A mobile terminal auxiliary positioning method, device and system

Abstract

The present invention is applicable to the field of mobile positioning technology, and provides an auxiliary positioning method, device and system for a mobile terminal, the method comprising: after obtaining the positioning demand, starting the positioning module, and sending a first type of data string based on the Bluetooth module, the first type of data string includes the device ID and the location coordination request; after the positioning module obtains the real coordinates of the current device, sending a second type of data string based on the Bluetooth module, the second type of data string includes the device ID and the real coordinates of the current device; after the Bluetooth module obtains the second type of data string transmitted by other devices, the real coordinates of other devices contained in the second type of data string are resolved into the virtual coordinates of the current device; based on the time sequence of the real coordinates and virtual coordinates of the current device, a motion route is generated in sequence. The method uses Bluetooth for coordinate interaction, and then assists in positioning, helping terminal devices with slow positioning speed to achieve fast position coordinate acquisition, and speeding up its positioning speed.

Description

Technical Field

[0001] The present invention belongs to the field of mobile positioning technology, and in particular relates to an auxiliary positioning method, device and system for a mobile terminal. Background Art

[0002] With the popularization of portable mobile devices, the demand for positioning of mobile terminals has become more widespread. Mobile terminal positioning technology refers to the technology of determining or estimating the location of mobile terminals such as smartphones and tablets in geographic space through various technical means.

[0003] There are many existing methods for positioning mobile terminals. For example, GPS positioning, which receives signals from multiple satellites and determines the location of the device through the principle of triangulation, can control the accuracy within a few meters. Another example is base station positioning, which measures the signal strength difference between the device and multiple base stations, the time difference, or calculates the device location based on triangulation.

[0004] However, in many outdoor scenarios, the terminal device may be blocked by many high-rise buildings or located in a remote location, resulting in weak base station or satellite signals. Under the influence of these factors, many mobile terminals have slow positioning speeds, low positioning accuracy, and poor user experience. Therefore, it is necessary to improve the existing positioning methods. Summary of the invention

[0005] The purpose of the embodiments of the present application is to provide an auxiliary positioning method for a mobile terminal, aiming to solve the problems of slow positioning speed, low positioning accuracy and poor user experience of mobile terminals in many outdoor scenarios or under the influence of factors such as harsh electromagnetic environment and remote geographical location.

[0006] The embodiment of the present application is implemented by providing an auxiliary positioning method for a mobile terminal, the method comprising:

[0007] When the positioning requirement is obtained, the positioning module is started, and a first type of data string is sent based on the Bluetooth module, where the first type of data string includes a device ID and a location coordination request;

[0008] After the positioning module obtains the real coordinates of the current device, the second type of data string is sent based on the Bluetooth module, where the second type of data string includes the device ID and the real coordinates of the current device;

[0009] When the Bluetooth module obtains the second type of data string transmitted by other devices, the real coordinates of other devices contained in the second type of data string are resolved into the virtual coordinates of the current device;

[0010] Determine the timing of obtaining the real coordinates and virtual coordinates of the current device:

[0011] If the real coordinates are obtained first, a route is recorded based on the real coordinates to generate a movement route;

[0012] If the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained while generating the first route, the virtual coordinates are switched to the real coordinates to record the route to obtain a second route; the first route and the second route are combined to obtain a motion route.

[0013] Another object of an embodiment of the present application is to provide an auxiliary positioning device for a mobile terminal, the device comprising:

[0014] A positioning requirement acquisition module, used to start the positioning module after acquiring the positioning requirement, and send a first type of data string based on the Bluetooth module, wherein the first type of data string includes a device ID and a location coordination request;

[0015] A real coordinate acquisition module, used for sending a second type of data string based on the Bluetooth module after the positioning module acquires the real coordinates of the current device, wherein the second type of data string includes the device ID and the real coordinates of the current device;

[0016] A virtual coordinate acquisition module, which is used to resolve the real coordinates of other devices contained in the second type of data string into virtual coordinates of the current device after the Bluetooth module acquires the second type of data string transmitted by other devices;

[0017] The motion route generation module is used to determine the timing of obtaining the real coordinates and virtual coordinates of the current device: if the real coordinates are obtained first, the route is recorded based on the real coordinates to generate a motion route; if the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained while generating the first route, the virtual coordinates are switched to the real coordinates for route recording to obtain a second route; the first route and the second route are combined to obtain a motion route.

[0018] Another object of an embodiment of the present application is to provide an auxiliary positioning system for a mobile terminal, comprising a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the auxiliary positioning method for the mobile terminal as described above.

[0019] An auxiliary positioning method for a mobile terminal provided in an embodiment of the present application has the outstanding advantage that, compared with a traditional mobile terminal that can only rely on the device's own positioning, the present method utilizes a Bluetooth module to assist in positioning, that is, to exchange positioning coordinate information through Bluetooth communication, thereby assisting in positioning, helping terminal devices with slow positioning speed to achieve rapid location coordinate acquisition, speeding up their positioning speed, and significantly improving the user experience. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 An application environment diagram of an auxiliary positioning method for a mobile terminal provided in an embodiment of the present application;

[0021] Figure 2 A flowchart of an auxiliary positioning method for a mobile terminal provided in an embodiment of the present application;

[0022] Figure 3 A structural block diagram of an auxiliary positioning device for a mobile terminal provided in an embodiment of the present application;

[0023] Figure 4 FIG. 4 is a block diagram of the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0025] It is understood that the terms "first", "second", etc. used in this application may be used herein to describe various elements, but unless otherwise specified, these elements are not limited by these terms. These terms are only used to distinguish a first element from another element. For example, a first script may be referred to as a second script, and similarly, a second script may be referred to as a first script without departing from the scope of this application.

[0026] Figure 1 The application environment diagram of the auxiliary positioning method of the mobile terminal provided in the embodiment of the present application is as follows: Figure 1 As shown, in this application environment, a first terminal 110 and a second terminal 120 are included.

[0027] The first terminal 110 and the second terminal 120 can be a smart phone, a tablet computer, a laptop computer, a smart bracelet, a smart watch, etc., but are not limited thereto. The first terminal 110 and the second terminal 120 can perform data transmission via a Bluetooth network.

[0028] like Figure 2As shown, in one embodiment, a method for assisting positioning of a mobile terminal is proposed. This embodiment mainly applies this method to the above Figure 1 An auxiliary positioning method for a mobile terminal may specifically include the following steps:

[0029] Step S10, after the positioning requirement is obtained, the positioning module is started, and a first type of data string is sent based on the Bluetooth module, where the first type of data string includes a device ID and a location coordination request.

[0030] The data string sent based on the Bluetooth module referred to in this embodiment may refer to Bluetooth broadcasting, such as Connectable Advertising (Bluetooth visible broadcast) or Extended Advertising (Bluetooth enhanced broadcast) and other modes. Based on this method, data can be exchanged between Bluetooth devices without establishing a formal connection. It allows devices such as sensors and sports bracelets to send data on a broadcast channel, which can be received and processed by other Bluetooth devices, but there is no need to establish a point-to-point pairing connection. The advantage of Bluetooth broadcasting is that there is no need for binding and pairing between devices that can be collaboratively positioned, further reducing the power consumption of frequent data transmission between devices. Senseless collaboration can be achieved without Bluetooth matching. It can be understood that data interaction can also be carried out even when two or more terminal devices have established a formal connection and pairing.

[0031] In this implementation, after the positioning requirement is obtained, the positioning module is started, for example, the GPS module on the watch side starts the star search calculation. At the same time, the first type of data string is sent. The first type of data string may contain a variety of other information, such as device name, connectable flag, public address or private address, etc., which are not listed in this application. This application can identify devices through the device ID in the data string, and can transmit location collaboration requests through the feature field in the service UUID. Location collaboration requests are used to activate collaborative assisted positioning functions.

[0032] Step S20, after the positioning module obtains the real coordinates of the current device, a second type of data string is sent based on the Bluetooth module, where the second type of data string includes the device ID and the real coordinates of the current device.

[0033] In this embodiment, the positioning module may refer to a GPS positioning module, a base station positioning module, etc., and this application does not limit it. The device ID included in the second type of data string can be used to match the request in the received first type of data string. Based on the data string, the device ID and its corresponding location coordinates can be obtained.

[0034] Step S30, after the Bluetooth module obtains the second type of data string transmitted by other devices, the real coordinates of other devices contained in the second type of data string are resolved into virtual coordinates of the current device.

[0035] In this embodiment, since the distance supported by the Bluetooth connection is relatively short, the devices that can be connected to each other via Bluetooth can be considered to be in close locations, so the positioning information in other devices can be approximately set as the virtual location coordinates of the current device.

[0036] Step S40, determining the time sequence of obtaining the real coordinates and virtual coordinates of the current device:

[0037] If the real coordinates are obtained first, the route is recorded based on the real coordinates to generate a motion route; if the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained when generating the first route, the virtual coordinates are switched to the real coordinates for route recording to obtain a second route; the first route and the second route are combined to obtain a motion route.

[0038] In the embodiment of the present application, there are multiple situations in which the judgment is obtained. Since the real coordinates obtained by the positioning module have a high accuracy, the positioning coordinates are used preferentially when they exist. If they do not exist, the virtual coordinates are set to the current position coordinates, and the positioning completion signal is reported and displayed on the user interface layer, thereby speeding up the positioning speed. At this time, the route is recorded by recording the virtual coordinates. If the real coordinates are obtained while generating the first route, the virtual coordinates are switched to the real coordinates for route recording. By integrating the route records, the complete route of the user can be obtained.

[0039] Those skilled in the art will appreciate that, although most mobile devices can achieve positioning through GPS modules, the positioning performance of GPS modules is affected by many factors, such as GPS chip quality, antenna design, hardware capabilities of the signal analysis terminal, and positioning algorithms. This results in large differences in the positioning performance of different devices.

[0040] This application takes into account that the effective signal transmission distance for Bluetooth devices to achieve data transmission is usually tens of centimeters to several meters, so it is very suitable for auxiliary positioning, or for team collaborative positioning in a multi-person team. For example, in team mountaineering, hiking and other team or companion activities, the hardware performance of different terminal devices carried by different participants is different, and because the electromagnetic environment in which each terminal device is located may also be different, this leads to the positioning speed of each terminal device is bound to be different. In this case, users with fast positioning speeds need to wait for a long time for users with slow positioning speeds to complete positioning before they can start exercising at the same time, wasting the user's time. At the same time, it also brings a large psychological gap in the use of equipment to users with slow positioning speeds, and the user experience is poor. This application uses a Bluetooth module to assist the positioning module to interact with the location information of multiple terminals, and then can assist the terminal device with slow positioning speed, speed up its positioning speed, and significantly improve the user experience.

[0041] In a preferred embodiment, the method for obtaining the positioning requirement is:

[0042] Execute Bluetooth data monitoring and user command monitoring; when a first type of data string is obtained from the Bluetooth data and / or an active positioning instruction is obtained from the user instruction, it is set to obtain the positioning requirement.

[0043] In an embodiment of the present application, the positioning requirement may refer to an instruction for the program to start positioning. Bluetooth data monitoring refers to monitoring whether the device has received a location coordination request from other terminal devices. User command monitoring refers to detecting whether the user actively turns on positioning manually. The above instructions can all turn on collaborative positioning services, thereby achieving sensory or non-sensory assisted positioning. Even if the user does not actively request active positioning, it can also assist other devices in positioning; or, the device can prioritize obtaining positioning requirements and location coordinates in the background. At this time, after obtaining the user's active positioning instruction, it can quickly complete the positioning without waiting for a long time.

[0044] In a preferred embodiment, the method further comprises:

[0045] When the route is recorded based on the real coordinates, it is set to the first state, and the movement route generated in this state is recorded as the route ;

[0046] When the first state is in progress and the real coordinate positioning signal acquisition fails, the second state is set; in this state, the route is recorded based on the virtual coordinates to obtain the route. ; Record the route based on the inertial navigation unit of the current device to obtain the route ;

[0047] Based on the route and the route The confidence level of the route :

[0048]

[0049] in, It means comparing the confidence levels of the elements in the function and taking the maximum value;

[0050] The route obtained when the first state is With the second state the route is obtained Integrate and get the movement route.

[0051] In an embodiment of the present application, considering that the user is in motion, the satellite connection or other direct location acquisition method of some users may be accidentally interrupted, that is, the positioning signal acquisition of the real coordinates fails. At this time, the virtual position information can continue to be obtained based on the virtual coordinates in the second type of data string. It is understandable that many devices are equipped with inertial navigation units such as electronic gyroscopes or accelerometers, and inertial navigation can be used to obtain position changes. However, since inertial navigation is to infer the speed and position of the device by continuously integrating data such as acceleration or position change angular momentum, obvious cumulative errors will occur during long-term operation. Therefore, this application gives priority to the coordinate signal transmitted by the Bluetooth device for route recording. When the Bluetooth device is disconnected or the distance is too far, resulting in low credibility of its route, inertial navigation is used as an auxiliary record. Therefore, a more accurate route record can be obtained to the greatest extent.

[0052] In a preferred embodiment, based on the route and the route The confidence level of the route The method is:

[0053] ,

[0054] in, Indicates the Bluetooth signal strength in decibel milliwatts. is the signal strength threshold.

[0055] In the embodiment of the present application, the Bluetooth signal strength RSSI value is usually inversely proportional to the distance between devices. The smaller the negative value, the stronger the signal. A stronger signal (e.g. -30dBm to -50dBm) usually indicates that the distance between devices is close, generally within a few meters. At this time, the credibility is high, and the location is recorded in virtual coordinates. Otherwise, inertial navigation is used for recording.

[0056] In this embodiment, the strength of the Bluetooth signal is set as the credibility judgment standard. The distance between terminal devices is judged according to the strength of the Bluetooth signal. When the signal strength is high, it can be considered that the running distance between different terminals is very close, and the route and distance are approximately the same. Signal strength threshold It can be determined based on actual circumstances.

[0057] In a preferred embodiment, the method further comprises:

[0058] On the route and routes Each route is sliced ​​according to a preset time interval or a preset distance length to obtain several sub-routes of each route, and each sub-route segment is judged based on the above-mentioned credibility level judgment method to obtain a high-credibility slice of each sub-route; finally, all sub-routes with high credibility levels are filled into the route , fragment integration, get the complete route Based on this method, the accuracy of the route is further improved.

[0059] In a preferred embodiment, the route is recorded based on the inertial navigation unit of the current device to obtain the route The method is:

[0060] Based on the sensors in the inertial navigation unit, get the velocity update:

[0061]

[0062] Among them, t represents the time, represents the initial moment, a is the acceleration component in a certain direction, represents the velocity component in a certain direction, Indicated in The initial velocity in a certain direction at time, represents the integration of time;

[0063] Based on the velocity update, get the position update:

[0064]

[0065] in, represents the displacement component in a certain direction, express The position component in a certain direction at a certain moment.

[0066] In an embodiment of the present application, a method for recording a route based on an inertial navigation unit is provided, which can obtain the location change data of a terminal without a network connection.

[0067] In a preferred embodiment, the method further comprises:

[0068] When a route recording stop command is received or the transmission of the second type of data string reaches a preset termination condition, the transmission of the second type of data string is stopped.

[0069] In the embodiment of the present application, the preset termination condition may refer to the Bluetooth broadcast reaching the preset termination total transmission duration or the number of transmissions, etc. Preferably, it is the preset transmission duration, that is, each positioning collaboration provided by the present application can last for a certain period of time. When receiving the instruction from the user to stop sharing data or reaching the preset termination condition, the device stops sending the second type of data string, and the system returns to the default state until the first type of data string is obtained again to wake up the location sharing function, thereby saving power.

[0070] As a preferred embodiment of the present application, since the positioning data interaction may be automatically terminated. Therefore, when the device has a positioning requirement, the first type of data string can be sent at a preset transmission interval to continuously maintain the positioning data interaction, and the timing transmission interval is the same as the preset transmission duration of the second type of data string. Based on this embodiment, the system can achieve a balance between power saving and uninterrupted location coordinate data interaction.

[0071] In a preferred embodiment, the difference from the above embodiment is that the method further comprises:

[0072] Determine the timing of obtaining the real coordinates and virtual coordinates of the current device: if the moment of obtaining the virtual coordinates is earlier than the moment of obtaining the real coordinates, terminate the instruction of sending the second type of data string to the outside world based on the Bluetooth module, and only switch the route record of the current device from the virtual coordinates to the real coordinates.

[0073] In the embodiment of the present application, the user can select the power saving setting, that is, only use this method to increase the speed of obtaining the initial positioning coordinates. If the virtual coordinates are obtained before the real coordinates, it means that the current device is slow in obtaining the real positioning, and there is no need to send the second type of data string instructions to the outside world.

[0074] like Figure 3 As shown, in one embodiment, an auxiliary positioning device for a mobile terminal is provided, which can be integrated into the above-mentioned first terminal 110, and can specifically include a positioning requirement acquisition module 510, a real coordinate acquisition module 520, a virtual coordinate acquisition module 530 and a motion route generation module 540.

[0075] The positioning requirement acquisition module 510 is used to start the positioning module after acquiring the positioning requirement, and send a first type of data string based on the Bluetooth module, wherein the first type of data string includes a device ID and a location coordination request;

[0076] The real coordinate acquisition module 520 is used to send a second type of data string based on the Bluetooth module after the positioning module acquires the real coordinates of the current device, where the second type of data string includes the device ID and the real coordinates of the current device;

[0077] The virtual coordinate acquisition module 530 is used to resolve the real coordinates of the other device contained in the second type of data string into the virtual coordinates of the current device after the Bluetooth module acquires the second type of data string transmitted by the other device;

[0078] The motion route generation module 540 is used to determine the timing of obtaining the real coordinates and virtual coordinates of the current device: if the real coordinates are obtained first, the route is recorded based on the real coordinates to generate a motion route; if the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained when generating the first route, the virtual coordinates are switched to the real coordinates for route recording to obtain a second route; the first route and the second route are combined to obtain a motion route.

[0079] In the embodiment of the present application, the explanation and description of the auxiliary positioning device of the above-mentioned mobile terminal can refer to the explanation and description of the above-mentioned corresponding method. For the description of the auxiliary positioning method of the above-mentioned mobile terminal, please refer to the above, which will not be repeated here.

[0080] In the embodiment of the present application, the present application uses a Bluetooth module to assist the positioning module to interact with the location information of multiple terminals, thereby assisting in locating terminal devices with slow positioning speeds, speeding up their positioning speeds, and significantly improving the user experience.

[0081] Figure 4 FIG. 1 shows an internal structure diagram of a mobile terminal in an embodiment, for example, a microcomputer device. The computer device may specifically be Figure 1 The first terminal 110 in Figure 4 As shown, the computer device includes a processor, a memory, a network interface, an input device and a display screen connected through a system bus. Among them, the memory includes a non-volatile storage medium and an internal memory. The non-volatile storage medium of the computer device stores an operating system and may also store a computer program. When the computer program is executed by the processor, the processor can implement an auxiliary positioning method for a mobile terminal. The internal memory may also store a computer program. When the computer program is executed by the processor, the processor can execute an auxiliary positioning method for a mobile terminal. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or may be a button, trackball or touchpad provided on the housing of the computer device.

[0082] Those skilled in the art will understand that Figure 4 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0083] In one embodiment, the auxiliary positioning device for a mobile terminal provided in the present application can be implemented in the form of a computer program. The computer program can be Figure 4 The computer device shown in the figure is run. The memory of the computer device can store various program modules constituting the auxiliary positioning device of the mobile terminal, for example, Figure 3 The positioning requirement acquisition module 510, the real coordinate acquisition module 520, the virtual coordinate acquisition module 530 and the motion route generation module 540 are shown. The computer program composed of various program modules enables the processor to execute the steps of the auxiliary positioning method for the mobile terminal of each embodiment of the present application described in this specification.

[0084] For example, Figure 4 The computer device shown can be Figure 3 The positioning requirement acquisition module 510 in the auxiliary positioning device of the mobile terminal shown in the figure performs step S10. The computer device can perform step S20 through the real coordinate acquisition module 520. And so on.

[0085] In one embodiment, an auxiliary positioning system for a mobile terminal is proposed, including a memory and a processor, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of the auxiliary positioning method for the mobile terminal as described above.

[0086] In the embodiment of the present application, the system may refer to a smart watch containing software stored therein, etc. For the description of the auxiliary positioning method of the above-mentioned mobile terminal, please refer to the above text and will not be repeated here.

[0087] In the embodiment of the present application, the Bluetooth module is used to assist the positioning module in exchanging location information of multiple terminals, thereby assisting in locating terminal devices with slow positioning speeds, speeding up their positioning speeds, and significantly improving the user experience.

[0088] It should be understood that, although each step in the flow chart of each embodiment of the present application is shown in sequence according to the indication of the arrow, these steps are not necessarily performed in sequence according to the order indicated by the arrow. Unless there is clear explanation in this article, the execution of these steps does not have strict order restriction, and these steps can be performed in other orders. Moreover, at least a portion of the steps in each embodiment may include a plurality of sub-steps or a plurality of stages, and these sub-steps or stages are not necessarily performed at the same time, but can be performed at different times, and the execution order of these sub-steps or stages is not necessarily performed in sequence, but can be performed in turn or alternately with at least a portion of other steps or sub-steps or stages of other steps.

[0089] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the program can be stored in a non-volatile computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0090] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0091] The above-mentioned embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for assisting positioning of a mobile terminal, characterized in that: The method comprises: When the positioning requirement is obtained, the positioning module is started, and a first type of data string is sent based on the Bluetooth module, where the first type of data string includes a device ID and a location coordination request; After the positioning module obtains the real coordinates of the current device, the second type of data string is sent based on the Bluetooth module, where the second type of data string includes the device ID and the real coordinates of the current device; When the Bluetooth module obtains the second type of data string transmitted by other devices, the real coordinates of other devices contained in the second type of data string are resolved into the virtual coordinates of the current device; Determine the timing of obtaining the real coordinates and virtual coordinates of the current device: If the real coordinates are obtained first, a route is recorded based on the real coordinates to generate a movement route; If the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained when generating the first route, the virtual coordinates are switched to the real coordinates to record the route to obtain a second route; the first route and the second route are combined to obtain a motion route.

2. The auxiliary positioning method of a mobile terminal according to claim 1, characterized in that: The method for obtaining the positioning requirement is: Perform Bluetooth data monitoring and user command monitoring; When the first type of data string is obtained from the Bluetooth data and / or the active positioning instruction is obtained from the user instruction, it is assumed that the positioning requirement is obtained.

3. The auxiliary positioning method of a mobile terminal according to claim 1, characterized in that: The method further comprises: When the route is recorded based on the real coordinates, it is set to the first state, and the movement route generated in this state is recorded as the route ; When the first state is in progress and the real coordinate positioning signal acquisition fails, the second state is set; in this state, the route is recorded based on the virtual coordinates to obtain the route. ; Record the route based on the inertial navigation unit of the current device to obtain the route ; Based on the route and the route The confidence level of the route : in, It means comparing the confidence levels of the elements in the function and taking the maximum value; The route obtained when the first state is With the second state the route is obtained Integrate and get the movement route.

4. The auxiliary positioning method of a mobile terminal according to claim 3, characterized in that: Based on the route and the route The confidence level of the route The method is: ， in, Indicates the Bluetooth signal strength in decibel milliwatts. is the signal strength threshold.

5. The auxiliary positioning method of a mobile terminal according to claim 3, characterized in that: Record the route based on the inertial navigation unit of the current device to get the route The method is: Based on the sensors in the inertial navigation unit, get the velocity update: Among them, t represents the time, represents the initial moment, a is the acceleration component in a certain direction, represents the velocity component in a certain direction, Indicated in The initial velocity in a certain direction at time, Indicated in The change in acceleration over time; Based on the velocity update, get the position update: in, represents the displacement component in a certain direction, express The position component in a certain direction at a certain moment, Indicated in The change in velocity over time.

6. The auxiliary positioning method of a mobile terminal according to claim 1, characterized in that: The method further comprises: When a route recording stop command is received or the transmission of the second type of data string reaches a preset termination condition, the transmission of the second type of data string is stopped.

7. The auxiliary positioning method of a mobile terminal according to claim 1, characterized in that: The method further comprises: Determine the timing of obtaining the real coordinates and virtual coordinates of the current device: If the time when the virtual coordinates are obtained is earlier than the time when the real coordinates are obtained, the instruction of sending the second type of data string to the outside world based on the Bluetooth module is terminated, and only the route record of the current device is switched from the virtual coordinates to the real coordinates.

8. An auxiliary positioning device for a mobile terminal, characterized in that: The device comprises: A positioning requirement acquisition module, used to start the positioning module after acquiring the positioning requirement, and send a first type of data string based on the Bluetooth module, wherein the first type of data string includes a device ID and a location coordination request; A real coordinate acquisition module, used for sending a second type of data string based on the Bluetooth module after the positioning module acquires the real coordinates of the current device, wherein the second type of data string includes the device ID and the real coordinates of the current device; A virtual coordinate acquisition module, which is used to resolve the real coordinates of other devices contained in the second type of data string into virtual coordinates of the current device after the Bluetooth module acquires the second type of data string transmitted by other devices; The motion route generation module is used to determine the time sequence of obtaining the real coordinates and virtual coordinates of the current device: if the real coordinates are obtained first, the route is recorded based on the real coordinates to generate a motion route; if the virtual coordinates are obtained first, the route is recorded based on the virtual coordinates to generate a first route; if the real coordinates are obtained when generating the first route, the virtual coordinates are switched to the real coordinates for route recording to obtain a second route; the first route and the second route are combined to obtain a motion route.

9. An auxiliary positioning system for a mobile terminal, characterized in that: It comprises a memory and a processor, wherein the memory stores a computer program, and when the computer program is executed by the processor, the processor executes the steps of the auxiliary positioning method for a mobile terminal as claimed in any one of claims 1 to 7.

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