Positioning method and apparatus of mobile device, electronic device, and storage medium

Abstract

The application discloses a positioning method and device of a mobile device, an electronic device and a storage medium. The method comprises the following steps: obtaining a scanning result and a positioning result obtained by the mobile device during a positioning process; generating first fingerprint data based on first feature information and the positioning result; in the case that the positioning result is used to indicate that the mobile device fails to position, obtaining at least one second fingerprint data matched with the first fingerprint data from a fingerprint library; and calculating a target position currently located by the mobile device according to the second fingerprint data. In the case that the mobile device fails to position during the positioning process, the application only needs to obtain similar fingerprint data from the fingerprint library by using the current scanning result, and calculate the target position of the mobile device by using the similar fingerprint data, so that the positioning efficiency is improved and the stability of the positioning of the mobile device is enhanced without the help of a specific wireless access point during the repositioning process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of communication, in particular to a positioning method and device of a mobile device, an electronic device and a storage medium. BACKGROUND

[0002] Current SLAM technology is to help sensors such as cameras, laser radars, etc. to realize the positioning of robots. However, due to the influence of the environment on the sensors, the robot positioning fails easily, and the pure SLAM technology is difficult to make the robot recover the positioning.

[0003] At present, most of the Wi-Fi fingerprint positioning methods select the RSSI of a few specific APs as the Wi-Fi fingerprint information. However, the applicant found in the research process that in a large scene, the number of wireless access points can be hundreds, and it is difficult to select specific wireless access points in such a large number of wireless access points. Moreover, sometimes the Wi-Fi scanning can sometimes scan some wireless access points and sometimes cannot scan some wireless access points. At this time, if the specific wireless access point is not scanned, the effective Wi-Fi feature cannot be obtained. SUMMARY

[0004] In order to solve the above technical problems or at least partially solve the above technical problems, the present application provides a positioning method and device of a mobile device, an electronic device and a storage medium.

[0005] According to an aspect of an embodiment of the present application, a positioning method of a mobile device is provided, comprising:

[0006] obtaining a scanning result and a positioning result obtained by the mobile device in a positioning process, wherein the scanning result comprises feature information of at least one wireless access point near the mobile device;

[0007] generating first fingerprint data based on the feature information and the positioning result;

[0008] in a case where the positioning result is used to indicate that the positioning of the mobile device fails, obtaining at least one second fingerprint data matched with the first fingerprint data from a fingerprint library;

[0009] determining a target position currently located by the mobile device according to the second fingerprint data.

[0010] Further, the obtained scanning result of the mobile device in the positioning process comprises:

[0011] obtaining first scanning information scanned by the mobile device in the positioning process, the first scanning information comprising at least one first wireless access point and a first signal strength corresponding to the first wireless access point;

[0012] obtaining a wireless access point layout corresponding to an environment where the mobile device is currently located;

[0013] determining second scanning information based on the wireless access point layout and the first scanning information, wherein the second scanning information comprises second wireless access points which are not scanned by the mobile device currently, and second signal strengths corresponding to the second wireless access points, the second signal strengths being preset values;

[0014] generating the scanning result based on the first scanning information and the second scanning information.

[0015] Further, the obtaining of the at least one second fingerprint data matching the first fingerprint data from the fingerprint database comprises:

[0016] obtaining a fingerprint database, wherein the fingerprint database comprises at least one fingerprint data, the fingerprint data comprising a device position and feature information of at least one wireless access point associated with the device position;

[0017] calculating a similarity between the first fingerprint data and each fingerprint data in the fingerprint database;

[0018] obtaining the second fingerprint data matching the first fingerprint data from the fingerprint database by using the similarity.

[0019] Further, the obtaining of the fingerprint database comprises:

[0020] obtaining at least one historical driving track of a mobile device when performing a historical positioning task;

[0021] obtaining at least one key point coordinate from the historical driving track, and obtaining feature information of at least one wireless access point scanned by the mobile device at each key point coordinate, the feature information at least comprising signal strengths of the wireless access points;

[0022] generating fingerprint data of the wireless access points based on the key point coordinates and the feature information;

[0023] constructing the fingerprint database based on the fingerprint data associated with each historical driving track.

[0024] Further, the obtaining of the second fingerprint data matching the first fingerprint data from the fingerprint database by using the similarity comprises:

[0025] determining the fingerprint data with the similarity falling into a preset similarity range as third fingerprint information;

[0026] compute a feature distance between the first fingerprint data and each of the third fingerprint data, and determine the third fingerprint data whose feature distance falls in a preset feature distance range as the second fingerprint data.

[0027] Further, the computing the feature distance between the first fingerprint data and each of the third fingerprint data comprises:

[0028] comparing the signal strengths of each wireless access point in the first fingerprint data and the third fingerprint data, to determine a third wireless access point whose signal strength in the first fingerprint data and the third fingerprint data is not 0;

[0029] computing the feature distance between the first fingerprint data and the third fingerprint data based on the signal strength of the third wireless access point in the first fingerprint data and the signal strength of the third wireless access point in the third fingerprint data.

[0030] Further, the computing the target position of the mobile device based on the second fingerprint data comprises:

[0031] extracting at least one device position from the second fingerprint data;

[0032] computing the target position of the mobile device based on the device position and the number of device positions corresponding to the device position.

[0033] According to another aspect of the embodiments of the present application, a positioning device of a mobile device is also provided, comprising:

[0034] an obtaining module, configured to obtain a scanning result and a positioning result obtained by a mobile device in a positioning process, wherein the scanning result comprises feature information of at least one wireless access point near the mobile device;

[0035] a generating module, configured to generate first fingerprint data based on the feature information and the positioning result;

[0036] a matching module, configured to, in a case where the positioning result indicates that the mobile device fails in positioning, obtain at least one second fingerprint data matched with the first fingerprint data from a fingerprint library;

[0037] a computing module, configured to determine a target position of the mobile device currently located in according to the second fingerprint data.

[0038] According to another aspect of the embodiments of the present application, a storage medium is also provided, which comprises a stored program, and the program performs the above steps when running.

[0039] According to another aspect of the embodiments of the present application, an electronic device is also provided, which comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete the communication among each other through the communication bus; the memory is configured to store a computer program; and the processor is configured to execute the steps in the above method by running the program stored in the memory.

[0040] The embodiments of the present application also provide a computer program product containing instructions which, when run on a computer, cause the computer to execute the steps in the above method.

[0041] The above technical solution provided by the embodiments of the present application has the following advantages compared with the prior art: the method provided by the embodiments of the present application only needs to acquire similar fingerprint data from the fingerprint database by using the feature information of the wireless access point in the current scanning result and calculate the current target position of the mobile device by using the similar fingerprint data if the positioning fails in the positioning process of the mobile device, so that the specific wireless access point is not needed in the repositioning process, the positioning efficiency is improved, and the stability of the positioning of the mobile device is enhanced. BRIEF DESCRIPTION OF DRAWINGS

[0042] The accompanying drawings, which are incorporated herein and constitute part of the specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced here. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

[0044] Figure 1 A flowchart of a positioning method of a mobile device provided by the embodiments of the present application;

[0045] Figure 2 A flowchart of a positioning method of a mobile device provided by another embodiment of the present application;

[0046] Figure 3 A flowchart of a positioning method of a mobile device provided by another embodiment of the present application;

[0047] Figure 4 A schematic diagram of a moving track of a mobile device provided by the embodiments of the present application;

[0048] Figure 5 A flowchart of a positioning method of a mobile device provided by another embodiment of the present application;

[0049] Figure 6A block diagram of a positioning apparatus of a mobile device provided by an embodiment of the present application;

[0050] Figure 7 A structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0051] To make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described below in conjunction with the accompanying drawings of the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application but not all the embodiments of the present application. The illustrative embodiments of the present application and their descriptions are used to explain the present application and should not be construed as an improper limitation to the present application. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0052] It should be noted that, in this document, relational terms such as “first” and “second”, and the like, are used solely to distinguish one entity or action from another entity or action, without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms “comprises”, “comprising”, or any other variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but can include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element preceded by “comprises...” does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element.

[0053] Embodiments of the present application provide a positioning method and apparatus of a mobile device, and an electronic device and a storage medium. The method provided by the embodiments of the present application can be applied to any required electronic device, for example, a server, a terminal, and the like, which are not specifically limited herein, and are referred to as an electronic device for convenience of description.

[0054] According to an aspect of the embodiments of the present application, a method embodiment of a positioning method of a mobile device is provided. Figure 1 A flowchart of a positioning method of a mobile device provided by an embodiment of the present application is shown in FIG. 2, which includes the following steps. Figure 1

[0055] In step S11, a scanning result and a positioning result obtained by a mobile device in a positioning process are acquired, wherein the scanning result includes feature information of at least one wireless access point near the mobile device.

[0056] ​The method provided by the embodiments of the present application is applied to a mobile device, which can be a smart robot, an unmanned delivery vehicle, etc. The mobile device scans a current environment in a process of performing simultaneous localization and mapping (SLAM), obtains scanning results and a positioning result, the scanning results include first feature information of at least one wireless access point in the current environment of the mobile device, and the first feature information can be signal strength of the wireless access point. The positioning result is position information of the mobile device in the current environment, which can be represented as (X, Y).

[0057] Specifically, the scanning results obtained by the mobile device in the process of performing positioning are acquired, as shown in FIG. 1, including steps A1-A4. Figure 2

[0058] In step A1, first scanning information scanned by the mobile device in the process of performing positioning is acquired, the first scanning information includes at least one first wireless access point and first signal strength corresponding to the first wireless access point.

[0059] In step A2, a wireless access point layout corresponding to the current environment of the mobile device is acquired.

[0060] In step A3, second scanning information is determined based on the wireless access point layout and the first scanning information, wherein the second scanning information includes a second wireless access point not scanned by the mobile device at present and second signal strength corresponding to the second wireless access point, and the second signal strength is a preset value.

[0061] In step A4, scanning results are generated based on the first scanning information and the second scanning information.

[0062] In the embodiments of the present application, in the process of performing simultaneous localization and mapping, the mobile device scans a current environment through a network detection device of the mobile device, obtains first scanning information, and the first scanning information includes at least one first wireless access point and first signal strength corresponding to the first wireless access point. It can be understood that the first wireless access point is a wireless access point actually scanned by the mobile device at a current position, that is, the first signal strength of the first wireless access point is greater than a preset value, and the preset value can be 0.

[0063] It should be noted that the embodiments of the present application do not need to select a specific signal strength of a wireless access point as fingerprint data, but use all signal strengths of wireless access points scanned by the mobile device in an active area as the fingerprint data. For some wireless access points that are not scanned, the signal strength thereof is set to 0, so that the situation that the fingerprint data is invalid due to the fact that some wireless access points are not scanned is not considered.

[0064] ​In the embodiment of the present application, in order to avoid the case that all wireless access points in the current location are not scanned in the current location, after the mobile device obtains the first scanning information, the mobile device further acquires the wireless access point layout corresponding to the current environment, and the wireless access point layout includes all wireless access points in the current environment. Then, the wireless access point layout and the first scanning information are compared, so that the wireless access points not scanned by the mobile device in the current environment can be determined, and finally the second scanning information is generated based on the wireless access points not scanned, wherein the second scanning information includes at least one second wireless access point and the second signal strength corresponding to the second wireless access point, and the second signal strength is 0.

[0065] In the embodiment of the present application, after obtaining the first scanning information and the second scanning information, the scanning result is generated based on the first scanning information and the second scanning information. As an example, the scanning result is: AP1: RSSI-1: -90dbm, AP2: RSSI-2: -60dbm, and AP3: RSSI-3: 0.

[0066] In step S12, the first fingerprint data is generated based on the feature information and the positioning result.

[0067] In the embodiment of the present application, the first fingerprint data generated based on the feature information and the positioning result can be: [(X, Y) - (AP1: RSSI-1: -90dbm, AP2: RSSI-2: -60dbm, AP3: RSSI-3: 0)].

[0068] In step S13, in the case that the positioning result is used to indicate that the positioning of the mobile device fails, at least one second fingerprint data matched with the first fingerprint data is acquired from the fingerprint library.

[0069] In the embodiment of the present application, at least one second fingerprint data matched with the first fingerprint data is acquired from the fingerprint library, as shown in FIG. 6, including the following steps B1-B3. Figure 3

[0070] In step B1, the fingerprint library is acquired, wherein the fingerprint library includes at least one fingerprint data, and the fingerprint data includes the device position and the feature information of at least one wireless access point associated with the device position.

[0071] In the embodiment of the present application, the fingerprint library is acquired by: acquiring at least one historical driving track of the mobile device when performing a historical positioning task; acquiring at least one key point coordinate from the historical driving track, and acquiring the feature information of at least one wireless access point scanned by the mobile device at each key point coordinate, wherein the feature information at least includes the signal strength of the wireless access point; generating the fingerprint data of the wireless access point based on the key point coordinate and the feature information; and constructing the fingerprint library based on the fingerprint data associated with each historical driving track.​

[0072] In the embodiment of the present application, at least one historical driving track used by the mobile device when performing the director positioning task is acquired. As shown in the figure, the key point coordinates acquired from the historical driving track include (X1, Y1), (X2, Y2), …, (Xn, Yn), and the feature information of at least one wireless access point scanned by the intelligent mobile device at the key point coordinates is determined, which is as follows: Figure 4

[0073] [(X1, Y1)-(AP1: RSSI-11, AP2: RSSI-21, APm: RSSI-m1)],

[0074] [(X2, Y2)-(AP1: RSSI-12, AP2: RSSI-22, APm: RSSI-m2)].

[0075] [(Xn, Yn)-(AP1: RSSI-1 n , AP2: RSSI-2 n , APm: RSSI-m n )]

[0076] Then, the fingerprint database is generated based on the feature information and the key point coordinates, and the fingerprint database is shown in the following table:

[0077]

[0078]

[0079] Table 1

[0080] Step B2, the similarity between the first fingerprint data and each fingerprint data in the fingerprint library is calculated.

[0081] In the embodiment of the present application, the signal strength corresponding to the wireless access point in the first fingerprint data is converted into a first feature vector, and the signal strength corresponding to the wireless access point in each fingerprint data in the fingerprint library is converted into a second feature vector, and the similarity between the first feature vector and the second feature vector is calculated.

[0082] Step B3, the second fingerprint data matched with the first fingerprint data is acquired from the fingerprint library by using the similarity.

[0083] In the embodiment of the present application, the second fingerprint data matched with the first fingerprint data is acquired from the fingerprint library by using the similarity, including the following steps B301-B302:

[0084] Step B301, the fingerprint data with the similarity falling into the preset similarity range is determined as the third fingerprint information.

[0085] ​Step B302, calculate the feature distance between the first fingerprint data and each third fingerprint data, and determine the third fingerprint data whose feature distance falls into a preset feature distance range as the second fingerprint data.

[0086] In the embodiments of the present application, the feature distance between the first fingerprint data and each third fingerprint data is calculated, including: comparing the signal strengths of each wireless access point in the first fingerprint data and the third fingerprint data, determining the third wireless access points whose signal strengths in the first fingerprint data and the third fingerprint data are not 0; and calculating the feature distance between the first fingerprint data and the third fingerprint data based on the signal strength of the third wireless access point in the first fingerprint data and the signal strength of the third wireless access point in the third fingerprint data.

[0087] Specifically, first, any one of the N similar third fingerprint data (AP1: RSSI1y, AP2: RSSI2y,..., APm: RSSImy) is selected, the first fingerprint data (AP1: RSSI1x, AP2: RSSI2x,..., APm: RSSImx) is compared with the selected fingerprint data, and the third wireless access points whose signal strengths in the first fingerprint data and the third fingerprint data are not 0 are determined. Secondly, the feature distance between the first fingerprint data and the third fingerprint data is calculated based on the signal strength of the third wireless access point in the first fingerprint data and the signal strength of the third wireless access point in the third fingerprint data.

[0088] As an example, assuming that there are 4 wireless access points, and the Wi-Fi features carried by the current first fingerprint data are (AP1: x1, AP2: x2, AP3: x3, AP4: 0), and the Wi-Fi features carried by any one of the similar third fingerprint data are (AP1: 0, AP2: y2, AP3: y3, AP4: y4). At this time, the signal strengths of AP2 and AP3 in the two fingerprint data are not 0, so the third wireless access points are AP2 and AP3, and two new Wi-Fi features are obtained based on the signal strength of the third wireless access point in the first fingerprint data and the signal strength of the third wireless access point in the third fingerprint data, each of which is (AP2: x2, AP3: x3) and (AP2: y2, AP3: y3). The formula for calculating the feature distance is:

[0089] It should be noted that when Wi-Fi positioning is needed, because the RSSI of some APs of the Wi-Fi features is 0, after the N fingerprint data found from the fingerprint library by KNN, the feature distance between the fingerprint data is determined according to the above formula, and the M most similar fingerprint data are selected by using the feature distance, so as to obtain the position information, thereby improving the positioning accuracy.

[0090] Step S14, determining the target position where the mobile device is currently located according to the second fingerprint data.

[0091] In the embodiment of the present application, step S14, the target position where the mobile device is currently located is calculated according to the second fingerprint data, as shown in the following steps C1-C2. Figure 5

[0092] Step C1, extracting at least one device position from the second fingerprint data.

[0093] Step C2, calculating the target position where the mobile device is currently located based on the device position and the number corresponding to the device position.

[0094] In the embodiment of the present application, the M latest WIFI features selected above are obtained according to the fingerprint database, and the position information corresponding to the M WIFI features is (X1, Y1), ···, (XM, YM), and the current position is: The current position coordinates obtained in this way can help the robot recover the positioning.

[0095] In the embodiment of the present application, the method further comprises: in the case where the positioning result is used to indicate that the mobile device is successfully positioned, storing the first fingerprint data to the fingerprint database.

[0096] The method provided in the embodiment of the present application only needs to obtain similar fingerprint data from the fingerprint database by using the feature information of the wireless access point in the current scanning result and calculate the target position of the mobile device in the case where the positioning fails in the positioning process of the mobile device, so that the specific wireless access point is not needed in the repositioning process, the positioning efficiency is improved, and the stability of the positioning of the mobile device is enhanced.

[0097] Figure 6 A block diagram of a positioning device of a mobile device provided in the embodiment of the present application, which can be realized as part or whole of an electronic device by software, hardware or combination of both. As shown in the figure, the device comprises: Figure 6

[0098] The obtaining module 31 is configured to obtain the scanning result obtained by the mobile device in the positioning process and the positioning result, wherein the scanning result comprises the first feature information of at least one wireless access point near the mobile device.

[0099] The generating module 32 is configured to generate the first fingerprint data based on the first feature information and the positioning result.

[0100] ​​The matching module 33 is configured to acquire at least one second fingerprint data matched with the first fingerprint data from the fingerprint database in a case where the positioning result indicates that the positioning of the mobile device fails.

[0101] The calculating module 34 is configured to determine a target position where the mobile device currently locates according to the second fingerprint data.

[0102] In the embodiment of the present application, the acquiring module 31 is configured to acquire first scanning information scanned by the mobile device during the positioning process, the first scanning information comprising at least one first wireless access point and a first signal strength corresponding to the first wireless access point; acquire a wireless access point layout corresponding to an environment where the mobile device currently locates; determine second scanning information based on the wireless access point layout and the first scanning information, wherein the second scanning information comprises at least one second wireless access point which is not scanned by the mobile device currently and a second signal strength corresponding to the second wireless access point, and the second signal strength is a preset value; and generate a scanning result based on the first scanning information and the second scanning information.

[0103] In the embodiment of the present application, the matching module 33 is configured to acquire a fingerprint database, wherein the fingerprint database comprises at least one fingerprint data, the fingerprint data comprising a device position and feature information of at least one wireless access point associated with the device position; calculate a similarity between the first fingerprint data and each fingerprint data in the fingerprint database; and acquire second fingerprint data matched with the first fingerprint data from the fingerprint database by using the similarity.

[0104] In the embodiment of the present application, the matching module 33 is configured to acquire at least one historical driving track of the mobile device when performing a historical positioning task; acquire at least one key point coordinate from the historical driving track and acquire feature information of at least one wireless access point scanned by the mobile device at each key point coordinate, the feature information at least comprising a signal strength of the wireless access point; generate fingerprint data of the wireless access point based on the key point coordinate and the feature information; and construct a fingerprint database based on the fingerprint data associated with each historical driving track.

[0105] In the embodiment of the present application, the matching module 33 is configured to determine, as third fingerprint information, the fingerprint data whose similarity falls within a preset similarity range; calculate a feature distance between the first fingerprint data and each third fingerprint data, and determine, as the second fingerprint data, the third fingerprint data whose feature distance falls within a preset feature distance range.

[0106] In this embodiment, the matching module 33 is used to extract a third wireless access point with a non-zero signal strength from the first fingerprint data, and a fourth wireless access point with a non-zero signal strength from the third fingerprint data; remove wireless access points with a zero signal strength from the third and fourth wireless access points to obtain updated third and fourth wireless access points; and calculate the feature distance between the first fingerprint data and the third fingerprint data based on the signal strength of the updated third and fourth wireless access points.

[0107] In this embodiment of the application, the calculation module 34 is used to extract at least one device location from the second fingerprint data; and to calculate the target location of the mobile device based on the device location and the number of device locations.

[0108] This application also provides an electronic device, such as... Figure 7 As shown, the electronic device may include: a processor 1501, a communication interface 1502, a memory 1503, and a communication bus 1504, wherein the processor 1501, the communication interface 1502, and the memory 1503 communicate with each other through the communication bus 1504.

[0109] Memory 1503 is used to store computer programs;

[0110] When the processor 1501 executes the computer program stored in the memory 1503, it implements the steps of the above embodiments.

[0111] The communication bus mentioned above can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This communication bus can be divided into address bus, data bus, control bus, etc. For ease of illustration, only one thick line is used to represent it in the diagram, but this does not mean that there is only one bus or one type of bus.

[0112] The communication interface is used for communication between the aforementioned terminal and other devices.

[0113] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0114] The processor described above can be a general processor, including a central processing unit (CPU), a network processor (NP), etc.; or can be a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic device, a discrete gate or transistor logic device, a discrete hardware component.

[0115] In another embodiment provided by the present application, a computer readable storage medium is provided, which stores instructions, when executed on a computer, cause the computer to perform the positioning method of the mobile device according to any one of the above embodiments.

[0116] In another embodiment provided by the present application, a computer program product is provided, which contains instructions, when executed on a computer, cause the computer to perform the positioning method of the mobile device according to any one of the above embodiments.

[0117] In the above embodiments, the implementation can be achieved entirely or partially by software, hardware, firmware or any combination thereof. When implemented by software, the implementation can be achieved entirely or partially in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on a computer, the above processes or functions are entirely or partially generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable device. The computer instructions can be stored in a computer readable storage medium or transferred from one computer readable storage medium to another, for example, the computer instructions can be transferred from one website, computer, server or data center to another website, computer, server or data center through wired (such as coaxial cable, optical fiber, digital subscriber line) or wireless (such as infrared, wireless, microwave, etc.) mode. The computer readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server, data center, etc. integrated with one or more available media. The available media can be a magnetic medium (for example, floppy disk, hard disk, magnetic tape), an optical medium (for example, DVD), or a semiconductor medium (for example, solid state disk) and the like.

[0118] The above only is the preferred embodiment of the present application, and is not used to limit the protection scope of the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

[0119] The above only is the specific implementation of the present application, so that the person skilled in the art can understand or implement the present application. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A positioning method of a mobile device, characterized by, The method comprises the following steps: obtaining scan results and positioning results obtained by a mobile device during a positioning process, wherein the scan results comprise feature information of at least one wireless access point obtained by the mobile device, and the positioning results are position information of the mobile device in a current environment; generating first fingerprint data based on the feature information and the positioning results; in a case where the positioning results indicate that the mobile device fails to position, obtaining at least one second fingerprint data matching the first fingerprint data from a fingerprint library; determining a target position where the mobile device is currently located according to the second fingerprint data; the step of obtaining at least one second fingerprint data matching the first fingerprint data from the fingerprint library comprises the following steps:

2. The method of claim 1, wherein, obtaining a fingerprint library, wherein the fingerprint library comprises at least one fingerprint data, the fingerprint data comprises a device position and feature information of at least one wireless access point associated with the device position, and the feature information at least comprises signal strength of the wireless access point; calculating similarity between the first fingerprint data and each fingerprint data in the fingerprint library; and obtaining second fingerprint data matching the first fingerprint data from the fingerprint library by using the similarity. the step of obtaining scan results obtained by the mobile device during the positioning process comprises the following steps: obtaining first scan information scanned by the mobile device during the positioning process, wherein the first scan information comprises at least one first wireless access point and first signal strength corresponding to the first wireless access point; 3. The method of claim 1, wherein, obtaining a wireless access point layout corresponding to an environment where the mobile device is currently located; determining second scan information based on the wireless access point layout and the first scan information, wherein the second scan information comprises at least one second wireless access point which is not scanned by the mobile device and second signal strength corresponding to the second wireless access point, and the second signal strength is a preset value; generating the scan results based on the first scan information and the second scan information. the step of obtaining the fingerprint library comprises the following steps: obtaining at least one historical driving track of the mobile device during a historical positioning task; 4. The method of claim 1, wherein, obtaining at least one key point coordinate from the historical driving track and obtaining feature information of at least one wireless access point scanned by the mobile device at each key point coordinate, wherein the feature information at least comprises signal strength of the wireless access point; generating fingerprint data of the wireless access point based on the key point coordinate and the feature information; constructing the fingerprint library based on the fingerprint data associated with each historical driving track.

5. The method of claim 4, wherein, the step of obtaining second fingerprint data matching the first fingerprint data from the fingerprint library by using the similarity comprises the following steps: determining fingerprint data with a similarity falling within a preset similarity range as third fingerprint information; calculating feature distance between the first fingerprint data and each third fingerprint data, and determining third fingerprint data with the feature distance falling within a preset feature distance range as the second fingerprint data. the step of calculating feature distance between the first fingerprint data and each third fingerprint data comprises the following steps: Determine a third wireless access point whose signal strength in the first fingerprint data and the third fingerprint data is not 0 by comparing the signal strength of each wireless access point in the first fingerprint data and the third fingerprint data; Calculate a feature distance between the first fingerprint data and the third fingerprint data based on the signal strength of the third wireless access point in the first fingerprint data and the signal strength of the third wireless access point in the third fingerprint data.

6. The method of claim 1, wherein, The method further includes: Extract at least one device position from the second fingerprint data; Calculate a target position of the mobile device based on the device position and the number of device positions corresponding to the device position.

7. A positioning apparatus of a mobile device, characterized by, The method further includes: Obtain a scanning result and a positioning result of a mobile device during a positioning process, wherein the scanning result includes feature information of at least one wireless access point near the mobile device; Generate first fingerprint data based on the feature information and the positioning result; In a case where the positioning result indicates that the mobile device fails to be positioned, obtain at least one second fingerprint data matched with the first fingerprint data from a fingerprint library; Determine a target position of the mobile device based on the second fingerprint data. The method further includes:

8. A storage medium, characterized by Obtain a fingerprint library, wherein the fingerprint library includes at least one fingerprint data, the fingerprint data includes a device position and feature information of at least one wireless access point associated with the device position, and the feature information at least includes signal strength of the wireless access point; calculate a similarity between the first fingerprint data and each fingerprint data in the fingerprint library; and obtain second fingerprint data matched with the first fingerprint data from the fingerprint library by using the similarity.

9. An electronic device, comprising: The storage medium includes a stored program, wherein the program is executed to perform the method in any one of claims 1 to 6. The apparatus includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; and wherein: The memory is configured to store a computer program; The processor is configured to execute the method in any one of claims 1 to 6 by running the program stored in the memory. The apparatus includes a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; and wherein: The memory is configured to store a computer program; The processor is configured to execute the method in any one of claims 1 to 6 by running the program stored in the memory.

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