Positioning method, apparatus, system, electronic device, and storage medium

Abstract

The application provides a positioning method, device, system, electronic equipment and storage medium, and relates to the technical field of communication. The method comprises the following steps: acquiring mobile information of a plurality of wireless local area network hotspots; determining Doppler shift information according to communication channel information between the base station; screening the plurality of wireless local area network hotspots according to the Doppler shift information and the mobile information of the wireless local area network hotspots, and obtaining a plurality of stationary hotspots; and determining the position information of the current device according to the plurality of stationary hotspots. The high-precision positioning requirement of the user is met, the position information of the current device is obtained in time and accurately, and the use experience of the user is improved.

Description

Technical Field

[0001] This application relates to the field of communication technology, specifically to a positioning method, apparatus, system, electronic device, and storage medium. Background Technology

[0002] With the continuous development of electronic products, users' need for location tracking is becoming increasingly frequent. Typically, electronic products communicate with base stations to obtain location information from them based on the Global Positioning System (GPS).

[0003] However, GPS can only obtain accurate positioning information when it acquires at least four satellites. Since users require positioning far more frequently than the GPS positioning cycle, it cannot meet users' needs for precise positioning and thus degrades the user experience. Summary of the Invention

[0004] This application provides a positioning method, apparatus, system, electronic device, and storage medium.

[0005] This application provides a positioning method, which includes: acquiring the movement information of multiple wireless local area network (WLAN) hotspots; determining Doppler frequency shift information based on communication channel information with a base station; filtering the multiple WLAN hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots; and determining the current device's location information based on the multiple stationary hotspots.

[0006] This application provides a positioning device, comprising: an acquisition module configured to acquire movement information of multiple wireless local area network (WLAN) hotspots; a frequency shift information determination module configured to determine Doppler frequency shift information based on communication channel information with a base station; a filtering module configured to filter the multiple WLAN hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots; and a location determination module configured to determine the location information of the current device based on the multiple stationary hotspots.

[0007] This application provides a positioning system, comprising: a positioning device connected in communication with multiple wireless local area network (WLAN) hotspots and a base station; the positioning device being configured to execute any positioning method according to this application embodiment; the base station being configured to communicate with the positioning device and provide Doppler frequency shift information to the positioning device, so that the positioning device can filter the multiple WLAN hotspots based on the Doppler frequency shift information and the obtained movement information of the multiple WLAN hotspots to obtain multiple stationary hotspots; and the WLAN hotspots being configured to provide movement information of the WLAN hotspots to the positioning device.

[0008] This application provides an electronic device, including: one or more processors; and a memory storing one or more programs thereon, wherein when the one or more programs are executed by the one or more processors, the one or more processors implement any of the positioning methods in this application.

[0009] This application provides a readable storage medium storing a computer program, which, when executed by a processor, implements any of the positioning methods described in this application.

[0010] According to the positioning method, apparatus, server and system, electronic device and storage medium of the embodiments of this application, by acquiring the movement information of multiple wireless local area network (WLAN) hotspots, it is determined whether the positions of the multiple WLAN hotspots have changed, which facilitates subsequent positioning; based on the communication channel information with the base station, Doppler frequency shift information is determined, and the frequency shift information between the current device and the base station is clarified, thereby knowing the positional relationship between the current device and the base station; based on the Doppler frequency shift information and the movement information of the WLAN hotspots, the multiple WLAN hotspots are filtered to obtain multiple stationary hotspots; based on the Doppler frequency shift information, the movement information of the multiple WLAN hotspots is analyzed to determine which WLAN hotspots are moving and which are stationary, so as to obtain stationary hotspots that are easy to locate, thereby improving the positioning accuracy of the current device; based on the multiple stationary hotspots, the location information of the current device is determined, which meets the user's high-precision positioning needs, obtains the location information of the current device in a timely and accurate manner, and improves the user experience.

[0011] Further details regarding the above embodiments and other aspects of this application, as well as their implementations, are provided in the accompanying drawings, detailed description, and claims. Attached Figure Description

[0012] Figure 1 This diagram illustrates the structure of a conventional positioning method provided in an embodiment of this application.

[0013] Figure 2 This is a flowchart illustrating the positioning method provided in an embodiment of this application.

[0014] Figure 3 This diagram illustrates the composition of the positioning device provided in an embodiment of this application.

[0015] Figure 4 This diagram illustrates the composition of a positioning system provided in one embodiment of this application.

[0016] Figure 5 This diagram illustrates the composition of a positioning system provided in yet another embodiment of this application.

[0017] Figure 6This diagram illustrates the composition of the positioning device provided in an embodiment of this application.

[0018] Figure 7 This is a flowchart illustrating the working method of the positioning system provided in an embodiment of this application.

[0019] Figure 8 A structural diagram illustrating an exemplary hardware architecture of a computing device capable of implementing the positioning method and apparatus according to embodiments of this application is provided. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in detail below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be arbitrarily combined with each other.

[0021] Figure 1 This diagram illustrates the structure of a conventional positioning method provided in an embodiment of this application. Figure 1 As shown, the positioning device 1100 includes a wireless-fidelity (WiFi) scanning module 1110, an accelerometer 1120, and a modem 1130; the hotspot server 1200 includes a base station filtering hotspot device 1201 and a database filtering hotspot device 1202. A WiFi network card 1111 is installed in the WiFi scanning module 1110.

[0022] WiFi scanning module 1110 is used to scan for hotspots around positioning device 1100 via WiFi network card 1111 to obtain a list of hotspots.

[0023] Accelerometer 1120 is used to acquire the motion speed information (e.g., acceleration, velocity, etc.) of the positioning device 1100 itself. Modem 1130 is used to connect to the Internet so that the positioning device 1100 can communicate with the hotspot server 1200 via the network.

[0024] The base station hotspot filtering device 1201 is used to determine whether the location hotspot corresponding to the positioning device 1100 is a mobile hotspot by judging the location of hotspots around the positioning device 1100. If the location of a hotspot exceeds the coverage area of ​​the base station to which the positioning device 1100 currently belongs (e.g., the coverage area is a circular area with a radius of 3 kilometers), then the hotspot is determined to be a mobile hotspot. However, the coverage area of ​​the base station also has errors (e.g., 3 kilometers). If the hotspot moves within 3 kilometers, it is impossible to determine whether the hotspot is a mobile hotspot, reducing the accuracy of positioning the positioning device 1100.

[0025] It's important to note that the base stations in this system obtain their location information via GPS to determine their coverage area. However, GPS requires at least four satellites to obtain accurate positioning information. Users' positioning frequency far exceeds the GPS positioning cycle, making it impossible to meet their precise positioning needs. If a user frequently moves around in a subway shopping mall, their device may not be able to obtain accurate GPS positioning information. Consequently, the base station corresponding to that user's device will have an error radius of 1-6 kilometers, which is insufficient for the user's precise positioning requirements.

[0026] The database filtering hotspot device 1202 is used to determine whether the location hotspot corresponding to the positioning device 1100 is a mobile hotspot by using a database tagging method. First, it is assumed that the hotspots scanned by the WiFi scanning module 1110 are all stationary; then, a hotspot is scanned again. If the corresponding locations of the two scans of a hotspot are different, the hotspot is marked as a mobile hotspot. However, since it is difficult for the WiFi scanning module 1110 to scan the same hotspot in two scans, and the time interval between the two scans is long, it is easy to misjudge the hotspots in the database (i.e., mark the hotspots in the database as stationary hotspots), which will also reduce the accuracy of the positioning of the positioning device 1100.

[0027] Figure 2 This diagram illustrates a flowchart of a positioning method provided in an embodiment of this application. This method can be applied to positioning devices. Figure 2 As shown, the positioning method in the embodiments of this application includes, but is not limited to, the following steps.

[0028] Step S201: Obtain the mobile information of multiple wireless LAN hotspots.

[0029] Step S202: Determine the Doppler frequency shift information based on the communication channel information between the base station and the base station.

[0030] Step S203: Based on Doppler frequency shift information and the movement information of wireless LAN hotspots, multiple wireless LAN hotspots are filtered to obtain multiple stationary hotspots.

[0031] Step S204: Determine the current location information of the device based on multiple static hotspots.

[0032] In this embodiment, by acquiring the movement information of multiple Wi-Fi hotspots, it is determined whether the locations of these hotspots have changed, facilitating subsequent positioning. Based on the communication channel information with the base station, Doppler frequency shift information is determined, clarifying the frequency shift information between the current device and the base station, thereby revealing the positional relationship between the current device and the base station. Based on the Doppler frequency shift information and the movement information of the Wi-Fi hotspots, the multiple Wi-Fi hotspots are filtered to obtain multiple stationary hotspots. Based on the Doppler frequency shift information, the movement information of the multiple Wi-Fi hotspots is analyzed to determine which Wi-Fi hotspots are moving and which are stationary, thus obtaining stationary hotspots that are easy to locate, improving the positioning accuracy of the current device. Based on the multiple stationary hotspots, the location information of the current device is determined, meeting the user's high-precision positioning needs, timely and accurate acquisition of the current device's location information, and improving the user experience.

[0033] It should be noted that the communication channel information between the positioning device and the base station may include frequency information and frequency change information of the positioning device during its movement. By estimating the received frequency, Doppler frequency shift information can be obtained, thereby determining the displacement between the positioning device and the base station, which facilitates accurate positioning of the positioning device.

[0034] In some specific implementations, Doppler frequency shift information includes the Doppler frequency shift value, and the movement information of the wireless LAN hotspot includes the movement direction of the wireless LAN hotspot; when it is determined that the movement direction of the current device is the same as the movement direction of the wireless LAN hotspot, the Doppler frequency shift value is proportional to the movement speed of the current device.

[0035] The larger the Doppler frequency shift value, the greater the current moving speed of the device; the smaller the Doppler frequency shift value, the smaller the current moving speed of the device.

[0036] For example, a positioning device is set to move from a first Wi-Fi hotspot at location A to location B, but there are no Wi-Fi hotspots around location B. In this case, if the Doppler frequency shift information of the positioning device at location A is obtained based on the above positioning scheme, and based on the Doppler frequency shift information and the movement information of the first Wi-Fi hotspot, it can be determined that the positioning device is within a preset distance (e.g., 100 meters) of the first Wi-Fi hotspot, thus confirming that the positioning of the positioning device is accurate.

[0037] In some specific implementations, the movement information of the wireless LAN hotspot also includes the movement speed of the wireless LAN hotspot; the Doppler frequency shift information also includes: the first direction of movement of the current device relative to the base station.

[0038] Step S203, which involves filtering multiple wireless LAN hotspots based on Doppler frequency shift information and the movement information of the wireless LAN hotspots to obtain multiple stationary hotspots, can be implemented in the following way:

[0039] Based on the movement direction of the Wi-Fi hotspot and the movement direction of the current device, determine the second movement direction of the current device relative to the Wi-Fi hotspot; based on the first and second movement directions, determine the movement angle; based on the movement angle, filter multiple Wi-Fi hotspots to obtain multiple stationary hotspots.

[0040] The current device may include a positioning device. The angle of motion is determined by the first direction of motion of the positioning device relative to the base station and the second direction of motion of the positioning device relative to the wireless LAN hotspot. Since the wireless LAN hotspot can be a mobile hotspot or a stationary hotspot in a fixed location.

[0041] When a wireless LAN hotspot is a stationary hotspot, the second direction of movement of the positioning device relative to the wireless LAN hotspot remains unchanged. The base station is also a fixed device with a pre-set position. Therefore, the first direction of movement of the positioning device relative to the base station also remains unchanged, so that the angle of movement determined by the first direction of movement and the second direction of movement is a fixed value, such as 30 degrees or 39 degrees.

[0042] However, if a Wi-Fi hotspot is a mobile hotspot, the second direction of movement of the positioning device relative to the hotspot changes accordingly as the hotspot moves. Therefore, the angle of movement determined by the first and second directions is a variable value. Based on the above analysis, multiple Wi-Fi hotspots can be filtered based on the angle of movement to determine which are mobile and which are stationary, thus obtaining multiple stationary hotspots.

[0043] When multiple static hotspots are used to locate a positioning device, it can be ensured that the positioning accuracy will not be affected by changes in the reference object (such as a wireless LAN hotspot), thus improving the positioning accuracy of the positioning device.

[0044] For example, multiple wireless LAN hotspots can be filtered based on the angle of motion to obtain multiple stationary hotspots, including: if the angle of motion is a fixed preset angle, the wireless LAN hotspot corresponding to the angle of motion is identified as a stationary hotspot; otherwise, the wireless LAN hotspot corresponding to the angle of motion is identified as a mobile hotspot.

[0045] The fixed preset angle is determined based on historical measurement data. This preset angle is a fixed value and can characterize the movement of the wireless LAN hotspot, thereby accurately judging the hotspot type of the wireless LAN hotspot and distinguishing between mobile hotspots and stationary hotspots.

[0046] It should be noted that a mobile hotspot can be a hotspot function activated by a user's smartphone. Because the user's location changes in real time, the location of the mobile hotspot also changes in real time. A stationary hotspot, on the other hand, can be a network communication device such as a local area network router set up inside a building. Therefore, the location of a stationary hotspot remains unchanged.

[0047] In some specific implementations, the movement information of wireless LAN hotspots also includes: the movement information of the wireless LAN hotspots within a preset time period. Before executing step S203, which filters multiple wireless LAN hotspots based on Doppler frequency shift information and the movement information of wireless LAN hotspots to obtain multiple stationary hotspots, the following steps are also included:

[0048] Within a preset time period, multiple wireless LAN hotspots are grouped according to the current device's movement direction relative to the wireless LAN hotspot, and multiple sets of movement information are obtained; based on the movement direction corresponding to each set of movement information, the movement direction of the wireless LAN hotspot corresponding to each set of movement information is determined.

[0049] Each set of mobile information includes mobile data from multiple Wi-Fi hotspots moving in the same direction. The preset duration can be half an hour, one hour, or other durations.

[0050] By grouping multiple Wi-Fi hotspots moving in the same direction together, it is easier to accurately filter Wi-Fi hotspots in a certain direction, thereby determining the direction of stationary hotspots and facilitating accurate positioning of the positioning device.

[0051] In some specific implementations, the mobility information of a wireless LAN hotspot also includes: the mobility parameters of the wireless LAN hotspot at different times.

[0052] Step S203, which involves filtering multiple wireless LAN hotspots based on Doppler frequency shift information and the movement information of the wireless LAN hotspots to obtain multiple stationary hotspots, can be implemented in the following way:

[0053] Based on the movement parameters of each Wi-Fi hotspot at different time periods, the cosine components of each Wi-Fi hotspot at different time periods are determined. Variance processing is performed on the multiple cosine components of each Wi-Fi hotspot at different time periods to determine the variance value corresponding to each Wi-Fi hotspot. Based on the variance value corresponding to each Wi-Fi hotspot and the preset variance threshold, the hotspot type of each Wi-Fi hotspot is determined. Based on the hotspot type, multiple stationary hotspots are obtained.

[0054] It should be noted that the cosine component of the wireless LAN hotspot in different time periods can characterize whether the wireless LAN hotspot has shifted in different time periods. The cosine component can be the cosine value of the motion angle, which is the angle determined based on the first motion direction of the positioning device relative to the base station and the second motion direction of the positioning device relative to the wireless LAN hotspot.

[0055] In this process, variance processing is performed on multiple cosine components of each wireless LAN hotspot at different time periods to determine the variance value corresponding to each wireless LAN hotspot. This can reduce the error rate in judging a single cosine component. By comparing the variance value corresponding to each wireless LAN hotspot with a preset variance threshold, the comparison result is obtained, and the hotspot type is determined based on the comparison result, which can improve the accuracy of judging the cosine component.

[0056] When each Wi-Fi hotspot is processed multiple times for different time periods, the accuracy of the hotspot type determination can be guaranteed, thereby avoiding the proportion of Wi-Fi hotspots that are mistakenly identified as stationary hotspots because they have not moved during a certain period.

[0057] For example, hotspot types include: stationary hotspots and mobile hotspots. Based on the hotspot type, multiple stationary hotspots are obtained, including: if the variance value corresponding to the wireless LAN hotspot is within a preset variance threshold range, the hotspot type of the wireless LAN hotspot is determined to be a stationary hotspot; otherwise, the hotspot type of the wireless LAN hotspot is determined to be a mobile hotspot.

[0058] The preset variance threshold is an empirical variance threshold pre-set based on multiple measurements. By comparing the variance value corresponding to the wireless LAN hotspot with the preset variance threshold, the hotspot type of the wireless LAN hotspot is identified, facilitating subsequent location and improving location accuracy.

[0059] In some specific implementations, the movement information of a wireless LAN hotspot also includes at least one of the following: the Doppler frequency shift value corresponding to the wireless LAN hotspot, the transmitter frequency corresponding to the wireless LAN hotspot, and the movement speed of the current device relative to the wireless LAN hotspot.

[0060] For example, the cosine component k of a wireless LAN hotspot at different times can be calculated using the following formula:

[0061]

[0062] Where k represents the cosine component corresponding to the Wi-Fi hotspot; c represents the speed of light; Δf represents the Doppler frequency shift value corresponding to the Wi-Fi hotspot; f represents the transmitter frequency corresponding to the Wi-Fi hotspot; and V represents the speed of the positioning device relative to the Wi-Fi hotspot.

[0063] By representing the mobile information of Wi-Fi hotspots through different dimensions of information, a comprehensive assessment of Wi-Fi hotspots can be achieved, improving the accuracy of Wi-Fi hotspot identification.

[0064] In some specific implementations, after filtering multiple wireless local area network (WLAN) hotspots based on Doppler frequency shift information and the movement information of WLAN hotspots in step S203 to obtain multiple stationary hotspots, the method further includes: obtaining the identifiers corresponding to the mobile hotspots among the multiple WLAN hotspots; and displaying the multiple mobile hotspots and multiple stationary hotspots in different colors respectively.

[0065] For example, stationary hotspots can be marked in green, while moving hotspots can be marked in red. This allows users to distinguish between different types of hotspots by displaying different colors, making it easier to filter hotspots and improving location accuracy.

[0066] For example, different types of hotspots can be presented in a list format, allowing filtered mobile hotspots to be displayed separately to improve the user experience.

[0067] In some specific implementations, the step S204 of determining the current device's location information based on multiple stationary hotspots can be achieved as follows: determine the range information to be confirmed based on the location information corresponding to multiple stationary hotspots; determine the current device's location information based on the range information to be confirmed.

[0068] The location information corresponding to multiple static hotspots can be used to delineate a bounded geographical area. The closer the locations of multiple static hotspots are, the smaller the corresponding bounded geographical area becomes, thereby more accurately determining the location of the current device (i.e., the positioning device) and improving positioning accuracy.

[0069] For example, when a positioning device enters the coverage area of ​​a base station corresponding to an office building, it can use the positioning method in this application to filter and find five stationary hotspots in the office building. Based on the positional relationship between the positioning device and the base station, as well as the information of the area to be confirmed divided by the five stationary hotspots, the location of the positioning device can be accurately located within the office building.

[0070] The apparatus according to embodiments of this application will now be described in detail with reference to the accompanying drawings. Figure 3 This diagram illustrates the composition of the positioning device provided in an embodiment of this application. Figure 3 As shown, the positioning device 300 includes, but is not limited to, the following modules.

[0071] The acquisition module 301 is configured to acquire mobile information of multiple wireless LAN hotspots.

[0072] The frequency shift information determination module 302 is configured to determine Doppler frequency shift information based on the communication channel information between the module and the base station.

[0073] The filtering module 303 is configured to filter multiple wireless local area network hotspots based on Doppler frequency shift information and the movement information of wireless local area network hotspots to obtain multiple stationary hotspots.

[0074] The location determination module 304 is configured to determine the current location information of the device based on multiple static hotspots.

[0075] It should be noted that the positioning device 300 in this embodiment can implement any of the positioning methods in this application embodiment.

[0076] According to the positioning device of this application embodiment, the acquisition module acquires the movement information of multiple wireless local area network (WLAN) hotspots to determine whether the positions of the multiple WLAN hotspots have changed, facilitating subsequent positioning; the frequency shift information determination module determines Doppler frequency shift information based on the communication channel information with the base station, clarifying the frequency shift information between the current device and the base station, thereby knowing the positional relationship between the current device and the base station; the filtering module filters the multiple WLAN hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots; based on the Doppler frequency shift information, the movement information of the multiple WLAN hotspots is analyzed to determine which WLAN hotspots are moving and which are stationary, thereby obtaining stationary hotspots that are easy to locate, improving the positioning accuracy of the current device; the location determination module determines the location information of the current device based on the multiple stationary hotspots, meeting the user's high-precision positioning needs, timely and accurately obtaining the location information of the current device, and improving the user experience.

[0077] Figure 4 This diagram illustrates the composition of a positioning system provided in one embodiment of this application. Figure 4As shown, the positioning system includes, but is not limited to, the following devices: a positioning device 410 with communication connection, a base station 420, and multiple wireless local area network hotspots (e.g., a first wireless local area network hotspot 431, a second wireless local area network hotspot 432, ..., an nth wireless local area network hotspot 43n, where n represents the number of wireless local area network hotspots and n is an integer greater than or equal to 1).

[0078] The positioning device 410 is configured to perform any of the positioning methods in the embodiments of this application.

[0079] Base station 420 is configured to communicate with the positioning device and provide the positioning device with Doppler frequency shift information, so that the positioning device can filter multiple wireless local area network hotspots based on the Doppler frequency shift information and the mobile information of multiple wireless local area network hotspots to obtain multiple stationary hotspots.

[0080] A wireless LAN hotspot (e.g., a first wireless LAN hotspot 431) is configured to provide the positioning device with mobile information of the wireless LAN hotspot.

[0081] In some specific implementations, the positioning system also includes: a positioning server (not shown in the figure); the positioning server is configured to acquire the mobility information of multiple wireless local area network hotspots reported by the positioning device and the Doppler frequency shift information of the base station corresponding to the positioning device; and to assist the positioning device in positioning based on the Doppler frequency shift information and the mobility information of multiple wireless local area network hotspots.

[0082] According to the positioning system of this application embodiment, the positioning device acquires the movement information of multiple wireless local area network (WLAN) hotspots to determine whether the positions of the multiple WLAN hotspots have changed, facilitating subsequent positioning; based on the communication channel information with the base station, Doppler frequency shift information is determined to clarify the frequency shift information between the positioning device and the base station, thereby knowing the positional relationship between the positioning device and the base station; based on the Doppler frequency shift information and the movement information of the WLAN hotspots, the multiple WLAN hotspots are filtered to obtain multiple stationary hotspots; based on the Doppler frequency shift information, the movement information of the multiple WLAN hotspots is analyzed to determine which WLAN hotspots are moving and which are stationary, thereby obtaining stationary hotspots that are easy to locate, improving the positioning accuracy of the positioning device; based on the multiple stationary hotspots, the position information of the positioning device is determined to meet the user's high-precision positioning needs, timely and accurately obtain the position information of the positioning device, and improve the user experience.

[0083] Figure 5 This diagram illustrates the composition of a positioning system according to yet another embodiment of this application. Figure 5 As shown, the positioning system includes, but is not limited to, the following devices:

[0084] The positioning device 5100 includes a WiFi scanning module 5110, an accelerometer 5120, a modem 5130, and a Doppler WiFi filtering module 5140. The hotspot server 5200 includes a base station filtering hotspot device 5201 and a database filtering hotspot device 5202.

[0085] The positioning device 5100 can be a smartphone or a wearable device (such as a positioning watch, positioning bracelet, etc.). The above examples of the types of positioning devices 5100 are only for illustration and can be specifically set according to actual needs. Other types of positioning devices 5100 not mentioned are also within the scope of protection of this application and will not be elaborated here.

[0086] The WiFi scanning module 5110 contains a WiFi network card 5111. The Doppler WiFi filtering module 5140 includes a hotspot frequency shift calculation module 5141, a speed calculation module 5142, and a Doppler hotspot filtering module 5143.

[0087] WiFi scanning module 5110 is used to scan for hotspots around positioning device 5100 via WiFi network card 5111 to obtain a list of hotspots. Accelerometer 5120 is used to acquire the positioning device 5100's own motion speed information (e.g., acceleration, velocity). Modem 5130 is used to connect to the Internet so that positioning device 5100 can communicate with hotspot server 5200 via the network.

[0088] The hotspot frequency shift calculation module 5141 is used to determine Doppler frequency shift information through the communication channel information between the positioning device 5100 and the base station (not shown in the figure). The speed calculation module 5142 is used to calculate the speed and direction of the positioning device 5100 itself; it is also used to forward the movement information of multiple wireless local area network hotspots scanned by the WiFi scanning module 5110 to the Doppler hotspot filtering module 5143.

[0089] The Doppler hotspot filtering module 5143 is used to filter out stationary hotspots from multiple wireless local area network hotspots based on the Doppler frequency shift information input by the hotspot frequency shift calculation module 5141, the movement information of multiple wireless local area network hotspots input by the speed calculation module 5142, and the speed and direction information of the positioning device 5100 itself.

[0090] It should be noted that the principle of positioning based on Doppler frequency shift information is as follows: When a transmitting device (e.g., positioning device 5100) moves at a constant speed along a receiving device (e.g., a base station) in a certain direction, changes in phase and frequency occur due to the difference in propagation path. This change is commonly referred to as the Doppler frequency shift. The difference between the transmitted and received frequencies caused by the Doppler effect is called the Doppler frequency shift. If the transmitting device is closer to the receiving device, the received frequency measured by the receiving device will be higher; conversely, if the transmitting device is farther from the receiving device, the received frequency measured by the receiving device will be lower. Therefore, the change in received frequency reflects the displacement of the transmitting device. That is, the Doppler frequency shift value is directly proportional to the moving speed of the transmitting device.

[0091] The positioning system according to the embodiments of this application can filter out mobile hotspots and obtain stationary hotspots by filtering multiple wireless local area network hotspots, and then determine the location of the positioning device based on the stationary hotspots, thereby providing positioning accuracy.

[0092] Figure 6 This diagram illustrates the composition of the positioning device provided in an embodiment of this application. Figure 6 As shown, the positioning device 600 includes a WiFi scanning module 610, an accelerometer 620, and a Doppler WiFi filtering module 630.

[0093] The WiFi scanning module 610 includes a WiFi network card 611. The Doppler WiFi filtering module 630 includes a hotspot frequency shift calculation module 631, a speed calculation module 632, and a Doppler hotspot filtering module 633. The Doppler hotspot filtering module 633 includes a collector 6331, a packet generator 6332, and a differential calculation module 6333.

[0094] The data collector 6331 is used to collect movement information (e.g., at least one of the following: the Doppler frequency shift value Δf corresponding to the wireless LAN hotspot, the transmitter frequency f corresponding to the wireless LAN hotspot, and the movement speed V of the positioning device 600 relative to the wireless LAN hotspot) within a preset time period. For example, the movement information of n wireless LAN hotspots can be represented as: (V1, f1, Δf1), (V2, f2, Δf2), ..., (V... n f n , Δf n ), where n represents a wireless LAN hotspot, and n is an integer greater than or equal to 1.

[0095] The packetizer 6332 is used to group multiple wireless LAN hotspots to obtain multiple sets of mobility information, thereby processing each wireless LAN hotspot in each set of mobility information separately, improving processing speed. Each set of mobility information includes mobility information from multiple wireless LAN hotspots moving in the same direction.

[0096] For example, a set of mobility information includes the mobility information of four Wi-Fi hotspots. This set of mobility information can be represented as: (V1, f1, Δf1), (V2, f2, Δf2), (V3, f3, Δf3), (V4, f4, Δf4). Therefore, for each Wi-Fi hotspot, its corresponding cosine component k can be calculated. For example, the first cosine component k1 is represented as... The second cosine component k2 is expressed as: The third cosine component k3 is expressed as... The fourth cosine component k4 is represented as Where c represents the speed of light.

[0097] It should be noted that the cosine component represents the cosine of the angle θ between the moving direction corresponding to the moving speed of the positioning device 600 and the Doppler frequency shift, i.e., k = cosθ. Since the cosθ for a stationary hotspot is a constant, while the cosθ for a moving hotspot is a variable, the hotspot type of the wireless LAN hotspot detected by the positioning device 600 can be determined based on the cosine of the angle θ between the moving direction corresponding to the moving speed of the positioning device 600 and the Doppler frequency shift. This hotspot type includes stationary hotspots and moving hotspots.

[0098] The differential calculation module 6333 performs differential calculations on multiple cosine components input from the grouper 6332 to obtain the variance value corresponding to each movement information. This variance value is then compared with a preset variance threshold to determine the hotspot type of each wireless LAN hotspot, further ensuring the accuracy of the hotspot type determination.

[0099] The positioning system according to embodiments of this application groups multiple wireless local area network (WLAN) hotspots using a grouper to obtain multiple sets of mobility information. Each WLAN hotspot within each set of mobility information is then processed separately, improving processing speed. A differential calculation module is used to perform differential calculations on multiple cosine components input from the grouper to obtain the variance value corresponding to each set of mobility information. This variance value is then compared with a preset variance threshold to determine the hotspot type of each WLAN hotspot, further ensuring the accuracy of hotspot type determination.

[0100] Figure 7 This diagram illustrates a flowchart of the working method of the positioning system provided in an embodiment of this application. Figure 7As shown, the working method of this positioning system includes, but is not limited to, the following steps.

[0101] In step S701, the WiFi network card 611 scans for wireless local area network hotspots around the positioning device 600 to obtain a list of wireless local area network hotspots.

[0102] The list of Wi-Fi hotspots includes multiple Wi-Fi hotspots, each with its own mobile information and frequency.

[0103] In step S702, the WiFi network card 611 reports the movement information and frequency information of each wireless LAN hotspot in the wireless LAN hotspot list to the collector 6331.

[0104] In step S703, the collector 6331 sends a request to read frequency shift information to the hotspot frequency shift calculation module 631.

[0105] In step S704, the hotspot frequency shift calculation module 631 sends a read frequency shift information response to the collector 6331 so that the collector 6331 can obtain the Doppler frequency shift information corresponding to the positioning device 600 in the read frequency shift information response.

[0106] In step S705, the collector 6331 sends a read speed request to the speed calculation module 632.

[0107] In step S706, the speed calculation module 632 sends a speed reading response to the collector 6331 so that the collector 6331 can obtain information such as the moving speed and moving direction of the positioning device 600 in the speed reading response.

[0108] In step S707, the collector 6331 sends the Doppler frequency shift information corresponding to the positioning device 600, as well as the moving speed and moving direction of the positioning device 600, to the grouper 6332 so that the grouper 6332 can group multiple wireless local area network hotspots.

[0109] In step S708, the grouper 6332 groups multiple wireless local area network hotspots based on the obtained moving speed and direction of the positioning device 600, the Doppler frequency shift information corresponding to the positioning device 600, and the moving information and frequency information of each wireless local area network hotspot in the wireless local area network hotspot list, and obtains multiple sets of moving information.

[0110] Each set of mobile information includes: mobile information of multiple wireless LAN hotspots moving in the same direction.

[0111] In step S709, the grouper 6332 sequentially sends each group of movement information to the differential calculation module 6333.

[0112] Each set of mobile information may also include: cosine components corresponding to multiple wireless LAN hotspots.

[0113] In step S710, the differential calculation module 6333 performs differential calculation on the cosine components corresponding to each wireless local area network hotspot in each group of mobile information to obtain the variance value corresponding to each mobile information; and then compares the variance value with the preset variance threshold to determine the hotspot type of each wireless local area network hotspot.

[0114] If a Wi-Fi hotspot is determined to be a mobile hotspot, remove it from the Wi-Fi hotspot list; if a Wi-Fi hotspot is determined to be a stationary hotspot, mark it and save it to the stationary hotspot list.

[0115] By using multiple static hotspots from a static hotspot list to locate a positioning device, the accuracy of positioning can be improved, meeting users' high-precision positioning needs, obtaining the current location information of the device in a timely and accurate manner, and enhancing the user experience.

[0116] It should be clarified that this application is not limited to the specific configurations and processes described in the above embodiments and shown in the figures. For the sake of convenience and brevity, detailed descriptions of known methods are omitted here, and the specific working processes of the systems, modules, and units described above can be referred to the corresponding processes in the foregoing method embodiments, which will not be repeated here.

[0117] Figure 8 A structural diagram illustrating an exemplary hardware architecture of a computing device capable of implementing the positioning method and apparatus according to embodiments of this application is provided.

[0118] like Figure 8 As shown, the computing device 800 includes an input device 801, an input interface 802, a central processing unit 803, a memory 804, an output interface 805, and an output device 806. The input interface 802, the central processing unit 803, the memory 804, and the output interface 805 are interconnected via a bus 807. The input device 801 and the output device 806 are connected to the bus 807 via the input interface 802 and the output interface 805, respectively, and are thus connected to other components of the computing device 800.

[0119] Specifically, input device 801 receives input information from the outside and transmits the input information to central processing unit 803 through input interface 802; central processing unit 803 processes the input information based on computer-executable instructions stored in memory 804 to generate output information, temporarily or permanently stores the output information in memory 804, and then transmits the output information to output device 806 through output interface 805; output device 806 outputs the output information to the outside of computing device 800 for user use.

[0120] In one embodiment, Figure 8 The computing device shown can be implemented as an electronic device, which may include: a memory configured to store a program; and a processor configured to run the program stored in the memory to perform the positioning method described in the above embodiments.

[0121] In one embodiment, Figure 8 The computing device shown can be implemented as a positioning system, which may include: a memory configured to store a program; and a processor configured to run the program stored in the memory to perform the positioning method described in the above embodiments.

[0122] The above description is merely an exemplary embodiment of this application and is not intended to limit the scope of protection of this application. Generally, various embodiments of this application can be implemented in hardware or dedicated circuitry, software, logic, or any combination thereof. For example, some aspects can be implemented in hardware, while others can be implemented in firmware or software that can be executed by a controller, microprocessor, or other computing device, although this application is not limited thereto.

[0123] Embodiments of this application can be implemented by executing computer program instructions through the data processor of a mobile device, for example, in a processor entity, or through hardware, or through a combination of software and hardware. The computer program instructions can be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, status setting data, or source code or object code written in any combination of one or more programming languages.

[0124] Any block diagram of logical flow in the accompanying drawings of this application may represent program steps, or may represent interconnected logic circuits, modules, and functions, or may represent a combination of program steps and logic circuits, modules, and functions. The computer program may be stored in memory. The memory may be of any type suitable to the local technical environment and may be implemented using any suitable data storage technology, such as, but not limited to, read-only memory (ROM), random access memory (RAM), optical storage devices and systems (Digital Multifunction Discs, DVDs, or CDs), etc. Computer-readable media may include non-transitory storage media. The data processor may be of any type suitable to the local technical environment, such as, but not limited to, general-purpose computers, special-purpose computers, microprocessors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), programmable logic devices (FGPAs), and processors based on multi-core processor architectures.

[0125] A detailed description of exemplary embodiments of this application has been provided above through exemplary and non-limiting examples. However, various modifications and adjustments to the above embodiments will be apparent to those skilled in the art when considered in conjunction with the accompanying drawings and claims, without departing from the scope of this application. Therefore, the proper scope of this application will be determined by the claims.

Claims

1. A positioning method, characterized in that, The method includes: Obtain mobile information from multiple Wi-Fi hotspots; Doppler frequency shift information is determined based on the communication channel information between the base station and the base station; Based on the Doppler frequency shift information and the movement information of the wireless local area network hotspots, multiple wireless local area network hotspots are filtered to obtain multiple stationary hotspots; The current location information of the device is determined based on multiple static hotspots; The movement information of the wireless local area network hotspot also includes the movement speed of the wireless local area network hotspot; The Doppler frequency shift information also includes: the first direction of motion of the current device relative to the base station; The step involves filtering multiple wireless local area network (WLAN) hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots, including: Based on the movement direction of the wireless LAN hotspot and the movement direction of the current device, a second movement direction of the current device relative to the wireless LAN hotspot is determined; Determine the included angle of motion based on the first direction of motion and the second direction of motion; Based on the motion angle, multiple wireless local area network hotspots are filtered to obtain multiple stationary hotspots.

2. The method according to claim 1, characterized in that, The Doppler frequency shift information includes the Doppler frequency shift value, and the movement information of the wireless local area network hotspot includes the movement direction of the wireless local area network hotspot; When the moving direction of the current device is the same as the moving direction of the wireless LAN hotspot, the Doppler frequency shift value is proportional to the moving speed of the current device.

3. The method according to claim 2, characterized in that, The step of filtering multiple wireless local area network hotspots based on the motion angle to obtain multiple stationary hotspots includes: When the angle of motion is determined to be a fixed preset angle, the wireless LAN hotspot corresponding to the angle of motion is determined to be a stationary hotspot. Otherwise, the wireless LAN hotspot corresponding to the angle of motion is determined to be a mobile hotspot.

4. The method according to claim 2, characterized in that, The movement information of the wireless local area network hotspot also includes: the movement information of the wireless local area network hotspot within a preset time period; Before filtering multiple wireless local area network (WLAN) hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots, the method further includes: Within the preset time period, based on the current device's movement direction relative to the wireless local area network hotspot, multiple wireless local area network hotspots are grouped to obtain multiple sets of movement information, wherein each set of movement information includes the movement information of multiple wireless local area network hotspots with the same movement direction; Based on the movement direction corresponding to each group of movement information, the movement direction of the wireless local area network hotspot corresponding to each group of movement information is determined.

5. The method according to claim 2, characterized in that, The movement information of the wireless local area network hotspot also includes: the movement parameters of the wireless local area network hotspot in different time periods; The step involves filtering multiple wireless local area network (WLAN) hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots, including: Based on the movement parameters of each wireless local area network hotspot in different time periods, the cosine components of each wireless local area network hotspot in different time periods are determined. Variance processing is performed on multiple cosine components of each wireless local area network hotspot in different time periods to determine the variance value corresponding to each wireless local area network hotspot; Based on the variance value and preset variance threshold corresponding to each wireless LAN hotspot, the hotspot type of each wireless LAN hotspot is determined; Based on the hotspot type, multiple static hotspots are obtained.

6. The method according to claim 5, characterized in that, The hotspot types include: stationary hotspots and mobile hotspots; The process of obtaining multiple static hotspots based on the hotspot type includes: If the variance value corresponding to the wireless local area network hotspot is determined to be within the range of the preset variance threshold, the hotspot type of the wireless local area network hotspot is determined to be the static hotspot. Otherwise, the hotspot type of the wireless LAN hotspot is determined to be the mobile hotspot.

7. The method according to claim 5 or 6, characterized in that, The movement information of the wireless LAN hotspot also includes at least one of the following: the Doppler frequency shift value corresponding to the wireless LAN hotspot, the transmitter frequency corresponding to the wireless LAN hotspot, and the movement speed of the current device relative to the wireless LAN hotspot.

8. The method according to claim 1, characterized in that, After filtering multiple wireless local area network (WLAN) hotspots based on the Doppler frequency shift information and the movement information of the WLAN hotspots to obtain multiple stationary hotspots, the process further includes: Obtain the identifier corresponding to the mobile hotspot among the multiple wireless LAN hotspots; Multiple mobile hotspots and multiple stationary hotspots are displayed in different colors.

9. The method according to claim 1, characterized in that, The step of determining the current device's location information based on multiple static hotspots includes: Based on the location information corresponding to the multiple static hotspots, the range information to be confirmed is determined; Based on the range information to be confirmed, the location information of the current device is determined.

10. A positioning device, characterized in that, It includes: The acquisition module is configured to acquire mobile information from multiple Wi-Fi hotspots; The frequency shift information determination module is configured to determine Doppler frequency shift information based on the communication channel information between the module and the base station. The filtering module is configured to filter multiple wireless local area network hotspots based on the Doppler frequency shift information and the movement information of the wireless local area network hotspots to obtain multiple stationary hotspots; The location determination module is configured to determine the current device's location information based on multiple static hotspots; The movement information of the wireless local area network hotspot also includes the movement speed of the wireless local area network hotspot; The Doppler frequency shift information also includes: the first direction of motion of the current device relative to the base station; The filtering module is specifically used to: determine a second movement direction of the current device relative to the wireless LAN hotspot based on the movement direction of the wireless LAN hotspot and the movement direction of the current device; determine a movement angle based on the first movement direction and the second movement direction; and filter multiple wireless LAN hotspots based on the movement angle to obtain multiple stationary hotspots.

11. A positioning system, characterized in that, The system includes: a positioning device with communication connection, multiple wireless local area network hotspots and base stations; The positioning device is configured as the positioning device as described in claim 10; The base station is configured to communicate with the positioning device and provide the positioning device with Doppler frequency shift information, so that the positioning device can filter the multiple wireless local area network hotspots based on the Doppler frequency shift information and the movement information of multiple wireless local area network hotspots to obtain multiple stationary hotspots; The wireless local area network hotspot is configured to provide the positioning device with the mobile information of the wireless local area network hotspot.

12. The system according to claim 11, characterized in that, The positioning system also includes: a positioning server; The positioning server is configured to acquire the movement information of multiple wireless local area network hotspots reported by the positioning device and the Doppler frequency shift information of the base station corresponding to the positioning device; and to assist the positioning device in positioning based on the Doppler frequency shift information and the movement information of the multiple wireless local area network hotspots.

13. An electronic device, characterized in that, include: One or more processors; A memory having stored one or more programs that, when executed by one or more processors, cause the one or more processors to implement the positioning method as described in any one of claims 1 to 9.

14. A readable storage medium, characterized in that, The readable storage medium stores a computer program that, when executed by a processor, implements the positioning method as described in any one of claims 1 to 9.

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