Indoor positioning beacon processing method and device, equipment and storage medium

Abstract

The embodiment of the invention provides an indoor positioning beacon processing method and device, equipment and a storage medium, and the method comprises the steps: determining the simulation position of a simulation beacon corresponding to each positioning beacon in a walkable region of a target indoor map according to the signal coverage range of each positioning beacon; generating a walking simulation path in the walkable area; for a plurality of path points on the walking simulation path, estimating the signal intensity of all the simulation beacons at each path point according to the actual position of each path point and the simulation positions of the simulation beacons; for each path point, determining a positioning prediction position of the path point according to the signal intensity corresponding to the path point and the simulation position of the simulation beacon; and according to the actual position and the positioning prediction position corresponding to each path point, adjusting the simulation position of the simulation beacon to obtain an actual deployment position for deploying the positioning beacon.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and in particular to an indoor positioning beacon processing method, device, equipment and storage medium. Background Art

[0002] The current mainstream indoor positioning technology mainly relies on wireless beacons deployed in indoor environments, such as Bluetooth, WIFI, etc. Based on this, when performing indoor navigation, the mobile device used for navigation can receive the signals sent by these wireless beacons, and then the mobile device can achieve indoor positioning based on the signal strength and the location information of the wireless beacon. It can be seen that the current indoor positioning method is greatly dependent on the strength of the signal emitted by the wireless beacon, and has high requirements for the stability of the signal strength.

[0003] The signal strength of wireless beacons in indoor environments is affected by many factors, such as the distribution of obstacles. Therefore, in order to ensure the signal transmission strength of wireless beacons in indoor environments, it is usually necessary to manually install and deploy wireless beacons based on experience, and then test the signal strength of the deployed wireless beacons. If the test finds that the signal strength of the wireless beacon received by the mobile device does not meet the indoor positioning requirements, it is necessary to change the installation location of the wireless beacon and then test it again. This cycle continues until the currently deployed wireless beacons can meet the indoor positioning requirements.

[0004] Therefore, the current deployment solution of wireless beacons needs to rely on a large amount of manual installation and testing, which has a large manpower cost and time cost, and the deployment efficiency of wireless beacons is also greatly affected. Summary of the invention

[0005] In view of this, in order to at least solve the technical problems of low efficiency, high manpower cost and time cost of deploying indoor positioning beacons due to the reliance on manual deployment of indoor positioning beacons in traditional technologies, the purpose of the present invention is to provide an indoor positioning beacon processing method, device, equipment and storage medium. The technical solutions adopted in the embodiments of the present invention are as follows:

[0006] A first aspect of an embodiment of the present invention provides an indoor positioning beacon processing method, including:

[0007] According to the signal coverage of each positioning beacon, the simulated position of the simulated beacon corresponding to each positioning beacon is determined in the walkable area of ​​the target indoor map;

[0008] generating a walking simulation path in the walkable area;

[0009] For a plurality of path points on the walking simulation path, according to the actual position of each path point and the simulated position of the simulated beacon, estimating the signal strength of all simulated beacons at each path point;

[0010] For each path point, determining a predicted location of the path point according to a signal strength corresponding to the path point and a simulated location of the simulated beacon;

[0011] According to the actual position and the positioning predicted position corresponding to each path point, the simulated position of the simulated beacon is adjusted so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than the set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

[0012] A second aspect of an embodiment of the present invention provides another indoor positioning beacon processing method, including:

[0013] In a target indoor map corresponding to the target area, mark the actual deployment position of each positioning beacon deployed in the target area;

[0014] Generate a walking simulation path in a walkable area in the target indoor map;

[0015] For multiple path points on the walking simulation path, according to the actual position of each path point and the actual deployment position of the positioning beacon, the signal strength of all positioning beacons at each path point is calculated;

[0016] For each path point, determining a predicted location of the path point according to the signal strength corresponding to the path point and the actual deployment location of the positioning beacon;

[0017] According to the actual position and positioning predicted position corresponding to each path point, the target positioning beacon that needs to be adjusted is determined.

[0018] A third aspect of an embodiment of the present invention provides an indoor positioning beacon processing device, including:

[0019] The first simulation module is configured to: determine the simulated position of the simulated beacon corresponding to each positioning beacon in the walkable area of ​​the target indoor map according to the signal coverage range of each positioning beacon; and generate a walking simulation path in the walkable area;

[0020] A signal strength estimation module is configured to: for a plurality of path points on the walking simulation path, estimate the signal strength of all simulated beacons at each path point according to the actual position of each path point and the simulated position of the simulated beacon;

[0021] The first positioning prediction module is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the simulated position of the simulated beacon;

[0022] The position adjustment module is configured to adjust the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point, so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than a set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

[0023] A fourth aspect of an embodiment of the present invention provides an indoor positioning beacon processing device, including:

[0024] The marking module is configured to: mark the actual position of each positioning beacon deployed in the target area in the target indoor map corresponding to the target area;

[0025] The second simulation module is configured to: generate a walking simulation path in a walkable area in the target indoor map;

[0026] The signal strength calculation module is configured to: for multiple path points on the walking simulation path, calculate the signal strength of all positioning beacons at each path point according to the actual position of each path point and the actual deployment position of the positioning beacon;

[0027] The second positioning prediction module is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the actual deployment position of the positioning beacon;

[0028] The determination module is configured to: determine the target positioning beacon that needs to be adjusted according to the actual position and the positioning predicted position corresponding to each path point.

[0029] According to a fifth aspect of an embodiment of the present invention, an electronic device is provided, comprising a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the indoor positioning beacon processing method provided in the first aspect and / or the second aspect above.

[0030] According to a sixth aspect of an embodiment of the present invention, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the indoor positioning beacon processing method provided by the first aspect and / or the second aspect is implemented.

[0031] The indoor positioning beacon processing method, device, equipment and storage medium provided in the embodiments of the present invention are based on the same inventive concept and provide two sets of indoor positioning beacon processing methods:

[0032] One of the sets is applied to the scenario where the positioning beacon has not yet been deployed in the actual environment, that is, the indoor positioning beacon processing method provided in the first aspect above, by first performing a simulated deployment of the simulated beacon according to the target indoor map corresponding to the actual environment before deploying and installing the positioning beacon in the actual environment, and generating a walking simulation path in the walkable area of ​​the target indoor map in the actual environment, generally walking in the walkable area, and then using the currently deployed simulated beacon to predict the positioning of multiple path points on the walking simulation path, and obtain the positioning prediction positions of the multiple path points obtained based on the positioning of the initially deployed simulated beacon, and then determine whether to adjust the simulated position of the simulated beacon based on the actual positions and the positioning prediction positions of the multiple path points, so that the adjusted simulated position of the simulated beacon that needs to be adjusted can meet the predicted path and The deviation between the walking simulation paths is less than the requirement of setting the deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon in the actual environment. Therefore, there is no need to rely on manual experience to deploy the positioning beacon in the actual environment, nor is there any need to conduct multiple manual tests after the positioning beacon is deployed in the actual environment to know its positioning accuracy. It can be seen that the indoor positioning beacon processing method provided by the first aspect of the embodiment of the present invention can intelligently obtain a positioning beacon deployment plan with a positioning accuracy that meets the requirements based on the indoor map of the actual environment before the positioning beacon is deployed in the actual environment. Subsequently, the positioning beacon can be deployed in the actual environment based on the deployment plan, which greatly improves the efficiency of obtaining the positioning beacon deployment plan and the deployment efficiency of the positioning beacon, and also ensures the positioning accuracy of the positioning beacon, effectively reducing the labor cost and time cost.

[0033] Another set of methods for processing indoor positioning beacons provided in the second aspect above is applied to the scenario where positioning beacons have been deployed in the actual environment. For the actual environment where positioning beacons have been deployed, in order to realize the rapid test of the positioning accuracy of the positioning beacons, the actual deployment positions of the deployed positioning beacons are first marked in the target indoor map of the actual environment, and then the positioning beacons are used to perform positioning tests on the walking simulation path in the walkable area in the target indoor map to determine the positioning prediction positions obtained by positioning multiple path points on the walking simulation path through the positioning beacon, and then the target positioning beacon that needs to be adjusted is obtained according to the actual position and positioning prediction position corresponding to each path point. After obtaining the target positioning beacon, the target positioning beacon can be highlighted in the above-mentioned target indoor map so that relevant personnel can quickly know which positioning beacons need to be adjusted to improve the positioning accuracy. There is no need to manually walk in the feasible area in the actual environment and test the positioning accuracy. The efficiency related to the test in the deployment of positioning beacons and the efficiency of position adjustment after deployment can be greatly improved, and the labor cost and time cost can be effectively reduced.

[0034] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for use in the embodiments are briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present invention and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without creative work.

[0036] Figure 1 A structural block diagram of an electronic device provided by an embodiment of the present invention is shown;

[0037] Figure 2 A flowchart of an indoor positioning beacon processing method provided by an embodiment of the present invention is shown;

[0038] Figure 3 A flowchart of another indoor positioning beacon processing method provided by an embodiment of the present invention is shown;

[0039] Figure 4 A functional module diagram of an indoor positioning beacon processing device provided by an embodiment of the present invention is shown;

[0040] Figure 5 A functional module diagram of another indoor positioning beacon processing device provided by an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0041] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0042] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without making creative work are within the scope of protection of the present invention.

[0043] It should be noted that relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0044] In order to solve the technical problems of low efficiency, high manpower and time costs in the deployment of indoor positioning beacons in the traditional technology which relies on manual work, an embodiment of the present invention provides a method for processing indoor positioning beacons. Before the positioning beacons are deployed and installed in the actual environment, a simulated deployment of simulated beacons is first performed according to a target indoor map corresponding to the actual environment, and a walking simulation path is generated in the walkable area of ​​the target indoor map in the actual environment. Generally, a walking simulation path is walked in the walkable area in the actual environment, and then the currently deployed simulated beacons are used to perform positioning prediction on multiple path points on the walking simulation path, and the positioning prediction positions of the multiple path points obtained by positioning the simulated beacons based on the initial deployment are obtained. Then, based on the actual positions of the multiple path points and the positioning prediction positions, it is determined whether to adjust the simulated position of the simulated beacon, so that the simulated beacon that needs to be adjusted is adjusted. The simulated position after the prediction can meet the requirement that the deviation between the predicted path and the walking simulation path is less than the set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon in the actual environment. Therefore, there is no need to rely on manual experience to deploy the positioning beacon in the actual environment, nor is there any need to conduct multiple manual tests after the positioning beacon is deployed in the actual environment to know its positioning accuracy. It can be seen that the indoor positioning beacon processing method provided by the first aspect of the embodiment of the present invention can intelligently obtain a positioning beacon deployment plan with a positioning accuracy that meets the requirements according to the indoor map of the actual environment before the positioning beacon is deployed in the actual environment. Subsequently, the positioning beacon can be deployed in the actual environment based on the deployment plan, which greatly improves the efficiency of obtaining the positioning beacon deployment plan and the deployment efficiency of the positioning beacon, and also ensures the positioning accuracy of the positioning beacon, effectively reducing the labor cost and time cost.

[0045] The indoor positioning beacon processing method provided by the present invention can be applied to electronic devices, please refer to Figure 1 , is a block diagram of the structure of an electronic device. The electronic device 100 includes a memory 110, a processor 120 and a communication module 130. The memory 110, the processor 120 and the communication module 130 are electrically connected to each other directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses or signal lines.

[0046] The memory is used to store programs or data. The memory may be, but is not limited to, a random access memory (RAM), a read only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), etc.

[0047] The processor is used to read / write data or programs stored in the memory and execute corresponding functions.

[0048] The communication module is used to establish a communication connection between the electronic device and other communication terminals through a network, and is used to send and receive data through the network.

[0049] It should be understood that Figure 1 The structure shown is only a schematic diagram of the structure of the electronic device, and the electronic device may also include Figure 1 More or fewer components as shown, or with Figure 1 Different configurations are shown. Figure 1 Each component shown in the figure can be implemented by hardware, software or a combination thereof.

[0050] In some embodiments, the electronic device may be a device with computing functions, for example, at least one of a smart watch, a smart phone, a personal computer, or a server. The indoor positioning beacon processing method provided in the embodiment of the present invention may be loaded into the electronic device in the form of a software program, or may be assembled in the electronic device in the form of a hardware function module. The embodiment of the present invention is not limited to this.

[0051] The following combination Figure 2 The indoor positioning beacon processing method provided by the embodiment of the present invention is described. Figure 2 : is a flowchart of an indoor positioning beacon processing method provided by an embodiment of the present invention. The indoor positioning beacon processing method provided by an embodiment of the present invention includes:

[0052] In step S100, according to the signal coverage of each positioning beacon, the simulated position of the simulated beacon corresponding to each positioning beacon is determined in the walkable area of ​​the target indoor map;

[0053] In step S200, a walking simulation path is generated in the walkable area;

[0054] In step S300, for a plurality of path points on the walking simulation path, the signal strength of all simulated beacons at each path point is estimated according to the actual position of each path point and the simulated position of the simulated beacon;

[0055] In step S400, for each path point, a predicted location of the path point is determined according to the signal strength corresponding to the path point and the simulated location of the simulated beacon;

[0056] In step S500, the simulated position of the simulated beacon is adjusted according to the actual position and the positioning predicted position corresponding to each path point, so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than the set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

[0057] Before deploying a positioning beacon in an indoor environment, the positioning beacon can be a Bluetooth beacon or a WIFI beacon. The indoor positioning beacon processing method provided by the embodiment of the present invention can be used to obtain the deployment position of the positioning beacon in the indoor environment by executing steps S100 to S500, that is, the actual deployment position in step S500. The positioning beacon can then be installed and deployed in the indoor environment according to the actual deployment position. The following describes the process of obtaining the actual deployment position of the positioning beacon in the indoor environment:

[0058] First, a target indoor map of the target indoor environment and positioning beacon information planned to be applied in the target indoor map are obtained, wherein the target indoor map can be obtained by a relevant person inputting it into an electronic device that executes the method, or by the electronic device obtaining it from an authorized indoor map database. The positioning beacon information can include the signal coverage of the positioning beacon.

[0059] Then, through step S100, according to the signal coverage of the positioning beacon, the simulated position of the simulated beacon can be determined in the walkable area of ​​the target indoor map, wherein the walkable area can include the walkway area or other areas that allow people or vehicles to pass. Through the simulated deployment of step S100, the signal coverage of all simulated beacons can cover the walkable area. In some examples, if it is desired to ensure the positioning accuracy based on the simulated beacon to a certain extent during the initial deployment, in the simulated beacons deployed through step S100, the signal coverage of each two adjacent simulated beacons can have an overlapping area, and the size of the overlapping area can be determined according to the positioning accuracy requirements. For example, a mapping relationship table between the overlapping area size and the positioning accuracy can be pre-constructed, in which the overlapping area area values ​​corresponding to different positioning accuracy values ​​are recorded, wherein the higher the positioning accuracy requirement, the larger the overlapping area. Based on this, the corresponding overlapping area value can be obtained according to the type of indoor scene or the customer's demand for positioning accuracy, and the simulated position of the simulated beacon can be determined in the walkable area based on the overlapping area value and the signal coverage range of the positioning beacon, so that in the simulated beacon deployed based on the simulated position, the area of ​​the overlapping area in the signal coverage range of each two adjacent simulated beacons is greater than or equal to the corresponding overlapping area value.

[0060] At the same time, before or after executing step S100, step S200 may be executed to generate a walking simulation path in the walkable area according to an existing path generation method. The walking simulation path may be one or more than one. Now, taking one path as an example, the subsequent process is further described. The walking simulation path is used to represent the path that a person or a car will pass through in an actual indoor environment.

[0061] After obtaining the simulated position of the simulated beacon and the simulated walking path respectively through step S100 and step S200, step S300 can be executed to obtain multiple path points from the simulated walking path, wherein multiple path points can be obtained from the simulated walking path in sequence in an equidistant or unequal manner, wherein the distances involved in the equidistant or unequal distances can adopt default values ​​or user-set values, which are not limited here. Then, based on the signal strength loss formula for wireless beacons in the relevant technology, the signal strength of all simulated beacons at each path point can be inferred based on the distance between the actual position of each path point and the simulated position of all simulated beacons. In some examples, the signal strengths corresponding to all simulated beacons at each waypoint can be stored in a set manner, for example, Li = [{B1: Q1}, {B2: Q2}, {B3: Q3}...{Bi: Qi}, {Bn: Qn}], where Li represents the signal strength set of the i-th waypoint among multiple waypoints, B1 represents the beacon ID or simulated position of the first simulated beacon among all simulated beacons, Q1 represents the signal strength of the first simulated beacon at the i-th waypoint, and similarly, Bi represents the beacon ID or simulated position of the i-th simulated beacon among all simulated beacons, and Qi represents the signal strength of the i-th simulated beacon at the i-th waypoint.

[0062] After obtaining the signal strength of all simulated beacons at each path point, step S400 can be executed. For each path point, the positioning technology of wireless beacons in the relevant technology can be used to calculate multiple positioning results corresponding to the path point based on the signal strength of all simulated beacons corresponding to the path point and the simulated positions of all simulated beacons. The average or weighted average of these positioning results is then used as the positioning prediction position recorded in step S400.

[0063] Although the predicted location of each path point can be obtained by the method recorded in step S400, this method of obtaining the predicted location by using all simulated beacons may include simulated beacons with very weak signal strength. When the path points are located simultaneously using these simulated beacons with very weak signal strength and simulated beacons with very strong signal strength, the finally obtained predicted location will be adversely affected by the simulated beacons with weak signal strength, which will eventually result in the deployment position of the positioning beacons that are not necessary to be used in practice being adjusted based on the predicted location, thereby affecting the overall deployment accuracy. Therefore, in order to solve this technical problem, in order to further improve the prediction result of the predicted location, and thereby improve the actual deployment position used for the subsequent deployment, in some embodiments, after estimating the signal strength at each path point of all simulated beacons, the indoor positioning beacon processing method provided by the embodiment of the present invention may also include the following steps:

[0064] In step S310, for each waypoint, the simulated beacons whose signal strengths corresponding to the waypoints are less than a set strength threshold are removed to obtain a target simulated beacon for determining the positioning prediction position of the waypoint.

[0065] It can be understood that for each path point, the simulated beacons in the signal strength set are first screened based on the corresponding signal strength set to remove the simulated beacons with signal strength less than the set strength threshold, thereby obtaining the target simulated beacon used to determine the positioning prediction position of the path point, thereby obtaining the target simulated beacon set corresponding to each path point. In the target simulated beacon set, information such as the beacon ID, simulated position, and signal strength of the target simulated beacon can be recorded. The strength threshold can be set according to experiments or actual needs.

[0066] Therefore, in step S400, the following can be adaptively adjusted: for each path point, the predicted location of the path point is determined according to the target simulated beacon set corresponding to the path point. The principle of determining the predicted location is the same as described above, except that the data used is screened.

[0067] After obtaining the predicted location of each path point through step S400 in any of the above embodiments, step S500 can be executed to determine whether to adjust the simulated location of the simulated beacon according to the actual location and predicted location corresponding to each path point, so that after the simulated beacon whose simulated location needs to be adjusted is adjusted, the predicted location of multiple path points is re-determined, so that the deviation between the predicted path generated based on the predicted location of multiple path points and the walking simulation path is less than the set deviation threshold. The deviation threshold can be set according to experiments or actual needs.

[0068] Regarding the above-mentioned related determination methods for determining whether to adjust the simulated position of the simulated beacon, in some embodiments, the following two implementation methods are provided:

[0069] The first method is to make a judgment based on the overall deviation of multiple path points:

[0070] That is, in the above step S400, the step of adjusting the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point includes:

[0071] In step S411, the average positioning error of the plurality of path points is calculated according to the actual position and the positioning predicted position corresponding to each path point;

[0072] In step S412, when the average positioning error is greater than a set average error threshold, the simulated position of the simulated beacon is adjusted.

[0073] For the first method, after obtaining the predicted location of each path point, the location error between the actual location and the predicted location of each path point is calculated. In some examples, the location error can be expressed in the form of distance, that is, the deviation distance between the actual location and the predicted location of each path point is calculated, and then the average of all deviation distances is calculated to obtain the average location error recorded in step S411; then it can be determined whether the average location error is greater than the set average error threshold. When the average location error is greater than the set average error threshold, step S412 will be executed to adjust the simulated position of the simulated beacon, so that the average location error between the current predicted location and the actual deployment location obtained by relocating multiple path points based on the adjusted simulated beacon is less than or equal to the average error threshold, that is, the adjustment of the simulated position of the simulated beacon is completed. At this time, the simulated positions of all simulated beacons can be output to provide a reference for the on-site deployment of location beacons. The average error threshold can be set according to experiments or actual needs.

[0074] On the contrary, if in the determination step after step S411, it is determined that the average positioning error is less than or equal to the average error threshold, it is considered that the simulated positions of all current simulated beacons meet the actual positioning accuracy requirements and can be directly output to provide a reference for on-site deployment of positioning beacons.

[0075] The output of the simulated positions of all simulated beacons finally determined may be output in the form of text plus mathematical description, or may be directly displayed in the target indoor map, and the actual deployment position information is marked on the target indoor map and displayed on a display screen for the convenience of relevant personnel to view.

[0076] The second method is to make a judgment based on the deviation of a single path point:

[0077] In step S421, the positioning error corresponding to each path point is calculated according to the actual position and the positioning predicted position corresponding to each path point;

[0078] In step S422, for each waypoint whose positioning error is greater than a set error threshold, the simulated position of the target simulated beacon used to determine the predicted positioning position of the waypoint is adjusted.

[0079] For the second method, after obtaining the positioning prediction position corresponding to each path point, the positioning error between the actual position corresponding to each path point and the positioning prediction position can be calculated respectively through step S421, for example, the distance between the actual deployment position and the positioning prediction position. After obtaining the positioning error corresponding to each path point, the path points whose positioning errors are greater than the set error threshold are screened out, and then step S422 is executed. For each path point whose positioning error is greater than the set error threshold, the target simulated beacons participating in the determination of the positioning prediction positions of these path points are obtained, and then the simulated positions of these target simulated beacons are adjusted to obtain the actual deployment positions. Conversely, the simulated positions of the simulated beacons that are not involved in the determination of the positioning prediction positions of these path points can be directly output as the actual deployment positions. The error threshold can be set based on experience or actual needs.

[0080] The above two methods have their own advantages: the first method takes into account the overall positioning accuracy of the path, adjusts the simulated position of the simulated beacon based on the overall positioning accuracy, and uses the simulated position as the actual deployment position for on-site deployment of the positioning beacon, which can make the deployed positioning beacon have good comprehensive positioning accuracy in actual applications. The second method takes into account the single-point positioning accuracy, and only adjusts the simulated position of the target simulated beacon corresponding to the path point that does not meet the positioning accuracy requirements. Compared with the first method, it can reduce the processing volume of the simulated beacon that needs to be adjusted, and at the same time, it can also ensure the accuracy of single-point positioning.

[0081] Regardless of the first method or the second method, which involves adjusting the simulated position of the simulated beacon, in some embodiments, two position adjustment methods are provided, as follows:

[0082] The first position adjustment method:

[0083] That is, the step of adjusting the simulated position of the simulated beacon includes:

[0084] In step S431, the signal transmitting end of the target simulated beacon used to determine the multiple path points is deflected according to the set azimuth angle; and / or

[0085] In step S432, the distance between the target simulation beacon and the walking simulation path is shortened and increased according to a first set distance.

[0086] For the first position adjustment method, in step S431, the azimuth angle can be set to be adjusted step by step with a step size of 5°. For example, the signal transmitting end of each target simulation beacon can be rotated from the current position to the clockwise or counterclockwise direction by 5°, 10°, 15°...120°, etc., to obtain multiple sets of angular position sets corresponding to the transmitting end of each target simulation beacon; or, the azimuth angle can be set to be adjusted step by step with multiple set angles. For example, the signal transmitting end of each target simulation beacon can be rotated from the current position to the clockwise or counterclockwise direction by 30°, 60°, 90° and 120°. At this time, multiple sets of angular position sets corresponding to the transmitting end of each target simulation beacon can also be obtained. In step S432, the first set distance can be determined by the signal coverage range corresponding to the target simulated beacon. For example, assuming that the signal coverage range corresponding to the target simulated beacon is a circular range formed by taking the simulated position of the target simulated beacon as the center and the effective distance R of the signal transmission as the radius, the set distance can be less than the radius R. For example, in step S432, each target simulated beacon can be adjusted in turn by 1 / 8, 1 / 4, 1 / 2 of R, so that the distance between each target simulated beacon and the walking simulated path is shortened or lengthened by 1 / 8, 1 / 4, 1 / 2, respectively, thereby obtaining multiple sets of distances corresponding to each target simulated beacon. Next, for each target simulated beacon, its multiple sets of angle position sets and multiple sets of distance sets are combined respectively to obtain multiple sets of adjustment parameters for each target simulated beacon. In each set of adjustment parameters, a transmitting end angle and a reduced distance are recorded, or a transmitting end angle and a lengthened distance are recorded. Next, for each adjustment parameter set of each target simulated beacon, the simulated position of the target simulated beacon is processed using the adjustment parameter set to obtain a plurality of adjusted simulated positions of the target simulated beacon that correspond one-to-one to the plurality of adjustment parameter sets.

[0087] In this way, each target simulation beacon has multiple adjusted simulation positions; then, the principle of mathematical combination is used to combine the multiple adjusted simulation positions of all target simulation beacons to obtain multiple different groups of position adjustment sets; each group of position adjustment sets records an adjusted simulation position corresponding to all target simulation beacons.

[0088] Then, for each group of position adjustment sets, the simulated positions of the corresponding simulated beacons are replaced by the adjusted simulated positions in the position adjustment set to obtain the current simulated position set, and return to execute steps S300 to S500 to obtain the average positioning error corresponding to step S411 or the positioning error corresponding to step S421 for each group of simulated position sets, and then the simulated positions of all simulated beacons contained in one of the groups of simulated position sets whose average positioning error is less than the average error threshold, or whose positioning error is less than the error threshold, are selected as the actual deployment positions for deploying the positioning beacons; in some embodiments, a group of simulated position sets with the smallest positioning error can be selected as the actual deployment positions from multiple groups of simulated position sets whose positioning errors meet the requirements.

[0089] The second position adjustment method:

[0090] That is, the step of adjusting the simulated position of the simulated beacon includes:

[0091] In step S441, for each path point, a deviation distance and a deviation direction of the positioning prediction position of the path point relative to the actual deployment position are determined;

[0092] In step S442, the simulated position of the target simulated beacon used to determine the positioning prediction position of the path point is adjusted according to the deviation distance and the deviation direction.

[0093] For the second position adjustment method, for each path point, step S441 can be used to first determine the deviation distance and deviation direction of the predicted positioning position of each path point relative to the actual deployment position, and then the target path points whose deviation distance or deviation direction does not meet the requirements are screened out, and then step S442 is used to adjust the simulated positions of the target simulated beacons corresponding to these target path points. Among them, for each path point, if the deviation distance of the path point is greater than the set deviation distance threshold, or the angle corresponding to the deviation direction is greater than the set angle threshold, it is considered that the positioning accuracy of the target simulated beacon corresponding to the path point does not meet the requirements, and therefore the simulated position of the target simulated beacon needs to be adjusted. The deviation distance threshold and the angle threshold can be set according to experiments or actual needs.

[0094] In some embodiments, the step of adjusting the simulated position of the target simulated beacon used to determine the predicted location of the path point according to the deviation distance and the deviation direction in step S442 may include the following steps:

[0095] In step S4421, according to the deviation distance, the distance between the path point and the target simulated beacon is shortened to obtain a first simulated position of the target simulated beacon;

[0096] In step S4422, the first simulated position of the target simulated beacon is moved in the opposite direction of the deviation direction by a second set distance.

[0097] In the process of adjusting the simulated position of the target simulated beacon, for each target simulated beacon of each path point, each target simulated beacon is adjusted through step S4421. Taking the adjustment of one of the target simulated beacons as an example, the specific adjustment method is: shorten the distance between the position point corresponding to the simulated position of the target simulated beacon and the corresponding path point by the corresponding deviation distance. At this time, the first simulated position of the target simulated beacon after the distance adjustment can be obtained; then, through step S4422, the first simulated position is moved in the opposite direction of the deviation direction by a second set distance. For example, assuming that the positioning predicted position of a certain path point is offset to the right compared with the actual position of the path point, the deviation direction at this time is right deviation. At this time, the first simulated position of the target simulated beacon located on the left side of the path point can be moved to the left by the second set distance, or the first simulated position of the target simulated beacon located on the right side of the path point can be moved to the left by the second set distance, or the first simulated position of all the target simulated beacons corresponding to the path point can be moved to the left by the second set distance. The second set distance is less than the distance difference between the positioning predicted position and the actual position of the corresponding path point in the left and right directions.

[0098] Therefore, after step S4422, the simulated position of each target simulated beacon with positioning accuracy that meets the requirements can be obtained. At this time, the simulated positions of all simulated beacons can be output as actual deployment positions.

[0099] It should be noted that in any of the above embodiments, if one wants to obtain an actual deployment position with higher positioning accuracy or higher positioning accuracy stability, the simulated position can be adjusted multiple times. After each adjustment, the path points on the walking simulation path can be repositioned according to the relevant records of steps S300 to S400, and any of the embodiments involved in step S500 can be used to determine whether it is necessary to continue adjusting the simulated position and implement the adjustment of the simulated position.

[0100] It is worth noting that the technical features or technical solutions in any of the above embodiments of the present invention can be combined with each other as long as there is no combination contradiction.

[0101] Corresponding to the above-mentioned indoor positioning beacon processing method applied to a positioning beacon that has not been deployed in an actual environment, the embodiment of the present invention also provides an indoor positioning beacon processing method applied to a positioning beacon that has been deployed in an actual environment, see Figure 3 , Figure 3 1 is a flow chart of another indoor positioning beacon processing method provided by an embodiment of the present invention, and the indoor positioning beacon processing method comprises the following steps:

[0102] In step S10, in a target indoor map corresponding to the target area, the actual deployment position of each positioning beacon deployed in the target area is marked;

[0103] In step S20, a walking simulation path is generated in a walkable area in the target indoor map;

[0104] In step S30, for multiple path points on the walking simulation path, the signal strength of all positioning beacons at each path point is calculated according to the actual position of each path point and the actual deployment position of the positioning beacon;

[0105] In step S40, for each path point, a predicted location of the path point is determined according to the signal strength corresponding to the path point and the actual deployment position of the positioning beacon;

[0106] In step S50, the target positioning beacon that needs to be adjusted is determined according to the actual position and the positioning predicted position corresponding to each path point.

[0107] For the understanding of steps S10 to S50, please refer to the relevant records of steps S100 to S500, which will not be repeated here. After the target positioning beacon is obtained through step S50, the target positioning beacon can be highlighted in the target indoor map, for example, displayed in a flashing form, or displayed in a color different from the positioning beacon that does not need to be adjusted, so that relevant personnel can quickly view the target positioning beacon that needs to be adjusted through the target indoor map. In addition, the predicted positioning position of each path point can also be displayed in the target indoor map, so that relevant personnel can adjust the position of the target positioning beacon in combination with the trajectory formed by the predicted positioning position and the target positioning beacon.

[0108] In some embodiments, in order to improve the efficiency of relevant personnel in adjusting the position of the target positioning beacon, the embodiment of the present invention also provides a relevant adjustment strategy output scheme, that is, after determining that the target positioning beacon that needs to be adjusted is obtained, the indoor beacon processing method provided by the embodiment of the present invention may also include the following steps:

[0109] In step S60, for each target positioning beacon, all path points determined by applying the target positioning beacon to obtain the predicted positioning position are obtained to obtain a set of path points corresponding to each target positioning beacon;

[0110] In step S70, for each target positioning beacon, the deviation distance and deviation direction between the actual position and the positioning predicted position of each path point in the path point set corresponding to the target positioning beacon are determined;

[0111] In step S80, for each target positioning beacon, the adjustment distance and adjustment direction of the target positioning beacon are determined according to the deviation distance and deviation direction corresponding to each path point in the path point set corresponding to the target positioning beacon;

[0112] In step S90, the adjusted installation position of each target positioning beacon is determined and output according to the adjustment distance and adjustment direction of each target positioning beacon.

[0113] For understanding of steps S60 to S90 , reference may be made to the related records of steps S510 to S570 above, which will not be elaborated here.

[0114] In addition, it should be noted that in the above step S10, the actual deployment position of each positioning beacon that has been deployed in the target area can be obtained in advance through the indoor positioning beacon processing method applied to the positioning beacon that has not yet been deployed in the actual environment. Therefore, by combining the two sets of methods, not only can a relatively accurate actual deployment position be obtained first through the indoor positioning beacon processing method applied to the positioning beacon that has not yet been deployed in the actual environment, but the actual deployment position can also be further verified through the indoor positioning beacon processing method applied to the positioning beacon that has been deployed in the actual environment. This can ensure that the actual deployment position is more in line with the actual environment, thereby better improving the positioning accuracy of the positioning beacon in the actual environment.

[0115] In order to execute the corresponding steps in each embodiment and each possible method of the indoor positioning beacon processing method applied to the indoor positioning beacon not yet deployed in the actual environment, an implementation method of an indoor positioning beacon processing device is given below. Optionally, the indoor positioning beacon processing device can adopt the above Figure 1 For further information, please refer to Figure 4 , Figure 4 This is a functional module diagram of an indoor positioning beacon processing device provided by an embodiment of the present invention. It should be noted that the basic principle and technical effects of the indoor positioning beacon processing device provided by this embodiment are the same as those of the above-mentioned related embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned related embodiments. The indoor positioning beacon processing device 400 includes:

[0116] The first simulation module 410 is configured to: determine the simulated position of the simulated beacon corresponding to each positioning beacon in the walkable area of ​​the target indoor map according to the signal coverage range of each positioning beacon; and generate a walking simulation path in the walkable area;

[0117] The signal strength estimation module 420 is configured to: for a plurality of path points on the walking simulation path, estimate the signal strength of all simulated beacons at each path point according to the actual position of each path point and the simulated position of the simulated beacon;

[0118] The first positioning prediction module 430 is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the simulated position of the simulated beacon;

[0119] The position adjustment module 440 is configured to adjust the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point, so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than a set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

[0120] In some embodiments, the process of adjusting the simulated position of the simulated beacon by the position adjustment module 440 according to the actual position and the predicted position corresponding to each path point is configured as follows:

[0121] Calculate the average positioning error of the plurality of path points according to the actual position and the positioning predicted position corresponding to each path point;

[0122] When the average positioning error is greater than a set average error threshold, adjusting the simulated position of the simulated beacon;

[0123] Alternatively, the process of adjusting the simulated position of the simulated beacon by the position adjustment module 440 according to the actual position and the positioning prediction position corresponding to each path point is configured as follows:

[0124] According to the actual position and the predicted position of each path point, the positioning error corresponding to each path point is calculated;

[0125] For each waypoint having a positioning error greater than a set error threshold, the simulated position of the target simulated beacon used to determine the predicted positioning position of the waypoint is adjusted.

[0126] Based on the previous embodiment, in some embodiments, when the average positioning error is greater than the set average error threshold, the process of adjusting the simulated position of the simulated beacon by the position adjustment module 440 is configured as follows:

[0127] Deflecting a signal transmitting end of a target simulated beacon used to determine the plurality of path points according to a set azimuth angle; and / or

[0128] shortening and increasing the distance between the target simulation beacon and the walking simulation path according to a first set distance;

[0129] Alternatively, the process of adjusting the simulated position of the simulated beacon by the position adjustment module 440 when the average positioning error is greater than the set average error threshold is configured as follows:

[0130] For each path point, determining a deviation distance and a deviation direction of a positioning prediction position of the path point relative to an actual position;

[0131] According to the deviation distance and the deviation direction, the simulated position of the target simulated beacon used to determine the positioning predicted position of the path point is adjusted.

[0132] Based on the previous embodiment, in some embodiments, the process of adjusting the simulated position of the target simulated beacon used to determine the positioning prediction position of the path point by the position adjustment module 440 according to the deviation distance and the deviation direction is configured as follows:

[0133] shortening the distance between the path point and the target simulated beacon according to the deviation distance to obtain a first simulated position of the target simulated beacon;

[0134] The first simulated position of the target simulated beacon is moved in the opposite direction of the deviation direction by a second set distance.

[0135] In some embodiments, the indoor positioning beacon processing device 400 may further include:

[0136] The screening module is configured as follows: after the signal strength estimation module 420 estimates the signal strength of all simulated beacons at each path point, for each path point, the simulated beacons whose signal strength corresponding to the path point is less than a set strength threshold are removed to obtain the target simulated beacon used to determine the positioning prediction position of the path point.

[0137] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 1 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0138] In order to execute the corresponding steps in each embodiment and each possible method of the indoor positioning beacon processing method applied to the positioning beacon deployed in the actual environment, an implementation method of an indoor positioning beacon processing device is given below. Optionally, the indoor positioning beacon processing device can adopt the above Figure 1 For further information, please refer to Figure 5 , Figure 5 This is a functional module diagram of an indoor positioning beacon processing device provided by an embodiment of the present invention. It should be noted that the basic principle and technical effects of the indoor positioning beacon processing device provided by this embodiment are the same as those of the above-mentioned related embodiments. For the sake of brief description, for parts not mentioned in this embodiment, reference can be made to the corresponding contents in the above-mentioned related embodiments. The indoor positioning beacon processing device 500 includes:

[0139] The marking module 510 is configured to: mark the actual deployment position of each positioning beacon deployed in the target area in the target indoor map corresponding to the target area;

[0140] The second simulation module 520 is configured to: generate a walking simulation path in the walkable area of ​​the target indoor map;

[0141] The signal strength calculation module 530 is configured to: for multiple path points on the walking simulation path, calculate the signal strength of all positioning beacons at each path point according to the actual position of each path point and the actual deployment position of the positioning beacon;

[0142] The second positioning prediction module 540 is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the actual deployment position of the positioning beacon;

[0143] The determination module 550 is configured to determine the target positioning beacon that needs to be adjusted in position according to the actual position and the positioning predicted position corresponding to each path point.

[0144] In some embodiments, the indoor positioning beacon processing device 500 further includes:

[0145] The acquisition module is configured to: after the determination module 550 determines that the target location beacon that needs to be adjusted is obtained, for each target location beacon, obtain all path points that apply the target location beacon to determine the location prediction position, so as to obtain a path point set corresponding to each target location beacon;

[0146] The deviation calculation module is configured to: for each target positioning beacon, determine the deviation distance and deviation direction between the actual position of each path point in the path point set corresponding to the target positioning beacon and the positioning predicted position; for each target positioning beacon, determine the adjustment distance and adjustment direction of the target positioning beacon according to the deviation distance and deviation direction corresponding to each path point in the path point set corresponding to the target positioning beacon;

[0147] Correspondingly, the determination module 550 is further configured to determine the adjusted installation position of each target positioning beacon according to the adjustment distance and adjustment direction of each target positioning beacon, and output it.

[0148] Optionally, the above modules can be stored in the form of software or firmware. Figure 1 The memory shown in the figure or solidified in the operating system (OS) of the electronic device, and can be Figure 1 Meanwhile, the data and program codes required for executing the above modules can be stored in the memory.

[0149] In several embodiments provided by the present invention, it should be understood that the disclosed devices and methods can also be implemented in other ways. The device embodiments described above are merely schematic. For example, the flowcharts and block diagrams in the accompanying drawings show the possible architecture, functions and operations of the devices, methods and computer program products according to multiple embodiments of the present invention. In this regard, each box in the flowchart or block diagram can represent a module, a program segment or a part of a code, and the module, a program segment or a part of a code contains one or more executable instructions for implementing the specified logical functions. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of boxes in the block diagram and / or flowchart can be implemented with a dedicated hardware-based system that performs a specified function or action, or can be implemented with a combination of dedicated hardware and computer instructions.

[0150] In addition, the functional modules in the various embodiments of the present invention may be integrated together to form an independent part, or each module may exist independently, or two or more modules may be integrated to form an independent part.

[0151] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0152] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for processing indoor positioning beacons, characterized in that: include: According to the signal coverage of each positioning beacon, the simulated position of the simulated beacon corresponding to each positioning beacon is determined in the walkable area of ​​the target indoor map; generating a walking simulation path in the walkable area; For a plurality of path points on the walking simulation path, according to the actual position of each path point and the simulated position of the simulated beacon, estimating the signal strength of all simulated beacons at each path point; For each path point, determining a predicted location of the path point according to a signal strength corresponding to the path point and a simulated location of the simulated beacon; According to the actual position and the positioning predicted position corresponding to each path point, the simulated position of the simulated beacon is adjusted so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than the set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

2. The method according to claim 1, characterized in that The step of adjusting the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point comprises: Calculate the average positioning error of the plurality of path points according to the actual position and the positioning predicted position corresponding to each path point; When the average positioning error is greater than a set average error threshold, the simulated position of the simulated beacon is adjusted.

3. The method according to claim 2, characterized in that The step of adjusting the simulated position of the simulated beacon when the average positioning error is greater than a set average error threshold comprises: Deflecting a signal transmitting end of a target simulated beacon used to determine the plurality of path points according to a set azimuth angle; and / or The distance between the target simulation beacon and the walking simulation path is shortened and increased according to a first set distance.

4. The method according to claim 2, characterized in that: The step of adjusting the simulated position of the simulated beacon when the average positioning error is greater than a set average error threshold comprises: For each path point, determining a deviation distance and a deviation direction of a positioning prediction position of the path point relative to an actual position; According to the deviation distance and the deviation direction, the simulated position of the target simulated beacon used to determine the positioning predicted position of the path point is adjusted.

5. The method according to claim 4, characterized in that The step of adjusting the simulated position of the target simulated beacon used to determine the positioning prediction position of the path point according to the deviation distance and the deviation direction includes: shortening the distance between the path point and the target simulated beacon according to the deviation distance to obtain a first simulated position of the target simulated beacon; The first simulated position of the target simulated beacon is moved in the opposite direction of the deviation direction by a second set distance.

6. The method according to claim 1, characterized in that The step of adjusting the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point comprises: According to the actual position and the predicted position of each path point, the positioning error corresponding to each path point is calculated; For each waypoint having a positioning error greater than a set error threshold, the simulated position of the target simulated beacon used to determine the predicted positioning position of the waypoint is adjusted.

7. The method according to any one of claims 1 to 6, characterized in that: After estimating the signal strength of all simulated beacons at each path point, the method further includes: For each path point, the simulated beacons whose signal strengths corresponding to the path point are less than a set strength threshold are removed to obtain a target simulated beacon used to determine the positioning prediction position of the path point.

8. A method for processing indoor positioning beacons, characterized in that: include: In a target indoor map corresponding to the target area, mark the actual deployment position of each positioning beacon deployed in the target area; Generate a walking simulation path in a walkable area in the target indoor map; For multiple path points on the walking simulation path, according to the actual position of each path point and the actual deployment position of the positioning beacon, the signal strength of all positioning beacons at each path point is calculated; For each path point, determining a predicted location of the path point according to the signal strength corresponding to the path point and the actual deployment location of the positioning beacon; According to the actual position and positioning predicted position corresponding to each path point, the target positioning beacon that needs to be adjusted is determined.

9. The method according to claim 8, characterized in that After determining that a target positioning beacon that needs to be adjusted in position is obtained, the method further includes: For each target positioning beacon, all path points determined by applying the target positioning beacon to obtain the predicted positioning position are obtained to obtain a set of path points corresponding to each target positioning beacon; For each target positioning beacon, determining the deviation distance and deviation direction between the actual position and the positioning predicted position of each path point in the path point set corresponding to the target positioning beacon; For each target positioning beacon, determining the adjustment distance and adjustment direction of the target positioning beacon according to the deviation distance and deviation direction corresponding to each path point in the path point set corresponding to the target positioning beacon; According to the adjustment distance and adjustment direction of each target positioning beacon, the adjusted installation position of each target positioning beacon is determined and output.

10. The method according to claim 8, characterized in that In the step of marking the actual deployment position of each positioning beacon deployed in the target area, the actual deployment position is obtained by the method according to any one of claims 1 to 7.

11. An indoor positioning beacon processing device, characterized in that: include: The first simulation module is configured to: determine the simulated position of the simulated beacon corresponding to each positioning beacon in the walkable area of ​​the target indoor map according to the signal coverage range of each positioning beacon; and generate a walking simulation path in the walkable area; A signal strength estimation module is configured to: for a plurality of path points on the walking simulation path, estimate the signal strength of all simulated beacons at each path point according to the actual position of each path point and the simulated position of the simulated beacon; The first positioning prediction module is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the simulated position of the simulated beacon; The position adjustment module is configured to adjust the simulated position of the simulated beacon according to the actual position and the positioning predicted position corresponding to each path point, so that the deviation between the predicted path generated based on the positioning predicted positions of the multiple path points and the walking simulation path is less than a set deviation threshold, so as to obtain the actual deployment position for deploying the positioning beacon.

12. An indoor positioning beacon processing device, characterized in that: include: The marking module is configured to: mark the actual deployment position of each positioning beacon deployed in the target area in the target indoor map corresponding to the target area; The second simulation module is configured to: generate a walking simulation path in a walkable area in the target indoor map; The signal strength calculation module is configured to: for multiple path points on the walking simulation path, calculate the signal strength of all positioning beacons at each path point according to the actual position of each path point and the actual deployment position of the positioning beacon; The second positioning prediction module is configured to: for each path point, determine the positioning prediction position of the path point according to the signal strength corresponding to the path point and the actual deployment position of the positioning beacon; The determination module is configured to: determine the target positioning beacon that needs to be adjusted according to the actual position and the positioning predicted position corresponding to each path point.

13. An electronic device, characterized in that: The invention comprises a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor can execute the machine executable instructions to implement the method according to any one of claims 1 to 10.

14. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the method according to any one of claims 1 to 10 is implemented.

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