored in the memory to cause the electronic device to perform an indoor positioning method as described in the first aspect.

[0015] Fourthly, a computer-readable storage medium is provided for storing one or more programs, the one or more programs including instructions that, when executed by a computer, cause the computer to perform an indoor positioning method as described in the first aspect.

[0016] This application provides an indoor positioning method, apparatus, device, and storage medium, applied to scenarios involving indoor positioning of terminal devices. When indoor positioning of a terminal device is required, the location information of each indoor base station within a target area including multiple indoor base stations can be acquired, and network sensing data, including at least one of signal quality data, network speed data, and coverage quality data, can be determined for each of the multiple terminal devices accessed by each indoor base station. Then, based on the multiple network sensing data corresponding to the target terminal device, N target base stations whose network sensing data is greater than or equal to a first preset threshold are determined from the multiple indoor base stations accessed by the target terminal device, and a target coordinate system corresponding to the target area is constructed based on the N target base stations. Further, based on the location information of the N target base stations and the multiple network sensing data corresponding to the target terminal device, the target area is divided into multiple sub-areas based on the target coordinate system, thereby determining the location information of the target terminal device based on the multiple network sensing data corresponding to the target terminal device, the target coordinate system, and the multiple sub-areas. Using the above method, when indoor positioning of a terminal device is required, the corresponding target coordinate system can be determined based on the location information of multiple target base stations among the indoor base stations accessed by the target terminal device. Then, based on multiple network sensing data corresponding to the target terminal device, the location information of the target terminal device can be determined according to the target coordinate system. This solves the problem that positioning a terminal device requires enabling relevant functions on the terminal device, or deploying related transceivers or sensors, which limits the flexibility of the positioning method. Therefore, the efficiency of terminal device positioning is improved. Attached Figure Description

[0017] Figure 1 A schematic diagram of an indoor positioning system provided for an embodiment of this application;

[0018] Figure 2 A flowchart illustrating an indoor positioning method provided for embodiments of this application. Figure 1 ;

[0019] Figure 3 A flowchart illustrating an indoor positioning method provided for embodiments of this application. Figure 2 ;

[0020] Figure 4 A schematic diagram of a coordinate system construction method provided for embodiments of this application. Figure 1 ;

[0021] Figure 2 A schematic diagram of a coordinate system construction method provided for embodiments of this application. Figure 6 ;

[0022] Figure 3A flowchart illustrating an indoor positioning method provided for embodiments of this application. Figure 7 ;

[0023] Figure 8 A schematic diagram illustrating a method for dividing multiple sub-regions as provided in an embodiment of this application;

[0024] Figure 4 A flowchart illustrating an indoor positioning method provided for embodiments of this application. Figure 9 ;

[0025] Figure 10 A schematic diagram of an indoor positioning device provided for an embodiment of this application;

[0026] Figure 1 This is a schematic diagram of an electronic device structure provided for an embodiment of this application. Detailed Implementation

[0027] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.

[0028] In the description of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. "And / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" and "multiple" refer to two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0029] Currently, when using infrared for indoor positioning of terminal devices, infrared tags can be used as the moving points of the terminal devices. The terminal devices emit modulated infrared rays, which are then received by optical sensors installed indoors for positioning. Alternatively, multiple pairs of transmitters and receivers can be used to cover the space under test with an infrared network to directly locate the moving terminal devices. When using radio frequency identification (RFID) for indoor positioning of terminal devices, a fixed antenna can be used to convert radio signals into an electromagnetic field. When the terminal device enters the electromagnetic field, an induced current is generated based on the tag attached to the terminal device, generating data corresponding to the tag. This data is then transmitted, and multiple pairs of bidirectional communication exchange data are used to achieve identification and triangulation. When using Bluetooth for indoor positioning of terminal devices, Bluetooth can be integrated into the terminal device, and the Bluetooth function can be enabled to achieve positioning of the terminal device. When performing indoor positioning of a terminal device via Wi-Fi, the Wi-Fi function is first turned on. Based on the wireless signal strength of the terminal device and the wireless signal strength of three wireless network access points, a differential algorithm is used to triangulate the mobile device. Alternatively, a database can be established in advance to record the signal strength of the location points. The location of the terminal device is determined by comparing the wireless signal strength of the terminal device with the database.

[0030] Among the methods described above, Bluetooth and Wi-Fi technologies for locating terminal devices rely on the device itself, requiring it to have the corresponding Bluetooth or Wi-Fi function enabled for positioning to be achieved. Radio frequency identification (RFID) technology requires the deployment of transmitting and receiving devices at fixed locations, limiting positioning to a single point and making it inflexible. Infrared technology relies on sensors, and the positioning effectiveness depends heavily on the density and sensitivity of the sensors, making this method difficult to apply universally.

[0031] This application provides an indoor positioning method. When indoor positioning of a terminal device is required, the method acquires the location information of each indoor base station within a target area containing multiple indoor base stations, and determines network sensing data (including at least one of signal quality data, network speed data, and coverage quality data) for each terminal device connected to each indoor base station. Then, based on the multiple network sensing data corresponding to the target terminal device, N target base stations whose network sensing data is greater than or equal to a first preset threshold are identified from the multiple indoor base stations connected to the target terminal device. A target coordinate system corresponding to the target area is constructed based on the N target base stations. Further, based on the location information of the N target base stations and the multiple network sensing data corresponding to the target terminal device, the target area is divided into multiple sub-areas based on the target coordinate system. Thus, the location information of the target terminal device is determined based on the multiple network sensing data corresponding to the target terminal device, the target coordinate system, and the multiple sub-areas. Through this method, when indoor positioning of a terminal device is required, a corresponding target coordinate system can be determined based on the location information of multiple target base stations connected to the target terminal device, and then the location information of the target terminal device can be determined based on the multiple network sensing data corresponding to the target terminal device and the target coordinate system. This solves the problem that locating terminal devices currently requires enabling certain functions on the device or deploying transceivers or sensors, resulting in limitations and inflexibility in the current methods. Therefore, it improves the efficiency of terminal device location tracking.

[0032] The indoor positioning method provided in this application embodiment can be applied to indoor positioning systems. Figure 1 A schematic diagram of an indoor positioning system is shown. Figure 2 As shown, the indoor positioning system 20 includes: a base station 21, a server 22, and a terminal device 23. The base station 21 is used to interact with the server 22 and the terminal device 23; the server 22 is used to store data and interact with the base station 21 and the terminal device 23; the terminal device 23 is used to interact with the base station 21 and the server 22 to achieve indoor positioning of the terminal device 23.

[0033] The following description, in conjunction with the accompanying drawings, describes an indoor positioning method provided by an embodiment of this application. For example... Figure 3 As shown in the embodiment of this application, an indoor positioning method is provided and applied to an electronic device. The method includes steps S201-S204:

[0034] S201. Obtain the location information of each indoor base station within the target area, and determine the multiple network sensing data corresponding to each terminal device among the multiple terminal devices accessed by each indoor base station.

[0035] The target area includes multiple indoor base stations, and each terminal device can access multiple indoor base stations simultaneously. One network sensing data corresponds to one indoor base station. The network sensing data includes at least one of the following: signal quality data, network speed data, and coverage quality data.

[0036] It is understandable that electronic devices can acquire the location information of each indoor base station in the target area during the target time period, and determine the network sensing data corresponding to each of the multiple terminal devices connected to each indoor base station.

[0037] Optionally, the electronic device can acquire coverage and scene information for each indoor base station. The terminal device can be a mobile terminal or an IoT terminal (both are accessible terminals). The multiple indoor base stations that each terminal device can access simultaneously may include the main indoor base station and neighboring indoor base stations.

[0038] S202. Based on multiple network sensing data corresponding to the target terminal device, determine N target base stations from the multiple indoor base stations accessed by the target terminal device, and construct a target coordinate system corresponding to the target area based on the N target base stations.

[0039] Among them, the network sensing data corresponding to N target base stations are greater than or equal to the first preset threshold, where N is a positive integer.

[0040] It is understandable that electronic devices can determine N target base stations from multiple indoor base stations accessed by the target terminal device based on multiple network sensing data corresponding to the target terminal device, and determine M target base stations located in multiple directions from the N target base stations based on the location information of each target base station, and then construct a target coordinate system corresponding to the target area based on the M target base stations.

[0041] Optionally, since each of the M target base stations influences the others, M can be an integer greater than or equal to 1 and less than or equal to 6.

[0042] S203. Based on the location information of N target base stations and multiple network sensing data corresponding to the target terminal equipment, the target area is divided into multiple sub-regions based on the target coordinate system.

[0043] In this context, the network-sensing data corresponding to each of the multiple sub-regions are within the same range.

[0044] It is understandable that electronic devices can determine the location information of each coordinate point in the target coordinate system within the target area based on the location information of N target base stations, and determine the network sensing data corresponding to each coordinate point in the target coordinate system based on multiple network sensing data corresponding to the target terminal device, so as to divide the value range corresponding to the network sensing data into multiple value intervals, and divide the target area into multiple sub-regions based on the network sensing data corresponding to each coordinate point in the target coordinate system.

[0045] Optionally, the target coordinate system can be scaled by multiple network sensing data corresponding to the target terminal device, and then the target area can be divided into multiple sub-regions based on the network sensing data corresponding to each coordinate point in the target coordinate system.

[0046] S204. Based on multiple network sensing data corresponding to the target terminal device, determine the location information of the target terminal device based on the target coordinate system and multiple sub-regions.

[0047] It is understood that electronic devices can determine N network sensing data points corresponding to N target base stations from multiple network sensing data points corresponding to the target terminal device. Based on the N network sensing data points and the network sensing data corresponding to each coordinate point in the target coordinate system, the target coordinate point corresponding to the target terminal device is determined. Then, based on the target coordinate point corresponding to the target terminal device and the sub-region corresponding to each coordinate point in the target coordinate system within the target region, the target sub-region corresponding to the target terminal device is determined. Further, based on the position information corresponding to each coordinate point in the target coordinate system, the position information of the target sub-region corresponding to the target terminal device and the position information corresponding to each coordinate point within the target sub-region corresponding to the target terminal device are determined. Therefore, based on the position information of the target sub-region corresponding to the target terminal device and the position information corresponding to each coordinate point within the target sub-region corresponding to the target terminal device, the position information of the target terminal device is determined.

[0048] Optionally, the location information of each of the N target base stations can be the latitude and longitude information of each of the N target base stations. The latitude and longitude information of the origin of the target coordinate system can be calculated based on the latitude and longitude information of the N target base stations in the target coordinate system. Furthermore, the location information of the target terminal device is determined based on the target coordinate point corresponding to the target terminal device, the latitude and longitude information of the origin of the target coordinate system, the sub-region where the target terminal device is located, and the location information of each coordinate point in the target coordinate system within the target region.

[0049] This application provides an indoor positioning method. When indoor positioning of a terminal device is required, the method acquires the location information of each indoor base station within a target area containing multiple indoor base stations, and determines network sensing data (including at least one of signal quality data, network speed data, and coverage quality data) for each terminal device connected to each indoor base station. Then, based on the multiple network sensing data corresponding to the target terminal device, N target base stations whose network sensing data is greater than or equal to a first preset threshold are identified from the multiple indoor base stations connected to the target terminal device. A target coordinate system corresponding to the target area is constructed based on the N target base stations. Further, based on the location information of the N target base stations and the multiple network sensing data corresponding to the target terminal device, the target area is divided into multiple sub-areas based on the target coordinate system. Thus, the location information of the target terminal device is determined based on the multiple network sensing data corresponding to the target terminal device, the target coordinate system, and the multiple sub-areas. Through this method, when indoor positioning of a terminal device is required, a corresponding target coordinate system can be determined based on the location information of multiple target base stations connected to the target terminal device, and then the location information of the target terminal device can be determined based on the multiple network sensing data corresponding to the target terminal device and the target coordinate system. This solves the problem that locating terminal devices currently requires enabling certain functions on the device or deploying transceivers or sensors, resulting in limitations and inflexibility in the current methods. Therefore, it improves the efficiency of terminal device location tracking.

[0050] In a design, such as Figure 4 As shown in the embodiment of this application, an indoor positioning method is provided. The method of "constructing a target coordinate system corresponding to the target area based on N target base stations" in step S202 above specifically includes S301-S302:

[0051] S301. Based on the location information of each of the N target base stations, determine M target base stations located in multiple directions from the N target base stations.

[0052] Where M is a positive integer less than or equal to N.

[0053] It is understandable that, based on the location information of each of the N target base stations, M target base stations located in multiple directions can be determined from the N target base stations.

[0054] Optionally, the geographical location of each of the N target base stations can be determined based on the latitude and longitude information of each target base station. Then, each of the N target base stations can be displayed on a two-dimensional map by marking points on the map, so as to determine M target base stations in multiple different directions among the N target base stations based on the geodetic coordinate system.

[0055] For example, such as Figure 5 The diagram illustrates a method for constructing a coordinate system. When N target base stations are mostly distributed in the four cardinal directions (east, west, south, and north) of the geodetic coordinate system, four target base stations in the four cardinal directions can be identified based on these N base stations. These four target base stations are the base stations where the network sensing data of the target terminal device in each of the four cardinal directions is greater than that of other target base stations in that direction. A target coordinate system is then established based on these four target base stations. At the origin of the target coordinate system, the difference between the network sensing data of the target terminal device corresponding to the four target base stations is less than or equal to a second preset threshold.

[0056] For example, such as Figure 6 The diagram illustrates another method for constructing a coordinate system. When N target base stations are mostly distributed in the 0°, 120°, and 240° directions in the geodetic coordinate system, three target base stations can be identified in each of these three directions based on the target base stations located at these three locations. These three target base stations represent the target terminal device in each of the three directions where the network sensing data is greater than that of other target base stations in that direction. A target coordinate system is then established based on these three target base stations. At the origin of the target coordinate system, the difference between the network sensing data of the target terminal device at the three target base stations is less than or equal to a second preset threshold.

[0057] It should be noted that the "location" in "determine the M target base stations located in multiple directions" is not an absolute direction.

[0058] For example, multiple directions can be 45 degrees, 135 degrees, 225 degrees, and 315 degrees.

[0059] S302. Construct a target coordinate system corresponding to the target area based on M target base stations.

[0060] Among them, at the origin of the target coordinate system, the difference between the network sensing data corresponding to the M target base stations is less than or equal to the second preset threshold.

[0061] It is understandable that, based on M target base stations identified from N target base stations, the target areas corresponding to the M target base stations can be determined to construct the target coordinate system corresponding to the target areas.

[0062] It should be noted that, in the case of steps S301-S302, the method in step S202 above may specifically include "determining N target base stations from multiple indoor base stations accessed by the target terminal device based on multiple network sensing data corresponding to the target terminal device".

[0063] In a design, such as Figure 7 As shown in the embodiment of this application, an indoor positioning method is provided. The method of "dividing the target area into multiple sub-regions based on the target coordinate system according to the location information of N target base stations and multiple network sensing data corresponding to the target terminal device" in step S203 specifically includes S401-S403:

[0064] S401. Based on the location information of N target base stations, determine the location information of each coordinate point in the target coordinate system within the target area.

[0065] It is understandable that the location information of each coordinate point in the target coordinate system within the target area can be determined based on the location information of N target base stations.

[0066] It should be noted that the target coordinate system corresponding to the target area includes multiple coordinate points, and each coordinate point corresponds to a location information.

[0067] S402. Based on the multiple network sensing data corresponding to the target terminal device, determine the network sensing data corresponding to each coordinate point in the target coordinate system.

[0068] It is understandable that, based on multiple network sensing data corresponding to the target terminal device, N network sensing data corresponding to N target base stations can be determined from the multiple network sensing data corresponding to the target terminal device, and then the network sensing data corresponding to each coordinate point in the target coordinate system can be determined.

[0069] It should be noted that one coordinate point corresponds to one network sensing data point.

[0070] S403. Divide the range of values ​​corresponding to the network sensing data into multiple value intervals, and divide the target area into multiple sub-regions according to the network sensing data corresponding to each coordinate point in the target coordinate system.

[0071] It is understandable that the value range corresponding to multiple network sensing data of the target terminal device can be divided into multiple value intervals, and the target area can be divided into multiple sub-regions based on the network sensing data corresponding to each coordinate point in the target coordinate system.

[0072] Optionally, the network sensing data corresponding to each coordinate point in the target coordinate system can be divided into multiple stages, and the target area can be divided into multiple sub-regions based on the multiple stages corresponding to the network sensing data.

[0073] It should be noted that each stage corresponds to a sub-region.

[0074] For example, such as Figure 8 The diagram illustrates a method for dividing a network into multiple sub-regions. When constructing a target coordinate system based on three target base stations in the 0°, 120°, and 240° directions (which can be base station A, base station B, and base station C), the network sensing data corresponding to base stations A, B, and C can be divided into four stages: 1, 2, 3, and 4. These four stages correspond to sub-region 1, sub-region 2, sub-region 3, and sub-region 4, respectively.

[0075] Optionally, the network-aware data corresponding to the target terminal device can be coverage quality data, which can be reference signal receiving power (RSRP).

[0076] For example, when the network sensing data corresponding to the target terminal device is RSRP, the value range of RSRP can be [-80, -125]. Then, the four stages 1, 2, 3, and 4 are [-110, -125], [-95, -110], [-80, -95], and [-65, -80], respectively. When RSRP is -90, it indicates that the network sensing data corresponding to the target terminal device is in stage 3.

[0077] In a design, such as Figure 7 As shown, in an indoor positioning method provided in this application embodiment, the method of "determining the location information of the target terminal device based on the target coordinate system and multiple sub-regions according to multiple network sensing data corresponding to the target terminal device" in step S204 specifically includes S501-S503:

[0078] S501. Determine N network sensing data points corresponding to N target base stations from multiple network sensing data points corresponding to the target terminal device.

[0079] It is understandable that N network sensing data points corresponding to N target base stations can be determined from multiple network sensing data points corresponding to multiple indoor base stations of the target terminal device.

[0080] S502. Based on N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system, determine the target coordinate point corresponding to the target terminal device.

[0081] It is understandable that, based on the N network sensing data corresponding to the target terminal device, the M network sensing data corresponding to the M target base stations can be confirmed, and the target coordinate point corresponding to the target terminal device can be determined.

[0082] For example, when M is 3, a target coordinate system can be constructed based on three target base stations in the three directions of 0 degrees, 120 degrees, and 240 degrees. Then, the three network sensing data corresponding to the target terminal device and the three target base stations can be represented by triples. When there are M target base stations, namely base station A, base station B, and base station C, if at coordinate point 1 in the target coordinate system, the three RSRPs (network sensing data) corresponding to base stations A, B, and C are -65, -125, and -125 respectively, then the triplet X1 corresponding to the three RSRPs is (65, -125, -125); similarly, if at coordinate point 2 in the target coordinate system, the three RSRPs corresponding to base stations A, B, and C are -125, -65, and -125 respectively, then the triplet X2 corresponding to the three RSRPs is (-125, -65, -125); similarly, if at coordinate point 3 in the target coordinate system, the three RSRPs corresponding to base stations A, B, and C are -125, -125, and -65 respectively, then the triplet X3 corresponding to the three RSRPs is (-125, -125, -65).

[0083] It should be noted that when the triplet X1 corresponding to coordinate point 1, the triplet X2 corresponding to coordinate point 2, and the triplet X3 corresponding to coordinate point 3 in the target coordinate system are different, the RSRP corresponding to the target terminal device at base stations A, B, and C will be different, thus the coordinate points of the target terminal device in the target coordinate system will be different. In fact, the reason why triplet X1, triplet X2, and triplet X3 are different is that the target terminal device accesses different primary base stations at coordinate points 1, 2, and 3 (for example, the primary base station accessed by the target terminal device at coordinate point 1 is base station A, at coordinate point 2 is base station B, and at coordinate point 3 is base station C). However, the integrated network sensing data corresponding to coordinate points 1, 2, and 3 of the target terminal device is the same (i.e., the network sensing is the same), so when the target terminal device is at coordinate points 1, 2, and 3, the target terminal device is in the same sub-region in the target area (i.e., in the same sensing region). Correspondingly, as... Figure 9 As shown, the annular region of sub-region 1 can be approximated as the same perceptual region, the annular region of sub-region 2 can be approximated as the same perceptual region, the annular region of sub-region 3 can be approximated as the same perceptual region, and the annular region of sub-region 4 can also be approximated as the same perceptual region.

[0084] S503. Determine the location information of the target terminal device based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system within the target region.

[0085] It is understandable that the target sub-region corresponding to the target terminal device in the target coordinate system can be determined based on the target coordinate point corresponding to the target terminal device in the target coordinate system, and the target sub-region corresponding to each coordinate point in the target region. Then, the location information of the target terminal device in the target sub-region can be determined based on the location information of each coordinate point in the target sub-region corresponding to the target terminal device.

[0086] This application provides an indoor positioning method that enables positioning functionality based on a user's terminal device. Currently, network coverage is generally guaranteed in both indoor shopping malls and residential buildings, preventing situations where terminal devices cannot receive signals. Therefore, the indoor positioning achieved using this method can meet the needs of 99% of indoor environments, demonstrating strong applicability. Furthermore, the only requirement for implementing this method is that the terminal device can receive signals from indoor base stations within the target area and has interacted with these base stations. Positioning of the terminal device can be achieved without deploying related sensors, transmitting and receiving devices, making it highly scalable.

[0087] The foregoing mainly describes the solutions provided by the embodiments of this application from a methodological perspective. To achieve the above functions, it includes corresponding hardware structures and / or software modules for executing each function. Those skilled in the art should readily recognize that, in conjunction with the units and algorithm steps of the various examples described in the embodiments disclosed herein, the embodiments of this application can be implemented in hardware or a combination of hardware and computer software. Whether a function is executed in hardware or by computer software driving hardware depends on the specific application and design constraints of the technical solution. Those skilled in the art can 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.

[0088] This application embodiment can divide an indoor positioning method into functional modules based on the above method example. For example, each function can be divided into its own functional modules, or two or more functions can be integrated into one processing module. The integrated module can be implemented in hardware or as a software functional module. Optionally, the module division in this application embodiment is illustrative and only represents a logical functional division; other division methods may be used in actual implementation.

[0089] Figure 9 This is a schematic diagram of an indoor positioning device provided in an embodiment of this application.Figure 2 As shown, an indoor positioning device 40 is used to improve the efficiency of locating terminal devices, for example, for performing... Figure 10 An indoor positioning method is shown. The indoor positioning device 40 includes: an acquisition unit 401 and a processing unit 402;

[0090] Acquisition unit 401 is used to acquire the location information of each indoor base station within the target area;

[0091] Processing unit 402 is used to determine multiple network sensing data corresponding to each of the multiple terminal devices accessed by each indoor base station. The target area includes multiple indoor base stations, each terminal device accesses multiple indoor base stations at the same time, one network sensing data corresponds to one indoor base station, and the network sensing data includes at least one of the following: signal quality data, network rate data, and coverage quality data.

[0092] The processing unit 402 is also used to determine N target base stations from multiple indoor base stations accessed by the target terminal device based on multiple network sensing data corresponding to the target terminal device, and to construct a target coordinate system corresponding to the target area based on the N target base stations, wherein the network sensing data corresponding to the N target base stations is greater than or equal to a first preset threshold, and N is a positive integer;

[0093] The processing unit 402 is also used to divide the target area into multiple sub-regions based on the target coordinate system according to the location information of N target base stations and multiple network sensing data corresponding to the target terminal device, wherein the network sensing data corresponding to each sub-region in the multiple sub-regions are in the same range;

[0094] The processing unit 402 is also used to determine the location information of the target terminal device based on the target coordinate system and multiple sub-regions according to multiple network sensing data corresponding to the target terminal device.

[0095] In one possible implementation, the processing unit 402 is further configured to determine M target base stations located in multiple directions from the N target base stations based on the location information of each target base station among the N target base stations, where M is a positive integer less than or equal to N; the processing unit 402 is further configured to construct a target coordinate system corresponding to the target area based on the M target base stations, where at the origin of the target coordinate system, the difference between the network sensing data corresponding to the M target base stations is less than or equal to a second preset threshold.

[0096] In one possible implementation, the processing unit 402 is further configured to determine the location information of each coordinate point in the target coordinate system in the target area based on the location information of N target base stations; the processing unit 402 is further configured to determine the network sensing data corresponding to each coordinate point in the target coordinate system based on multiple network sensing data corresponding to the target terminal device; the processing unit 402 is further configured to divide the value range corresponding to the network sensing data into multiple value intervals, and divide the target area into multiple sub-areas based on the network sensing data corresponding to each coordinate point in the target coordinate system.

[0097] In one possible implementation, the processing unit 402 is further configured to determine N network sensing data corresponding to N target base stations from multiple network sensing data corresponding to the target terminal device; the processing unit 402 is further configured to determine the target coordinate point corresponding to the target terminal device based on the N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system; the processing unit 402 is further configured to determine the location information of the target terminal device based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system in the target region.

[0098] In the case of implementing the functions of the integrated modules described above in hardware, this application provides another possible structural diagram of the electronic device involved in the above embodiments. For example... Figure 2 As shown, an electronic device 60 is used to improve the efficiency of locating terminal devices, for example, for performing... Figure 10 An indoor positioning method is shown. The electronic device 60 includes a processor 601, a memory 602, and a bus 603. The processor 601 and the memory 602 can be connected via the bus 603.

[0099] Processor 601 is the control center of the communication device. It can be a single processor or a collective term for multiple processing elements. For example, processor 601 can be a general-purpose central processing unit (CPU) or other general-purpose processors. The general-purpose processor can be a microprocessor or any conventional processor.

[0100] As one embodiment, processor 601 may include one or more CPUs, for example Figure 10 CPU0 and CPU1 are shown in the diagram.

[0101] The memory 602 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), disk storage media or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but is not limited thereto.

[0102] As one possible implementation, the memory 602 can exist independently of the processor 601. The memory 602 can be connected to the processor 601 via a bus 603 and is used to store instructions or program code. When the processor 601 calls and executes the instructions or program code stored in the memory 602, it can implement the indoor positioning method provided in this application embodiment.

[0103] In another possible implementation, the memory 602 can also be integrated with the processor 601.

[0104] Bus 603 can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus. This bus can be divided into address bus, data bus, control bus, etc. For ease of representation, Figure 10 The bus is represented by a single thick line, but this does not mean that there is only one bus or one type of bus.

[0105] It should be pointed out that, Figure 10 The structure shown does not constitute a limitation on the electronic device 60. Except... Figure 9 In addition to the components shown, the electronic device 60 may include more or fewer components than illustrated, or combine certain components, or have different component arrangements.

[0106] As an example, combined Figure 10 The functions implemented by the acquisition unit 401 and the processing unit 402 in the electronic device are the same as Figure 10 The processor 601 in it has the same function.

[0107] Optional, such as ​As shown, the electronic device 60 provided in this application embodiment may further include a communication interface 604.

[0108] Communication interface 604 is used to connect with other devices via a communication network. This communication network can be Ethernet, a wireless access network, a wireless local area network (WLAN), etc. Communication interface 604 may include a receiving unit for receiving data and a transmitting unit for transmitting data.

[0109] In one design, the communication interface in the electronic device provided in this application embodiment can also be integrated into the processor.

[0110] Through the above description of the embodiments, those skilled in the art will clearly understand that, for the sake of convenience and brevity, only the division of the above functional units is used as an example. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The specific working process of the system, device, and unit described above can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0111] This application also provides a computer-readable storage medium storing instructions. When a computer executes these instructions, the computer performs each step of the method flow shown in the above method embodiments.

[0112] Embodiments of this application provide a computer program product containing instructions that, when executed on a computer, cause the computer to perform an indoor positioning method as described in the above method embodiments.

[0113] The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), registers, hard disks, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing, or any other form of computer-readable storage medium in the art.

[0114] An exemplary storage medium is coupled to a processor, enabling the processor to read information from and write information to the storage medium. Of course, the storage medium can also be a component of the processor. The processor and storage medium can reside within an application-specific integrated circuit (ASIC).

[0115] In the embodiments of this application, the computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0116] Since the electronic devices, computer-readable storage media, and computer program products in the embodiments of this application can be applied to the above methods, the technical effects they can achieve can also be referred to the above method embodiments. The embodiments of this application will not be repeated here.

[0117] The above are merely specific embodiments of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions within the technical scope disclosed in this application should be covered within the scope of protection of this application.

Claims

1. An indoor positioning method, characterized in that, The method includes: The location information of each indoor base station in the target area is obtained, and multiple network sensing data corresponding to each terminal device among the multiple terminal devices accessed by each indoor base station are determined. The target area includes multiple indoor base stations, and each terminal device accesses multiple indoor base stations at the same time. One network sensing data corresponds to one indoor base station. The network sensing data includes at least one of the following: signal quality data, network rate data, and coverage quality data. Based on multiple network sensing data corresponding to the target terminal device, N target base stations are determined from multiple indoor base stations accessed by the target terminal device. The network sensing data corresponding to the N target base stations is greater than or equal to a first preset threshold, where N is a positive integer. Based on the location information of each of the N target base stations, M target base stations located in multiple directions are determined from the N target base stations, where M is a positive integer less than or equal to N; Based on the M target base stations, a target coordinate system corresponding to the target area is constructed. At the origin of the target coordinate system, the difference between the network sensing data corresponding to the M target base stations is less than or equal to a second preset threshold. Based on the location information of the N target base stations and the multiple network sensing data corresponding to the target terminal device, the target area is divided into multiple sub-regions based on the target coordinate system, and the network sensing data corresponding to each sub-region is within the same range. Based on multiple network sensing data corresponding to the target terminal device, the location information of the target terminal device is determined according to the target coordinate system and the multiple sub-regions.

2. The method according to claim 1, characterized in that, The step of dividing the target area into multiple sub-regions based on the target coordinate system, according to the location information of the N target base stations and multiple network sensing data corresponding to the target terminal device, includes: Based on the location information of the N target base stations, determine the location information of each coordinate point in the target coordinate system corresponding to the target area; Based on multiple network sensing data corresponding to the target terminal device, determine the network sensing data corresponding to each coordinate point in the target coordinate system; The range of values ​​corresponding to the network sensing data is divided into multiple value intervals, and the target area is divided into multiple sub-regions based on the network sensing data corresponding to each coordinate point in the target coordinate system.

3. The method according to claim 1, characterized in that, The step of determining the location information of the target terminal device based on multiple network sensing data corresponding to the target terminal device, and based on the target coordinate system and the multiple sub-regions, includes: From the multiple network sensing data corresponding to the target terminal device, determine the N network sensing data corresponding to the N target base stations; Based on the N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system, the target coordinate point corresponding to the target terminal device is determined; The location information of the target terminal device is determined based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system in the target region.

4. An indoor positioning device, characterized in that, The indoor positioning device includes: an acquisition unit and a processing unit; The acquisition unit is used to acquire the location information of each indoor base station within the target area; The processing unit is used to determine multiple network sensing data corresponding to each of the multiple terminal devices accessed by each indoor base station. The target area includes multiple indoor base stations, and each terminal device accesses multiple indoor base stations simultaneously. One network sensing data corresponds to one indoor base station. The network sensing data includes at least one of the following: signal quality data, network speed data, and coverage quality data. The processing unit is further configured to determine N target base stations from multiple indoor base stations accessed by the target terminal device based on multiple network sensing data corresponding to the target terminal device, wherein the network sensing data corresponding to the N target base stations is greater than or equal to a first preset threshold, and N is a positive integer; The processing unit is further configured to determine M target base stations located in multiple directions from the N target base stations based on the location information of each target base station among the N target base stations, where M is a positive integer less than or equal to N; The processing unit is further configured to construct a target coordinate system corresponding to the target area based on the M target base stations, wherein at the origin of the target coordinate system, the difference between the network sensing data corresponding to the M target base stations is less than or equal to a second preset threshold. The processing unit is further configured to divide the target area into multiple sub-regions based on the target coordinate system according to the location information of the N target base stations and multiple network sensing data corresponding to the target terminal device, wherein the network sensing data corresponding to each sub-region in the multiple sub-regions are within the same range; The processing unit is further configured to determine the location information of the target terminal device based on the target coordinate system and the multiple sub-regions according to multiple network sensing data corresponding to the target terminal device.

5. The indoor positioning device according to claim 4, characterized in that, The processing unit is further configured to determine the location information of each coordinate point in the target coordinate system in the target area based on the location information of the N target base stations; The processing unit is further configured to determine the network sensing data corresponding to each coordinate point in the target coordinate system based on the multiple network sensing data corresponding to the target terminal device. The processing unit is further configured to divide the value range corresponding to the network sensing data into multiple value intervals, and divide the target area into multiple sub-regions according to the network sensing data corresponding to each coordinate point in the target coordinate system.

6. The indoor positioning device according to claim 4, characterized in that, The processing unit is further configured to determine N network sensing data corresponding to the N target base stations from multiple network sensing data corresponding to the target terminal device; The processing unit is further configured to determine the target coordinate point corresponding to the target terminal device based on the N network sensing data and the network sensing data corresponding to each coordinate point in the target coordinate system. The processing unit is further configured to determine the location information of the target terminal device based on the target coordinate point corresponding to the target terminal device and the target sub-region corresponding to each coordinate point in the target coordinate system in the target region.

7. An electronic device, characterized in that, include: A processor and a memory; wherein the memory is used to store one or more programs, the one or more programs including computer execution instructions, wherein when the electronic device is running, the processor executes the computer execution instructions stored in the memory to cause the electronic device to perform an indoor positioning method according to any one of claims 1-3.

8. A computer-readable storage medium for storing one or more programs, characterized in that, The one or more programs include instructions that, when executed by a computer, cause the computer to perform an indoor positioning method as described in any one of claims 1-3.

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