Indoor positioning method, apparatus, electronic device, and computer-readable storage medium

Abstract

The application relates to an indoor positioning method, device, electronic equipment, positioning equipment, storage medium and computer program product. The method comprises the following steps: receiving a visible light signal and an electromagnetic wave signal related to the position of the positioning equipment; determining first positioning information of the current position of the electronic equipment based on the visible light signal, and determining second positioning information of the current position based on the electromagnetic wave signal; and determining target positioning information of the current position according to the first positioning information and the second positioning information. The method can effectively improve the accuracy of positioning the electronic equipment in the indoor environment.

Description

Technical Field

[0001] This application relates to the field of computer technology, and in particular to an indoor positioning method, apparatus, electronic device, positioning equipment, computer-readable storage medium, and computer program product. Background Technology

[0002] With the development of computer technology, various positioning technologies have emerged, such as GPS (Global Positioning System), cell tower positioning, and Wi-Fi (Wireless-Fidelity) positioning. Positioning technologies can accurately identify the location of a target, providing users with functions such as route finding and navigation.

[0003] The Global Positioning System (GPS) is a satellite navigation and positioning system that uses satellite signals to achieve positioning. However, satellite signals are severely affected indoors, resulting in inaccurate GPS positioning indoors. Summary of the Invention

[0004] This application provides an indoor positioning method, apparatus, electronic device, computer-readable storage medium, and computer program product that can improve the accuracy of indoor positioning.

[0005] An indoor positioning method, comprising:

[0006] Receives visible light and electromagnetic wave signals related to the location of the positioning device;

[0007] First positioning information for determining the current location of the electronic device based on the visible light signal, and second positioning information for determining the current location based on the electromagnetic wave signal;

[0008] Based on the first positioning information and the second positioning information, the target positioning information of the current location is determined.

[0009] An indoor positioning device, used in electronic devices, includes:

[0010] The receiving module is used to receive visible light signals and electromagnetic wave signals related to the position of the positioning device;

[0011] The first determining module is used to determine first positioning information of the current position of the electronic device based on the visible light signal, and to determine second positioning information of the current position based on the electromagnetic wave signal;

[0012] The second determining module is used to determine the target positioning information of the current location based on the first positioning information and the second positioning information.

[0013] An electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to perform the following steps:

[0014] Receives visible light and electromagnetic wave signals related to the location of the positioning device;

[0015] First positioning information for determining the current location of the electronic device based on the visible light signal, and second positioning information for determining the current location based on the electromagnetic wave signal;

[0016] Based on the first positioning information and the second positioning information, the target positioning information of the current location is determined.

[0017] A computer-readable storage medium having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0018] Receives visible light and electromagnetic wave signals related to the location of the positioning device;

[0019] First positioning information for determining the current location of the electronic device based on the visible light signal, and second positioning information for determining the current location based on the electromagnetic wave signal;

[0020] Based on the first positioning information and the second positioning information, the target positioning information of the current location is determined.

[0021] A computer program product, comprising a computer program, wherein the computer program, when executed by a processor, performs the following steps:

[0022] Receives visible light and electromagnetic wave signals related to the location of the positioning device;

[0023] First positioning information for determining the current location of the electronic device based on the visible light signal, and second positioning information for determining the current location based on the electromagnetic wave signal;

[0024] Based on the first positioning information and the second positioning information, the target positioning information of the current location is determined.

[0025] The aforementioned indoor positioning method, device, electronic equipment, computer-readable storage medium, and computer program product receive visible light signals and electromagnetic wave signals related to the position of the positioning device. Based on the visible light signals, they determine first positioning information of the current position of the electronic equipment, and based on the electromagnetic wave signals, they determine second positioning information of the current position. This allows for the acquisition of corresponding positioning information through different positioning methods. Based on the first and second positioning information, target positioning information of the current position is determined. This enables the complementary fusion of positioning information obtained through two different positioning methods, resulting in a more accurate determination of the electronic equipment's location and improved positioning precision.

[0026] A positioning device, the positioning device comprising:

[0027] The processing unit is configured to determine first data and second data related to the location of the positioning device, and send the first data to the optical communication unit and the second data to the electromagnetic wave communication unit.

[0028] An optical communication unit, connected to the processing unit, is used to receive the first data, modulate the first data into a visible light signal, and transmit it.

[0029] An electromagnetic wave communication unit, connected to the processing unit, is used to convert the second data into a corresponding electromagnetic wave signal and send it.

[0030] Wherein, the visible light signal is used to indicate first positioning information for the electronic device to determine the current position of the electronic device based on the visible light signal; the electromagnetic wave signal is used to indicate second positioning information for the electronic device to determine the current position based on the electromagnetic wave signal; the first positioning information and the second positioning information are used to determine target positioning information for the current position. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a diagram illustrating the application environment of an indoor positioning method in one embodiment.

[0033] Figure 2 Here is a flowchart of an indoor positioning method in one embodiment;

[0034] Figure 3 This is a schematic diagram of the positioning device in one embodiment;

[0035] Figure 4 This is a schematic diagram of the positioning base station structure in another embodiment;

[0036] Figure 5 This is a schematic diagram illustrating the coverage area of ​​the signal emitted by the positioning base station in one embodiment;

[0037] Figure 6 This is a schematic diagram illustrating the location of an electronic device using multiple positioning base stations in one embodiment;

[0038] Figure 7 This is a structural block diagram of an indoor positioning device in one embodiment;

[0039] Figure 8 This is a diagram of the internal structure of an electronic device in one embodiment. Detailed Implementation

[0040] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0041] The indoor positioning method provided in this application embodiment can be applied to, for example... Figure 1 In the application environment shown, electronic device 102 communicates with positioning device 104 via a network. Positioning device 104 determines first and second data related to the location of the positioning device, converting the first data into a corresponding visible light signal and the second data into a corresponding electromagnetic wave signal. Positioning device 104 sends the visible light and electromagnetic wave signals related to the location of the positioning device to electronic device 102. Electronic device 102 receives the visible light and electromagnetic wave signals related to the location of the positioning device. Based on the visible light signals, electronic device 102 determines first positioning information of the current location of the electronic device, and based on the electromagnetic wave signals, determines second positioning information of the current location. Based on the first and second positioning information, electronic device 102 determines the target positioning information of the current location. Positioning device 104 may be, but is not limited to, a base station; electronic device 102 may be, but is not limited to, various personal computers, laptops, smartphones, tablets, IoT devices, and portable wearable devices. IoT devices may include smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, etc. Portable wearable devices may include smartwatches, smart bracelets, head-mounted devices, etc.

[0042] In one embodiment, such as Figure 2 As shown, an indoor positioning method is provided, which can be applied to... Figure 1 Taking an electronic device as an example, the explanation includes the following steps:

[0043] Step 202: Receive visible light signals and electromagnetic wave signals related to the position of the positioning device.

[0044] Visible Light Communication (VLC) refers to a communication method that uses visible light as an information carrier to directly transmit light signals through the air. These light signals are known as visible light signals. For example, information can be transmitted using the high-speed, invisible flickering signals emitted by fluorescent lamps or light-emitting diodes (LEDs). Another example of visible light communication technology is Light Fidelity (LIFI), also known as visible light wireless communication. LIFI is a novel wireless transmission technology that utilizes the visible light spectrum for data transmission. Visible light spectrum includes, for example, the light emitted by a light bulb.

[0045] Wireless communication refers to long-distance communication between multiple nodes using electromagnetic waves that do not propagate through conductors or cables. Electromagnetic waves are oscillating particle waves generated and emitted in space by electric and magnetic fields that are in the same direction and perpendicular to each other. They are electromagnetic fields that propagate in wave form, and electromagnetic wave signals are regular waves. Wireless communication, such as Ultra Wide Band (UWB), is a wireless carrier communication technology that does not use sinusoidal carriers but instead uses nanosecond-level non-sinusoidal narrow pulses to transmit data, thus occupying a very wide frequency spectrum.

[0046] In one embodiment, UWB technology refers to the UWB technology in the 802.15.4 protocol.

[0047] Specifically, the positioning device emits visible light signals and electromagnetic wave signals related to its own position, and the electronic device can receive these visible light signals and electromagnetic wave signals. Furthermore, when the electronic device needs to locate its current position, it performs visible light signal detection and electromagnetic wave signal detection to receive visible light signals and electromagnetic wave signals related to the position of the positioning device.

[0048] Step 204: Determine the first positioning information of the current position of the electronic device based on the visible light signal, and determine the second positioning information of the current position based on the electromagnetic wave signal.

[0049] The first positioning information refers to the positioning information obtained through visible light communication technology, that is, positioning information obtained through visible light. The second positioning information refers to the positioning information obtained through visible light communication technology, that is, positioning information obtained through visible light.

[0050] Specifically, the electronic device reconstructs visible light signals into corresponding information, and determines first positioning information of the electronic device at its current location based on the information reconstructed from the visible light signals. The electronic device also reconstructs electromagnetic wave information into corresponding information, and determines second positioning information of its current location based on the information reconstructed from the electromagnetic wave signals.

[0051] Furthermore, the electronic device reconstructs the visible light signal into corresponding information, obtains positioning information from the reconstructed information, and uses the obtained positioning information as the first positioning information of the electronic device at its current location. The electronic device also reconstructs the electromagnetic wave signal into corresponding information, obtains positioning information from the reconstructed information, and uses the obtained positioning information as the second positioning information of the electronic device at its current location.

[0052] In one embodiment, the positioning device can locate the electronic device using a two-way ranging method or a Time Difference of Arrival (TDOA) positioning method.

[0053] Two-way ranging can specifically be achieved using two-way time-of-flight (TW-TOF). In this method, both the electronic device and the positioning device generate independent timestamps from the moment they are activated. At the first moment of its own timestamp, the electronic device transmits a request pulse signal. The positioning device receives this pulse signal at the second moment of its own timestamp and transmits a response signal at the third moment, which is received by the electronic device at the fourth moment of its own timestamp. Based on the first, second, third, and fourth moments, the positioning device calculates the time of flight of the pulse signal between the electronic and positioning devices, thus determining the flight distance between them. Based on the flight distance and the location-related information of the positioning device, a second positioning information is determined for the electronic device at its current location. This positioning information is then converted into a corresponding pulse signal and sent back to the electronic device. This pulse signal is an electromagnetic wave signal.

[0054] In one embodiment, the electronic device converts the first, second, third, and fourth time points, along with the location-related information of the positioning device, into corresponding pulse signals and sends them to the electronic device. The electronic device then restores the pulse signals to the corresponding information and determines the second positioning information of the electronic device at its current location based on the restored information.

[0055] TDOA (Time Difference of Arrival) positioning is a method of positioning that utilizes time differences. By determining the arrival time of pulse signals from an electronic device to a positioning device, the distance between the electronic device and the positioning device can be calculated. Using the distances between the electronic device and each positioning device (drawing a circle with the electronic device as the center and the distances as the radius), the secondary positioning information of the electronic device at its current location can be determined. In other words, by using the time differences in the arrival times of pulse signals from the electronic device to each positioning device, a hyperbola can be plotted with the positioning device as the focal point and the distance difference as the major axis; the intersection of the hyperbola represents the secondary positioning information of the positioning device.

[0056] Step 206: Determine the target location information of the current location based on the first location information and the second location information.

[0057] Specifically, the target location information is the final location information of the electronic device at its current location. The electronic device fuses the first location information and the second location information to obtain the target location information of the electronic device at its current location.

[0058] In one embodiment, the electronic device can obtain a first weight corresponding to the first positioning information and a second weight corresponding to the second positioning information, and fuse the first positioning information and the second positioning information according to the first weight and the second weight to obtain the target positioning information of the current location.

[0059] In one embodiment, the first positioning information, the second positioning information, and the target positioning information can all be represented by positioning coordinates. The electronic device can fuse the first positioning coordinates and the second positioning coordinates to obtain the target positioning coordinates of the electronic device at its current location. Specifically, fusing the first and second positioning coordinates can involve averaging the first and second positioning coordinates to obtain an average coordinate, which is then used as the target positioning coordinate. Alternatively, fusing the first and second positioning coordinates can involve determining the product of the first positioning coordinate and a first weight, determining the product of the second positioning coordinate and a second weight, averaging the two products to obtain an average coordinate, and using this average coordinate as the target positioning coordinate.

[0060] In one embodiment, the electronic device can determine the signal strength corresponding to the visible light signal, and fuse the first positioning information and the second positioning information based on the signal strength to obtain the target positioning information of the current location.

[0061] In the aforementioned indoor positioning method, visible light signals and electromagnetic wave signals related to the location of the positioning device are received. First positioning information is determined based on the visible light signals, and second positioning information is determined based on the electromagnetic wave signals. This allows for obtaining corresponding positioning information through different positioning methods. Based on the first and second positioning information, the target positioning information for the current location is determined. Thus, the positioning information obtained through the two different positioning methods can be mutually supplemented and fused, resulting in a more accurate determination of the electronic device's location and more precise indoor positioning.

[0062] In one embodiment, receiving visible light signals and electromagnetic wave signals related to the position of the positioning device includes: receiving visible light signals transmitted by the positioning device based on the position modulation of the positioning device, and receiving electromagnetic wave signals transmitted by the positioning device based on the position modulation of the positioning device.

[0063] The method involves determining first positioning information of the current location of an electronic device based on visible light signals and second positioning information of the current location based on electromagnetic wave signals, including: demodulating the visible light signals to obtain the first positioning information of the current location of the electronic device; and demodulating the electromagnetic wave signals to obtain the second positioning information of the current location.

[0064] Specifically, the positioning device acquires information related to its own position and modulates this information into a corresponding visible light signal based on a first modulation rule. The first modulation rule is the rule for modulating information into a corresponding visible light signal. The positioning device then acquires a second modulation rule and modulates the information related to its own position into a corresponding electromagnetic wave signal. The second modulation rule is a rule for modulating information into a corresponding electromagnetic wave signal, and it differs from the first modulation rule. The positioning device then emits both the visible light signal and the electromagnetic wave signal.

[0065] The first modulation rule corresponds to the first demodulation rule, which is used to restore the visible light signal to its corresponding information. The second modulation rule corresponds to the second demodulation rule, which is used to restore the electromagnetic wave signal to its corresponding information.

[0066] When it is necessary to locate the current position of an electronic device, the device detects visible light signals and electromagnetic wave signals. Upon detection of both, a first demodulation rule and a second demodulation rule are acquired. The detected visible light signal is demodulated using the first demodulation rule to reconstruct the corresponding information, and the location information is extracted from this reconstructed information, which is then used as the first location information of the electronic device. Similarly, the detected electromagnetic wave signal is demodulated using the second demodulation rule to reconstruct the corresponding information, and the location information is extracted from this reconstructed information, which is then used as the second location information of the electronic device.

[0067] In one embodiment, the positioning device can emit visible light signals within a first preset range and electromagnetic wave signals within a second preset range, wherein the first preset range is smaller than the second preset range.

[0068] In another embodiment, the electronic device can periodically or intermittently transmit visible light signals within a first preset range, and periodically or intermittently transmit electromagnetic wave signals within a second preset range.

[0069] In other embodiments, the electronic device may periodically or intermittently broadcast visible light signals within a first preset range.

[0070] In one embodiment, the positioning device acquires first data and second data related to its own location, wherein the first data is different from the second data. The positioning device modulates the first data into a corresponding visible light signal based on a first modulation rule, and modulates the second data into a corresponding electromagnetic wave signal based on a second modulation rule. When the electronic device detects both the visible light information and the electromagnetic wave signal, it restores the corresponding first data from the visible light signal using a first demodulation rule, and obtains positioning information from the first data, using this positioning information as the first positioning information of the electronic device's current location. Similarly, it restores the corresponding second data from the electromagnetic wave signal using a second demodulation rule, and obtains positioning information from the second data, using this positioning information as the second positioning information of the electronic device's current location.

[0071] In this embodiment, a visible light signal modulated based on the location of the positioning device is received, and an electromagnetic wave signal modulated based on the location of the positioning device is also received. The modulated signal can conceal direct information, improving the security of information transmission. Furthermore, transmitting signals with location information in visible light and electromagnetic waves increases the signal transmission speed. The visible light signal is demodulated to obtain first positioning information of the electronic device's current location, thus obtaining information transmitted in the form of a visible light signal. The electromagnetic wave signal is then demodulated to obtain information transmitted in the form of an electromagnetic wave signal, thus obtaining second positioning information of the current location. This allows for a more accurate determination of the final positioning information of the electronic device based on positioning information in different forms, resulting in higher positioning accuracy.

[0072] In one embodiment, determining the target location information of the current location based on the first location information and the second location information includes:

[0073] Determine the signal strength corresponding to the visible light signal; based on the signal strength, fuse the first positioning information and the second positioning information to obtain the target positioning information of the current location.

[0074] Among them, fusion processing refers to combining the positioning information obtained from different positioning methods.

[0075] Specifically, the electronic device demodulates the visible light signal to obtain signal strength information carried by the visible light signal, which represents the signal strength of the visible light signal. Based on the signal strength, the electronic device fuses the first positioning information and the second positioning information, and uses the fused positioning information as the target positioning information corresponding to the current location.

[0076] In one embodiment, the electronic device can acquire a first demodulation rule, demodulate the visible light signal according to the first demodulation rule, obtain the information carried by the visible light signal, and obtain the intensity information corresponding to the visible light signal from the information carried by the visible light signal.

[0077] In one embodiment, the electronic device can determine the weight corresponding to the first positioning information based on the signal strength, and fuse the first positioning information and the second positioning information according to the weight corresponding to the first positioning information to obtain the target positioning information of the current location.

[0078] In one embodiment, the electronic device can determine a first weight corresponding to the first positioning information and a second weight corresponding to the second positioning information based on signal strength, and fuse the first positioning information and the second positioning information according to the first weight and the second weight to obtain the target positioning information of the current location. The first weight refers to the proportion of the first positioning information in the fusion process, and the second weight refers to the proportion of the second positioning information in the fusion process.

[0079] In this embodiment, the signal strength corresponding to the visible light signal is determined, and the signal strength characterizes the intensity of the visible light signal. The intensity of the visible light information detected by the electronic device is used as one of the factors in determining the final positioning information. This allows for the fusion of the first and second positioning information while considering the influence of signal strength, thus accurately determining the final positioning information of the current location.

[0080] In one embodiment, the electronic device demodulates a visible light signal to obtain the location information carried by the visible light signal and the signal strength of the visible light signal. The electronic device uses the location information carried by the visible light signal as its first location information at its current location.

[0081] In one embodiment, the first positioning information and the second positioning information are fused based on signal strength to obtain the target positioning information of the current location, including:

[0082] The first positioning information is adjusted based on the signal strength to obtain the adjusted positioning information; the target positioning information of the current location is obtained based on the adjusted positioning information and the second positioning information.

[0083] Specifically, the electronic device adjusts the first positioning information of the current location based on the signal strength of the visible light signal to obtain the adjusted positioning information. The electronic device can then combine the adjusted positioning information with the second positioning information to obtain the target positioning information corresponding to the current location.

[0084] In one embodiment, positioning information can be represented by specific positioning coordinates. For example, first positioning information can be represented by first positioning coordinates, second positioning information can be represented by second positioning coordinates, target positioning information can be represented by target positioning coordinates, and the signal strength of the visible light signal can be represented by an intensity value. The electronic device can calculate the product of the intensity value and the first positioning coordinates to obtain the adjusted positioning coordinates, and then average the adjusted positioning coordinates with the second positioning coordinates to obtain the target positioning coordinates corresponding to the current position.

[0085] In one embodiment, the electronic device can acquire a preset value, calculate the ratio of the intensity value to the preset value, and calculate the product of this ratio and the first positioning coordinate to obtain the adjusted positioning coordinates. The electronic device then averages the adjusted positioning coordinates and the second positioning coordinate to obtain the target positioning coordinates corresponding to the current position.

[0086] For example, electronic devices can calculate the target location coordinates using the following formula:

[0087]

[0088] Where L is the signal strength of the visible light signal received by the electronic device, and K is a preset constant. (x,y) are the target positioning coordinates, (x LiFi ,y LiFi (x) represents the first positioning coordinate of the current position. uwb ,y uwb ) represents the second positioning coordinate of the current position.

[0089] In this embodiment, the first positioning information is adjusted based on signal strength to obtain adjusted positioning information. This adjustment can be achieved by combining the signal strength of the detected visible light signal to obtain preliminary adjusted positioning information. Based on this preliminary adjustment, the adjusted positioning information is further combined with the second positioning information. This integrates the positioning information obtained from the two different positioning methods, thereby accurately calculating the final target positioning information for the current location and effectively improving positioning accuracy.

[0090] In one embodiment, the method further includes: determining the positioning information of the target location; and generating an indoor navigation route from the current location to the target location based on the target positioning information of the current location and the target location.

[0091] Among them, a navigation route refers to a route that has a directional orientation from the starting point to the destination, and an indoor navigation route refers to a route that has a directional orientation from the starting point to the destination indoors.

[0092] Specifically, the electronic device determines the user's desired destination, i.e., the target location, and obtains the location information corresponding to that target location. Based on this location information, the electronic device can plan a route from the current location to the target location, generating a navigation route.

[0093] In one embodiment, the indoor navigation route can be an indoor real-scene navigation route, which refers to a directional route from the starting point to the destination generated in combination with the actual indoor scene.

[0094] In one embodiment, the indoor navigation route can be displayed on an electronic map. After the electronic device determines the target location information corresponding to the current location and the location information corresponding to the target location, it displays the current location and the target location on the electronic map, and generates an indoor navigation route based on the target location information of the current location and the target location. The indoor navigation route is displayed on the electronic map, and when the user triggers the real-view navigation control, a corresponding indoor real-view navigation route is generated.

[0095] In this embodiment, route planning is performed using the target location information of the current location and the target location information to generate a reliable indoor navigation route from the starting point to the destination, providing navigation for users indoors. This indoor navigation route can be directly displayed on an electronic map on the electronic device, eliminating the need for additional dedicated equipment or software development. This reduces the consumption of terminal resources, making the user's navigation route closer to the real route and improving navigation accuracy. Furthermore, the indoor navigation route can be an indoor real-scene navigation route, perfectly matching the indoor environment. This results in a navigation route that better reflects the current actual scenario, making user navigation more accurate.

[0096] In one embodiment, such as Figure 3 As shown, a positioning device is provided, which includes a processing unit, an optical communication unit, and an electromagnetic wave communication unit, wherein...

[0097] The processing unit is used to determine first data and second data related to the location of the positioning device, and to send the first data to the optical communication unit and the second data to the electromagnetic wave communication unit.

[0098] An optical communication unit, connected to a processing unit, is used to receive first data, modulate the first data into a visible light signal, and transmit it.

[0099] An electromagnetic wave communication unit, connected to a processing unit, is used to convert the second data into a corresponding electromagnetic wave signal and send it.

[0100] Among them, the visible light signal is used to indicate the first positioning information of the electronic device to determine the current position of the electronic device based on the visible light signal; the electromagnetic wave signal is used to indicate the second positioning information of the electronic device to determine the current position based on the electromagnetic wave signal; the first positioning information and the second positioning information are used to determine the target positioning information of the current position.

[0101] Specifically, the processing unit of the positioning device determines first data and second data related to the location of the positioning device, wherein the first data is different from the second data. The processing unit sends the first data to the optical communication unit and the second data to the electromagnetic wave communication unit. After receiving the first data, the optical communication unit modulates the first data into a visible light signal and transmits it. After receiving the second data, the electromagnetic wave communication unit converts the second data into a corresponding electromagnetic wave signal and transmits it.

[0102] When an electronic device needs to determine its current location, it performs visible light signal detection and electromagnetic wave signal detection to receive visible light signals and electromagnetic wave signals related to the device's location. The electronic device determines first positioning information based on the visible light signals and second positioning information based on the electromagnetic wave signals. Based on the first and second positioning information, the electronic device determines the target positioning information for its current location. The related processing of the electronic device can be found in the various embodiments of the indoor positioning method described above, and will not be repeated here.

[0103] In one embodiment, the processing unit of the positioning device acquires the location and identifier of the positioning device, determines the signal strength, emission time, and emission duration of the visible light signal, and uses this information as first data related to the location of the positioning device. The processing unit uses the location, identifier, emission time, and emission duration of the electromagnetic wave signal as second data related to the location of the positioning device.

[0104] In one embodiment, the electromagnetic wave communication unit receives a request-type electromagnetic wave signal sent by an electronic device at a first moment and records the second moment of receiving the request-type electromagnetic wave signal. The electronic device may, after a preset duration, send a response-type electromagnetic wave signal to the electronic device at a third moment, and the electronic device receives this response-type electromagnetic wave signal at a fourth moment. The electromagnetic wave communication unit sends the first, second, third, and fourth moments to the processing unit. Based on the first, second, third, and fourth moments, the processing unit can calculate the flight time of the electromagnetic wave signal between the electronic device and the positioning device, thereby determining the flight distance between the electronic device and the positioning device. Based on the flight distance and the position of the positioning device, the processing unit determines the second positioning information of the electronic device at its current location. The processing unit sends the second positioning information, the transmission time of the electromagnetic wave signal, the transmission duration, and other information as second data to the electromagnetic wave communication unit, causing the electromagnetic wave communication unit to convert the second data into a corresponding electromagnetic wave signal and send it.

[0105] In one embodiment, the electromagnetic wave communication unit sends the first moment, the second moment, the third moment, and the fourth moment to the processing unit. The processing unit uses the first moment, the second moment, the third moment, the fourth moment, the transmission time and transmission duration of the electromagnetic wave signal as second data and sends the second data to the electromagnetic wave communication unit, so that the electromagnetic wave communication unit converts the second data into the corresponding electromagnetic wave signal and sends it.

[0106] In this embodiment, the positioning device includes a processing unit, an optical communication unit, and an electromagnetic wave communication unit. The processing unit is connected to both the optical communication unit and the electromagnetic wave communication unit. The positioning device uses the processing unit to determine first data and second data related to its location. It sends the first data to the optical communication unit and the second data to the electromagnetic wave communication unit. The optical communication unit modulates the first data into a visible light signal and transmits it, while the electromagnetic wave communication unit converts the second data into a corresponding electromagnetic wave signal and transmits it. This allows for simultaneous positioning of the electronic device using both visible light and electromagnetic wave communication methods. After detecting both the visible light and electromagnetic wave signals, the electronic device determines first positioning information based on the visible light signal and second positioning information based on the electromagnetic wave signal. This enables the acquisition of corresponding positioning information through different positioning methods. Based on the first and second positioning information, the target positioning information for the current location is determined. This allows for the mutual supplementation and fusion of positioning information obtained from the two different positioning methods, resulting in a more accurate determination of the electronic device's location and more precise indoor positioning.

[0107] In one embodiment, the optical communication unit includes: an optical conversion unit and a signal transmission unit, wherein,

[0108] An optical conversion unit, connected to a processing unit, is used to modulate the first data into a visible light signal;

[0109] The signal transmitting unit, connected to the optical conversion unit, is used to transmit visible light signals.

[0110] Specifically, the optical communication unit includes an optical conversion unit and a signal transmission unit, with the optical conversion unit connected to both the processing unit and the signal transmission unit. The positioning device sends first data to the optical conversion unit through the processing unit, and the optical conversion unit modulates the first data into a visible light signal. The optical conversion unit then controls the signal transmission unit to transmit the visible light signal.

[0111] In this embodiment, the optical conversion unit modulates the first data into a visible light signal and transmits the visible light signal through the signal transmission unit to transmit the data to be transmitted in the form of a visible light signal, ensuring the security and efficiency of data transmission. Furthermore, visible light communication effectively enables the positioning of electronic devices.

[0112] In one embodiment, the electromagnetic wave communication unit includes an electromagnetic wave conversion unit and a radio frequency unit, wherein,

[0113] An electromagnetic wave conversion unit, connected to the processing unit, is used to convert the second data into a corresponding electromagnetic wave signal.

[0114] The radio frequency unit, connected to the electromagnetic wave conversion unit, is used to transmit electromagnetic wave signals.

[0115] Specifically, the electromagnetic wave communication unit includes an electromagnetic wave conversion unit and a radio frequency (RF) unit. The electromagnetic wave conversion unit is connected to both the processing unit and the RF unit. The positioning device converts the second data into a corresponding electromagnetic wave signal through the electromagnetic wave conversion unit, and the electromagnetic wave conversion unit controls the RF unit to send the electromagnetic wave signal.

[0116] In this embodiment, the electromagnetic wave conversion unit converts the second data into a corresponding electromagnetic wave signal and transmits the electromagnetic wave signal through the radio frequency unit to transmit the data to be transmitted in the form of an electromagnetic wave signal, ensuring the security of data transmission. Furthermore, the positioning of the electronic device is achieved through electromagnetic wave communication. This allows the subsequent electronic device to combine the positioning information obtained through visible light communication and electromagnetic wave communication to more accurately determine the final positioning information, effectively improving positioning accuracy.

[0117] like Figure 4 The diagram shows a schematic of a positioning device in one embodiment. This positioning device can be a positioning base station, including a processing unit, an optical conversion unit, a signal transmission unit, an electromagnetic wave conversion unit, and a radio frequency unit. The processing unit can be a processor, the optical conversion unit can be a LiFi conversion unit, and the signal transmission unit can be a light source, such as an LED (light-emitting diode) lamp. The processing unit can be, for example, a chip in an LED lamp. The electromagnetic wave conversion unit can be a UWB conversion unit, and the radio frequency unit can be a UWB antenna. The processor performs logic processing, determines first data and second data related to the location of the positioning base station, and sends the first data to the LiFi conversion unit and the second data to the UWB conversion unit. The LiFi conversion unit modulates the first data into a LiFi signal and controls the light source to transmit the LiFi signal. The UWB conversion unit converts the second data into a corresponding UWB signal and transmits the UWB signal through the UWB antenna. The UWB antenna can also receive UWB signals transmitted from electronic devices.

[0118] In one embodiment, the electronic device can determine its final location coordinates indoors using UWB and LiFi positioning methods. The positioning device can be a positioning base station, and the electronic device can be a mobile phone.

[0119] Traditional positioning methods use UWB base stations, but the radiation below a UWB base station is in a null region, resulting in weak antenna energy and significant positioning errors. In this embodiment, the positioning base station's light source radiation shines downwards into this region, such as... Figure 5 As shown, the coverage area below the light source is much smaller than the coverage area that UWB communication can cover, making it possible to locate the zero point area using LiFi positioning.

[0120] LiFi positioning method: Each positioning base station will report its own coordinates (x... LiFi ,y LiFi Information such as the base station ID is modulated into a visible light signal, i.e., a LiFi signal, and broadcast periodically or intermittently. The mobile phone detects the visible light signal through its receiver. When it detects a modulated visible light signal emitted by a positioning base station, it analyzes the signal to obtain the coordinates (x, y, y). LiFi ,y LiFi ) and the signal intensity of the visible light signal, and then use the coordinate (x) LiFi ,y LiFi () serves as the first positioning coordinate of the electronic device at its current location.

[0121] In one embodiment, such as Figure 6 The diagram illustrates an indoor positioning system comprising multiple positioning devices, and potentially additional electronic devices. The system uses the multiple positioning devices to locate the electronic device, thereby determining first and second location information for the electronic device. Further, the multiple positioning devices can be multiple positioning base stations, and the electronic device can be a mobile phone.

[0122] like Figure 6 As shown, when modulated visible light signals emitted by multiple positioning base stations are detected, each visible light signal is analyzed separately to obtain the coordinates (x, y). LiFi ,y LiFi The phone obtains multiple coordinates and signal intensities from the signal strength of the visible light signal. The phone can then average the values ​​of these coordinates and the signal intensities to obtain the first positioning coordinate and the corresponding average signal intensity. Alternatively, the phone can choose to select the coordinate corresponding to the strongest signal intensity, the coordinate corresponding to the weakest signal intensity, or the coordinate corresponding to the median signal intensity as the first positioning coordinate.

[0123] UWB positioning method:

[0124] The mobile phone has an embedded tag that broadcasts a UWB (Ultra-Wideband) wireless carrier signal to the surrounding environment. When the UWB antenna in the positioning base station receives the UWB signal, it collects the time-of-flight value and calculates the distance between the mobile phone and the positioning base station. Based on the flight distance and the coordinates of the positioning base station, a second positioning coordinate is determined for the electronic device's current location.

[0125] Or, such as Figure 6 As shown, the distance between the mobile phone and the positioning base station can be determined by the time it takes for the UWB wireless carrier signal of the mobile phone to reach the positioning base station. Using the distance between the mobile phone and each base station, and the coordinates of each positioning base station, the second positioning coordinates of the electronic device at its current location can be calculated.

[0126] The method for calculating the location coordinates of a mobile phone is as follows:

[0127] When the mobile phone does not receive a LiFi signal from the positioning base station, the target positioning coordinates of the mobile phone are obtained from the positioning coordinates obtained by the UWB positioning method. That is, the target positioning coordinates (x, y) = (x uwb ,y uwb ),

[0128] (x uwb ,y uwb The coordinates obtained by UWB positioning are the second positioning coordinates, which are used as the target positioning coordinates.

[0129] When the mobile phone does not receive a UWB signal from the positioning base station, the target positioning coordinates of the mobile phone are obtained from the positioning coordinates obtained by the LiFi positioning method, that is, the first positioning coordinates are used as the target positioning coordinates.

[0130] When a mobile phone can detect both LiFi and UWB signals from a certain positioning base station, the phone's positioning coordinates need to be calculated by combining the positioning coordinates obtained from UWB positioning and LiFi positioning, i.e., the target positioning coordinates. Where L is the signal strength of the detected LiFi signal, and K is a preset constant.

[0131] Traditional methods often use UWB base stations for indoor positioning. However, when a mobile phone is very close to a UWB base station, the human body and environment can easily obstruct and interfere with the UWB communication path, increasing the relative error and thus the positioning error of the UWB base station. Furthermore, the radiation beneath some UWB base stations is in a null region, where the antenna radiation energy is relatively weak. When a mobile phone is very close to a UWB base station, the communication between the phone and the UWB base station is more susceptible to multipath interference, further increasing the relative error and thus the positioning error. In this embodiment, the positioning base station combines the use of UWB and LiFi signals. UWB communication has a large coverage area, while LiFi communication is used to cover null regions not covered by UWB communication. By fusing the two positioning coordinates, the influence of UWB multipath interference on the positioning coordinates is greatly reduced, improving positioning accuracy.

[0132] In one embodiment, an indoor positioning method is provided, comprising:

[0133] The positioning device modulates first data related to the positioning device's position into a corresponding visible light signal, and modulates second data related to the positioning device's position into a corresponding electromagnetic wave signal. The first data is different from the second data.

[0134] Then, the electronic device periodically or intermittently emits visible light signals and electromagnetic wave signals.

[0135] When an electronic device detects both visible light and electromagnetic wave signals, the visible light signal is demodulated to obtain the first positioning information of the current location of the electronic device and the signal strength corresponding to the visible light signal.

[0136] Next, the electronic device demodulates the electromagnetic wave signal to obtain the second positioning information of the current location.

[0137] Furthermore, the electronic device determines the target location information of the current location based on the first location information and the second location information.

[0138] Next, the electronic device adjusts the first positioning information based on the signal strength to obtain the adjusted positioning information; based on the adjusted positioning information and the second positioning information, the target positioning information of the current location is obtained.

[0139] Furthermore, the electronic device determines the positioning information of the target location; based on the target positioning information of the current location and the target location, it generates an indoor navigation route from the current location to the target location.

[0140] In this embodiment, the positioning device emits visible light signals and electromagnetic wave signals related to its own position. The electronic device receives the visible light signals and electromagnetic wave signals emitted by the positioning device. The modulated signals can hide direct information, improving the security of information transmission. Furthermore, emitting signals with location information in the form of visible light and electromagnetic waves can improve the signal transmission speed. The visible light signals are demodulated to obtain the first positioning information of the electronic device's current position and the signal strength of the visible light signals, thus obtaining the information transmitted in the form of visible light signals. The first positioning information of the electronic device's current position can then be obtained from the information transmitted in the form of visible light signals. The electromagnetic wave signals are demodulated to obtain the information transmitted in the form of electromagnetic wave signals, thus obtaining the second positioning information of the current position from the information transmitted in the form of electromagnetic wave signals.

[0141] The first positioning information is adjusted based on signal strength to obtain adjusted positioning information. This adjustment can be achieved by combining the signal strength of the detected visible light signal. Based on this initial adjustment, the adjusted positioning information is further combined with the second positioning information. This fusion of positioning information obtained from different methods allows for accurate calculation of the final target positioning information, effectively improving positioning accuracy.

[0142] By combining the current location's target location information with the target location's location information, route planning can generate reliable indoor navigation routes from the origin to the destination, providing navigation services to users indoors. These indoor navigation routes can be displayed directly on electronic maps on electronic devices, eliminating the need for additional dedicated equipment or software development. This reduces the consumption of terminal resources, making the user's navigation route closer to the real-world route and improving navigation accuracy. Furthermore, indoor navigation routes can be real-world indoor navigation routes, perfectly matching the indoor environment, resulting in more accurate navigation for users.

[0143] It should be understood that although the steps in the flowcharts of the above embodiments are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the above embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0144] Based on the same inventive concept, this application also provides an indoor positioning device for implementing the indoor positioning method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more indoor positioning device embodiments provided below can be found in the limitations of the indoor positioning method described above, and will not be repeated here.

[0145] In one embodiment, such as Figure 7 As shown, an indoor positioning device 700 is provided, applied to electronic devices, including: a receiving module 702, a first determining module 704, and a second determining module 706, wherein:

[0146] The receiving module 702 is used to receive visible light signals and electromagnetic wave signals related to the position of the positioning device.

[0147] The first determining module 704 is used to determine first positioning information of the current position of the electronic device based on visible light signals, and to determine second positioning information of the current position based on electromagnetic wave signals.

[0148] The second determining module 706 is used to determine the target positioning information of the current position based on the first positioning information and the second positioning information.

[0149] In this embodiment, visible light signals and electromagnetic wave signals related to the location of the positioning device are received. First positioning information is determined based on the visible light signals, and second positioning information is determined based on the electromagnetic wave signals. This allows for obtaining corresponding positioning information through different positioning methods. Based on the first and second positioning information, target positioning information for the current location is determined. This enables the positioning information obtained through two different positioning methods to be mutually complementary and fused, resulting in a more accurate determination of the electronic device's location and more precise indoor positioning.

[0150] In one embodiment, the receiving module 702 is used to receive a visible light signal transmitted by the positioning device based on the position modulation of the positioning device, and to receive an electromagnetic wave signal transmitted by the positioning device based on the position modulation of the positioning device.

[0151] The first determining module 704 is used to demodulate the visible light signal to obtain the first positioning information of the current position of the electronic device; and to demodulate the electromagnetic wave signal to obtain the second positioning information of the current position.

[0152] In this embodiment, a visible light signal modulated based on the location of the positioning device is received, and an electromagnetic wave signal modulated based on the location of the positioning device is also received. The modulated signal can conceal direct information, improving the security of information transmission. Furthermore, transmitting signals with location information in visible light and electromagnetic waves increases the signal transmission speed. The visible light signal is demodulated to obtain first positioning information of the electronic device's current location, thus obtaining information transmitted in the form of a visible light signal. The electromagnetic wave signal is then demodulated to obtain information transmitted in the form of an electromagnetic wave signal, thus obtaining second positioning information of the current location. This allows for a more accurate determination of the final positioning information of the electronic device based on positioning information in different forms, resulting in higher positioning accuracy.

[0153] In one embodiment, the second determining module 706 is further configured to determine the signal strength corresponding to the visible light signal; and to fuse the first positioning information and the second positioning information based on the signal strength to obtain the target positioning information of the current location.

[0154] In this embodiment, the signal strength corresponding to the visible light signal is determined, and the signal strength characterizes the intensity of the visible light signal. The intensity of the visible light information detected by the electronic device is used as one of the factors in determining the final positioning information. This allows for the fusion of the first and second positioning information while considering the influence of signal strength, thus accurately determining the final positioning information of the current location.

[0155] In one embodiment, the second determining module 706 is further configured to adjust the first positioning information based on the signal strength to obtain the adjusted positioning information;

[0156] Based on the adjusted positioning information and the second positioning information, the target positioning information of the current location is obtained.

[0157] In this embodiment, the first positioning information is adjusted based on signal strength to obtain adjusted positioning information. This adjustment can be achieved by combining the signal strength of the detected visible light signal to obtain preliminary adjusted positioning information. Based on this preliminary adjustment, the adjusted positioning information is further combined with the second positioning information. This integrates the positioning information obtained from the two different positioning methods, thereby accurately calculating the final target positioning information for the current location and effectively improving positioning accuracy.

[0158] In one embodiment, the device further includes a generation module for determining the positioning information of the target location; and generating an indoor navigation route from the current location to the target location based on the target positioning information of the current location and the target location.

[0159] In this embodiment, route planning is performed using the target location information of the current location and the target location information to generate a reliable indoor navigation route from the starting point to the destination, providing navigation for users indoors. This indoor navigation route can be directly displayed on an electronic map on the electronic device, eliminating the need for additional dedicated equipment or software development. This reduces the consumption of terminal resources, making the user's navigation route closer to the real route and improving navigation accuracy. Furthermore, the indoor navigation route can be an indoor real-scene navigation route, perfectly matching the indoor environment. This results in a navigation route that better reflects the current actual scenario, making user navigation more accurate.

[0160] Each module in the aforementioned indoor positioning device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the corresponding operations of each module.

[0161] In one embodiment, a computer device is provided, which may be an electronic device. In this embodiment, a terminal is used as an example, and its internal structure diagram can be as follows: Figure 8As shown, the computer device includes a processor, memory, input / output interface, communication interface, display unit, and input device. The processor, memory, and input / output interface are connected via a system bus, and the communication interface, display unit, and input device are also connected to the system bus via the input / output interface. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The input / output interface is used for exchanging information between the processor and external devices. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, mobile cellular networks, NFC (Near Field Communication), or other technologies. When the computer program is executed by the processor, it implements an indoor positioning method. The display unit is used to form a visually visible image and can be a display screen, projection device, or virtual reality imaging device. The display screen can be an LCD screen or an e-ink screen. The input device of the computer device can be a touch layer covering the display screen, or buttons, trackballs, or touchpads set on the casing of the computer device, or external keyboards, touchpads, or mice, etc.

[0162] Those skilled in the art will understand that Figure 8 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0163] This application also provides a computer-readable storage medium. One or more non-volatile computer-readable storage media containing computer-executable instructions, which, when executed by one or more processors, cause the processors to perform the steps of an indoor positioning method.

[0164] This application also provides a computer program product containing instructions that, when run on a computer, cause the computer to perform an indoor positioning method.

[0165] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions.

[0166] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0167] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0168] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An indoor positioning method, characterized in that, Applied to electronic devices, including: Receives visible light and electromagnetic wave signals related to the location of the positioning device; The first positioning coordinates of the current position of the electronic device are determined based on the visible light signal, and the second positioning coordinates of the current position are determined based on the electromagnetic wave signal; Determine the signal intensity corresponding to the visible light signal, determine the ratio of the signal intensity to a preset value, and multiply the ratio by the first positioning coordinate to obtain the adjusted positioning coordinates; The target positioning coordinates of the current position are obtained by averaging the adjusted positioning coordinates and the second positioning coordinates. Determine the positioning coordinates of the target location, and based on the target positioning coordinates of the current location and the target location, generate an indoor navigation route from the current location to the target location.

2. The method according to claim 1, characterized in that, The receiving of visible light signals and electromagnetic wave signals related to the position of the positioning device includes: Receives a visible light signal transmitted by a positioning device and modulated based on the position of the positioning device, and receives an electromagnetic wave signal transmitted by the positioning device and modulated based on the position of the positioning device. The step of determining the first positioning coordinates of the current position of the electronic device based on the visible light signal, and determining the second positioning coordinates of the current position based on the electromagnetic wave signal, includes: The visible light signal is demodulated to obtain the first positioning coordinates of the current position of the electronic device; The electromagnetic wave signal is demodulated to obtain the second positioning coordinates of the current position.

3. A positioning device, characterized in that, The positioning device includes: The processing unit is configured to determine first data and second data related to the location of the positioning device, and send the first data to the optical communication unit and the second data to the electromagnetic wave communication unit. An optical communication unit, connected to the processing unit, is used to receive the first data, modulate the first data into a visible light signal, and transmit it. An electromagnetic wave communication unit, connected to the processing unit, is used to convert the second data into a corresponding electromagnetic wave signal and send it. Wherein, the visible light signal is used to instruct the electronic device to determine the first positioning coordinates of the current position of the electronic device based on the visible light signal; the electromagnetic wave signal is used to instruct the electronic device to determine the second positioning coordinates of the current position based on the electromagnetic wave signal; the electronic device is also used to determine the signal strength corresponding to the visible light signal, determine the ratio of the signal strength to a preset value, and determine the product of the ratio and the first positioning coordinates to obtain the adjusted positioning coordinates, calculate the average of the adjusted positioning coordinates and the second positioning coordinates to obtain the target positioning coordinates, and determine the positioning coordinates of the target location, and generate an indoor navigation route from the current position to the target location based on the target positioning coordinates of the current position and the positioning coordinates of the target location.

4. The positioning device according to claim 3, characterized in that, The optical communication unit includes: An optical conversion unit, connected to the processing unit, is used to modulate the first data into a visible light signal; The signal transmitting unit is connected to the light conversion unit and is used to transmit the visible light signal.

5. The positioning device according to claim 3, characterized in that, The electromagnetic wave communication unit includes: An electromagnetic wave conversion unit, connected to the processing unit, is used to convert the second data into a corresponding electromagnetic wave signal; The radio frequency unit, connected to the electromagnetic wave conversion unit, is used to transmit the electromagnetic wave signal.

6. An indoor positioning device, characterized in that, Applied to electronic devices, including: The receiving module is used to receive visible light signals and electromagnetic wave signals related to the position of the positioning device; The first determining module is used to determine the first positioning coordinates of the current position of the electronic device based on the visible light signal, and to determine the second positioning coordinates of the current position based on the electromagnetic wave signal; The second determining module is used to determine the signal intensity corresponding to the visible light signal, determine the ratio of the signal intensity to a preset value, and determine the product of the ratio with the first positioning coordinates to obtain the adjusted positioning coordinates; and calculate the average of the adjusted positioning coordinates and the second positioning coordinates to obtain the target positioning coordinates of the current position. A module for determining the positioning coordinates of a target location, and generating an indoor navigation route from the current location to the target location based on the target positioning coordinates of the current location and the target location.

7. The apparatus according to claim 6, characterized in that, The receiving module is also used to receive a visible light signal transmitted by the positioning device based on the position modulation of the positioning device, and to receive an electromagnetic wave signal transmitted by the positioning device based on the position modulation of the positioning device. The first determining module is further configured to demodulate the visible light signal to obtain the first positioning coordinates of the current position of the electronic device; and to demodulate the electromagnetic wave signal to obtain the second positioning coordinates of the current position.

8. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that, When the computer program is executed by the processor, it causes the processor to perform the steps of the method as described in any one of claims 1 to 2.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 2.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 1 to 2.

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