An Internet of Things-based intelligent positioning method and system

Abstract

The present invention relates to the field of intelligent positioning technology, and specifically discloses an intelligent positioning method and system based on the Internet of Things. The method includes: analyzing the environment where the target to be located is located, determining the environment where the target to be located is located, obtaining the environmental attribute data set of the target to be located, determining the positioning method applicable to the environment where the target to be located is located, obtaining the transmission accuracy characteristic value of the positioning method, and determining the target attribute characteristic deviation value. Analyzing each target attribute in the environment where the target to be located is located to obtain the characteristic value of each target attribute, and further determining the specific location of the target to be located. The present invention solves the problem that the traditional positioning method has insufficient dynamic adjustment ability based on the actual environment. In a complex environment, wireless signals will be interfered by multipath effects such as reflection and refraction, affecting the positioning accuracy. By integrating multiple positioning technologies, the optimal technology combination can be selected or integrated under different conditions, improving the reliability of the positioning method.

Description

Technical Field

[0001] The present invention relates to the technical field of intelligent positioning, and specifically to an intelligent positioning method and system based on the Internet of Things. Background Art

[0002] Currently, the Internet of Things (IoT) enables data exchange and automated control between devices by connecting various physical devices to the Internet. IoT devices include smartphones, sensors, wearable devices, vehicles, home appliances, etc. With the rapid development of the IoT, the number of devices has increased exponentially, and the applications of IoT systems have become more and more widespread. With the increase in IoT devices, many application scenarios rely on accurate location information. IoT devices come in various forms, ranging from small sensors to mobile robots. The positioning technology in IoT systems needs to meet diverse requirements and adapt to different device types and application scenarios.

[0003] Nowadays, there are still some deficiencies in the research on IoT-based intelligent positioning. Specifically, the usage scenario limitation method of traditional positioning methods is not flexible enough, and the dynamic adjustment ability based on the actual environment is insufficient. In complex environments (such as cities and indoors), wireless signals are interfered by multipath effects such as reflection and refraction, which affects the positioning accuracy. Since the received signal contains the delay of the reflected path, the system may use the wrong signal path for calculation, resulting in a significant deviation between the actual position and the calculated position information. Traditional positioning methods are usually designed based on static environments and cannot be dynamically adjusted according to real-time environmental changes. The lack of dynamic adaptability makes the positioning system unable to flexibly adjust to maintain high-precision positioning when facing environmental changes. Traditional positioning systems usually have high precision in specific scenarios. When switching between indoor and outdoor positioning, the positioning system may not be able to adapt to different scenarios, resulting in a significant reduction in positioning accuracy. Summary of the Invention

[0004] In view of the deficiencies of the prior art, the present invention provides an intelligent positioning method and system based on the Internet of Things, which can effectively solve the problems involved in the above background art.

[0005] To achieve the above objectives, the present invention is realized through the following technical solutions: In the first aspect of the present invention, an intelligent positioning method based on the Internet of Things is provided, including the following steps: Analyze the environment where the target to be located is located to obtain the environmental characteristic values of the target to be located, and based on the environmental characteristic values of the target to be located, determine the environment where the target to be located is located; Obtain the environmental attribute data set of the target to be located, and combine the environment where the target to be located is located to determine the positioning method applicable to the environment where the target to be located; Based on the obtained positioning method, obtain the transmission accuracy characteristic value of the positioning method; Obtain the environmental magnetic induction intensity and the environmental magnetic field change rate; Based on the transmission accuracy characteristic value of the positioning method, the environmental characteristic values of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, determine the target attribute characteristic deviation value; Analyze each target attribute in the environment where the target to be located is located, and combine the target attribute characteristic deviation value to obtain each target attribute characteristic value; Based on each target attribute characteristic value, determine the specific location where the target to be located is located.

[0006] As a further method, based on the environmental characteristic values of the target to be located, determine the environment where the target to be located is located. The specific analysis process is as follows: Obtain the environmental characteristic data set of the target to be located. The environmental characteristic data set of the target to be located specifically includes the temperature of the environment where the target to be located is located, the light intensity of the environment where the target to be located is located, and the area of the environment where the target to be located is located; Based on the obtained environmental characteristic data set of the target to be located, comprehensively analyze to obtain the environmental characteristic values of the target to be located. The environmental characteristic values of the target to be located are used as the analysis basis for determining the environment where the target to be located is located; Store the environmental characteristic values of the target to be located as a specified label, and compare the specified label with the environments where the target to be located corresponding to each specified label stored in the database to obtain the environment where the target to be located corresponding to the specified label.

[0007] As a further method, the environmental attribute data set of the target to be located specifically includes the GPS signal intensity of the environment where the target to be located is located, the Bluetooth signal intensity of the environment where the target to be located is located, the Wi-Fi signal intensity of the environment where the target to be located is located, and the Beidou signal intensity of the environment where the target to be located is located.

[0008] As a further method, determine the positioning method applicable to the environment where the target to be located is located. The specific analysis process is as follows: Determine whether the environment where the target to be located is located is indoor or outdoor; if the environment where the target to be located is located is indoor, then analyze the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located: Obtain the specific values of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located; if the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are both less than or equal to the first signal reference strength, the positioning method applicable to the environment where the target to be located is to use Bluetooth and Wi-Fi technologies simultaneously; if any one of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located is greater than the first signal reference strength, and if the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are not equal, then select the technology corresponding to the higher value of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are equal, the positioning method applicable to the environment where the target to be located is Wi-Fi technology; if the environment where the target to be located is outdoor, then analyze the GPS signal strength and Beidou signal strength of the environment where the target to be located: Obtain the specific values of the GPS signal strength and Beidou signal strength of the environment where the target to be located; if the GPS signal strength and Beidou signal strength of the environment where the target to be located are both less than or equal to the second signal reference strength, the positioning method applicable to the environment where the target to be located is to use GPS and Beidou technologies simultaneously; if any one of the GPS signal strength and Beidou signal strength of the environment where the target to be located is greater than the second signal reference strength, and if the GPS signal strength and Beidou signal strength of the environment where the target to be located are not equal, then select the technology corresponding to the higher value of the GPS signal strength and Beidou signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the GPS signal strength and Beidou signal strength of the environment where the target to be located are equal, the positioning method applicable to the environment where the target to be located is GPS technology.

[0009] As a further method, based on the obtained positioning method, the transmission accuracy characteristic value of the positioning method is obtained. The specific analysis process is as follows: Obtain the transmission accuracy data set of the positioning method. The transmission accuracy data set of the positioning method specifically includes the total number of signal transmission reflections, the total number of signal transmission refractions, and the average signal transmission delay. Based on the obtained transmission accuracy data set of the positioning method, comprehensively analyze to obtain the transmission accuracy characteristic value of the positioning method. The transmission accuracy characteristic value of the positioning method is used as the analysis basis for determining the deviation value of the target attribute characteristic.

[0010] As a further method, for the transmission accuracy characteristic value of the positioning method, the specific analysis process is as follows:

[0011]

[0012] In the formula, β is the transmission accuracy characteristic value of the positioning method, fn is the total number of signal transmission reflections, zn is the total number of signal transmission refractions, sy is the average signal transmission delay, σ1 is the compensation factor set for fn, σ2 is the compensation factor set for zn, σ3 is the compensation factor set for sy, and e is the natural constant.

[0013] As a further method, based on the transmission accuracy characteristic value of the positioning method, the environmental characteristic value of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, determine the deviation value of the target attribute characteristic. The specific analysis process is as follows: Based on the transmission accuracy characteristic value of the positioning method, the environmental characteristic value of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, comprehensively analyze to obtain the positioning deviation value. The positioning deviation value is used as the analysis basis for obtaining the deviation value of the target attribute characteristic. Store the positioning deviation value as a specified label, and compare this specified label with the deviation values of the target attribute characteristics corresponding to each specified label stored in the database to obtain the deviation value of the target attribute characteristic corresponding to this specified label.

[0014] As a further method, analyze each target attribute in the environment where the target to be located is located, and combine the deviation value of the target attribute characteristic to obtain the characteristic value of each target attribute. The specific analysis process is as follows: Obtain each target attribute in the environment where the target to be located is located. The data set of each target attribute in the environment where the target to be located is located specifically includes the target volume, the maximum height of the target, and the contact area between the target and the ground. Based on the obtained each target attribute in the environment where the target to be located is located, comprehensively analyze to obtain the monitoring value of the characteristic of each target attribute. The monitoring value of the characteristic of each target attribute is used as the analysis basis for obtaining the characteristic value of each target attribute. Based on the monitoring value of the characteristic of each target attribute and in combination with the deviation value of the target attribute characteristic, comprehensively analyze to obtain the characteristic value of each target attribute. The characteristic value of each target attribute is used as the analysis basis for determining the specific location where the target to be located is located.

[0015] As a further method, based on the target attribute feature values, determine the specific location of the target to be located. The specific analysis process is as follows: Compare each target attribute feature value with the target attribute feature values of the target to be located stored in the database; Denote the absolute value of the difference between each target attribute feature value and the target attribute feature value of the target to be located as the deviation value of each target attribute feature; If the deviation value of a certain target attribute feature is greater than the reference deviation value of the target attribute feature stored in the database, the target corresponding to the deviation value of the target attribute feature is a dissimilar target; If the deviation value of a certain target attribute feature is not greater than the reference deviation value of the target attribute feature stored in the database, the target corresponding to the deviation value of the target attribute feature is a similar target; Obtain the connection lines between the contact points of the vertices of each similar target with the ground, obtain the angles between each connection line and the horizontal plane, and denote the angles between each connection line and the horizontal plane as the feature angles; Compare each feature angle with the feature angle of the target to be located stored in the database; Denote the absolute value of the difference between each feature angle and the feature angle of the target to be located as the deviation angle of each feature; If a certain feature deviation angle is greater than the reference deviation angle of the feature stored in the database, re-mark the similar target corresponding to the feature deviation angle as a dissimilar target; If a certain feature deviation angle is not greater than the reference deviation angle of the feature stored in the database, the similar target corresponding to the feature deviation angle is the first similar target; Obtain the RGB values of each first similar target, and compare each RGB value of the first similar target with the RGB value of the target to be located stored in the database; Denote the absolute value of the difference between each RGB value of the first similar target and the RGB value of the target to be located as the RGB deviation value of each target; Mark the first similar target corresponding to the smallest RGB deviation value among the RGB deviation values of each target as the target to be located, and obtain the specific location of the first similar target corresponding to the smallest RGB deviation value, which is the specific location of the target to be located.

[0016] The second aspect of the present invention provides an intelligent positioning system based on the Internet of Things, including an environment determination module, a positioning method determination module, a transmission accuracy eigenvalue acquisition module, an environmental magnetic field data monitoring module, a target attribute feature deviation value determination module, a target attribute feature value acquisition module, and a specific location determination module, where: The environment determination module is used to analyze the environment where the target to be positioned is located, obtain the environmental characteristic value of the target to be positioned, and determine the environment where the target to be positioned is located based on the environmental characteristic value of the target to be positioned; The positioning method determination module is used to obtain the environmental attribute data set of the environment where the target to be positioned is located, and determine the positioning method applicable to the environment where the target to be positioned is located in combination with the environment where the target to be positioned is located; The transmission accuracy eigenvalue acquisition module is used to obtain the transmission accuracy eigenvalue of the positioning method based on the acquired positioning method; The environmental magnetic field data monitoring module is used to obtain the environmental magnetic induction intensity and the environmental magnetic field change rate; The target attribute feature deviation value determination module is used to determine the target attribute feature deviation value based on the transmission accuracy eigenvalue of the positioning method, the environmental characteristic value of the target to be positioned, the environmental magnetic induction intensity, and the environmental magnetic field change rate; The target attribute feature value acquisition module is used to analyze each target attribute in the environment where the target to be positioned is located, and obtain each target attribute feature value in combination with the target attribute feature deviation value; The specific location determination module is used to determine the specific location where the target to be positioned is located based on each target attribute feature value.

[0017] Compared with the prior art, the embodiments of the present invention have at least the following advantages or beneficial effects:

[0018] (1) By providing an intelligent positioning method and system based on the Internet of Things, the present invention can select the most suitable positioning technology according to different environments by analyzing the environmental characteristic values of the target to be positioned. By analyzing the environmental characteristic values, the positioning technology can be dynamically selected to improve the positioning accuracy. The positioning requirements in different scenarios vary greatly. By analyzing the environmental attributes of the target to be positioned, the appropriate positioning method can be flexibly selected. The multipath effect is an important factor causing the decline of positioning accuracy. By combining the target attribute feature deviation value and the transmission accuracy eigenvalue, the interference of multipath signals can be filtered out in a complex environment, and the stability of positioning can be improved. By integrating multiple positioning technologies and combining the environment and transmission accuracy characteristics, the optimal technology combination can be selected or integrated under different conditions, and the reliability of the overall system can be improved.

[0019] (2) By obtaining the environmental attribute dataset of the target to be located and combining the environment where the target to be located is located, the positioning method suitable for the environment where the target to be located is determined. For different environmental characteristics, selecting specific positioning technologies can effectively reduce problems such as multipath effects and signal attenuation, reduce errors, and improve accuracy. The requirements for positioning technologies vary greatly in different environments. Obtaining the environmental attribute dataset helps the system flexibly adapt to different scenarios and ensures stable positioning in complex scenarios. Since each positioning technology has its limitations, by combining environmental attributes to select the most suitable technology, the failure of a single technology in certain scenarios can be avoided.

[0020] (3) By transmitting the accuracy characteristic value based on the positioning method and combining it with the environmental characteristic value of the target to be located, the target attribute characteristic deviation value is determined. When the target to be located is in different environments, errors will occur due to factors such as signal reflection, multipath effects, and occlusion. By combining the environmental characteristic value and the transmission accuracy characteristic value of the positioning method, the system can calculate the characteristic deviation value in a specific scenario, so as to correct it in subsequent positioning calculations, significantly improving the overall positioning accuracy. As the environment changes, the positioning system needs to be adjusted in real time. Through the target attribute characteristic deviation value, the system can perceive the changes in the environment in real time and adaptively optimize, ensuring the accuracy and continuity of positioning in a changing environment, and also improving the robustness of the positioning system. Brief Description of the Drawings

[0021] The present invention will be further described with reference to the accompanying drawings. However, the embodiments in the drawings do not constitute any limitation to the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained according to the following drawings.

[0022] Figure 1 It is a schematic flow chart of the method steps of the present invention.

[0023] Figure 2 It is a schematic diagram of the connection of system modules of the present invention. Detailed Embodiments

[0024] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts belong to the scope of protection of the present invention.

[0025] Refer to Figure 1As shown in the figure, the first aspect of the present invention provides an intelligent positioning method based on the Internet of Things, including: analyzing the environment where the target to be located is located to obtain the environmental characteristic value of the target to be located, and determining the environment where the target to be located is located based on the environmental characteristic value of the target to be located.

[0026] The specific analysis process is as follows: Obtain the environmental characteristic data set of the target to be located. The environmental characteristic data set of the target to be located specifically includes the environmental temperature where the target to be located is located, the environmental light intensity where the target to be located is located, and the environmental area where the target to be located is located. Based on the obtained environmental characteristic data set of the target to be located, comprehensively analyze to obtain the environmental characteristic value of the target to be located. The environmental characteristic value of the target to be located is used as the analysis basis for determining the environment where the target to be located is located. Store the environmental characteristic value of the target to be located as a specified label, and compare the specified label with the environments where the target to be located corresponding to each specified label stored in the database to obtain the environment where the target to be located corresponding to the specified label.

[0027] In a specific embodiment, the environmental temperature refers to the temperature of the air around the target to be located, which is obtained based on a temperature sensor. The light intensity refers to the light intensity in the environment around the target to be located, which is obtained based on a light sensor. The environmental area refers to the physical size of the environmental area where the target to be located is located, usually expressed in square meters (m 2 ), and is obtained based on a laser rangefinder.

[0028] In a specific embodiment, the environmental light intensity directly affects the temperature. Sunlight is the main heat source. Therefore, in outdoor or in the case of direct strong light, the environmental temperature often rises with the increase of the light intensity. Especially in a closed environment, strong light will cause a significant increase in the temperature in the environment. The temperature in a room under direct sunlight is usually much higher than that in the shaded area. Generally, a larger space (such as a spacious room, an outdoor venue) shows a greater delay or buffer in temperature change. Compared with a small space, a larger environment usually requires more energy to cause a significant temperature change. In a small-area closed environment, the temperature changes faster because the amount of air in the space is smaller and it is easily affected by heat sources or cold sources. The environmental area affects the distribution of the light intensity. In a larger area, there is usually an uneven distribution of the light intensity. The position of the light source, obstacles, and reflective objects will produce shadows or increase the light in different areas.

[0029] In a specific embodiment, the environmental feature data set of the target to be located includes multiple factors such as ambient temperature, light intensity, and environmental area. Comprehensively analyzing these dimensions and generating feature values ​​can provide more accurate environmental information. For example, in a high temperature and low light environment, the system can automatically infer that the target may be indoors or in a closed environment, rather than outdoors or in an open area. Through comprehensive analysis based on multiple features, the system can more accurately identify the specific environment in which the target is located. Combined with temperature, light and area, it can distinguish different types of scenes that are also located indoors, such as small meeting rooms, large warehouses, etc., thereby improving the accuracy of environmental recognition. Comparing the environmental feature values ​​with the specified tags in the database can help the system quickly match the best positioning method, thereby improving positioning accuracy. Each target to be located may be in a completely different environment. Through the comparison of environmental feature data, the system can flexibly adapt to different scenarios and provide personalized positioning strategies.

[0030] In a specific embodiment, the specific analysis process of the characteristic value of the environment in which the target to be located is:

[0031]

[0032] Wherein, α is the characteristic value of the environment in which the target to be located is located, wd is the ambient temperature of the target to be located, qd is the light intensity of the environment in which the target to be located is located, mj is the area of ​​the environment in which the target to be located is located, μ1 is the compensation factor of the set wd, μ2 is the compensation factor of the set qd, and μ3 is the compensation factor of the set mj.

[0033] It should be explained that the above-mentioned characteristic values ​​of the environment in which the target to be located are calculated by the ambient temperature of the target to be located, the light intensity of the environment in which the target to be located, and the area of ​​the environment in which the target to be located are located. After normalization of wd, qd, and mj, combined with the characteristics of three different dimensions of ambient temperature, light intensity, and ambient area, the system can more comprehensively analyze and judge the specific environment in which the target is located, which helps the system to select the most appropriate positioning method according to the environmental characteristics. A single positioning method (such as judging only based on signal strength or a certain environmental parameter) may cause large errors. Through the comprehensive analysis of environmental characteristic values, the system can effectively filter out environmental factors that may cause misjudgment, thereby improving positioning accuracy and reducing errors in the positioning process. Each environment (such as open outdoor space, indoor buildings, underground space, etc.) has different physical characteristics. Through the comprehensive analysis of temperature, light intensity, and area, the system can better adapt to a variety of environments. In a small area and low light environment, the system may infer that the target is located in a closed indoor environment, while in a large area and high light intensity environment, the system may judge that the target is in an open outdoor area, thereby improving the intelligence and decision-making ability of the system.

[0034] It should be noted that the compensation factors of wd, qd, and mj set above are obtained from the database. A mapping set of the cableway length, cableway height difference, cableway running speed in historical measurements and the compensation factors of wd, qd, and mj is established based on historical data, and the compensation factors of wd, qd, and mj corresponding to the current wd, qd, and mj are obtained.

[0035] It should be noted that σ1, σ2, σ3, τ1, τ2, and τ3 in the following text are also obtained through the mapping set of historical data and compensation factors established in the database, that is, the corresponding compensation factors are obtained based on the current data.

[0036] Obtain the environmental attribute data set of the target to be located, and combine the environment where the target to be located is located to determine the positioning method applicable to the environment where the target to be located is located.

[0037] Specifically, the environmental attribute data set of the target to be located specifically includes the GPS signal strength of the environment where the target to be located is located, the Bluetooth signal strength of the environment where the target to be located is located, the Wi-Fi signal strength of the environment where the target to be located is located, and the Beidou signal strength of the environment where the target to be located is located.

[0038] It should be noted that the above-mentioned global positioning system (GPS) signal strength represents the signal strength received by the receiver from the satellite. The higher the strength, the better the positioning accuracy usually is, which is obtained based on the GPS receiver. The Bluetooth signal strength refers to the signal strength between the receiver and the Bluetooth device, which is obtained based on the Bluetooth module or the device integrated with Bluetooth function. The Wi-Fi signal strength represents the signal strength between the device and the wireless access point. The higher the signal strength, the better the connection quality and speed usually are, which is obtained based on the Wi-Fi detector. The signal strength of the Beidou satellite navigation system is similar to the GPS signal strength, reflecting the signal strength received from the Beidou satellite, which is obtained based on the navigator.

[0039] Further, determine the positioning method applicable to the environment where the target to be located is located. The specific analysis process is as follows: Determine whether the environment where the target to be located is located is indoor or outdoor; if the environment where the target to be located is located is indoor, then analyze the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located: Obtain the specific values of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located; if the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are both less than or equal to the first signal reference strength, the positioning method applicable to the environment where the target to be located is to use Bluetooth and Wi-Fi technologies simultaneously; if any one of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located is greater than the first signal reference strength, and if the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are not equal, then select the technology corresponding to the higher value of the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the Bluetooth signal strength and Wi-Fi signal strength of the environment where the target to be located are equal, the positioning method applicable to the environment where the target to be located is Wi-Fi technology; if the environment where the target to be located is located is outdoor, then analyze the GPS signal strength and Beidou signal strength of the environment where the target to be located: Obtain the specific values of the GPS signal strength and Beidou signal strength of the environment where the target to be located; if the GPS signal strength and Beidou signal strength of the environment where the target to be located are both less than or equal to the second signal reference strength, the positioning method applicable to the environment where the target to be located is to use GPS and Beidou technologies simultaneously; if any one of the GPS signal strength and Beidou signal strength of the environment where the target to be located is greater than the second signal reference strength, and if the GPS signal strength and Beidou signal strength of the environment where the target to be located are not equal, then select the technology corresponding to the higher value of the GPS signal strength and Beidou signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the GPS signal strength and Beidou signal strength of the environment where the target to be located are equal, the positioning method applicable to the environment where the target to be located is GPS technology.

[0040] In a specific embodiment, through the combination of multiple positioning technologies such as Bluetooth, Wi-Fi, GPS, and Beidou, the most suitable positioning method can be flexibly selected according to the characteristics of the environment where the target to be positioned is located. In an indoor environment, when the Bluetooth and Wi-Fi signal strengths are high, the system can automatically select the optimal signal for positioning to ensure efficient and accurate positioning results. In the outdoor environment, the signal strengths of GPS and Beidou can be dynamically adjusted to adapt to different external environments. By analyzing the real-time data of the signal strengths, the system can quickly respond when the environment changes and automatically select a more suitable positioning method, thereby avoiding errors or delays caused by the limitations of a single technology, which is particularly important in dynamic scenarios. By analyzing the signal strengths of Bluetooth, Wi-Fi, GPS, Beidou, etc., the system can make a selection based on the real-time quality of the signals to ensure that the selected positioning technology can provide the best positioning accuracy in the current environment. Compared with traditional positioning schemes that rely on a single technology, this signal-strength-driven multi-technology selection significantly improves the positioning accuracy and reliability. When there are significant differences in the Bluetooth, Wi-Fi, GPS, or Beidou signals, the system will select the signal with a higher strength for positioning, thereby maximizing the utilization of the available signal strength and reducing positioning errors. Especially in an indoor environment where signal attenuation is common, selecting a signal with a higher strength can effectively reduce the positioning deviation caused by multi-path effects or obstacle occlusion.

[0041] Based on the obtained positioning method, the transmission accuracy characteristic value of the positioning method is obtained.

[0042] The specific analysis process is as follows: Obtain the transmission accuracy data set of the positioning method, which specifically includes the total number of signal transmission reflections, the total number of signal transmission refractions, and the average signal transmission delay; based on the obtained transmission accuracy data set of the positioning method, comprehensively analyze to obtain the transmission accuracy characteristic value of the positioning method, and the transmission accuracy characteristic value of the positioning method is used as the analysis basis for determining the target attribute characteristic deviation value.

[0043] It should be noted that when the above-mentioned signals encounter obstacles (such as walls, ground, etc.) during propagation, reflection will occur. The total number of signal transmission reflections refers to the total number of reflections experienced by the signal before reaching the receiver. A higher number of reflections may cause signal attenuation or distortion, which is usually measured by a wireless signal analyzer, a signal strength meter, or a specific indoor positioning system. When the signal encounters different media (such as the interface between air and walls, windows) during propagation, refraction will occur. The total number of signal transmission refractions refers to the total number of refractions experienced by the signal during transmission. Refraction will affect the propagation direction and intensity of the signal. Similar to the number of reflections, the refraction situation can be detected by a wireless signal analyzer, a signal strength meter, or a specific indoor positioning system. The average signal transmission delay refers to the average time required for the signal to travel from the sending end to the receiving end, which is an important indicator for evaluating the performance of a communication system. The shorter the time delay, the better the system performance usually is. The average delay can be obtained through network delay measurement tools, Ping commands, network monitoring software, etc.

[0044] It should be noted that the above-mentioned signals may experience reflection and refraction simultaneously during propagation. When the signal encounters an obstacle (such as a wall), part of the signal will be reflected back, and part of the signal may penetrate the obstacle and refract into a new medium. Reflection and refraction are usually closely related, and both jointly determine the signal path. The more the number of reflections and refractions, the more complex the path the signal may need to take to reach the receiver, resulting in an increase in transmission delay. Since the signal needs to switch between different paths, the propagation time will also increase accordingly.

[0045] Furthermore, for the transmission accuracy eigenvalue of the positioning method, the specific analysis process is as follows:

[0046]

[0047] In the formula, β is the transmission accuracy eigenvalue of the positioning method, fn is the total number of signal transmission reflections, zn is the total number of signal transmission refractions, sy is the average signal transmission delay, σ1 is the compensation factor for the set fn, σ2 is the compensation factor for the set zn, σ3 is the compensation factor for the set sy, and e is the natural constant.

[0048] It should be noted that the transmission accuracy eigenvalue of the above positioning method is calculated through the total number of signal transmission reflections, the total number of signal transmission refractions, and the average signal transmission delay. After normalizing fn, zn, and sy, the total number of signal transmission reflections and refractions directly reflects the obstacles encountered by the signal during propagation and the complexity of the path. The more the number of reflections and refractions, the more complex the signal path may be, and the greater the positioning error may be. By combining these parameters, the system can more accurately evaluate the interference and error during signal propagation, and then optimize the positioning accuracy. The multipath effect is a common problem in signal transmission, especially in urban areas, high-rise dense areas, or indoor scenarios. By calculating the number of signal reflections and refractions, the system can better identify and process multipath signals, reducing the positioning error caused by the multipath effect. By combining the number of signal reflections, refractions, and delay, the system can better identify signal interference in complex environments and enhance the robustness of the system.

[0049] Obtain the environmental magnetic induction intensity and the environmental magnetic field change rate; based on the transmission accuracy eigenvalue of the positioning method, the environmental eigenvalue of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, determine the target attribute characteristic deviation value.

[0050] The specific analysis process is as follows: based on the transmission accuracy eigenvalue of the positioning method, the environmental eigenvalue of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, determine the target attribute characteristic deviation value. The specific analysis process is as follows: based on the transmission accuracy eigenvalue of the positioning method, the environmental eigenvalue of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, comprehensively analyze to obtain the positioning deviation value, and use the positioning deviation value as the analysis basis for obtaining the target attribute characteristic deviation value; store the positioning deviation value as a specified label, and compare this specified label with the target attribute characteristic deviation values corresponding to each specified label stored in the database to obtain the target attribute characteristic deviation value corresponding to this specified label.

[0051] In a specific embodiment, the environmental magnetic induction intensity refers to the magnetic field intensity at a location, usually measured in tesla (T) or gauss (G), representing the intensity of the earth's magnetic field at that location, which can reflect the influence of the earth's magnetic field or nearby magnetic objects on the area. The magnetic induction intensity is usually measured by a magnetometer or a magnetic field sensor. The environmental magnetic field change rate refers to the rate of change of the environmental magnetic field intensity over time, usually expressed as the change in magnetic field intensity divided by time, with the unit of tesla per hour. This parameter is usually obtained by continuously monitoring the magnetic field intensity through a magnetic field sensor.

[0052]

[0053] In the formula, W is the positioning deviation value, α is the environmental eigenvalue of the target to be located, β is the transmission accuracy eigenvalue of the positioning method, cq is the environmental magnetic induction intensity, and cb is the environmental magnetic field change rate.

[0054] In a specific embodiment, by comprehensively analyzing the above parameters, the performance of the positioning system in a specific environment can be predicted and compensated more accurately, and the positioning accuracy can be optimized. Especially in places with unstable magnetic fields or complex environments, considering that the environmental magnetic induction intensity and the magnetic field change rate can significantly affect the performance of the magnetic positioning system, combining these environmental factors to compare and obtain the target attribute characteristic deviation value, and performing deviation adjustment based on the target attribute characteristic deviation value can significantly improve the accuracy of the positioning result. More accurate deviation analysis provides strong data support, which helps to make more reasonable strategic decisions. By monitoring and analyzing the target attribute characteristic deviation value, potential problems or performance degradation of the system can be detected in a timely manner, so as to perform timely maintenance and repair, reduce the system failure time, and improve the stability and reliability of the system.

[0055] Analyze each target attribute in the environment where the target to be located is located, and combine the target attribute characteristic deviation value to obtain each target attribute characteristic value.

[0056] The specific analysis process is as follows: Obtain each target attribute in the environment where the target to be located is located. The dataset of each target attribute in the environment where the target to be located is located specifically includes the target volume, the maximum height of the target, and the contact area between the target and the ground; Based on the obtained each target attribute in the environment where the target to be located is located, comprehensively analyze to obtain the monitoring value of each target attribute characteristic, and the monitoring value of each target attribute characteristic is used as the analysis basis for obtaining each target attribute characteristic value; Based on the monitoring value of each target attribute characteristic and combined with the target attribute characteristic deviation value, comprehensively analyze to obtain each target attribute characteristic value, and each target attribute characteristic value is used as the analysis basis for determining the specific location where the target to be located is located.

[0057] In a specific embodiment, the target volume refers to the size of the three-dimensional space occupied by an object, usually in cubic meters (m 3 ) as the unit, which is determined by the outer boundary of the object and can reflect the overall size of the object, and is obtained based on a 3D scanner. The maximum height of the target refers to the vertical distance from the base of the object to the highest point, and is obtained based on a laser rangefinder. The contact area between the target and the ground is the total surface area of the object in contact with the ground, usually expressed in square meters (m 2 ) and is obtained based on a laser scanner.

[0058] It should be noted that by simultaneously considering multiple attributes such as volume, height, and contact area as described above, the positioning system can analyze the target in more dimensions, thereby improving the recognition accuracy of the target. By comparing the characteristics of the target to be positioned with the existing data, the position of the target can be judged more accurately based on the differences between the characteristic values. The comprehensive analysis of each target attribute enhances the system's perception ability of environmental changes and enables it to better adapt to complex operating environments. The comprehensive analysis of the target attribute characteristic values can help the system make more intelligent decisions.

[0059] It should be noted that the above-mentioned monitoring values of target attribute characteristics, the specific analysis process is as follows:

[0060]

[0061] In the formula, ω is the monitoring value of target attribute characteristics, tj is the target volume, gd is the maximum height of the target, jc is the contact area between the target and the ground, τ1 is the compensation factor for tj set, τ2 is the compensation factor for gd set, τ3 is the compensation factor for jc set, and e is the natural constant.

[0062] It should be noted that the above-mentioned monitoring values of target attribute characteristics are calculated through the target volume, the maximum height of the target, and the contact area between the target and the ground. By normalizing tj, gd, and jc and combining the volume, maximum height, and ground contact area, the system can comprehensively describe the target from multiple dimensions, providing a multi-faceted description of the overall shape of the target. This ensures that the system can effectively distinguish specific targets even among targets with similar appearances. The target attribute characteristic values calculated through multi-dimensional features can reduce the errors that may be brought by a single feature. The volume, maximum height, and contact area jointly determine the occupancy of the object in space. The system can classify targets more carefully. Especially among multiple targets with similar shapes, the comprehensive analysis of geometric features can classify targets more accurately. Combining basic geometric features such as target volume, maximum height, and contact area with the feature deviation value can effectively reduce the computational amount in complex scenarios.

[0063] It should be noted that the above-mentioned target attribute characteristic values, the specific analysis process is as follows:

[0064]

[0065] In the formula, θ is the target attribute characteristic value, ω is the monitoring value of target attribute characteristics, γ is the target attribute characteristic deviation value, and e is the natural constant.

[0066] It should be noted that the above target attribute characteristic values are calculated by combining the target attribute characteristic monitoring values with the target attribute characteristic deviation values. Using the monitoring values and deviation values together can help more accurately evaluate and calibrate the performance of the monitoring system, compensate for sensor errors, environmental changes or other interference factors, improve the accuracy and reliability of data, not only contribute to timely fault diagnosis and repair, but also enable the implementation of preventive maintenance strategies, thereby reducing downtime and maintenance costs. Using deviation value adjustment can help standardize, which is particularly important for ensuring data consistency and comparability. Accurate characteristic value calculation provides reliable data support, enabling decision-makers to make decisions based on more accurate information.

[0067] Based on each target attribute characteristic value, determine the specific location where the target to be located is located.

[0068] The specific analysis process is as follows: Compare each target attribute characteristic value with the target attribute characteristic values of the target to be located stored in the database; Denote the absolute value of the difference between each target attribute characteristic value and the target attribute characteristic values of the target to be located as each target attribute characteristic deviation value; If a certain target attribute characteristic deviation value is greater than the target attribute characteristic reference deviation value stored in the database, the target corresponding to this target attribute characteristic deviation value is a dissimilar target; If a certain target attribute characteristic deviation value is not greater than the target attribute characteristic reference deviation value stored in the database, the target corresponding to this target attribute characteristic deviation value is a similar target; Obtain the connection lines between the vertices of each similar target and the ground contact points, obtain the angles between each connection line and the horizontal plane, and denote the angles between each connection line and the horizontal plane as each characteristic angle; Compare each characteristic angle with the characteristic angles of the target to be located stored in the database; Denote the absolute value of the difference between each characteristic angle and the characteristic angles of the target to be located as each characteristic deviation angle; If a certain characteristic deviation angle is greater than the characteristic reference deviation angle stored in the database, re-mark the similar target corresponding to this characteristic deviation angle as a dissimilar target; If a certain characteristic deviation angle is not greater than the characteristic reference deviation angle stored in the database, the similar target corresponding to this characteristic deviation angle is the first similar target; Obtain the RGB values of each first similar target, and compare the RGB values of each first similar target with the RGB values of the target to be located stored in the database; Denote the absolute value of the difference between the RGB values of each first similar target and the RGB values of the target to be located as each target RGB deviation value; Mark the first similar target corresponding to the smallest target RGB deviation value among each target RGB deviation value as the target to be located, and obtain the specific location of the first similar target corresponding to the smallest target RGB deviation value, which is the specific location where the target to be located is located.

[0069] In a specific embodiment, the process does not rely solely on a single target feature, but combines multiple attributes (such as target feature values, feature angles, RGB values, etc.) for comprehensive analysis. Multi-dimensional feature analysis can improve the accuracy of target recognition and positioning. Especially in complex environments, it helps to distinguish similar targets, reduce errors. By analyzing the geometric structure of the target (the angle between the line connecting the vertex and the ground contact point and the horizontal plane), targets with similar shapes but different spatial positions can be effectively distinguished. This geometric analysis helps to handle the identification problem of multiple objects in three-dimensional space and ensure the accuracy of the positioning result. In each comparison, by calculating indicators such as attribute feature deviation values, feature deviation angles, RGB deviation values, etc., targets with excessively large deviation values are filtered as "dissimilar targets", thereby gradually narrowing the search range of the target to be positioned. This progressive filtering mechanism helps to quickly exclude targets that do not meet the conditions, improve the calculation efficiency, and reduce resource consumption. By gradually combining attribute feature values, feature angles, and RGB values and performing multi-level discrimination, this process can ensure the reliability of the final positioning result. Each level is screened and verified to ensure that the system can still provide high-precision positioning services in the face of complex environments or similar objects.

[0070] Referring to Figure 2 As shown, the second aspect of the present invention provides an intelligent positioning system based on the Internet of Things, including an environment determination module for the object to be positioned, a positioning method determination module, a transmission accuracy feature value acquisition module, an environmental magnetic field data monitoring module, a target attribute feature deviation value determination module, a target attribute feature value acquisition module, and a specific position determination module.

[0071] The environment determination module for the object to be positioned is used to analyze the environment where the object to be positioned is located, obtain the environmental characteristic value of the object to be positioned, and determine the environment where the object to be positioned is located based on the environmental characteristic value of the object to be positioned.

[0072] The positioning method determination module is used to obtain the environmental attribute data set of the object to be positioned and determine the positioning method applicable to the environment where the object to be positioned is located in combination with the environment where the object to be positioned is located.

[0073] The transmission accuracy feature value acquisition module is used to obtain the transmission accuracy feature value of the positioning method based on the obtained positioning method.

[0074] The environmental magnetic field data monitoring module is used to obtain the environmental magnetic induction intensity and the environmental magnetic field change rate.

[0075] The target attribute feature deviation value determination module is used to determine the target attribute feature deviation value based on the transmission accuracy feature value of the positioning method, the environmental characteristic value of the object to be positioned, the environmental magnetic induction intensity, and the environmental magnetic field change rate.

[0076] The target attribute feature value acquisition module is used to analyze each target attribute in the environment where the target to be located is located, and combine the target attribute feature deviation value to obtain each target attribute feature value.

[0077] The specific position determination module is used to determine the specific position where the target to be located is located based on each target attribute feature value.

[0078] The above content is only an example and explanation of the structure of the present invention. Those skilled in the art of the present technology can make various modifications or supplements to the described specific embodiments or use similar methods to replace them. As long as they do not deviate from the structure of the invention or exceed the scope defined by this claim book, they should all fall within the protection scope of the present invention.

Claims

1. An intelligent positioning method based on the Internet of Things, characterized in that, Including the following steps: Analyze the environment where the target to be located is located to obtain the environmental characteristic values of the target to be located. Based on the environmental characteristic values of the target to be located, determine the environment where the target to be located is located; Obtain the environmental attribute data set of the target to be located. Combine the environment where the target to be located is located to determine the positioning method applicable to the environment where the target to be located; Based on the obtained positioning method, obtain the transmission accuracy characteristic value of the positioning method; Obtain the environmental magnetic induction intensity and the environmental magnetic field change rate; Based on the transmission accuracy characteristic value of the positioning method, the environmental characteristic values of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, determine the target attribute characteristic deviation value. The specific analysis process is as follows: Based on the transmission accuracy characteristic value of the positioning method, the environmental characteristic values of the target to be located, the environmental magnetic induction intensity, and the environmental magnetic field change rate, comprehensively analyze to obtain the positioning deviation value. The positioning deviation value is used as the analysis basis for obtaining the target attribute characteristic deviation value; Store the positioning deviation value as a specified label, and compare the specified label with the target attribute characteristic deviation values corresponding to each specified label stored in the database to obtain the target attribute characteristic deviation value corresponding to the specified label; In the formula, W is the positioning deviation value, α is the environmental characteristic value of the target to be located, β is the transmission accuracy characteristic value of the positioning method, cq is the environmental magnetic induction intensity, and cb is the environmental magnetic field change rate; Analyze each target attribute in the environment where the target to be located is located, and combine the target attribute characteristic deviation value to obtain each target attribute characteristic value. The specific analysis process is as follows: Obtain each target attribute in the environment where the target to be located is located. The data set of each target attribute in the environment where the target to be located is located specifically includes the target volume, the maximum height of the target, and the contact area of the target with the ground; Based on the obtained each target attribute in the environment where the target to be located is located, comprehensively analyze to obtain the monitoring values of each target attribute characteristic. The monitoring values of each target attribute characteristic are used as the analysis basis for obtaining each target attribute characteristic value; Based on the monitoring values of each target attribute characteristic and in combination with the target attribute characteristic deviation value, comprehensively analyze to obtain each target attribute characteristic value. Each target attribute characteristic value is used as the analysis basis for determining the specific location of the target to be located; Based on each target attribute characteristic value, determine the specific location of the target to be located.

2. The intelligent positioning method based on the Internet of Things according to claim 1, wherein: The specific analysis process of determining the environment where the target to be located is located based on the environmental characteristic values of the target to be located is as follows: Obtain the environmental characteristic data set of the target to be located. The environmental characteristic data set of the target to be located specifically includes the environmental temperature of the target to be located, the environmental light intensity of the target to be located, and the environmental area of the target to be located; Based on the obtained environmental characteristic data set of the target to be located, comprehensively analyze to obtain the environmental characteristic values of the target to be located. The environmental characteristic values of the target to be located are used as the analysis basis for determining the environment where the target to be located is located; Store the environmental characteristic values of the target to be located as a specified label, and compare the specified label with the environments where the target to be located corresponding to each specified label stored in the database to obtain the environment where the target to be located corresponding to the specified label.

3. The intelligent positioning method based on the Internet of Things according to claim 1, wherein: The environmental attribute data set of the target to be located specifically includes the GPS signal strength of the environment where the target to be located is located, the Bluetooth signal strength of the environment where the target to be located is located, the Wi-Fi signal strength of the environment where the target to be located is located, and the Beidou signal strength of the environment where the target to be located is located.

4. An intelligent positioning method based on the Internet of Things according to claim 1, characterized in that: The process of determining the positioning method applicable to the environment where the target to be located is located is specifically analyzed as follows: Determine whether the environment where the target to be located is located is indoor or outdoor; If the environment where the target to be located is located is indoor, analyze the Bluetooth signal strength of the environment where the target to be located and the Wi-Fi signal strength of the environment where the target to be located: Obtain the specific values of the Bluetooth signal strength of the environment where the target to be located is located and the Wi-Fi signal strength of the environment where the target to be located; If the Bluetooth signal strength of the environment where the target to be located and the Wi-Fi signal strength of the environment where the target to be located are both less than or equal to the first signal reference strength, the positioning method applicable to the environment where the target to be located is to simultaneously use Bluetooth and Wi-Fi technologies; If any one of the Bluetooth signal strength of the environment where the target to be located and the Wi-Fi signal strength of the environment where the target to be located is greater than the first signal reference strength, and if the Bluetooth signal strength of the environment where the target to be located is not equal to the Wi-Fi signal strength of the environment where the target to be located, select the technology corresponding to the higher value of the Bluetooth signal strength of the environment where the target to be located and the Wi-Fi signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the Bluetooth signal strength of the environment where the target to be located is equal to the Wi-Fi signal strength of the environment where the target to be located, the positioning method applicable to the environment where the target to be located is Wi-Fi technology; If the environment where the target to be located is located is outdoor, analyze the GPS signal strength of the environment where the target to be located and the Beidou signal strength of the environment where the target to be located: Obtain the specific values of the GPS signal strength of the environment where the target to be located is located and the Beidou signal strength of the environment where the target to be located; If the GPS signal strength of the environment where the target to be located and the Beidou signal strength of the environment where the target to be located are both less than or equal to the second signal reference strength, the positioning method applicable to the environment where the target to be located is to simultaneously use GPS and Beidou technologies; If any one of the GPS signal strength of the environment where the target to be located and the Beidou signal strength of the environment where the target to be located is greater than the second signal reference strength, and if the GPS signal strength of the environment where the target to be located is not equal to the Beidou signal strength of the environment where the target to be located, select the technology corresponding to the higher value of the GPS signal strength of the environment where the target to be located and the Beidou signal strength of the environment where the target to be located as the positioning method applicable to the environment where the target to be located. If the GPS signal strength of the environment where the target to be located is equal to the Beidou signal strength of the environment where the target to be located, the positioning method applicable to the environment where the target to be located is GPS technology.

5. A smart positioning method based on the Internet of Things according to claim 1, characterized in that: Based on the obtained positioning method, obtain the positioning method transmission accuracy characteristic value. The specific analysis process is as follows: Obtain the dataset of the transmission accuracy of the positioning method. The dataset of the transmission accuracy of the positioning method specifically includes the total number of signal transmission reflections, the total number of signal transmission refractions, and the average signal transmission delay; Based on the obtained dataset of the transmission accuracy of the positioning method, comprehensively analyze to obtain the characteristic value of the transmission accuracy of the positioning method. The characteristic value of the transmission accuracy of the positioning method is used as the analysis basis for determining the deviation value of the target attribute characteristic.

6. The intelligent positioning method based on the Internet of Things according to claim 5, characterized in that: The specific analysis process of the characteristic value of the transmission accuracy of the positioning method is as follows: In the formula, β is the characteristic value of the transmission accuracy of the positioning method, fn is the total number of signal transmission reflections, zn is the total number of signal transmission refractions, sy is the average signal transmission delay, σ1 is the compensation factor of the set fn, σ2 is the compensation factor of the set zn, σ3 is the compensation factor of the set sy, and e is the natural constant.

7. The intelligent positioning method based on the Internet of Things according to claim 1, characterized in that: The specific analysis process for determining the specific position of the target to be located based on the characteristic values of each target attribute is as follows: Compare the characteristic values of each target attribute with the characteristic values of the target attribute to be located stored in the database; Record the absolute value of the difference between the characteristic values of each target attribute and the characteristic values of the target attribute to be located as the deviation value of each target attribute; If the deviation value of a certain target attribute is greater than the reference deviation value of the target attribute stored in the database, the target corresponding to the deviation value of the target attribute is a dissimilar target; If the deviation value of a certain target attribute is not greater than the reference deviation value of the target attribute stored in the database, the target corresponding to the deviation value of the target attribute is a similar target; Obtain the connection lines between the vertices of each similar target and the ground contact points, obtain the angles between each connection line and the horizontal plane, record the angles between each connection line and the horizontal plane as the characteristic angles, and compare the characteristic angles with the characteristic angles of the target to be located stored in the database; Record the absolute value of the difference between each characteristic angle and the characteristic angle of the target to be located as each characteristic deviation angle; If a certain characteristic deviation angle is greater than the reference deviation angle of the characteristic stored in the database, re-mark the similar target corresponding to the characteristic deviation angle as a dissimilar target; If a certain characteristic deviation angle is not greater than the reference deviation angle of the characteristic stored in the database, the similar target corresponding to the characteristic deviation angle is the first similar target; Obtain the RGB values of each first similar target, and compare the RGB values of each first similar target with the RGB values of the target to be located stored in the database; Record the absolute value of the difference between the RGB values of each first similar target and the RGB values of the target to be located as the RGB deviation value of each target; Mark the first similar target corresponding to the smallest RGB deviation value among the RGB deviation values of each target as the target to be located, and obtain the specific position of the first similar target corresponding to the smallest RGB deviation value, which is the specific position where the target to be located is located.

8. An Internet of Things-based intelligent positioning system is applied to an Internet of Things-based intelligent positioning method as described in claims 1-7, characterized in that, It includes an environment determination module, a positioning method determination module, a transmission accuracy characteristic value acquisition module, an environmental magnetic field data monitoring module, a target attribute characteristic deviation value determination module, a target attribute characteristic value acquisition module, and a specific position determination module, where: The environment determination module is used to analyze the environment where the target to be located is located, obtain the characteristic value of the environment where the target to be located is located, and determine the environment where the target to be located is located based on the characteristic value of the environment where the target to be located is located; The positioning method determination module is used to obtain the environmental attribute data set of the target to be positioned, and determine the positioning method applicable to the environment where the target to be positioned is located in combination with the environment where the target to be positioned is located; The transmission accuracy eigenvalue acquisition module is used to obtain the transmission accuracy eigenvalue of the positioning method based on the obtained positioning method; The environmental magnetic field data monitoring module is used to obtain the environmental magnetic induction intensity and the environmental magnetic field change rate; The target attribute feature deviation value determination module is used to determine the target attribute feature deviation value based on the transmission accuracy eigenvalue of the positioning method, the environmental feature value where the target to be positioned is located, the environmental magnetic induction intensity, and the environmental magnetic field change rate; The target attribute feature value acquisition module is used to analyze each target attribute in the environment where the target to be positioned is located, and obtain each target attribute feature value in combination with the target attribute feature deviation value; The specific position determination module is used to determine the specific position where the target to be positioned is located based on each target attribute feature value.

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