Positioning method, system and related device

Abstract

The invention discloses a positioning method, a positioning system and a related device. When the terminal detects that a user gets off a vehicle at a parking position, the terminal can collect an action track of the terminal after departing from the parking position and collect wireless signal fingerprints of a plurality of positioning points on the action track. The terminal can determine the position information of the parking position where the user vehicle is parked based on the collected wireless signal fingerprints, the elevator ring fingerprint database and the action track, and the position information can be used for indicating the parking floor of the user vehicle and the parking position of the user vehicle on the floor. Wherein the elevator circle fingerprint database is provided by the server, and the elevator circle fingerprint database comprises the corresponding relation between the wireless signal fingerprints and the positioning points in the elevator preset range. The terminal can display the position information and the position prompt information of the parking position where the user parks the vehicle, and the position prompt information can be used for prompting the user that the vehicle is parked at the parking position. Therefore, the user can be helped to find the own vehicle in the parking lot.

Description

Technical Field

[0001] The present application relates to the field of communications, and in particular to a positioning method, system and related devices. Background Art

[0002] In today's travel scenarios, many users choose to travel by car. After arriving at the destination, the user will park the vehicle in the nearest parking lot. After the user gets off the car to handle things (for example, shopping, eating, and shopping, etc.), he needs to go to the parking lot to find the car. Some parking lots are large in area and complex in structure. If the user does not remember the floor and parking space number or the parking location of the vehicle, it is difficult for the user to find his vehicle and usually takes a lot of time to find the car.

[0003] Users can find the location of their vehicles through the global positioning system (GPS). However, in many parking lots, especially underground parking lots, the GPS signals received by the user's device are very poor or even cannot be received, making it difficult to locate the correct vehicle location. Therefore, users usually need to spend a lot of time looking for vehicles, and the user experience is poor.

[0004] In order to correctly locate the position of users and vehicles, certain technical means are generally used to enable users to obtain accurate positioning in the parking lot and determine their own position and the position of the vehicle. However, when using these technical means, it is generally necessary to deploy a lot of equipment in the parking lot to achieve accurate positioning. For example, low-power Bluetooth (Bluetooth lowenergy, BLE) devices, cameras, devices for collecting geomagnetic signals, and / or point cloud devices for collecting underground parking lot point cloud data, etc., have high deployment costs and are difficult to popularize. Summary of the invention

[0005] The present application provides a positioning method, system and related devices. When the terminal detects that the user gets off the car at the parking position, it collects the movement trajectory of the terminal after starting from the parking position, and collects the wireless signal fingerprints of multiple positioning points on the movement trajectory. The terminal can determine the location information of the parking position where the user's vehicle is parked based on the collected wireless signal fingerprint, the elevator circle fingerprint library and the movement trajectory. The location information can be used to indicate the parking floor of the user's vehicle and the parking position of the user's vehicle on the floor. Among them, the elevator circle fingerprint library is provided by the server, and the elevator circle fingerprint library includes the correspondence between the wireless signal fingerprint and the positioning points within the preset range of the elevator. The terminal can display the location information and location prompt information of the parking position where the user's vehicle is parked, and the location prompt information can be used to prompt the user's vehicle to park at the parking position. The function of helping users find vehicles in the parking lot is realized.

[0006] In a first aspect, the present application provides a positioning method, comprising: after detecting that a user gets off a vehicle at a first position on a first floor, obtaining a first movement trajectory of the terminal from the first position to a first elevator;

[0007] Detecting that the terminal is at a second position on a second floor, displaying a first interface, wherein the first interface includes one or more elevator marks and a first mark, wherein the one or more elevator marks are used to indicate the positions of the elevators, the first mark is used to indicate the position of the terminal, and the one or more elevator marks include a second mark, and the second mark is used to indicate the position of the first elevator;

[0008] After detecting that the terminal has arrived at a third position on the first floor where the distance between the terminal and the first elevator is less than the first distance, a second interface is displayed, wherein the second interface includes a third mark, a fourth mark, and the first motion trajectory, the third mark is used to indicate the position of the terminal, the fourth mark is used to indicate the first position, and the first motion trajectory is used to prompt the user to return to the first position where the vehicle is parked along the first motion trajectory.

[0009] In this way, after the user goes from the floor where the vehicle is parked to another floor, the terminal can display a first interface for prompting the user the location of a nearby elevator. The user can determine the location of the nearby elevator through the first interface and return to the floor where the vehicle is parked by the elevator. After the user gets off the vehicle, the terminal records the movement trajectory from the parking position to the first elevator. When the terminal detects that the user has returned to the first elevator on the first floor, the recorded movement trajectory can be displayed to guide the user to the parking position.

[0010] In a possible implementation, the distance between the second position and the first elevator on the second floor is greater than the first distance; after displaying the first interface, the method further includes: when detecting that the terminal is at the fourth position on the second floor, displaying a third interface, the third interface includes a first prompt message, the first prompt message is used to prompt the user to go to the first floor to find the vehicle, and the distance between the fourth position and the first elevator is less than the first distance. In this way, when the terminal detects that the terminal moves near the elevator, the first prompt message is displayed to prompt the user to go to the first floor where the vehicle is parked. If the user forgets the floor where the vehicle is parked, the terminal can help the user find the parking floor.

[0011] In a possible implementation, one or more elevator marks include a fifth mark, and the fifth mark is used to indicate the position of the second elevator; after displaying the first interface, the method further includes: after detecting that the terminal has reached the fifth position on the first floor where the distance between the terminal and the second elevator is less than the first distance, displaying the fourth interface, the fourth interface includes the fifth mark, the sixth mark, and the second prompt information, the fifth mark is used to indicate the position of the terminal, the sixth mark is used to indicate the first position, and the second prompt information is used to prompt the user the direction of the first position and the distance between the first position and the position of the terminal. In this way, when the terminal detects that the terminal is near the second elevator, the second prompt information can be displayed based on the relative position of the first position and the second elevator to help the user go from the second elevator to the first position.

[0012] In a possible implementation, the distance between the second position and the second elevator on the second floor is greater than the first distance; after displaying the first interface, the method further includes: when detecting that the terminal is at the sixth position on the second floor, displaying the fifth interface, the fifth interface includes the third prompt information, the third prompt information is used to prompt the user to go to the first floor to find the vehicle, and the distance between the sixth position and the second elevator is less than the first distance. In this way, when the terminal detects that the terminal moves near the elevator, the first prompt information is displayed to prompt the user to go to the first floor where the vehicle is parked. If the user forgets the floor where the vehicle is parked, the terminal can help the user find the parking floor.

[0013] In a possible implementation, when it is detected that the terminal is at the sixth position of the second floor, the method further includes: determining the relative position relationship between the second elevator and the first position based on the relative position relationship between the elevators provided by the server. In this way, the terminal determines the relative position relationship between the first elevator and the first position based on the first motion trajectory, and then determines the relative position relationship between the second elevator and the first position based on the relative position relationship between the first elevator and the second elevator, and the relative position relationship between the first elevator and the first position.

[0014] In a possible implementation, the method further includes: when acquiring the first motion trajectory, collecting wireless signal fingerprints of multiple positions on the first motion trajectory through a wireless communication module;

[0015] Sending wireless signal fingerprints of multiple positions on the first action trajectory to a server, the server is used to determine that the wireless signal fingerprints of N positions among the multiple positions on the first action trajectory match the elevator circle fingerprint library of the first elevator based on multiple elevator circle fingerprint libraries, where N is greater than or equal to 1; wherein the elevator circle fingerprint library includes the correspondence between the position information within a preset range of the elevator and the wireless signal fingerprint;

[0016] The terminal receives the location information of the N locations sent by the server, determines the location information of the first location based on the location information of the N locations and the first motion track, and the location information of the first location is used to display the fourth mark. In this way, the terminal can determine the relative position relationship between the first motion track and the first elevator based on the wireless signal fingerprint.

[0017] In a possible implementation, the method further includes: after detecting that the terminal leaves the first elevator, collecting a second motion trajectory of the terminal after starting from the first elevator through the IMU, and collecting wireless signal fingerprints of multiple positions on the second motion trajectory through the wireless communication module;

[0018] Sending wireless signal fingerprints of multiple positions on the second motion trajectory to a server, the server is used to determine that the wireless signal fingerprints of X positions among the multiple positions on the second motion trajectory match the elevator circle fingerprint library of the first elevator based on multiple elevator circle fingerprint libraries, where X is greater than or equal to 1;

[0019] The location information of the X locations sent by the server is received, and the location information of the terminal is determined based on the location information of the X locations and the second action trajectory. The location information of the terminal is used to indicate the location of the terminal.

[0020] In a possible implementation, obtaining a first movement trajectory of the terminal from the first position to the first elevator specifically includes: collecting inertial data of the terminal after starting from the first position through an inertial measurement unit IMU;

[0021] Based on the inertial data, the first action trajectory is obtained through the pedestrian dead reckoning PDR algorithm.

[0022] In a possible implementation, the method further includes: before detecting that the terminal is at the second position on the second floor and displaying the first interface, displaying a car search application icon; receiving a first input for the car search application icon; detecting that the terminal is at the second position on the second floor and displaying the first interface, specifically including: in response to the first input, detecting that the terminal is at the second position on the second floor and displaying the first interface. In this way, the terminal provides the user with a car search application, which is used to obtain the location of the vehicle and help the user go to the location of the vehicle from other locations.

[0023] In a second aspect, the present application provides a positioning method, which is applied to a terminal, the method comprising: after detecting that a user gets off a vehicle at a first position in a building, collecting a first motion trajectory of the terminal after starting from the first position through an inertial measurement unit IMU, and collecting wireless signal fingerprints of multiple positions on the first motion trajectory through a wireless communication module;

[0024] Sending wireless signal fingerprints of multiple positions on the first action trajectory to a server, the server is used to determine that the wireless signal fingerprints of N positions among the multiple positions on the first action trajectory match the elevator circle fingerprint library of the first elevator based on multiple elevator circle fingerprint libraries, where N is greater than or equal to 1; wherein the elevator circle fingerprint library includes the correspondence between the position information within a preset range of the elevators of the building and the wireless signal fingerprint;

[0025] Receiving the location information of N locations sent by the server, and determining the location information of the first location based on the location information of the N locations and the first action trajectory;

[0026] The position information of the first position and the first prompt information are displayed, where the first prompt information is used to prompt the vehicle to park at the first position.

[0027] In this way, the terminal determines one or more positioning points that the terminal has passed and the floor where the terminal is located based on the wireless signal fingerprint and the elevator circle fingerprint library. Since the terminal is on the same floor as the vehicle, the terminal can determine the floor where the vehicle is located. The terminal combines the one or more positioning points and the movement trajectory to deduce the position of the vehicle on the floor. When the user wants to find the car, the location information of the parking location displayed by the terminal is used to guide the user to find the parking location. Since users tend to go upstairs through the elevator after parking. Therefore, the fingerprint database constructed by the server based on the positioning points and wireless signal fingerprints near the elevator is more accurate, and the parking lot needs to deploy fewer positioning devices. The service area can directly build the elevator circle fingerprint library through the existing positioning devices in the parking lot, and no additional positioning devices need to be deployed. In this way, not only can more accurate location information of the parking location be obtained, which can quickly help users find their vehicles, but also deployment costs can be saved, and it is suitable for more parking scenarios.

[0028] In a possible implementation, the first location is located on the first floor of a building; before the terminal displays the location information of the first location and the first prompt information, the method further includes: detecting that the terminal is located on the second floor of the building; and displaying the second prompt information, the second prompt information being used to indicate the location information of one or more elevators of the building. In this way, when the terminal detects that the terminal is located on a floor other than the first floor, the second prompt information is displayed to help the user find the elevator and return to the first floor by the elevator.

[0029] In a possible implementation, the first location is located on the first floor of a building; before the terminal displays the location information of the first location and the first prompt information, the method further includes: detecting that the terminal is located near a first elevator on the second floor of the building or near a second elevator on the second floor; and displaying third prompt information, the third prompt information being used to prompt the user that the vehicle is parked on the first floor. In this way, the terminal detects that the terminal is near the elevator and displays the third prompt information to prompt the user that the vehicle is on the first floor.

[0030] In a possible implementation, the method further includes: detecting that the terminal leaves the first floor where the first position is located from the first elevator; and when detecting that the terminal returns to the first floor from the first elevator, displaying fourth prompt information based on the first motion trajectory, the fourth prompt information includes the first motion trajectory, and is used to prompt the user to go from the first elevator to the first position according to the first motion trajectory. In this way, the terminal displays the first motion trajectory to help the user return to the first position where the vehicle is parked.

[0031] In a possible implementation, the method further includes: after detecting that the user has left the first elevator, collecting the second motion trajectory of the terminal after starting from the first elevator through the inertial measurement unit, and collecting the wireless signal fingerprints of multiple positions on the second motion trajectory through the wireless communication module; sending the wireless signal fingerprints of multiple positions on the second motion trajectory to the server, and the server is used to determine that the wireless signal fingerprints of X positions among the multiple positions on the second motion trajectory match the elevator circle fingerprint library of the elevator based on multiple elevator circle fingerprint libraries, where X is greater than or equal to 1; receiving the location information of the X positions sent by the server, and determining the location information of the terminal based on the location information of the X positions and the second motion trajectory; and displaying the location information of the terminal. In this way, since the positioning signal such as GPS on the first floor is weak, the motion trajectory and wireless signal fingerprint help the terminal determine the real-time location of the terminal. The terminal determines the location information of the terminal, and helps the user return to the first position based on the location information of the terminal and the location information of the first position.

[0032] In a possible implementation, the method further includes: determining navigation information for the terminal to go to the first location based on the first action trajectory and the location information of the terminal; and displaying the navigation information. In this way, the terminal determines the navigation information based on the first action trajectory and the location information of the terminal, and prompts the user to go to the first location step by step.

[0033] In a possible implementation, the method further includes: detecting that the terminal leaves the first floor where the first position is located from the first elevator; when detecting that the terminal returns to the first floor from the second elevator, determining the relative position relationship between the second elevator and the first position based on the position information of the first position and the relative position relationship between the elevators in the building provided by the server; based on the relative position relationship between the second elevator and the first position, displaying fifth prompt information, the fifth prompt information is used to prompt the user to go from the second elevator to the first position according to the relative position relationship. In this way, the terminal displays the fifth prompt information to prompt the user the direction and distance of the first position, and guide the user to the first position.

[0034] In a possible implementation, the method also includes: after detecting that the user has left the second elevator, collecting a third motion trajectory of the terminal after starting from the second elevator through an inertial measurement unit, and collecting wireless signal fingerprints of multiple positions on the third motion trajectory through a wireless communication module; sending the wireless signal fingerprints of multiple positions on the third motion trajectory to a server, and the server is used to determine that the wireless signal fingerprints of Y positions among the multiple positions on the third motion trajectory match the elevator circle fingerprint library of the elevator based on multiple elevator circle fingerprint libraries, and Y is greater than or equal to 1; receiving the position information of the Y positions sent by the server, and determining the position information of the terminal based on the position information of the Y positions and the third motion trajectory; and displaying the position information of the terminal.

[0035] In a possible implementation, the method further includes: determining guidance information for the terminal to go to the first position based on the relative position relationship between the first position and the second elevator, and the position information of the terminal; and displaying the guidance information, wherein the guidance information is used to indicate the relative orientation and relative distance between the first position and the position of the terminal.

[0036] In a possible implementation, detecting that the terminal leaves the first floor where the first position is located from the first elevator specifically includes: detecting that the value of the barometer increases through a barometer within a preset time period, and determining that the terminal leaves the first floor where the first position is located from the first elevator; or detecting that the value of the accelerometer increases first and then decreases through an accelerometer within a preset time period, and determining that the terminal leaves the first floor where the first position is located from the first elevator; or, within a preset time period, detecting that the user is standing at the second position and detecting that the wireless signal fingerprint collected by the wireless communication module is different, and determining that the terminal leaves the first floor where the first position is located from the first elevator. In this way, after the terminal detects that the user leaves the first floor through the first elevator, the first elevator is marked as the elevator where the user leaves the first floor. When the terminal detects that the user returns to the first floor through the first elevator, the first action trajectory is displayed to help the user go to the first position.

[0037] In a possible implementation, the movement trajectory of the terminal after it departs from the first position is collected through an inertial measurement unit, specifically including: collecting inertial data of the terminal after it departs from the first position through an inertial measurement unit IMU; based on the inertial data, obtaining the movement trajectory through a pedestrian dead reckoning PDR algorithm.

[0038] In a third aspect, the present application provides a terminal, including one or more processors, one or more memories, and a transceiver. The transceiver and the one or more memories are coupled to the one or more processors, and the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the terminal executes the method in any possible implementation of the first aspect.

[0039] In a fourth aspect, the present application provides a computer storage medium, comprising computer instructions, which, when executed on a computer, enable the computer to execute a method in any possible implementation of the first aspect.

[0040] In a fifth aspect, the present application provides a computer program product, which, when executed on a computer, enables the computer to execute a method in any possible implementation of the first aspect.

[0041] In a sixth aspect, the present application provides a chip, applied to a terminal, comprising a processing circuit and an interface circuit, the interface circuit being used to receive code instructions and transmit them to the processing circuit, the processing circuit being used to run the code instructions to execute the method in any possible implementation of the first aspect above. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 A schematic diagram of a scene of a building 10 provided in an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a communication system 20 provided in an embodiment of the present application;

[0044] Figure 3A A schematic diagram of the distribution of wireless access devices provided in an embodiment of the present application;

[0045] Figure 3B A schematic diagram of building an elevator circle fingerprint library provided in an embodiment of the present application;

[0046] Figure 3C A schematic diagram of an elevator circle fingerprint library for non-parking lot floors provided in an embodiment of the present application;

[0047] Figure 3D A schematic diagram of an elevator circle fingerprint library for a parking lot floor provided in an embodiment of the present application;

[0048] Figure 4 A flowchart of a positioning method provided in an embodiment of the present application;

[0049] Figure 5 A schematic diagram of a process for obtaining a parking position provided in an embodiment of the present application;

[0050] Figure 6 A schematic diagram of a scenario for obtaining a parking position provided in an embodiment of the present application;

[0051] Figure 7 A schematic diagram of a process for detecting whether to take an elevator provided in an embodiment of the present application;

[0052] Figure 8A schematic diagram of a change trend of an air pressure counter value during an elevator ascent provided in an embodiment of the present application;

[0053] Figure 9A-9G A set of interface schematic diagrams provided for embodiments of the present application;

[0054] Fig.10 A schematic diagram of the hardware structure of a terminal 100 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0055] The technical solutions in the embodiments of the present application will be described clearly and in detail below in conjunction with the accompanying drawings. In the description of the embodiments of the present application, unless otherwise specified, " / " means or, for example, A / B can mean A or B; "and / or" in the text is only a description of the association relationship of the associated objects, indicating that there can be three relationships, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone.

[0056] In the following, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as suggesting or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features, and in the description of the embodiments of the present application, unless otherwise specified, "plurality" means two or more.

[0057] In one possible implementation, the terminal can determine the location of the user's vehicle based on wireless fidelity (Wi-Fi) technology. The server that provides parking lot positioning services can build a parking lot fingerprint database based on the Wi-Fi devices deployed in the parking lot, and locate the user's vehicle based on the Wi-Fi fingerprint data collected by the terminal. However, this implementation requires a lot of costs in the initial deployment of high-density Wi-Fi devices, and later equipment maintenance also requires a lot of resources. And because the density of Wi-Fi devices deployed in underground parking lots is low, it is difficult to generate a Wi-Fi fingerprint library with higher positioning accuracy compared to places such as shopping malls where the density of Wi-Fi devices is higher.

[0058] An embodiment of the present application provides a positioning method. When the terminal 100 detects that the user gets off the car at the parking position, the terminal 100 can track the movement trajectory of the terminal 100 after starting from the parking position, and collect the wireless signal fingerprints of multiple positioning points on the movement trajectory through the wireless communication module. The terminal 100 can determine the location information of the parking position where the user's vehicle is parked based on the wireless signal fingerprint collected near the designated elevator, the elevator circle fingerprint library and the movement trajectory. The location information can be used to indicate the parking floor of the user's vehicle and the parking position of the user's vehicle on the floor. Among them, the elevator circle fingerprint library is provided by the server 200, and the elevator circle fingerprint library includes the correspondence between the wireless signal fingerprint and the positioning points within the preset range of the elevator. The terminal 100 can display the location information and location prompt information of the parking position where the user's vehicle is parked, and the location prompt information can be used to prompt the user's vehicle to park at the parking position.

[0059] In this way, the terminal 100 can determine one or more positioning points passed by the terminal 100 and the floor where the terminal 100 is located based on the wireless signal fingerprint and the elevator circle fingerprint library. Since the terminal 100 is on the same floor as the user's vehicle at this time, the terminal 100 can determine the floor where the user's vehicle is located. The terminal 100 can combine the one or more positioning points and the user's movement trajectory to infer the position of the user's vehicle on the floor. When the user wants to find a car, the location information of the parking location displayed by the terminal 100 can guide the user to find the parking location. Since users tend to go upstairs through the elevator after parking. Therefore, the fingerprint database constructed based on the positioning points and wireless signal fingerprints near the elevator is more accurate, and the parking lot needs to deploy fewer positioning devices. It can even directly use the existing positioning devices in the parking lot to build the elevator circle fingerprint library without the need for additional deployment of positioning devices. Not only can more accurate location information of the parking location be obtained, quickly helping users find their vehicles, but also saving deployment costs, and it is suitable for more parking scenarios.

[0060] In some examples, terminal 100 may collect the user's movement trajectory through an inertial measurement unit (IMU).

[0061] In some examples, the terminal 100 may display the location information and location prompt information of the parking location where the user's vehicle is parked on the negative first screen. In other examples, after receiving the user's input to find a car, the terminal 100 may display the location information and location prompt information of the parking location where the user's vehicle is parked in response to the input. In some examples, the location information of the parking location displayed by the terminal 100 may indicate that the parking location is located near a specified elevator on a specified floor of a building.

[0062] In a possible implementation, the terminal 100 may also display the location information of one or more elevators when displaying the location information of the parking location and the location prompt information. In this way, the terminal 100 may help the user determine the location of the user's vehicle through the location information of the elevator and the location information of the parking location.

[0063] In a possible implementation, the terminal 100 may display guidance prompt information. The guidance prompt information may be guidance information that prompts the user to advance a specified distance in a specified direction, the specified direction being the direction of the user's vehicle relative to the location of the terminal 100 determined by the terminal 100, and the specified distance being the straight-line distance between the two locations calculated by the terminal 100 based on the location of the user's vehicle and the location of the terminal 100. In this way, the user can determine the direction of the vehicle and the distance between the vehicle and himself through the guidance information. The user can plan the route to the user's vehicle location according to the layout of the parking lot within the line of sight.

[0064] In a possible implementation, the terminal 100 may display navigation prompt information. The terminal 100 may obtain navigation prompt information based on the location of the terminal 100, the location of the user's vehicle, and the movement trajectory of the user leaving the location of the user's vehicle collected by the terminal 100. The terminal 100 may prompt the user how to return to the location of the user's vehicle along the movement trajectory based on the relative position of the terminal 100 on the movement trajectory. Exemplarily, the terminal 100 may prompt the user to go straight when it is detected through a sensor (e.g., IMU) that the direction in which the user is moving coincides with the movement trajectory. The terminal 100 may prompt the user to turn back to the movement trajectory when it is detected through a sensor (e.g., IMU) that the direction in which the user is moving deviates from the movement trajectory. For example, the terminal 100 collects the movement trajectory of the user going straight for 5 meters after getting off the car, then turning right, and then going straight for 20 meters to reach the designated elevator after turning right through the IMU sensor. After receiving the user's input to find a car, the terminal 100 detects that the terminal 100 is at the designated elevator and may prompt the user to go straight for 20 meters. When the terminal 100 detects that it has gone straight for 20 meters, it may prompt the user to turn left. When the terminal 100 detects a left turn, the user can be prompted to go straight for 5 meters. In this way, the terminal 100 can provide more detailed navigation prompts based on the user's movement trajectory after getting off the vehicle, and guide the user step by step back to the location of the user's vehicle.

[0065] In some examples, when the terminal 100 detects that the floor where the terminal 100 is located is different from the floor where the user's vehicle is located, the terminal 100 can display elevator prompt information, and the elevator prompt information can be used to prompt the user with the location information of one or more elevators.

[0066] In some examples, when the terminal 100 detects that the floor where the terminal 100 is located is different from the floor where the user's vehicle is located and the terminal 100 is located near an elevator, the terminal 100 may display floor prompt information for prompting the user of the floor where the vehicle is located.

[0067] It should be noted that, when the user is heading to the location of the user's vehicle, the terminal 100 can monitor the location of the terminal 100 in real time and update the navigation information displayed by the terminal 100.

[0068] It should also be noted that, since wireless signals (or other environmental features) have spatial differences at different locations, the wireless signal features (or other environmental features) at different locations in space can be used as the wireless signal fingerprint of the location. Before positioning, the server 200 can first obtain the positioning point of the area to be measured and the wireless signal fingerprint corresponding to the positioning point, and record the corresponding relationship between the positioning point and the wireless signal fingerprint in the elevator circle fingerprint library. When the terminal 100 collects the wireless signal fingerprint to be located, the corresponding relationship between the wireless signal fingerprint recorded in the elevator circle fingerprint library and the positioning points near the elevator, as well as the similarity relationship between the collected wireless signal fingerprint and each wireless signal fingerprint in the elevator circle fingerprint library, can be used to determine the positioning point corresponding to the wireless signal fingerprint.

[0069] In some examples, the wireless signal fingerprint may include, but is not limited to, one or more of the following: an identifier (ID) of a communication signal of a wireless network, base station, Bluetooth, ZigBee, etc., a received signal strength (RSS), a communication channel, a signal round trip time or a signal delay time, information collected by a sensor associated with a location (e.g., a geomagnetic sensor, etc.), base station information, wireless access point (AP) information, etc. For example, a wireless network may be a Wi-Fi network, a 4th generation mobile communication technology (4G) network, a 5th generation mobile communication technology (5G) network, etc.

[0070] It should be noted that wireless signal fingerprints can be of various types, and any different features at different positioning points can be used as a wireless signal fingerprint. For example, the multipath structure of the communication signal at a certain positioning point, whether an access point (AP) or base station can be detected at a certain positioning point, the received signal strength of the signal from the access point or base station detected at a certain positioning point, the round-trip time or delay of the signal during communication at a certain positioning point, etc. can all be used as a wireless signal fingerprint, or can be combined as a wireless signal fingerprint.

[0071] First, an application scenario provided by an embodiment of the present application is introduced.

[0072] like Figure 1 As shown, the building 10 includes one or more floors. The one or more floors include at least one parking floor and at least one non-parking floor. The parking floor can be used to park vehicles. For example, the at least one parking floor may include but is not limited to the B1 floor and the B2 floor. The at least one non-parking floor may include but is not limited to the F1 floor and the F2 floor.

[0073] The building 10 is provided with one or more elevators. For example, the one or more elevators may include but are not limited to elevator 11, elevator 12 and elevator 13. The one or more elevators may be used to shuttle between different floors of the building 10, and send users from the starting floor to the destination floor. Figure 1 As shown in FIG. 1 , the user drives a vehicle from the parking lot entrance to a parking space on the B1 floor. After getting off the vehicle, the user arrives at the elevator 11 on the B1 floor. The trajectory of the user's movement is shown in FIG. Figure 1 Afterwards, the user takes elevator 11 from the starting floor B1 to the destination floor F1. The user's movement trajectory is shown as Figure 1 As shown in (2), it can be understood that after the user reaches the F1 floor, the user can move on the F1 floor, or the user can also go to other floors by elevator.

[0074] It should be noted that the building 10 here is to better describe the positioning method provided in the embodiment of the present application. The examples provided are not limited to the building 10. Other buildings including at least one parking floor and at least one non-parking floor can be used as application scenarios of the embodiment of the present application. In this way, when a user drives to an unfamiliar or complex building, he can quickly find his vehicle through the positioning method provided in the embodiment of the present application. For example, these application scenarios may include but are not limited to hospitals, shopping malls, office buildings, etc.

[0075] A communication system 20 provided in an embodiment of the present application is introduced below.

[0076] Figure 2 A schematic diagram of a communication system 20 provided in an embodiment of the present application is shown.

[0077] like Figure 2 As shown, the communication system 20 may include one or more terminals, multiple wireless access devices, and a server 200. Among them, the one or more terminals include a terminal 100. In an embodiment of the present application, the multiple wireless access devices are deployed at various locations on various floors of a building (e.g., building 10). The terminal can receive a signal sent by the wireless access device at different locations and use one or more features of the signal as a fingerprint feature.

[0078] The wireless access device may include but is not limited to one or more of a Wi-Fi router device, a low-power Bluetooth device, a radio frequency device, and an Internet of Things device. In this way, the terminal can obtain different types of fingerprint features from different wireless access devices, jointly implement positioning operations, and use all available positioning devices in the scene to obtain more accurate positioning results.

[0079] In the following description of the embodiment, the wireless access device is a Wi-Fi router, and the fingerprint feature is the signal strength of the Wi-Fi signal as an example for explanation. It can be understood that it is not limited to using the strength of the received Wi-Fi signal as the fingerprint feature, and the channel of the Wi-Fi signal transmission can also be used as the fingerprint feature. It is not limited to the wireless receiving device being a Wi-Fi router device. The wireless access device can also be a low-power Bluetooth device, a radio frequency device, etc., and the fingerprint feature can also be the corresponding signal feature.

[0080] Among them, one or more terminals can be used to collect wireless signal fingerprints and user's movement trajectory, and send the wireless signal fingerprints and user's movement trajectory to the server 200, and the wireless signal fingerprints and user's movement trajectory can be used to build an elevator circle fingerprint library. One or more terminals can also be used to detect that the user gets off the car and collect the user's movement trajectory and wireless signal fingerprint. One or more terminals can determine the location of the user's vehicle based on the user's movement trajectory, wireless signal fingerprint, and the elevator circle fingerprint library provided by the server 200. One or more terminals can also plan and display the route for the user to reach the user's vehicle based on the location of the terminal and the location of the user's vehicle.

[0081] The server 200 can be used to obtain wireless signal fingerprints and user's movement trajectory from one or more terminals, and generate an elevator circle fingerprint library based on the wireless signal fingerprint and the user's movement trajectory. The server 200 can also receive a wireless signal fingerprint sent by a terminal (for example, terminal 100), and compare the received wireless signal fingerprint with the wireless signal fingerprint in the elevator circle fingerprint library to obtain a positioning point corresponding to the wireless signal fingerprint, and send the positioning point to the terminal.

[0082] It should be noted that there is no need to establish a communication connection between the wireless access device and the terminal, for example, a peer-to-peer (P2P) connection, and the terminal can also receive the signal sent by the wireless access device. It is understandable that when the wireless access device establishes a communication connection with some or all of the one or more terminals, it will not affect the terminal's acquisition of the wireless signal fingerprint provided by the wireless access device.

[0083] First, in order to accurately locate the user's vehicle in the parking lot, it is necessary to pre-establish a wireless signal fingerprint database in the building. In particular, the number of wireless access devices deployed on the parking lot floor is usually less than that deployed on the non-parking lot floor. For example, Figure 1 Taking the building 10 shown as an example, Figure 3A As shown, the number of wireless access devices near the elevator 11 on the F1 floor is much greater than that of the elevator on the B1 floor. Therefore, if the server 200 directly uses the wireless signal fingerprints of the parking lot floors to generate a fingerprint database, the fingerprint database data may be inaccurate due to the low density of wireless access devices deployed on the parking lot floors.

[0084] The embodiment of the present application provides a method for constructing an elevator circle fingerprint library. The server 200 can collect cross-floor motion trajectory data and corresponding wireless signal fingerprints through one or more terminals to construct an elevator circle fingerprint library. In this way, the elevator positions on each floor can be fixed by using the user motion trajectory of elevators across multiple floors. And because there are more wireless access devices deployed in non-parking lot floors, wireless signal fingerprints with more accurate positioning can be obtained. The use of cross-floor motion trajectory data can be based on the data passing through the non-parking lot floors. The relative relationship between elevators can be constructed, thereby constraining the wireless signal fingerprints of the parking lot floors, so that the server 200 can generate a fingerprint library that can be used for positioning near the elevator.

[0085] Among them, the server 200 can use crowdsourcing technology to obtain the data required to build the elevator circle fingerprint library. Crowdsourcing technology is a method of obtaining resources through a large number of terminals after obtaining user permission. After obtaining user permission, the server 200 can use crowdsourcing technology to collect data through the user's terminal without the user's perception. The data collected by crowdsourcing technology can be called crowdsourcing data. Specifically, the server 200 can generate the elevator circle fingerprint library through the following steps.

[0086] (1) The server 200 obtains crowdsourced data. Among them, one or more terminals (such as terminal 100) can collect crowdsourced data and send the crowdsourced data to the server 200. One or more terminals can collect inertial data of users in a building through an inertial measurement unit, and the inertial data can be used to obtain the movement trajectory of one or more terminals. And the one or more terminals can also collect wireless signal fingerprints of multiple positioning points on the movement trajectory. Among them, one or more terminals can scan the communication data sent by the wireless access device in the building at the multiple positioning points, and the communication data may include but is not limited to one or more of Wi-Fi scanning data, BLE scanning data, mobile base station (4G / 5G, etc.) scanning data, etc. One or more terminals can generate wireless signal fingerprints based on the scanned communication data.

[0087] The crowdsourced data may include inertial data collected by one or more terminals through an inertial measurement unit and wireless signal fingerprints collected by the terminal through a wireless receiving module. The inertial measurement unit may include but is not limited to one or more of an acceleration transducer (ACC), a gyroscope sensor (GYRO), and a magnetometer (MAG). The inertial data may include but is not limited to ACC data, GYRO data, and MAG data. One or more terminals may send the crowdsourced data to the server 200.

[0088] In some examples, one or more terminals may collect crowdsourced data and send the crowdsourced data to server 200 after detecting that the terminal has entered the building range through positioning technology. (2) Server 200 calculates the relative motion trajectory of the terminal based on inertial data, and selects the cross-floor motion trajectory therefrom. In particular, server 200 may use the pedestrian dead reckoning (PDR) algorithm to estimate the user's direction of travel and step length through the sensor data to obtain the relative motion trajectory of the terminal. Afterwards, server 200 may insert the wireless signal fingerprint into the user's motion trajectory according to the collection time to obtain trajectory data. The trajectory data may represent one or more positioning points on the motion trajectory and the wireless signal fingerprint received at the positioning points. In particular, server 200 may use the pedestrian dead reckoning (PDR) algorithm to estimate the user's direction of travel and step length to obtain the relative motion trajectory of the terminal. Figure 7 The method for determining whether the terminal takes the elevator is used to determine whether the motion trajectory is a cross-floor motion trajectory. When the server 200 determines whether the terminal takes the elevator based on the barometer data, the crowdsourcing data may include barometer data collected by one or more terminals through a barometer.

[0089] (3) The server 200 determines which floor the positioning points in the trajectory data belong to according to the similarity of the wireless signal fingerprints corresponding to different action trajectories. The server 200 can mark the floor information of the positioning points in the trajectory data, and then aggregate the trajectory data to obtain the elevator circle fingerprint library. The server 200 can determine the similarity of the wireless signal fingerprint based on the Euclidean distance or the Jaccard distance. The elevator circle fingerprint library includes the correspondence between the positioning points near the elevator and the wireless signal fingerprints.

[0090] Exemplarily, the elevator circle fingerprint library of the elevator 11 of the building 10 may include the correspondence between the positioning points and the wireless signal fingerprints within the first range of the elevator 11 on the non-parking lot floor, and the correspondence between the positioning points and the wireless signal fingerprints within the second range of the elevator 11 on the parking lot floor. The first range is larger than the second range. For example, the first range may include a circular range with the elevator 11 as the center and a first length (for example, 30 meters) as the radius. For example, the second range may include a circular range with the elevator 11 as the center and a second length (for example, 10 meters) as the radius.

[0091] It should be noted that this is to avoid adhesion of the positioning points on the parking lot floors. Positioning point adhesion may refer to a situation where, due to the small number of wireless access devices within a certain area, the similarity of the wireless signal fingerprints collected by the terminal is high, resulting in the inability to distinguish different positioning points in the area. The server 200 can only retain trajectory data within a preset radius with the elevator as the center on the parking lot floor. The elevator circle fingerprint library generated by the server 200 includes the correspondence between the positioning points and the wireless signal fingerprints within a specified range on the parking lot floor. The specified range is the elevator on the parking lot floor as the center, and the radius is a preset radius (for example, 10 meters). In this way, a more accurate elevator circle fingerprint library can be obtained.

[0092] It should also be noted that, in the process of the server 200 constructing the elevator circle fingerprint library, the server 200 can determine the part of the movement trajectory that belongs to each non-parking lot floor based on the wireless signal fingerprint after calculating the relative movement trajectory of the terminal based on the inertial data. Among them, since the number of wireless access devices on the non-parking lot floors is greater than the number of wireless access devices on the parking lot floors, the terminal can scan more wireless access devices at a certain position on the non-parking lot floors compared to the parking lot floors. Therefore, the wireless signal fingerprints collected by the terminal on the parking lot floors come from more wireless access devices, and the server 200 can determine whether the positioning point for collecting the wireless signal fingerprint belongs to the parking lot floor or the non-parking lot floor based on the density of the wireless signal fingerprint.

[0093] Afterwards, the server 200 can determine the positioning points near the elevator on the motion trajectory based on the cross-layer motion trajectory. The server 200 can mark the positioning points near the elevator in the motion trajectory of the non-parking lot floor. The server 200 can determine the relative position relationship between the motion trajectories of each non-parking lot floor by the similarity of the wireless signal fingerprint corresponding to the motion trajectory of the floor. The server 200 can splice the motion trajectory of the floor according to the relative position relationship to form a road network of the non-parking lot floor. The server 200 can determine the relative position relationship between each elevator based on the spliced ​​motion trajectory and the positioning points near the elevator on the motion trajectory. In this way, the server 200 can determine the relative position information of the elevator in the building based on the motion trajectory of any non-parking lot floor and the corresponding wireless signal fingerprint. The terminal 100 can obtain the relative position relationship between each elevator and the parking position of the user's vehicle based on the relative position relationship between any elevator and the parking position of the user's vehicle, and the relative position relationship between each elevator.

[0094] It should also be noted that the server 200 can only determine the relative floor of each positioning point in each action trajectory through the similarity of the wireless signal fingerprint, but cannot determine the identification of the floor to which each positioning point belongs. For example, the server 200 can determine that some positioning points belong to the lowest floor, but cannot determine the identification of the floor. The server 200 can obtain the floor information of each building.

[0095] In some examples, since the entrance of a building is usually located on the first floor of the building, the server 200 can determine that the floor to which the action trajectory belongs is the 1st floor (F1 floor) through the action trajectory of the terminal entering the building from the entrance of the building, and then determine the identification of other floors based on the relative heights of each floor. Before the terminal enters the building, the terminal can obtain the location information of the terminal through GPS. The server 200 can notify one or more terminals to determine whether the terminal enters the building from the building entrance based on the GPS signal received on the ground before obtaining the information indicating the floor before collecting inertial data. When the server 200 determines that the terminal enters the building from the building entrance based on the GPS signal of the terminal, the action trajectory collected by the terminal can be marked as the action trajectory of the 1st floor of the building, and the identification of other floors of the building can be determined accordingly. For example, the server 200 can take the parking floor closest to the 1st floor as the negative first floor (B1 floor), the second parking floor closest to the 1st floor as the negative second floor (B2 floor), and so on. The server 200 can take the non-parking floor closest to the 1st floor as the 2nd floor (F2 floor), the second non-parking floor closest to the 1st floor as the 3rd floor (F3 floor), and so on. In this way, the server 200 can obtain the floor identification of the building.

[0096] In other examples, after the server 200 determines the relative height relationship of each floor of the building based on the movement trajectory of the building, it can determine whether each floor is a non-parking lot floor or a parking lot floor based on the density of the wireless signal fingerprint. The server 200 can regard the non-parking lot floor closest to the parking lot floor as the first floor, and determine the identification of other floors based on the relative height relationship between the floors.

[0097] In other examples, one or more terminals may display a prompt message prompting the user to enter the current floor information after detecting that the terminal has entered a building. One or more terminals may obtain the floor information entered by the user and add the floor information to the crowdsourced data collected on the floor.

[0098] In other examples, the server 200 may obtain the floor information of the building from the operator of the building, or the server 200 may obtain the floor information of the building from various web pages related to the building through the name of the building, and so on.

[0099] Optionally, each positioning point in the elevator circle fingerprint library can be constructed Figure 3B For example, the server 200 can obtain a positioning circle (i.e., an elevator circle) by algorithm fitting based on multiple positioning points. After the terminal 100 collects the wireless signal fingerprint, the position of the positioning point corresponding to the wireless signal fingerprint on the elevator circle can be determined based on the similarity between the wireless signal fingerprint and the wireless signal fingerprint in the elevator circle fingerprint library, that is, the positioning point corresponding to the wireless signal fingerprint can be determined.

[0100] In this way, when the server 200 performs the trajectory aggregation step, it is not limited to aggregating the trajectory data of each floor separately, but aggregates the trajectory data of all floors together. The elevator trajectories across multiple floors are used to determine the elevator positions on each floor. The height change relationship of the crowdsourcing data and the similarity of the communication data are also used to jointly construct the elevator circle fingerprint library. Through this method, the parking lot floors no longer generate fingerprint skeletons with large coverage areas but low precision, but instead generate fingerprint skeletons with high precision centered on each elevator and only around a preset distance (for example, 10 meters to 20 meters) near the elevator.

[0101] For example, Figure 1 The building 10 shown in the figure is used as an example to explain how the server 200 generates an elevator circle fingerprint library. Figure 3B As shown, the server 200 obtains crowdsourced data from one or more terminals. Based on the inertial data in the crowdsourced data, the server 200 calculates the user's motion trajectory through an algorithm (e.g., a PDR algorithm). Figure 3B The dotted lines in the figure are the movement trajectories across floors, and the solid lines are the movement trajectories on the same floor.

[0102] Afterwards, the server 200 can retain the movement track across floors, such as Figure 3B As shown in (b). The server 200 can obtain trajectory data based on the action trajectory and wireless signal fingerprint. The server 200 can generate an elevator circle fingerprint library based on the trajectory data. Among them, since the server 200 collects more wireless signal fingerprints on the non-parking lot floors, a fingerprint database with a wide range and high accuracy can be generated. Since the server 200 collects less communication data on the parking lot floors, the server 200 can determine the elevator position of the parking lot floor based on the fingerprint database of the non-parking lot floors, and generate a fingerprint database with a small range and high accuracy, such as Figure 3B As shown in (c) in .

[0103] It should be noted that the server 200 is not limited to obtaining the trajectory data based on the inertial data and the wireless signal fingerprint obtained from one or more terminals. One or more terminals can also calculate the action trajectory based on the inertial data, and then obtain the trajectory data based on the action trajectory and the wireless signal fingerprint. One or more terminals can send the trajectory data to the server 200.

[0104] It should also be noted that, due to the high density of wireless signal fingerprints on floors other than parking lots, a fingerprint circle with a wider coverage area can be obtained, for example Figure 3C The elevator circle of the F1 floor or F2 floor in the building 10 shown in the figure. The server 200 can determine the relative positions between the elevators on the non-parking floors, and then generate the fingerprint circle of the parking floors according to the vertical relationship of the elevators. In this way, although the wireless signal fingerprint density of the parking floors is low, and some areas cannot even scan the wireless signal fingerprint, a small range of fingerprint libraries can be covered near the elevators, for example Figure 3D The elevator circle of the B1 floor or the B2 floor in the building 10 is shown. Optionally, the server 200 can retain all the movement tracks of the non-parking lot floors and generate an elevator circle fingerprint library based on more data.

[0105] Figure 4 A schematic diagram of the flow of the positioning method provided in an embodiment of the present application is shown.

[0106] like Figure 4 As shown, the method comprises the following steps:

[0107] S401. The terminal 100 detects that the user gets off the car at the parking location, and determines the location information of the parking location based on the inertial data collected by the inertial measurement unit, the wireless signal fingerprint collected near the elevator, and the elevator circle fingerprint library.

[0108] In some examples, not limited to the inertial measurement unit IMU, the terminal 100 can also collect the user's movement trajectory through other sensors, which is not limited in the embodiments of the present application.

[0109] Specifically, Figure 5 As shown, the terminal 100 can determine the location information of the parking location where the user parks the vehicle through the following steps.

[0110] S501. The terminal 100 detects that the user gets off the vehicle at the parking location, collects the movement trajectory of the terminal 100 after starting from the parking location through the inertial measurement unit, and collects the wireless signal fingerprints of multiple positioning points on the movement trajectory through the wireless communication module.

[0111] In some examples, the terminal 100 can record the number of steps of the user through a pedometer application. When the terminal 100 detects that the number of steps of the user has increased, it can be determined that the user has gotten off the vehicle. It should be noted that since some pedometer applications detect the number of steps of the user based on data obtained by sensors such as IMU, they are not limited to the pedometer application detecting changes in the number of steps of the user to determine whether the user has gotten off the vehicle. The terminal 100 can also detect whether the user has gotten off the vehicle through sensors such as IMU, accelerometer, gyroscope, etc.

[0112] In other examples, the terminal 100 establishes a communication connection with a vehicle terminal (e.g., a central control device) of the user's vehicle. When the distance between the terminal 100 and the vehicle terminal exceeds a preset distance, the terminal 100 disconnects the communication connection with the vehicle terminal. The terminal 100 can determine that the user has gotten off the vehicle when detecting that the communication connection with the vehicle terminal is disconnected.

[0113] When the terminal 100 detects that the user has gotten off the vehicle, the user's movement trajectory can be obtained through the inertial measurement unit. The terminal 100 can use the inertial data collected by the inertial measurement unit as input data for the PDR algorithm to obtain the movement trajectory of the terminal relative to the parking position of the user's vehicle. For example, the movement trajectory can refer to Figure 1 The trajectory of the user from the parking position to the elevator 11 is shown.

[0114] After detecting that the user gets off the vehicle at the parking location, the terminal 100 may also collect wireless signal fingerprints at multiple positioning points of the movement trajectory through the wireless communication module.

[0115] S502. The terminal 100 determines the location information of one or more positioning points near the elevator on the motion trajectory based on the wireless signal fingerprints of the multiple positioning points and the elevator circle fingerprint library provided by the server 200.

[0116] The terminal 100 can send the collected wireless signal fingerprint to the server 200. The server 200 can determine that the terminal 100 is located near the elevator corresponding to the elevator circle fingerprint library when at least one of the multiple positioning points on the action trajectory matches one of the elevator circle fingerprint libraries based on the wireless signal fingerprints at the multiple positioning points and the multiple elevator circle fingerprint libraries, and can obtain the location information of the at least one positioning point from the elevator circle fingerprint library. When the server 200 determines that the similarity between the wireless signal fingerprint and any wireless signal fingerprint of the elevator circle fingerprint library is greater than a preset similarity threshold (for example, 80%), it is determined that the wireless signal fingerprint matches the elevator circle fingerprint library.

[0117] After determining one or more positioning points among the multiple positioning points that match the elevator circle fingerprint library, the server 200 can send the location information of the one or more positioning points to the terminal 100 .

[0118] In some examples, the terminal 100 can obtain the destination of the user through the navigation application and download the elevator circle fingerprint library of the destination from the server 200. After arriving at the destination and getting off the vehicle, the terminal 100 can determine the location information of one or more positioning points on the movement trajectory of the terminal 100 based on the collected wireless signal fingerprint and the downloaded elevator circle fingerprint library.

[0119] It is understandable that the number, deployment location, and device identification of wireless access devices are different on different floors, and the wireless signal fingerprints received by the terminal 100 on different floors are different. The location information of one or more positioning points can indicate that the terminal 100 is near the elevator corresponding to the elevator circle fingerprint library, the floor information where the terminal 100 is located, and the specific location information of the terminal 100 on the floor.

[0120] S503. The terminal 100 determines the location information of the parking position of the user's vehicle based on the location information of one or more positioning points and the movement trajectory.

[0121] The terminal 100 has acquired the movement trajectory of the user from the vehicle to the elevator after the user gets off the vehicle through step S501. The terminal 100 also determines the position information of one or more positioning points on the movement trajectory through step S502. Based on the position information of the positioning points, the terminal 100 can reversely deduce the position information of the parking position of the user's vehicle along the movement trajectory of the user.

[0122] It is understandable that the server 200 has determined the relative position relationship between the parking position where the user's vehicle is parked and the elevator corresponding to the matched elevator circle fingerprint library. The server 200 has also determined the relative position relationship between the elevators in the building. The server 200 can determine the relative position relationship between the parking position and other elevators in the building based on this.

[0123] For example, the user Figure 1 The vehicle shown in FIG. 1 arrives at elevator 11, and the elevator circle fingerprint database of elevator 11 in server 200 is as follows: Figure 6 The action trajectory of the terminal 100 based on the sensor is as shown in Figure 6 The terminal 100 determines the positioning point based on the received wireless signal fingerprint as shown in the dotted line in FIG. Figure 6 The terminal 100 can be based on Figure 6 The shown positioning point and the user trajectory including the positioning point determine the position of the user's vehicle.

[0124] In this way, the vehicle positioning method provided in the embodiment of the present application does not require manual intervention by the user, and can obtain the wireless signal fingerprint near the elevator and the user's movement trajectory through the terminal 100 to automatically calibrate the location of the vehicle. This avoids the tedious operation of the user locating the vehicle position, and provides the user with a faster and more effective positioning effect.

[0125] S402. The terminal 100 displays the location information of the parking location and the designated prompt information, where the designated prompt information is used to prompt the user to park the vehicle at the parking location.

[0126] After the terminal 100 determines the position of the user's vehicle, it can display the position information of the parking position where the user's vehicle is parked, and the designated prompt information for prompting the user to park the vehicle at the parking position.

[0127] In some examples, the terminal 100 may acquire the location information of the terminal 100. The terminal 100 may also display the location information of the terminal 100 when displaying the location information of the parking location and specifying the prompt information.

[0128] In some examples, terminal 100 may also display location information of one or more elevators.

[0129] In some examples, the terminal 100 may also display corresponding prompt information based on the location information of the user's vehicle and the location information of the terminal 100.

[0130] Among them, when the terminal 100 is not on the floor where the user's vehicle is parked, the terminal 100 may first display prompt information for prompting the user to reach the floor where the user's vehicle is parked. For example, the prompt information may be used to prompt the user the location of one or more elevators. When the terminal 100 detects that the terminal 100 is near an elevator on a floor where the user's vehicle is not parked, prompt information may also be displayed for guiding the user to take the elevator back to the floor where the user's vehicle is located.

[0131] It is understandable that the user needs to take the elevator to reach different floors, so the terminal 100 can determine the floor where the terminal 100 is located based on the wireless signal fingerprint received near the elevator when detecting that the user has walked out of the elevator. It is also understandable that the server 200 has determined the location of each elevator when constructing the elevator circle fingerprint library, so the terminal 100 can obtain the location of each elevator accordingly.

[0132] When the user returns to the floor where the user's vehicle is parked via the elevator, the terminal 100 may display prompt information for guiding the user from the elevator's location to the user's vehicle's location based on the elevator's location information and the user's vehicle's parking location information.

[0133] In some examples, the terminal 100 may display the above information after receiving input from the user to search for a vehicle.

[0134] In some examples, when the terminal 100 detects that the user exits the elevator based on a sensor (e.g., an IMU sensor), the terminal 100 can determine the location information of one or more positioning points that the user passes through when walking out of the elevator based on the wireless signal fingerprint received near the elevator and the elevator circle fingerprint library. The terminal 100 can also obtain the movement trajectory of the user after exiting the elevator based on a sensor (e.g., an IMU sensor). The terminal 100 can infer the location information of the terminal 100 based on the location information and movement trajectory of one or more positioning points. Among them, the description of the location information and movement trajectory of the positioning point obtained by the terminal 100 can be found in the above embodiment, which will not be repeated here. In this way, the terminal 100 can obtain the location of the terminal 100, that is, the real-time location of the user, based on the elevator circle positioning points and movement trajectories after the user exits the elevator.

[0135] In some examples, since the elevator circle fingerprint library of non-parking lot floors has a wide range and can cover most areas of non-parking lot floors, terminal 100 can directly determine the location information of terminal 100 based on the received wireless signal fingerprint and the elevator circle fingerprint library.

[0136] In some examples, the GPS signal strength of the non-parking lot floor is stronger than the GPS signal strength of the parking lot floor, and the terminal 100 on the non-parking lot floor can obtain the location information of the terminal 100 based on GPS.

[0137] In some examples, when the terminal 100 detects that the user has walked out of the elevator, the terminal 100 can obtain the movement trajectory of the terminal 100 after leaving the elevator through the IMU. The terminal 100 can store the movement trajectory. After receiving the user's input to find the vehicle, the terminal 100 can display the movement trajectory, so that the user can return to the elevator along the original route and find the location of the elevator faster.

[0138] In a possible implementation, the terminal 100 may record the location information of the designated elevator that the user took when leaving the floor where the user's vehicle is located. The terminal 100 may display prompt information for prompting the user how to get from the location of the terminal 100 to the location of the designated elevator. When the terminal 100 detects that the terminal 100 returns to the floor where the user's vehicle is located via the designated elevator, the movement trajectory from the designated elevator to the user's vehicle may be displayed. The movement trajectory may be a movement trajectory obtained by the IMU sensor when the terminal 100 locates the position of the vehicle. In this way, the terminal 100 may provide the user with the function of searching for the user's vehicle along the original route according to the movement trajectory. When the user returns to search for the vehicle along the original route, he or she will have a certain impression of the parking location of the vehicle and can determine the location of the vehicle more quickly.

[0139] Exemplarily, the steps of the terminal 100 obtaining the elevator taken by the user when leaving the floor where the vehicle is parked are as follows: Figure 7 As shown:

[0140] S701. The terminal 100 determines whether the user takes the elevator based on the data collected by the sensor.

[0141] In some examples, the terminal 100 includes a barometer. The terminal 100 can determine whether the user is taking the elevator based on the value of the barometer. For example, the terminal 100 can determine that the user is taking the elevator when it detects that the value of the barometer changes within a preset time (e.g., 20 seconds) and the value of the barometer change is greater than a preset barometer difference. For example, when a user carrying the terminal 100 takes the elevator to go upstairs, the elevator gradually rises over time, and the change curve of the elevator height over time is as follows: Figure 8 In this process, the value change curve of the barometer of the terminal 100 can also be referred to Figure 8 The curve shown in Figure 2. Figure 8 As shown, during the period of 0s-20s, the elevator door is closed, the elevator height remains unchanged, and the value of the barometer of the terminal 100 remains unchanged. During the period of 20s-120s, the elevator gradually accelerates and the value of the barometer gradually increases. During the period of 120s-130s, the elevator gradually slows down and stops, and the increment of the value of the barometer becomes smaller. After 125s, the elevator stops steadily, and the value of the barometer remains unchanged. Similarly, when the user carrying the terminal 100 takes the elevator downstairs, the value of the barometer of the terminal 100 gradually decreases. In this way, the terminal 100 can judge whether the user takes the elevator according to the value change trend of the barometer.

[0142] In some examples, the terminal 100 includes an accelerometer. The terminal 100 can determine whether the user carrying the terminal 100 takes the elevator based on the change characteristics of the acceleration of the terminal 100 obtained by the accelerometer within a preset time length (for example, 20s). For example, when the user carrying the terminal 100 takes the elevator to go upstairs, the elevator needs to accelerate upwards and then decelerate downwards. The accelerometer can first obtain an acceleration vector with an upward direction within a preset time length, and then obtain an acceleration vector with a downward direction. For another example, when the user carrying the terminal 100 takes the elevator to go downstairs, the elevator needs to accelerate downwards and then decelerate upwards. The accelerometer can obtain an acceleration vector with a downward direction within a preset time length, and then obtain an acceleration vector with an upward direction. The terminal 100 can determine that the user takes the elevator when the corresponding acceleration vector is obtained through the accelerometer.

[0143] In some examples, the terminal 100 can determine whether the user is taking the elevator by detecting whether the number of steps of the user and the received wireless signal fingerprint have changed. Among them, when the terminal 100 detects that the number of steps of the user remains unchanged within the preset detection time and detects that the wireless signal fingerprint received by the terminal 100 is different, it is determined that the user is taking the elevator. Among them, when the terminal 100 detects that the number of steps of the user within the preset time is less than the preset step threshold (for example, 4 steps), it is determined that the number of steps of the user remains unchanged. The description of the number of steps detected by the terminal 100 can be found in the above embodiment, which will not be repeated here. Optionally, the terminal 100 can also detect whether the terminal 100 is displaced in the horizontal direction through one or more sensors such as IMU, accelerometer, and gyroscope. When the terminal 100 detects that the terminal 100 is displaced in the horizontal direction within the preset detection time, and detects that the wireless signal fingerprint received by the terminal 100 is different, it is determined that the user is taking the elevator. For example, when the terminal 100 detects that the horizontal movement distance of the terminal 100 is less than or equal to a preset movement distance (for example, 1 meter), the terminal 100 may determine that the terminal 100 has not been displaced in the horizontal direction.

[0144] Among them, when the terminal 100 detects that the received wireless signal fingerprints are different, the situation may include but is not limited to: (1) the preset time length includes time t1 and time t2, time t1 is the starting time of the preset time length, and time t2 is any time other than the starting time of the preset time length. The terminal 100 receives the wireless signal fingerprints sent by num1 wireless access devices at time t1, and receives the wireless signal fingerprints sent by num2 wireless access devices at time t2. When the terminal 100 detects that the absolute value of the difference between num1 and num2 is greater than the preset difference threshold (for example, 2), it is determined that the wireless signal fingerprints received by the terminal 100 are different.

[0145] (2) The preset duration includes time t1 and time t2, where time t1 is the starting time of the preset duration, and time t2 is any time other than the starting time of the preset duration. The set of wireless signal fingerprints received by the terminal 100 at time t1 is A, and the set of wireless signal fingerprints received at time t2 is B. When the terminal 100 detects that the value of (A∩B) / (A∪B) is less than a preset ratio threshold (for example, 90%), it is determined that the wireless signal fingerprints received by the terminal 100 are different. For example, the set of wireless signal fingerprints received by the terminal 100 on floor B1 is {wireless signal fingerprint 1, wireless signal fingerprint 2, wireless signal fingerprint 3}, and the set of wireless signal fingerprints received by the terminal 100 on floor F1 is {wireless signal fingerprint 4, wireless signal fingerprint 5, wireless signal fingerprint 6, wireless signal fingerprint 7}. If the number of steps of the terminal 100 remains unchanged and the floor remains unchanged, then the set of wireless signal fingerprints received by the terminal 100 at time t1 and time t2 is the same, and the value of (A∩B) / (A∪B) is 100%, which is greater than the preset ratio threshold, and the terminal 100 can determine that the wireless signal fingerprints received by the terminal 100 are the same. If the number of steps of the terminal 100 remains unchanged and the floor changes, then the set of wireless signal fingerprints received by the terminal 100 at time t1 and time t2 is different. For example, if the terminal 100 is on the B1 floor at time t1 and on the F1 floor at time t2, then the value of (A∩B) / (A∪B) is 0. If the terminal 100 is on the F1 floor at time t1 and on the B1 floor at time t2, then the value of (A∩B) / (A∪B) is also 0. When the floors of the terminal 100 are different, the values ​​of (A∩B) / (A∪B) are all less than the preset ratio threshold, and the terminal 100 can determine that the wireless signal fingerprints received by the terminal 100 are different. In some examples, the wireless signal fingerprint can be a media access control address (MAC) address of a wireless access device.

[0146] It should be noted that the wireless signal fingerprint sets of the above-mentioned floors F1 and F2 are only examples, and should not constitute a specific limitation on the wireless signal fingerprint sets of each floor. In some application scenarios, the terminal 100 can not only receive the signal of the wireless access device on a certain floor, but also receive the signal of the wireless access device on the adjacent floor. Therefore, when the terminal 100 moves from one floor to an adjacent floor, the value of (A∩B) / (A∪B) is usually a non-zero value. The terminal 100 can determine whether the user has moved the floor based on the preset ratio threshold stored. Among them, the preset ratio threshold can be a value set by a technician. In some examples, the server 200 can set the preset ratio threshold based on the value of (A∩B) / (A∪B) collected by the terminal equipped with a barometer when the elevator shuttles between floors.

[0147] In some examples, the terminal 100 can detect that the number of steps of the user remains unchanged within a preset time period, and detects that the modulus value of the geomagnetic vector collected by the magnetometer of the terminal 100 changes, and determines that the user takes the elevator. It should be noted that when the terminal 100 passes through the floor between different floors during the process of the terminal 100 rising or falling with the elevator, the modulus value of the geomagnetic vector of the magnetometer of the terminal 100 may change periodically and regularly, for example, a peak value may appear. In this way, the terminal 100 can determine whether the user takes the elevator based on this.

[0148] S702. When the terminal 100 determines that the user takes the elevator, the terminal 100 obtains the identifier of the elevator that the user takes.

[0149] When the terminal 100 determines that the user takes the elevator based on step S701, the elevator in which the user takes can be determined based on the similarity between the wireless signal fingerprint and each wireless signal fingerprint in the wireless signal fingerprint library of the elevator circle. The terminal 100 can record the identifier of the elevator in which the user takes when leaving the floor where the user's vehicle is parked. In this way, it is convenient for the user to return along the original route to find the vehicle.

[0150] In one possible implementation, the terminal 100 displays one or more application icons, and the one or more application icons include a car search application icon. After receiving an input for the car search application icon, the terminal 100 may display an elevator navigation interface in response to the input. The elevator navigation interface includes but is not limited to a user mark and one or more elevator marks, the user mark can be used to indicate the location of the terminal 100 and the orientation of the terminal 100, the elevator mark can be used to indicate the location of the elevator, and the one or more elevator marks include a designated elevator mark. The elevator navigation interface can be used to prompt the user to take the elevator and reach the floor where the user's vehicle is located by the elevator.

[0151] When the terminal 100 detects that the terminal 100 moves to the vicinity of the elevator indicated by the designated elevator mark, a floor navigation interface is displayed, which includes information about the floor where the user's vehicle is located, and is used to prompt the user to go to the floor where the user's vehicle is located.

[0152] When the terminal 100 detects that the terminal 100 has moved to the floor where the user's vehicle is located, the vehicle navigation interface may be displayed. The vehicle navigation interface may include but is not limited to a vehicle mark and a user mark. The user mark may be used to indicate the location of the terminal 100 and the orientation of the terminal 100, and the vehicle mark may be used to indicate the location of the user's vehicle. The vehicle navigation interface may be used to prompt the user to go to the location of the user's vehicle. In this way, the terminal 100 may help the user find the vehicle faster through the above display content.

[0153] It is understandable that before the terminal 100 receives the input for the car search application icon, the terminal 100 may Figure 4 and Figure 5 The steps shown obtain the location of the user's vehicle and the location of the terminal 100.

[0154] It should be noted that before the terminal 100 receives an input for the car search application icon, the terminal 100 may Figure 4 The embodiment shown obtains the location of the terminal 100, that is, the real-time location of the user carrying the terminal 100. After the terminal 100 obtains the location information of the terminal 100, when the terminal 100 receives the input for the car search application icon, it can determine the floor where the user is located. When the terminal 100 determines that the user is not on the floor where the user's vehicle is parked, the elevator navigation interface can be displayed. When the terminal 100 determines that the user is on the floor where the user's vehicle is parked, the elevator navigation interface and the floor navigation interface may not be displayed, and the vehicle navigation interface may be directly displayed.

[0155] It should also be noted that the terminal 100 is not limited to displaying the corresponding interface after receiving the input for the car search application icon. The terminal 100 can display the display content of the elevator navigation interface, the floor navigation interface and / or the vehicle navigation interface on the desktop or the negative first screen.

[0156] For example, Figure 1 Taking the building 10 as an example, the user's vehicle is parked on the B1 floor, and the user reaches the F1 floor via the elevator 11. Afterwards, the user goes to the supermarket to shop from the elevator 11. After shopping, the user wants to return to the vehicle location, and the user can return to find the vehicle via the terminal 100.

[0157] Terminal 100 may display Fig.9A The desktop 901 shown. Among them, the desktop 901 may include multiple application icons (for example, a car search application icon 902, a gallery application icon, etc.). Optionally, a status bar is also displayed above the desktop 901, and the status bar may include but is not limited to information such as a communication signal strength indicator (for example, a 4G / 5G communication signal strength indicator, a Wi-Fi communication signal strength indicator), a battery value, time, and a Bluetooth indicator (not shown in the figure). Optionally, there may be a tray (dock) area below the desktop 901, and the dock area may include one or more tray icons (for example, a dialing application icon, an information application icon, a contact application icon, a camera application icon, etc.). Among them, the car search application icon 902 can be used to trigger the terminal 100 to display the interface of the car search application.

[0158] In some examples, the terminal 100 may display a car-finding card. The car-finding card may display functional information for finding a vehicle, and the functional information may be used to trigger the terminal 100 to display a specified interface including functional information (e.g., an elevator navigation interface, a floor navigation interface, a vehicle navigation interface). Among them, the functional information may include but is not limited to prompt information for prompting the user to arrive at the elevator, prompt information for prompting the user to arrive at the floor where the user's vehicle is located, and / or prompt information for prompting the user to arrive at the location of the user's vehicle, etc. The terminal 100 may respond to the user's input (e.g., single click) for the car-finding card and display the specified interface in full screen. Among them, the car-finding card may be displayed on the desktop (e.g., desktop 901) or other specified shortcut interfaces (e.g., negative one screen, service center, etc.), and the car-finding card may be added or deleted by the user. In some examples, the card may be called a widget. Among them, the car-finding card may be a card provided by a car-finding application, or a card for a car-finding service provided by the terminal 100. The car-finding application may be an application corresponding to the car-finding application icon 902, or may be a cloud application obtained by the terminal 100 through the server 200. The application corresponding to the car search application icon 902 is an application installed by the terminal 100. The cloud application is an application that the terminal 100 has not downloaded and installed.

[0159] Terminal 100 can receive the user's Fig.9A In response to the input (e.g., single click) of the car search application icon 902, the terminal 100 may display the following Fig. 9B Interface 911 is shown.

[0160] like Fig. 9B As shown, interface 911 is an interface of a car search application. Interface 911 may display a display area 912. Display area 912 may be used to display prompt information for prompting the user to go to the location of the user's vehicle. Fig. 9B In the interface 911 shown, the display area 912 displays a prompt message 913. The prompt message 913 can be used to prompt the user to take the elevator. The prompt message 913 can include but is not limited to one or more of voice prompt messages, text prompt messages, image prompt messages, and animation prompt messages. For example, the prompt message 913 can be a text prompt message: "Please walk to the elevator."

[0161] The interface 911 may also display a display area 914. The display area 914 may be used to display the location of the terminal 100. Fig. 9BIn the interface 911 shown, the display content of the display area 914 can be used to indicate the relative position between the terminal 100 and the elevator on the current floor. The display area 914 can display a user mark 915, which can be used to indicate the position of the terminal 100 and the direction of the terminal 100. Among them, the terminal 100 can be Figure 4 The method provided in the illustrated embodiment determines the location information of the terminal 100 , and the terminal 100 can determine the orientation of the terminal 100 through an inertial measurement unit.

[0162] The display area 914 may also display one or more elevator marks. The one or more elevator marks may include, but are not limited to, elevator marks corresponding to elevators near the terminal 100, elevator marks corresponding to elevators near the user's vehicle, and elevator marks corresponding to the elevators that the user takes when leaving the floor where the user's vehicle is located. Among them, the elevators near the terminal 100 may be all elevators within a range of a first preset radius (e.g., 12 m) with the terminal 100 as the center, or the elevators near the terminal 100 may be the elevators closest to the terminal 100 among all elevators. Among them, the elevators near the user's vehicle may be all elevators within a range of a second preset radius (e.g., 20 m) with the location of the user's vehicle as the center, or the elevators near the user's vehicle may be the elevators closest to the user's vehicle among all elevators.

[0163] Here, the terminal 100 is located near the supermarket on the F1 floor, the elevator 12 is an elevator near the terminal 100, the elevator 13 is an elevator near the user's vehicle, and the elevator 11 is the elevator that the user takes when leaving the floor where the user's vehicle is located. The display area 914 may include an elevator mark 916 corresponding to the elevator 11, an elevator mark 917 corresponding to the elevator 13, and an elevator mark 918 corresponding to the elevator 12.

[0164] Optionally, the terminal 100 may also display elevator prompt information near one or more elevator marks, and the elevator prompt information may be used to prompt the user what type of elevator each elevator is, for example, an elevator near the terminal 100, an elevator near the user's vehicle, and an elevator that the user took when leaving the floor where the user's vehicle is located. In this way, when the user tends to return along the original route to find the vehicle, the user can go to the elevator that the user took when leaving the floor where the user's vehicle is located. When the user tends to go to the floor where the user's vehicle is located before looking for the vehicle, the user can go to a nearby elevator. When the user tends to approach an elevator near the user's vehicle first, the user can go to an elevator near the user's vehicle.

[0165] Optionally, the terminal 100 may also display distance prompt information near one or more elevator marks, and the distance prompt information may be used to prompt the user terminal 100 of the distance between the elevator corresponding to the elevator mark. In this way, the user can determine the distance between the elevators corresponding to each elevator mark through the distance prompt information displayed by the terminal 100, and select a suitable elevator.

[0166] Optionally, the terminal 100 may also display direction prompt information near one or more elevator marks, and the direction prompt information may be used to prompt the user the relative direction between the elevator corresponding to the elevator mark and the terminal 100. In this way, the user can determine the direction of the user when going to the elevator corresponding to each elevator mark through the direction prompt information displayed by the terminal 100.

[0167] In some examples, if the building 10 is a shopping mall, some electronic devices of the building 10 can provide a floor plan of a non-parking lot floor, which can indicate the layout of each store, toilet, road, and elevator on the floor. The terminal 100 can obtain the floor plan of the non-parking lot floor of the building 10, and display the road for the user to reach the elevator corresponding to the elevator mark, and / or the name of the store near the elevator corresponding to the elevator mark in the display area 914. In this way, the user can use the road and / or the name of the store near the elevator displayed by the terminal 100 as a reference to reach the elevator faster.

[0168] Optionally, the interface 911 may further include a display area 919, which may be used to prompt the user of the progress of finding the vehicle. For example, three digital symbols are displayed in the display area 919, and the three digital symbols include digital symbol 1, digital symbol 2, and digital symbol 3. Digital symbol 1 indicates the process of the terminal 100 prompting the user to find the elevator. Digital symbol 2 indicates the process of the terminal 100 prompting the user to go to the floor where the user's vehicle is located. Digital symbol 3 indicates the process of the terminal 100 prompting the user to find the user's vehicle on the floor where the user's vehicle is located. Fig. 9B In the interface 911 shown, the numeral 1 is bolded, indicating that the terminal 100 is guiding the user to find the elevator. In this way, the user can determine the progress of finding the car through the content of the display area 919, and can understand how many steps are left to find the car.

[0169] In some examples, the terminal 100 may, in response to receiving the user's input (e.g., single-click or double-click) for any of the one or more elevator marks, display only the elevator mark selected by the user in the display area 914 of the terminal 100. For example, after receiving the user's input for the elevator mark 916, the terminal 100 may, in response to the input, cancel the display of the elevator mark 917 and the elevator mark 918 in the display area 914. In this way, after the user selects the elevator to be taken, other elevator marks may be prevented from interfering with the user's search for the elevator. Optionally, the terminal 100 may also, in response to the user's input for any of the one or more elevator marks, display in the display area 912 a prompt message for prompting the user to go to the elevator corresponding to the selected mark. For example, after receiving the user's input for the elevator mark 916, the terminal 100 may display in the display area 912 a prompt message prompting the user to walk 50 meters to the left.

[0170] The terminal 100 may detect that the terminal 100 is connected to Fig. 9B When the distance of the elevator corresponding to any one of the one or more elevator marks shown is less than a preset distance (eg, 2 m), a floor navigation interface is displayed to prompt the user to go to the floor where the vehicle is located.

[0171] If the terminal 100 detects that the distance between the terminal 100 and the elevator corresponding to the elevator mark 916 is less than the preset distance, the terminal 100 may display the following information: Fig. 9C Interface 911 is shown.

[0172] like Fig. 9C As shown, the interface 911 includes a display area 912. Fig. 9C The display area 912 shown in the figure displays a prompt message 921. The prompt message 921 can be used to prompt the user to take the elevator to the floor where the user's vehicle is located. For example, the prompt message 921 can be a text prompt message: "The elevator you took when you came has arrived. Please take the elevator to the B1 floor."

[0173] The interface 911 also displays a display area 922. The display area 922 can be used to prompt the user the floor where the vehicle is parked. For example, the display area 922 can display text information: "B1".

[0174] Optionally, the interface 911 may display a display area 919. The description of the display area 919 can refer to the above embodiment and will not be repeated here. Since the terminal 100 detects that the user has arrived near the elevator, the terminal 100 may display a bold digital mark 2 in the display area 919, such as Fig. 9C The bold number 2 indicates that the terminal 100 is guiding the user to the floor where the user's vehicle is located.

[0175] In some examples, when the terminal 100 receives the user's input for the car search application icon 902, it is detected that the distance between the terminal 100 and the elevator corresponding to the elevator mark is less than the preset distance, and the terminal 100 may not display the elevator navigation interface (for example, Fig. 9B The interface 911 shown in the figure directly displays the floor navigation interface, which includes prompt information for prompting the user to take the elevator to the specified floor.

[0176] In other examples, if the user passes by elevators corresponding to other elevator marks on the way to the elevator corresponding to a certain elevator mark, the terminal 100 directly displays the floor navigation interface when it detects that the distance between the terminal 100 and the elevators corresponding to the other elevator marks is less than the preset distance, which will cause the user to be unable to go to the selected elevator. When the terminal 100 detects that the distance between the terminal 100 and the elevator corresponding to a certain elevator mark is less than the preset distance, the terminal 100 can display a prompt message for prompting the user whether to take the elevator downstairs, and display a confirmation control and a cancel control. Among them, the confirmation control can be used to trigger the terminal 100 to display the floor navigation interface. The cancel control can be used to cancel the terminal 100 from displaying the prompt message, and the terminal 100 can continue to display the elevator navigation interface. In this way, the user can choose the elevator he wants to take.

[0177] In other examples, after receiving user input (eg, double-click, long press, etc.) for an elevator mark, the terminal 100 may display a floor navigation interface in response to the input.

[0178] In other examples, the terminal 100 may display floor prompt information in the elevator navigation interface, and the floor prompt information may be used to prompt the user to go to the floor where the user's vehicle is located. In this way, the terminal 100 may display the elevator navigation interface when it detects that the terminal 100 is on a floor other than the floor where the user's vehicle is located. The terminal 100 may also display the vehicle navigation interface when it detects that the user has reached the floor where the user's vehicle is located.

[0179] Terminal 100 displays Fig. 9C After the interface 911 is displayed, if it is detected that the user takes the elevator and the floor reached by the user is the floor where the user's vehicle is located, a vehicle navigation interface for prompting the user to go to the vehicle location can be displayed. The description of the terminal 100 detecting whether the user takes the elevator and detecting the floor where the user is located can refer to the above embodiment and will not be repeated here.

[0180] Since the elevator corresponding to the elevator mark 916 is the elevator that the user takes when leaving the floor where the user's vehicle is parked, the terminal 100 can store the user's movement trajectory to the elevator 11 and display the movement trajectory in the vehicle navigation interface. When the terminal 100 detects that the user goes to the floor B1 via the elevator 11 corresponding to the elevator mark 916, the terminal 100 can display the following information: Fig.9D Interface 911 is shown.

[0181] like Fig.9D As shown, the interface 911 includes a display area 912. Fig.9D The display area 912 shown has a prompt message 931. The prompt message 931 can be used to prompt the user how to go to the location of the user's vehicle. The prompt message 931 can include but is not limited to one or more of voice prompt messages, text prompt messages, image prompt messages, and animation prompt messages. For example, the prompt message 931 can be a text prompt message: "You have arrived at the parking lot. Please follow the path you came from and search for the vehicle in reverse."

[0182] The interface 911 also includes a display area 932. The display area 932 can be used to prompt the user how to reach the location of the user's vehicle. The display area 932 may include, but is not limited to, a user mark 933 and a vehicle mark 935. Among them, the user mark 933 can be used to indicate the location of the terminal 100 and the direction of the terminal 100. Among them, after detecting that the user has left the elevator 11, the terminal 100 can collect the movement trajectory of the terminal 100 from the elevator 11 through the inertial measurement unit, and collect wireless signal fingerprints at one or more positioning points on the movement trajectory through the wireless communication module. The terminal 100 can determine the location information of at least one positioning point in the one or more positioning points based on the wireless signal fingerprints collected at one or more positioning points and the elevator circle fingerprint library of the elevator 11. The terminal 100 can determine the location of the terminal 100 in the floor where the user's vehicle is located based on the location information of the at least one positioning point, that is, the relative position relationship between the terminal 100, the elevator 11 and the user's vehicle can be determined. The terminal 100 can determine the direction of the terminal 100 through the inertial measurement unit. Among them, the terminal 100 can detect that the terminal 100 takes the elevator and leaves the elevator position by the above-mentioned method of detecting whether the terminal 100 takes the elevator, and determine that the user leaves the elevator 11. In some examples, the terminal 100 can determine the position where the user leaves the elevator when one or more sensors such as IMU, accelerometer, and gyroscope detect that the terminal 100 is displaced in the horizontal direction. For example, the terminal 100 can determine that the terminal 100 is displaced in the horizontal direction when it is detected that the terminal 100 moves a distance greater than a preset moving distance (for example, 1 meter) in the horizontal direction.

[0183] The vehicle mark 935 may be used to indicate the location of the vehicle. The terminal 100 may indicate the relative distance between the user and the vehicle through the user mark 933 and the vehicle mark 935.

[0184] Optionally, display area 932 may also include an elevator mark 934, which is used to indicate the position of the elevator that the user takes when going to the floor where the vehicle is located. In this way, the user can determine the starting position of finding a vehicle based on the elevator mark 934.

[0185] Optionally, the terminal 100 may also display distance prompt information 937 in the interface 911, and the distance prompt information 937 may be used to prompt the user of the distance between the terminal 100 and the user's vehicle. For example, the distance prompt information 937 may be a text prompt information: "about 75 meters". In this way, the user can determine the distance between the terminal 100 and the vehicle through the distance prompt information displayed by the terminal 100. Optionally, the terminal 100 may also display direction prompt information in the interface 911, and the direction prompt information may be used to prompt the user that the vehicle is in a specified direction of the terminal 100 (for example, east, south, west, north, front, back, left, right, etc.). In this way, the user can go to the location of the vehicle in the specified direction.

[0186] Optionally, the display area 932 may further include a path 936. The terminal 100 may obtain the path 936 based on the user's motion trajectory obtained when the terminal 100 locates the user's vehicle position. The path 936 has the same shape and proportion as the user's motion trajectory, and has an opposite direction. In this way, the user can follow the motion trajectory from the vehicle position to the elevator 11 and return to the vehicle position from the elevator 11 by the original route.

[0187] Optionally, the interface 911 may also display a display area 919. For a description of the display area 919, see Fig. 9B In the illustrated embodiment, the terminal 100 displays a bold arrow symbol between the number mark 2 and the number mark 3 in the display area 919, indicating that the user is looking for a vehicle.

[0188] Terminal 100 displays Fig.9D After the interface 911 shown, the real-time location of the terminal 100, that is, the real-time location of the user, can be monitored. When the terminal 100 detects that the distance between the terminal 100 and the user's vehicle is less than the preset boarding distance (for example, 5 meters), it can be determined that the user has reached the vehicle position, and the following information is displayed: Fig.9E Interface 911 is shown.

[0189] like Fig.9E As shown, the display area 912 of the interface 911 displays a prompt message 941. The prompt message 941 is used to prompt the user to arrive near the vehicle. Optionally, the interface 911 may display a display area 932. The description of the display area 932 can be found in Fig.9D The embodiments shown are not described in detail here. Fig.9EIn the display area 932 shown, the user mark 933 is located near the vehicle mark 935, and the distance prompt information 937 can be a text prompt information: "about 2 meters". Optionally, the interface 911 can also display a display area 919. The description of the display area 919 can be found in Fig. 9B In the illustrated embodiment, the terminal 100 displays a bold digital mark 3 in the display area 919, indicating that the user has successfully found the vehicle.

[0190] It is understandable that the terminal 100 can obtain the position of the user's vehicle, the position of the elevator and the position of the terminal 100 by the method shown in the above embodiment, which will not be repeated here. The terminal 100 can calculate the distance between the terminal 100 and the user's vehicle and the distance between the terminal 100 and each elevator.

[0191] In other examples, when the terminal 100 detects that the user goes to the floor where the user's vehicle is located through a nearby elevator or the elevator closest to the user's vehicle, the user mark and the vehicle mark can be displayed. The user mark and the vehicle mark can be used to prompt the user of the position of the vehicle relative to the user. The user mark can be used to indicate the position of the terminal 100 and the orientation of the terminal 100. In this way, the terminal 100 can provide the user with the relative position between the user and the vehicle, helping the user to quickly find the vehicle.

[0192] Next, taking an elevator near the user as an example, the following describes how the terminal 100 prompts the user to go to the location of the vehicle when the user takes a nearby elevator or an elevator closest to the user's vehicle to go to the floor where the user's vehicle is located.

[0193] For example, the terminal 100 displays Fig. 9B When the terminal 100 detects that the distance between the terminal 100 and the elevator corresponding to the elevator mark 918 is less than the preset distance, the terminal 100 may display a floor navigation interface for prompting the user to take the elevator 12 to the B1 floor. The description of the floor navigation interface can be referred to Fig. 9C The embodiment shown is not described in detail here. It should be noted that the terminal 100 is not limited to displaying the floor navigation interface when it detects that the distance between the terminal 100 and the elevator corresponding to the elevator mark 918 is less than the preset distance. The terminal 100 can also Fig. 9C Other methods shown display the floor navigation interface.

[0194] After the terminal 100 displays a floor navigation interface for prompting the user to take the elevator 12 to the B1 floor, it is detected that the user takes the elevator 12, and when it is detected that the floor reached by the user is the B1 floor where the user's vehicle is located, the following may be displayed: Fig.9F The interface 951 shown. For details, please refer to Fig. 9C and Fig.9D The illustrated embodiments will not be described in detail here.

[0195] like Fig.9F As shown, the interface 951 is a vehicle navigation interface for prompting the user to go to the vehicle location. Among them, the interface 911 may include prompt information 952. Prompt information 952 can be used to prompt the user how to go to the location of the vehicle. Prompt information 952 may include but is not limited to one or more of voice prompt information, text prompt information, image prompt information, and animation prompt information. For example, prompt information 952 can be a text prompt information: "Arrived at the parking lot, please find the vehicle according to the indicated direction and distance."

[0196] The interface 951 may also include a display area 953. The display area 953 may be used to prompt the user how to reach the location of the user's vehicle. The display area 953 may include, but is not limited to, a user mark 954 and a vehicle mark 956. Among them, the user mark 954 may be used to indicate the location of the terminal 100 and the orientation of the terminal 100. Among them, the terminal 100 may determine the relative position relationship between the user's vehicle and the elevator 11, and the relative position relationship between the elevators 11, 12, and 13 in the building 10 provided by the server 200. After detecting that the user has left the elevator 12, the terminal 100 may collect the movement trajectory of the terminal 100 from the elevator 12 through the inertial measurement unit, and collect wireless signal fingerprints at one or more positioning points on the movement trajectory through the wireless communication module. The terminal 100 may determine the location information of at least one of the one or more positioning points based on the wireless signal fingerprints collected at one or more positioning points and the elevator circle fingerprint library of the elevator 12. The terminal 100 can determine the position of the terminal 100 on the floor where the user's vehicle is located based on the position information of the at least one positioning point, that is, the relative position relationship between the terminal 100, the elevator 12 and the user's vehicle can be determined. The terminal 100 can determine the orientation of the terminal 100 through an inertial measurement unit. Among them, the terminal 100 can determine that the user has left the elevator 12 when it detects that the terminal 100 has taken the elevator and has left the position of taking the elevator (that is, it is detected that the terminal 100 moves in the horizontal direction) through the above-mentioned method of detecting whether the terminal 100 has taken the elevator.

[0197] The vehicle mark 956 can be used to indicate the position of the vehicle. The terminal 100 can indicate the relative position between the user and the vehicle through the user mark 954 and the vehicle mark 956. It is understood that the terminal 100 can obtain the user's direction through one or more sensors such as a gyroscope and an IMU. In this way, the user can adjust the direction of travel based on the user mark 954 and move in the direction of the vehicle mark 956.

[0198] Optionally, the display area 953 of the terminal 100 may further include an elevator mark 955, which may be used to indicate the location of the elevator that the user takes when going to the floor where the vehicle is located.

[0199] Optionally, the terminal 100 may also display location prompt information 957 in the interface 951. The location prompt information 957 may be used to prompt the user of the distance from the user's vehicle and / or the direction of the user's vehicle relative to the terminal 100. The location prompt information 957 may include, but is not limited to, one or more of voice prompt information, text prompt information, image prompt information, and animation prompt information. For example, the location prompt information 957 may be text prompt information: "about 105 meters northwest".

[0200] Optionally, the terminal 100 may also display a display area 958 in the interface 951. The description of the display area 958 can be found in Fig.9D The description of the display area 919 shown is not repeated here.

[0201] Optionally, the terminal 100 may display a direction indicator in the interface 951 , and the direction indicator may be used to prompt the user to specify a direction (eg, north).

[0202] Terminal 100 displays Fig.9F After the interface 951 shown in FIG. 1 is displayed, the real-time location of the terminal 100, that is, the real-time location of the user, can be monitored. When the terminal 100 detects that the distance between the terminal 100 and the user's vehicle is less than the preset boarding distance (for example, 5 meters), it can be determined that the user has reached the vehicle position, and the following information is displayed: Figure 9G Interface 951 is shown.

[0203] like Figure 9G As shown, the interface 951 displays a prompt message 961. The prompt message 961 is used to prompt the user to arrive near the vehicle. Optionally, the interface 951 may display a display area 953. The description of the display area 953 can be found in Fig.9F The embodiments shown are not described in detail here. Figure 9G In the display area 953 shown, the user mark 954 is located near the vehicle mark 956, and the location prompt information 957 can be a text prompt information: "about 4 meters in the west direction". Optionally, the interface 951 can also display a display area 958. The description of the display area 958 can be found in Fig.9E The embodiments shown will not be described in detail here.

[0204] In some examples, when the terminal 100 receives the user's input for the car search application icon 902 and detects that the terminal 100 is on a floor where the user's vehicle is parked, the terminal 100 may not display the elevator navigation interface (for example, Fig. 9B Interface 911 shown) and floor navigation interface (eg Fig. 9C The vehicle navigation interface is directly displayed, and the vehicle navigation interface includes prompt information for prompting the user to arrive at the location of the user's vehicle. For example, the vehicle navigation interface may include a vehicle mark and a user mark. In this way, when the user returns to the floor where the user's vehicle is parked, even if the user forgets the parking location, the user's vehicle can be found through the vehicle mark and user mark displayed by the terminal 100.

[0205] The terminal 100 provided in an embodiment of the present application is introduced below.

[0206] The terminal 100 may be a mobile phone, a tablet computer, a desktop computer, a laptop computer, a handheld computer, a notebook computer, an ultra-mobile personal computer (UMPC), a netbook, a cellular phone, a personal digital assistant (PDA), an augmented reality (AR) device, a virtual reality (VR) device, an artificial intelligence (AI) device, a wearable device (e.g., a sports bracelet, a smart watch, smart glasses, etc.), a vehicle-mounted device, a router, a smart home device and / or a smart city device. The embodiments of the present application do not impose any special restrictions on the specific type of the electronic device.

[0207] Fig.10 A schematic diagram of the hardware structure of a terminal 100 provided in an embodiment of the present application is shown.

[0208] The embodiment is described in detail below by taking the terminal 100 as an example. It should be understood that: Fig.10 The terminal 100 shown is only an example and the terminal 100 may have more Fig.10 More or fewer components may be shown, two or more components may be combined, or there may be a different configuration of components. Fig.10 The various components shown in the drawings may be implemented in hardware, software, or a combination of hardware and software, including one or more signal processing and / or application specific integrated circuits.

[0209] The terminal 100 may include: a processor 110, an external memory interface 120, an internal memory 121, a universal serial bus (USB) interface 130, a charging management module 140, a power management module 141, a battery 142, an antenna 1, an antenna 2, a mobile communication module 150, a wireless communication module 160, an audio module 170, a speaker 170A, a receiver 170B, a microphone 170C, an earphone interface 170D, a sensor module 180, a button 190, a motor 191, an indicator 192, a camera 193, a display screen 194, and a subscriber identification module (SIM) card interface 195, etc. The sensor module 180 may include a pressure sensor 180A, a gyroscope sensor 180B, an air pressure sensor 180C, a magnetic sensor 180D, an acceleration sensor 180E, a distance sensor 180F, a proximity light sensor 180G, a fingerprint sensor 180H, a temperature sensor 180J, a touch sensor 180K, an ambient light sensor 180L, a bone conduction sensor 180M, etc.

[0210] It is to be understood that the structure illustrated in the embodiment of the present invention does not constitute a specific limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may include more or fewer components than shown in the figure, or combine some components, or split some components, or arrange the components differently. The components shown in the figure may be implemented in hardware, software, or a combination of software and hardware.

[0211] The processor 110 may include one or more processing units, for example, the processor 110 may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Different processing units may be independent devices or integrated into one or more processors.

[0212] The controller may be the nerve center and command center of the terminal 100. The controller may generate an operation control signal according to the instruction operation code and the timing signal to complete the control of fetching and executing instructions.

[0213] The processor 110 may also be provided with a memory for storing instructions and data. In some embodiments, the memory in the processor 110 is a cache memory. The memory may store instructions or data that the processor 110 has just used or cyclically used. If the processor 110 needs to use the instruction or data again, it may be directly called from the memory. This avoids repeated access, reduces the waiting time of the processor 110, and thus improves the efficiency of the system.

[0214] In some embodiments, the processor 110 may include one or more interfaces. The interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface, etc.

[0215] It is understandable that the interface connection relationship between the modules illustrated in the embodiment of the present invention is only a schematic illustration and does not constitute a structural limitation on the terminal 100. In other embodiments of the present application, the terminal 100 may also adopt different interface connection methods in the above embodiments, or a combination of multiple interface connection methods.

[0216] The charging management module 140 is used to receive charging input from a charger. The charger may be a wireless charger or a wired charger. In some wired charging embodiments, the charging management module 140 may receive charging input from a wired charger through the USB interface 130. In some wireless charging embodiments, the charging management module 140 may receive wireless charging input through a wireless charging coil of the terminal 100. While the charging management module 140 is charging the battery 142, it may also power the electronic device through the power management module 141.

[0217] The power management module 141 is used to connect the battery 142, the charging management module 140 and the processor 110. The power management module 141 receives input from the battery 142 and / or the charging management module 140, and supplies power to the processor 110, the internal memory 121, the external memory, the display screen 194, the camera 193, and the wireless communication module 160. The power management module 141 can also be used to monitor parameters such as battery capacity, battery cycle number, battery health status (leakage, impedance), etc. In some other embodiments, the power management module 141 can also be set in the processor 110. In other embodiments, the power management module 141 and the charging management module 140 can also be set in the same device.

[0218] The wireless communication function of the terminal 100 can be implemented through the antenna 1, the antenna 2, the mobile communication module 150, the wireless communication module 160, the modem processor and the baseband processor.

[0219] Antenna 1 and antenna 2 are used to transmit and receive electromagnetic wave signals. Each antenna in terminal 100 can be used to cover a single or multiple communication frequency bands. Different antennas can also be reused to improve the utilization of the antennas. For example, antenna 1 can be reused as a diversity antenna for a wireless local area network. In some other embodiments, the antenna can be used in combination with a tuning switch.

[0220] The mobile communication module 150 can provide solutions for wireless communications including 2G / 3G / 4G / 5G applied on the terminal 100. The mobile communication module 150 may include at least one filter, a switch, a power amplifier, a low noise amplifier (LNA), etc. The mobile communication module 150 can receive electromagnetic waves from the antenna 1, and filter, amplify, and process the received electromagnetic waves, and transmit them to the modulation and demodulation processor for demodulation. The mobile communication module 150 can also amplify the signal modulated by the modulation and demodulation processor, and convert it into electromagnetic waves for radiation through the antenna 1. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the processor 110. In some embodiments, at least some of the functional modules of the mobile communication module 150 can be set in the same device as at least some of the modules of the processor 110.

[0221] The modem processor may include a modulator and a demodulator. Among them, the modulator is used to modulate the low-frequency baseband signal to be sent into a medium-high frequency signal. The demodulator is used to demodulate the received electromagnetic wave signal into a low-frequency baseband signal. The demodulator then transmits the demodulated low-frequency baseband signal to the baseband processor for processing. After the low-frequency baseband signal is processed by the baseband processor, it is passed to the application processor. The application processor outputs a sound signal through an audio device (not limited to a speaker 170A, a receiver 170B, etc.), or displays an image or video through a display screen 194. In some embodiments, the modem processor may be an independent device. In other embodiments, the modem processor may be independent of the processor 110 and be set in the same device as the mobile communication module 150 or other functional modules.

[0222] The wireless communication module 160 can provide wireless communication solutions including wireless local area networks (WLAN) (such as Wi-Fi networks), Bluetooth (BT), global navigation satellite system (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to the terminal 100. The wireless communication module 160 can be one or more devices integrating at least one communication processing module. The wireless communication module 160 receives electromagnetic waves via the antenna 2, modulates the frequency of the electromagnetic wave signal and performs filtering, and sends the processed signal to the processor 110. The wireless communication module 160 can also receive the signal to be sent from the processor 110, modulate the frequency of it, amplify it, and convert it into electromagnetic waves for radiation through the antenna 2.

[0223] In some embodiments, the antenna 1 of the terminal 100 is coupled to the mobile communication module 150, and the antenna 2 is coupled to the wireless communication module 160, so that the terminal 100 can communicate with the network and other devices through wireless communication technology. The wireless communication technology may include global system for mobile communications (GSM), general packet radio service (GPRS), code division multiple access (CDMA), wideband code division multiple access (WCDMA), time division code division multiple access (TD-SCDMA), long term evolution (LTE), BT, GNSS, WLAN, NFC, FM, and / or IR technology, etc. The GNSS may include global satellite positioning system GPS, global navigation satellite system (GLONASS), Beidou navigation satellite system (BDS), quasi-zenith satellite system (QZSS) and / or satellite-based augmentation system (SBAS).

[0224] In the embodiment of the present application, the wireless communication module 160 of the terminal 100 can be used to receive a communication signal sent by a nearby wireless access device, and obtain a wireless signal fingerprint based on the communication signal. The terminal 100 can determine one or more positioning points near the elevator based on the communication signal and the elevator circle fingerprint library provided by the server 200, and the one or more positioning points can be used to determine the parking position of the user's vehicle.

[0225] The terminal 100 implements the display function through a GPU, a display screen 194, and an application processor. The GPU is a microprocessor for image processing, which connects the display screen 194 and the application processor. The GPU is used to perform mathematical and geometric calculations for graphics rendering. The processor 110 may include one or more GPUs that execute program instructions to generate or change display information.

[0226] The display screen 194 is used to display images, videos, etc. The display screen 194 includes a display panel. The display panel can be a liquid crystal display (LCD), an organic light-emitting diode (OLED), an active-matrix organic light-emitting diode or an active-matrix organic light-emitting diode (AMOLED), a flexible light-emitting diode (FLED), Miniled, MicroLed, Micro-oLed, a quantum dot light-emitting diode (QLED), etc. In some embodiments, the terminal 100 may include 1 or N display screens 194, where N is a positive integer greater than 1.

[0227] The terminal 100 can realize the shooting function through ISP, camera 193, video codec, GPU, display screen 194 and application processor. ISP is used to process the data fed back by camera 193. For example, when taking a photo, the shutter is opened, and the light is transmitted to the camera photosensitive element through the lens. The light signal is converted into an electrical signal, and the camera photosensitive element transmits the electrical signal to the ISP for processing and converts it into an image visible to the naked eye. ISP can also perform algorithm optimization on the noise and brightness of the image. ISP can also optimize the exposure, color temperature and other parameters of the shooting scene. In some embodiments, ISP can be set in camera 193.

[0228] The camera 193 is used to capture still images or videos. The object generates an optical image through the lens and projects it onto the photosensitive element. The photosensitive element converts the optical signal into an electrical signal, which is then transmitted to the ISP for conversion into a digital image signal. The ISP outputs the digital image signal to the DSP for processing. The DSP converts the digital image signal into an image signal in a standard RGB, YUV or other format. In some embodiments, the terminal 100 may include 1 or N cameras 193, where N is a positive integer greater than 1.

[0229] The digital signal processor is used to process digital signals, and can process not only digital image signals but also other digital signals. For example, when the terminal 100 is selecting a frequency point, the digital signal processor is used to perform Fourier transform on the frequency point energy.

[0230] Video codecs are used to compress or decompress digital videos. Terminal 100 may support one or more video codecs. Thus, terminal 100 may play or record videos in various coding formats, such as moving picture experts group (MPEG) 1, MPEG2, MPEG3, MPEG4, etc.

[0231] NPU is a neural network (NN) computing processor. By drawing on the structure of biological neural networks, such as the transmission mode between neurons in the human brain, it can quickly process input information and can also continuously self-learn. Through NPU, applications such as intelligent cognition of the terminal 100 can be realized, such as image recognition, face recognition, voice recognition, text understanding, etc.

[0232] The external memory interface 120 can be used to connect an external memory card, such as a Micro SD card, to expand the storage capacity of the terminal 100. The external memory card communicates with the processor 110 through the external memory interface 120 to implement a data storage function, such as storing music, video and other files in the external memory card.

[0233] The internal memory 121 can be used to store computer executable program codes, which include instructions. The processor 110 executes various functional applications and data processing of the terminal 100 by running the instructions stored in the internal memory 121. The internal memory 121 may include a program storage area and a data storage area. Among them, the program storage area may store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc. The data storage area may store data created during the use of the terminal 100 (such as audio data, a phone book, etc.), etc. In addition, the internal memory 121 may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device, a universal flash storage (UFS), etc.

[0234] The terminal 100 can implement audio functions such as music playing and recording through the audio module 170, the speaker 170A, the receiver 170B, the microphone 170C, the earphone interface 170D, and the application processor.

[0235] The audio module 170 is used to convert digital audio information into analog audio signal output, and is also used to convert analog audio input into digital audio signal. The audio module 170 can also be used to encode and decode audio signals. The speaker 170A, also known as the "speaker", is used to convert audio electrical signals into sound signals. The terminal 100 can listen to music or listen to hands-free calls through the speaker 170A. In the embodiment of the present application, the terminal 100 can broadcast prompt information for prompting the user to go to the user's vehicle location through the speaker 170A. The receiver 170B, also known as the "earpiece", is used to convert audio electrical signals into sound signals. The microphone 170C, also known as the "microphone" and "microphone", is used to convert sound signals into electrical signals. The headphone interface 170D is used to connect a wired headset. The headphone interface 170D can be a USB interface 130, or it can be a 3.5mm open mobile electronic device platform (open mobile terminal platform, OMTP) standard interface, the American Cellular Telecommunications Industry Association (cellulartelecommunicationsindustryassociationoftheUSA,CTIA) standard interface.

[0236] The pressure sensor 180A is used to sense pressure signals and convert the pressure signals into electrical signals.

[0237] The gyro sensor 180B may be used to determine the motion posture of the terminal 100. In some embodiments, the angular velocity of the terminal 100 around three axes (ie, x, y, and z axes) may be determined by the gyro sensor 180B.

[0238] The air pressure sensor 180C is used to measure air pressure. The magnetic sensor 180D includes a Hall sensor.

[0239] The acceleration sensor 180E can detect the magnitude of the acceleration of the terminal 100 in various directions (generally three axes).

[0240] In some examples, the terminal 100 may also include an inertial measurement unit ( Fig.10 (not shown in the figure). An inertial measurement unit can be used to detect and measure acceleration and rotational motion. The inertial measurement unit may include an accelerometer, an angular velocity meter (or gyroscope), a magnetometer, etc.

[0241] In the embodiment of the present application, the terminal 100 may collect inertial data through the gyroscope sensor 180B and the acceleration sensor 180E, or an inertial measurement unit. The terminal 100 may calculate the motion trajectory based on the inertial data through an algorithm (eg, a PDR algorithm).

[0242] The terminal 100 can use the wireless communication module 160 and / or the pedometer ( Fig.10 In some examples, the terminal 100 does not include a pedometer, and can use a gyroscope sensor 180B, an acceleration sensor 180E and / or an inertial measurement unit to determine whether the user has gotten off the vehicle. For details, please refer to the above embodiments, which will not be repeated here.

[0243] The terminal 100 can also determine whether the user takes the elevator through the air pressure sensor 180C, the magnetic sensor 180D, the gyroscope sensor 180B, the acceleration sensor 180E and / or the inertial measurement unit. Among them, the air pressure sensor 180C can be used to detect the altitude of the terminal 100, and the terminal 100 can detect the height change difference of the terminal 100 through the air pressure sensor 180C within a preset time period to determine whether the user takes the elevator. Among them, the magnetic sensor 180D can be used to detect the geomagnetic changes near the terminal 100. When the terminal 100 follows the elevator through the partition between the floors, a specified geomagnetic change feature will appear. The terminal 100 can detect whether the specified geomagnetic change feature appears through the magnetic sensor 180D within a preset time period to determine whether the user takes the elevator. Among them, the terminal 100 can obtain the speed or acceleration value of the user in the elevator ascending / descending direction through the gyroscope sensor 180B, the acceleration sensor 180E and / or the inertial measurement unit, and determine whether the user takes the elevator accordingly.

[0244] It should be noted that, when users take an elevator, they tend to remain still and not move. Therefore, when the terminal 100 detects that the number of steps of the user has not increased through the pedometer, gyroscope sensor 180B, acceleration sensor 180E and / or inertial measurement unit, it can determine that the terminal 100 has not moved in the horizontal direction, that is, the user has not moved. Afterwards, the terminal 100 can detect whether the user takes the elevator based on the above sensors. In this way, the determination result can be made more accurate. It should also be noted that the terminal can determine whether the user takes the elevator by one or more of the above methods to increase the accuracy of the determination result.

[0245] In some examples, the terminal 100 can process the sensor data obtained by the sensor through the NPU to obtain the user's movement trajectory. In some examples, the terminal 100 can also obtain the similarity between the received wireless signal fingerprint and the wireless signal fingerprint in the elevator circle fingerprint library provided by the server 200 through the NPU.

[0246] The distance sensor 180F is used to measure the distance. The proximity light sensor 180G may include, for example, a light emitting diode (LED) and a light detector, such as a photodiode. The terminal 100 uses a photodiode to detect infrared reflected light from a nearby object. When sufficient reflected light is detected, it can be determined that there is an object near the terminal 100. When insufficient reflected light is detected, the terminal 100 can determine that there is no object near the terminal 100. The terminal 100 can use the proximity light sensor 180G to detect that the user holds the terminal 100 close to the ear to talk, so as to automatically turn off the screen to save power. The ambient light sensor 180L is used to sense the brightness of the ambient light. The fingerprint sensor 180H is used to collect fingerprints. The temperature sensor 180J is used to detect the temperature. The touch sensor 180K is also called a "touch panel". The touch sensor 180K can be set on the display screen 194, and the touch sensor 180K and the display screen 194 form a touch screen, also called a "touch screen". The touch sensor 180K is used to detect touch operations acting on or near it. The touch sensor can pass the detected touch operation to the application processor to determine the type of touch event. Visual output related to the touch operation can be provided through the display screen 194. The bone conduction sensor 180M can obtain a vibration signal. The button 190 includes a power button, a volume button, etc. The button 190 can be a mechanical button. It can also be a touch button. The terminal 100 can receive a key input and generate a key signal input related to the user settings and function control of the terminal 100. The motor 191 can generate a vibration prompt. The indicator 192 can be an indicator light, which can be used to indicate the charging status, power changes, and can also be used to indicate messages, missed calls, notifications, etc. The SIM card interface 195 is used to connect a SIM card.

[0247] As described above, the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A positioning method, applied to a terminal, characterized in that: The method comprises: After detecting that the user gets off the vehicle at a first position on the first floor, obtaining a first movement trajectory of the terminal from the first position to the first elevator; Detecting that the terminal is at a second position on a second floor, displaying a first interface, wherein the first interface includes one or more elevator marks and a first mark, wherein the one or more elevator marks are used to indicate the positions of the elevators, the first mark is used to indicate the position of the terminal, and the one or more elevator marks include a second mark, and the second mark is used to indicate the position of the first elevator; After detecting that the terminal has arrived at a third position on the first floor where the distance between the terminal and the first elevator is less than the first distance, a second interface is displayed, wherein the second interface includes a third mark, a fourth mark, and the first motion trajectory, the third mark is used to indicate the position of the terminal, the fourth mark is used to indicate the first position, and the first motion trajectory is used to prompt the user to return to the first position where the vehicle is parked along the first motion trajectory.

2. The method according to claim 1, characterized in that The distance between the second position and the first elevator on the second floor is greater than the first distance; after displaying the first interface, the method further includes: When it is detected that the terminal is at the fourth position on the second floor, a third interface is displayed, and the third interface includes a first prompt information, and the first prompt information is used to prompt the user to go to the first floor to find the vehicle, and the distance between the fourth position and the first elevator is less than the first distance.

3. The method according to claim 1, characterized in that The one or more elevator marks include a fifth mark, the fifth mark being used to indicate the position of the second elevator; After displaying the first interface, the method further includes: After detecting that the terminal has arrived at the fifth position on the first floor where the distance between the terminal and the second elevator is less than the first distance, a fourth interface is displayed, wherein the fourth interface includes a fifth mark, a sixth mark, and a second prompt message, wherein the fifth mark is used to indicate the position of the terminal, the sixth mark is used to indicate the first position, and the second prompt message is used to prompt the user of the direction of the first position and the distance between the first position and the position of the terminal.

4. The method according to claim 3, characterized in that The distance between the second position and the second elevator on the second floor is greater than the first distance; after displaying the first interface, the method further includes: When it is detected that the terminal is at the sixth position of the second floor, a fifth interface is displayed, and the fifth interface includes a third prompt information, and the third prompt information is used to prompt the user to go to the first floor to find the vehicle, and the distance between the sixth position and the second elevator is less than the first distance.

5. The method according to claim 3 or 4, characterized in that: When it is detected that the terminal is at a sixth position on the second floor, the method further includes: Based on the relative position relationship between the elevators provided by the server, the relative position relationship between the second elevator and the first position is determined.

6. The method according to any one of claims 1 to 5, characterized in that The method further comprises: When acquiring the first motion trajectory, collecting wireless signal fingerprints of multiple positions on the first motion trajectory through a wireless communication module; Sending wireless signal fingerprints of multiple positions on the first motion trajectory to a server, the server being used to determine that wireless signal fingerprints of N positions among the multiple positions on the first motion trajectory match the elevator circle fingerprint library of the first elevator based on multiple elevator circle fingerprint libraries, where N is greater than or equal to 1; wherein the elevator circle fingerprint library includes the correspondence between position information within a preset range of the elevator and wireless signal fingerprints; The location information of the N locations sent by the server is received, and the location information of the first location is determined based on the location information of the N locations and the first motion trajectory, and the location information of the first location is used to display the fourth mark.

7. The method according to any one of claims 1 to 6, characterized in that The method further comprises: After detecting that the terminal leaves the first elevator, collecting a second movement trajectory of the terminal after departing from the first elevator, and collecting wireless signal fingerprints of multiple positions on the second movement trajectory through the wireless communication module; Sending wireless signal fingerprints of multiple positions on the second motion trajectory to a server, wherein the server is used to determine, based on multiple elevator circle fingerprint libraries, that wireless signal fingerprints of X positions among the multiple positions on the second motion trajectory match the elevator circle fingerprint library of the first elevator, where X is greater than or equal to 1; The location information of the X locations sent by the server is received, and the location information of the terminal is determined based on the location information of the X locations and the second motion trajectory, where the location information of the terminal is used to indicate the location of the terminal.

8. The method according to any one of claims 1 to 7, characterized in that The obtaining of a first movement trajectory of the terminal from the first position to the first elevator specifically includes: Collecting inertial data of the terminal after it departs from the first position through an inertial measurement unit IMU; Based on the inertial data, the first action trajectory is obtained through a pedestrian dead reckoning (PDR) algorithm.

9. A terminal, characterized in that: The device comprises one or more processors, one or more memories and a transceiver; wherein the transceiver and the one or more memories are coupled to the one or more processors, the transceiver is used to collect wireless signal fingerprints, the one or more memories are used to store computer program codes, and the computer program codes include computer instructions. When the one or more processors execute the computer instructions, the terminal executes the method as described in any one of claims 1 to 8.

10. A computer-readable storage medium, wherein instructions are stored in the computer-readable storage medium, and when the instructions are executed on a computer, the computer is caused to execute the method according to any one of claims 1 to 8.

11. A chip, applied to a terminal, characterized in that: The method comprises a processing circuit and an interface circuit, wherein the interface circuit is used to receive code instructions and transmit the code instructions to the processing circuit, and the processing circuit is used to run the code instructions to execute the method according to any one of claims 1 to 8.

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