A method and system for automatically calibrating the position of indoor WIFI access points

Abstract

The present invention discloses an automatic calibration method and system for indoor positioning WIFI access point positions, belonging to the field of indoor positioning technology. The method comprises: a terminal device receives original observation information of navigation satellites using a GNSS module in an outdoor scene, and solves a high-precision position in combination with enhanced positioning service data; at the same time, the access point establishes an FTM connection with the terminal device, obtains ranging data and signal strength information, and constructs these information into information units, which are stored in the memory of the access point; when the data in the memory reaches a certain amount, an equation is constructed to solve the access point position; and real-time judgment is performed on the newly added information units for iterative updating of the access point position. The present invention does not require manual intervention, and as the amount of available information increases, the position accuracy of the access point will gradually increase, thereby realizing the automatic calibration and calibration of the spatial reference from outdoor to indoor and the indoor positioning spatial reference.

Description

Technical Field

[0001] The invention belongs to the technical field of indoor positioning, and in particular relates to a method and system for automatically calibrating the position of an indoor WIFI access point. Background Art

[0002] With the development of society, the demand for location-based services (LBS) is increasing. The Global Navigation Satellite System (GNSS) can achieve high-precision positioning in outdoor environments and meet LBS requirements in open sky environments. However, in the case of signal obstruction (such as inside a building), the GNSS signal is damaged, resulting in a significant reduction in positioning accuracy. At present, many technologies have been used to solve the positioning problem when GNSS positioning fails, such as Ultra Wide Band (UWB), Radio-Frequency Identification (RFID), Ultrasonic, Inertial Navigation System (INS), Bluetooth, Received Signal Strength Indicator (RSSI) methods, etc., but most of them have problems with accuracy or scalability. WIFI access points (APs) are widely installed in public places as a low-cost device and can be used for indoor positioning when their location is known. Therefore, it is extremely critical to obtain the location of WIFI access points.

[0003] The existing technical means is to obtain the location of access points through manual measurement. The specific process includes using tools such as rangefinders to manually record the coordinates of each access point and input these data into the positioning system. However, this method has many disadvantages: high labor costs and low efficiency; since the measurement and recording process is completely dependent on manual operation, it is easily affected by human factors and leads to large errors; it is difficult to maintain, and environmental changes require regular re-measurement and data update, which is not suitable for dynamic environments; it is difficult to apply in large-scale deployment. How to use automated and intelligent positioning methods to obtain the location of WIFI access points at a low cost and transfer the spatial reference from outdoor to indoor, so as to achieve the unification of indoor and outdoor spatial references, is a key issue that has not yet been resolved. Summary of the invention

[0004] In order to solve the above technical problems, the present invention provides a method and system for automatic calibration of indoor positioning WIFI access point positions, which calculates the terminal device position through a built-in GNSS high-precision positioning module of the terminal device, obtains the precise time measurement (FTM) ranging information between the terminal device and the access point, constructs an information unit, and uses it to dynamically and automatically calibrate the access point position, thereby realizing the transmission of the spatial reference from outdoor to indoor.

[0005] To achieve the above purpose, the technical solution adopted by the present invention is as follows:

[0006] A method for automatically calibrating the position of an indoor WIFI access point, comprising:

[0007] Step S100, the terminal device starts a high-precision positioning module, obtains GNSS original observation data and enhanced positioning service data, performs high-precision positioning solution to obtain terminal location information, establishes a precise time measurement response connection with a WIFI access point, obtains ranging information and signal strength information; and stores the terminal location information, ranging information, and signal strength information as an information unit in the memory of the WIFI access point;

[0008] Step S200, when the information units in the memory reach a preset number, a residual vector and a corresponding normal equation coefficient matrix are constructed, and the location of the WIFI access point is solved and stored;

[0009] Step S300: dynamically update the location of the WIFI access point based on the continuous increase in the number of information units until it is in a stable state.

[0010] On the other hand, the present invention provides an indoor positioning WIFI access point position automatic calibration system, comprising:

[0011] The information unit acquisition module is used to enable the terminal device to start the high-precision positioning module, obtain the GNSS original observation data and enhanced positioning service data, perform high-precision positioning solution to obtain the terminal location information, establish a precise time measurement response connection with the WIFI access point, and obtain the ranging information and signal strength information; the terminal location information, ranging information, and signal strength information are stored as an information unit in the memory of the WIFI access point;

[0012] The position calculation module is used to construct the residual vector and the corresponding normal equation coefficient matrix when the information units in the memory reach the preset number, calculate the location of the WIFI access point and store it;

[0013] The location update module is used to dynamically update the location of the WIFI access point based on the continuous increase in the number of information units until it is in a stable state.

[0014] In a third aspect, the present invention provides an electronic device, comprising: one or more processors for executing one or more programs; a memory for storing one or more programs; wherein, when one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method for automatic calibration of indoor positioning WIFI access point positions.

[0015] In a fourth aspect, the present invention provides a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned method for automatically calibrating the position of an indoor WIFI access point.

[0016] The beneficial effects of the present invention are:

[0017] The present invention uses satellite navigation systems and positioning enhancement data to perform high-precision positioning of terminal devices, and combines the ranging information and signal strength information between the access point and the terminal device to achieve access point location solution without manual measurement. At the same time, as the available information increases, the access point location will be dynamically updated with higher accuracy. Ultimately, the spatial reference is transferred from outdoor to indoor, and the indoor and outdoor spatial references are unified, supporting seamless and continuous positioning indoors and outdoors. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 This is a method and system flow chart for automatically calibrating the position of an indoor WIFI access point according to the present invention;

[0019] Figure 2 The figure is a schematic diagram of the framework of an example of the present invention. DETAILED DESCRIPTION

[0020] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0021] In order to more clearly show the purpose, technical solutions and advantages of the present invention, the present invention is described in detail in conjunction with specific embodiments and with reference to the accompanying drawings. These descriptions are only examples and are not intended to limit the scope of the present invention. In order to avoid unnecessary confusion, the following content omits the description of the formula structure and technology. Based on these embodiments, other embodiments obtained by ordinary technicians in the field without creative work are all within the scope of protection of the present invention.

[0022] The present invention is described in detail below with reference to the accompanying drawings and examples.

[0023] The present invention provides a method for automatically calibrating the position of an indoor WIFI access point. Figure 1 As shown, the following steps are included:

[0024] Step S100: The terminal device starts the high-precision positioning module, obtains the original GNSS observation data and enhanced positioning services, calculates the high-precision coordinate position and converts it to the coordinate frame required for subsequent calculations, and establishes an FTM channel response connection with the WIFI access point to obtain ranging information and signal strength information RSSI, such as Figure 2 As shown; using the location, ranging information, and signal strength information to construct an information unit and store it in the access point memory. The step S100 specifically includes:

[0025] S101, the terminal device starts the GNSS high-precision positioning module to obtain original observation data, and at the same time obtains enhanced service data through the enhanced positioning service data center;

[0026] Specifically, in an area, there are WIFI access points that support the FTM ranging function, and their locations are unknown. When the user moves the terminal device in the area, the terminal device starts the high-precision positioning module, captures and tracks the GNSS navigation satellite signals to obtain the original observation information such as pseudorange, carrier phase, Doppler, and carrier-to-noise ratio; on the other hand, it connects to the enhanced positioning service data center through the ground network or satellite communication to obtain the GNSS multi-system satellite broadcast ephemeris real-time data stream and the enhanced positioning service real-time data stream corresponding to the adopted high-precision positioning technology mode; among them, when the real-time kinematic positioning (RTK) mode is used, the RTK error correction information is obtained; when the precise point positioning (PPP) mode is used, the PPP error correction information is obtained; when the precise point real-time kinematic positioning (PPP-RTK) mode is used, the PPP-RTK error correction information is obtained.

[0027] S102, using the original observation data and the enhanced positioning service center data to perform GNSS high-precision positioning solution to obtain the high-precision coordinate position of the terminal device in the subsequent calculation coordinate system;

[0028] Specifically, the GNSS high-precision positioning module of the terminal device performs GNSS high-precision positioning solution according to the adopted high-precision positioning mode and the acquired original satellite observation data of the terminal device and the enhanced positioning service center data, and calculates the terminal device position coordinates in the same coordinate frame as the service center error correction information, and then converts the terminal device position coordinates to the coordinate frame to be adopted through the coordinate system conversion parameters to ensure that the obtained high-precision position coordinates of the terminal device are consistent with the coordinate frame to be adopted.

[0029] Step S103, the terminal device establishes an FTM response connection with the WIFI access point, sends ranging signals to each other through the FTM protocol, and records the round-trip time of the signal and the signal strength information RSSI;

[0030] Step S104, calculating the distance between the terminal device and the access point using the signal round trip time;

[0031] Step S105, using the high-precision coordinates of the terminal device, signal strength information, and ranging information to construct an information unit and store it in the memory of the access point. At the same time, the terminal device and the access point establish an FTM response to obtain multiple ranging information (i.e., the distance measurement value between the access point and the terminal device) and signal strength information. The ranging information is optimized using Gaussian filtering and the above information is stored as an information unit.

[0032] Step S200, determine whether the number of information units reaches the number of coordinate solutions, if so, perform WIFI access point coordinate solution; if not, continue to execute S100. When performing WIFI access point solution, it is necessary to use information unit error weighting to improve the accuracy of WIFI access point coordinates.

[0033] The step S200 specifically includes:

[0034] Step S201, performing Gaussian filtering on the distance measurement information in the information unit, and updating the information unit using the optimized distance measurement information;

[0035] Specifically, the information unit contains multiple ranging information, which is regarded as the original signal , the response function of the Gaussian filter is , by convolving the signal with a Gaussian function, the filtered signal can be obtained , the calculation formula is as follows:

[0036] ,

[0037] Obtain optimized ranging information and update the information unit;

[0038] Step S202, constructing the parameter vector to be estimated and the observation value weight matrix;

[0039] Specifically, the parameter vector to be estimated is the three-dimensional coordinate of the access point, and the dimension of the observation value weight matrix is ​​determined by the number of information units. When there are information units, the corresponding observation weight matrix dimension is , the observation value weight is inversely proportional to the signal strength in different information units, and the observation value weight is:

[0040] ,

[0041] In the formula, For the The terminal device is in The signal strength information at each moment, c is a constant value introduced to avoid the logarithm being zero. The weights are normalized:

[0042] ,

[0043] In the formula, Indicates the number of terminal devices, Indicates the number of measurements for each end device.

[0044] The final observation weight matrix The form is:

[0045] .

[0046] Step S203, constructing a residual vector and a corresponding normal equation coefficient matrix according to the parameter vector to be estimated and the observed value weight matrix, and solving the normal equation to obtain the access point coordinates;

[0047] Assume that the actual coordinates of the WIFI access point to be estimated are The information unit contains the following information: ,in For the The terminal device is in of the moment coordinate, For the The terminal device is in The distance measurement information between each moment and the WIFI access point under the condition of precise time measurement;

[0048] remember Indicates the geometric distance from the WIFI access point to the terminal device location stored in the information unit:

[0049] ,

[0050] Based on the arrival time difference positioning method, the following equations are obtained:

[0051] ,

[0052] but Represents the WIFI access point to the The three-dimensional coordinates of the terminal device With reference to the terminal device The distance difference;

[0053] Possible locations of WIFI access points The information contained in the information unit The constraint relationship between them is expressed by a function express;

[0054] ,

[0055] Set up The estimated coordinates of the WIFI access point for the iteration are , then here Performing Taylor expansion and ignoring components above the second order, we have:

[0056] ,

[0057] , , It is the coordinate update amount in the X, Y, and Z directions, which is used to describe the adjustment of the current coordinate estimate in each iteration.

[0058] The converted matrix form is:

[0059] ,

[0060] represents the observation residual vector, is the observation vector, represents the coefficient matrix, represents the parameter correction vector;

[0061] Observation vector The observation value in, that is, the FTM ranging information, is used express:

[0062] ,

[0063] in, is the true distance between the WIFI access point and the terminal device, is the observation error;

[0064] The weighted least squares solution of is:

[0065] ,

[0066] in, represents the observation weight matrix, and the superscript -1 represents the inverse operation. In the next recursive calculation, let , , , update the coordinate value of the WIFI access point for iterative calculation, and the objective function of the iteration is:

[0067] ,

[0068] is the first error threshold, which is the maximum allowable error limit set when iteratively correcting the location of the WIFI access point; the iterative calculation is stopped when the error meets the set threshold value, and the updated value after the last iterative calculation is used as the coordinate of the WIFI access point .

[0069] The specific calculation process is as follows:

[0070] 1) Set the approximate location of the WIFI access point:

[0071] In the first iteration, take ,

[0072] 2) , Represents the observation residual vector:

[0073] ,

[0074] ,

[0075] ,

[0076] 3) Solving the equation , find the positioning result:

[0077] ,

[0078] ,

[0079] 4) Update the location of the AP access point to , repeat the above process until the error meets the set threshold value and stops the iterative calculation, that is:

[0080] ,

[0081] The access point coordinates can be obtained through the above steps .

[0082] Step S204, storing the calculated access point coordinates into its memory unit.

[0083] Step S300: After the WIFI access point coordinates are solved, the system determines whether there are new information units. If so, the information unit error is calculated and it is determined whether the error meets the threshold; if so, the weight is determined according to the information unit error, so as to update the WIFI access point coordinates. As the number of information units continues to increase, the WIFI access point coordinates will be dynamically adjusted until a stable state is reached.

[0084] The step S300 specifically includes the following steps:

[0085] Step S301, determining whether the newly added information unit is available;

[0086] Specifically, first use the current WIFI access point location , and the information of the newly added information unit , calculate the distance between the WIFI access point location and the terminal device location in the information unit, the formula is as follows:

[0087] ,

[0088] Subtract it from the ranging information in the information unit, the formula is as follows:

[0089] ,

[0090] Define the second error threshold , used to determine the maximum allowable error between the distance information of the newly added information unit and the current estimated distance. Less than the second error threshold , then use the newly added information unit to update the WIFI access point location; if it exceeds the second error threshold , then the difference Treated as an alarm unit, the new WIFI access point location is calculated , recalculate the distance between the new WIFI access point location and the terminal device location in the information unit , and ranging information The difference , calculate the total error of the current information unit , and compare it with the total error of the previous information unit For comparison, if the total error of the current information unit is increases, the alarm unit information is discarded; if the total error of the current information unit If it decreases, the alarm unit is used to update the WIFI access point location step S302, and the access point location is updated using the new information unit.

[0091] The present invention also relates to an automatic calibration system for indoor positioning WIFI access point positions, comprising:

[0092] The information unit acquisition module is used to enable the terminal device to start the high-precision positioning module, obtain the GNSS original observation data and enhanced positioning service data, perform high-precision positioning solution to obtain the terminal location information, establish a precise time measurement response connection with the WIFI access point, and obtain the ranging information and signal strength information; the terminal location information, ranging information, and signal strength information are stored as an information unit in the memory of the WIFI access point;

[0093] The position calculation module is used to construct the residual vector and the corresponding normal equation coefficient matrix when the information units in the memory reach the preset number, calculate the location of the WIFI access point and store it;

[0094] The location update module is used to dynamically update the location of the WIFI access point based on the continuous increase in the number of information units until it is in a stable state.

[0095] In summary, the present invention provides a method and system for automatically calibrating the position of indoor WIFI access points, which does not require manual measurement of the access point position, and as the available data increases, the access point position will be dynamically updated with high accuracy, and the spatial reference can be transferred from outdoor to indoor, thereby realizing the unification of indoor and outdoor spatial references, and providing a corresponding positioning basis for seamless indoor and outdoor positioning.

[0096] The present invention also relates to an electronic device, comprising: one or more processors for executing one or more programs; a memory for storing one or more programs; wherein, when the one or more programs are executed by the one or more processors, the one or more processors implement the aforementioned method for automatic calibration of WIFI access point positions based on GNSS positioning and RTT ranging.

[0097] The present invention also relates to a computer-readable storage medium having executable instructions stored thereon, which, when executed by a processor, enables the processor to implement the aforementioned method for automatically calibrating the position of a WIFI access point based on GNSS positioning and RTT ranging.

[0098] The specific embodiments described above further illustrate the objectives, technical solutions and beneficial effects of the present invention in detail. It should be understood that the above description is only a specific embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A method for automatically calibrating the position of an indoor WIFI access point, characterized in that: include: Step S100, the terminal device starts a high-precision positioning module, obtains GNSS original observation data and enhanced positioning service data, performs high-precision positioning solution to obtain terminal location information, establishes a precise time measurement response connection with a WIFI access point, obtains ranging information and signal strength information; and stores the terminal location information, ranging information, and signal strength information as an information unit in the memory of the WIFI access point; Step S200, when the number of information units in the memory reaches a preset number, construct a residual vector and a corresponding normal equation coefficient matrix, solve the location of the WIFI access point and store it; including: Step S201, performing Gaussian filtering on the distance measurement information in the information unit, and updating the information unit using the filtered distance measurement information; Step S202, constructing a parameter vector to be estimated and an observation value weight matrix; Step S203, constructing a residual vector and a corresponding normal equation coefficient matrix according to the parameter vector to be estimated and the observed value weight matrix, and solving the normal equation to obtain the coordinates of the WIFI access point; Step S204, storing the calculated WIFI access point coordinates in a memory unit; Step S300: dynamically update the location of the WIFI access point based on the continuous increase in the number of information units until it is in a stable state.

2. According to claim 1, a method for automatically calibrating the position of an indoor positioning WIFI access point is characterized in that: The step S100 specifically includes the following steps: Step S101: The terminal device starts the GNSS high-precision positioning module, obtains the GNSS original observation data, and obtains enhanced positioning information through the enhanced positioning service data center; Step S102, using the GNSS original observation data and the enhanced positioning information to perform GNSS high-precision positioning solution to obtain high-precision coordinate information of the terminal device; Step S103, the terminal device establishes a precise time measurement response connection with the WIFI access point, sends ranging signals to each other through the precise time measurement protocol, and records the round-trip time and signal strength information of the ranging signal; Step S104, calculating the distance between the terminal device and the WIFI access point using the round trip time of the ranging signal; Step S105, constructing an information unit based on the high-precision coordinate information, distance measurement information, and signal strength information of the terminal device and storing it in the memory of the WIFI access point.

3. The method for automatically calibrating the position of an indoor WIFI access point according to claim 2, characterized in that: In step S101, the GNSS high-precision positioning module captures and tracks GNSS navigation satellite signals through a built-in GNSS chip to obtain original observation information including pseudorange, carrier phase, Doppler, and carrier-to-noise ratio; and obtains the GNSS multi-system satellite broadcast ephemeris real-time data stream and the error correction information real-time data stream corresponding to the adopted high-precision positioning mode through a ground network or satellite communication connection enhanced positioning service data center, wherein when the real-time dynamic positioning mode is used, the RTK error correction information is obtained; when the precise single-point positioning mode is used, the PPP error correction information is obtained; when the precise single-point real-time dynamic positioning mode is used, the PPP-RTK error correction information is obtained.

4. The method for automatically calibrating the position of an indoor WIFI access point according to claim 2, characterized in that: In step S102, the GNSS high-precision positioning module of the terminal device performs GNSS high-precision positioning solution according to the adopted high-precision positioning mode, the acquired original satellite observation data of the terminal device and the enhanced positioning service data, calculates the terminal device position coordinates in the same coordinate system framework as the enhanced positioning service center error correction information, and then converts the terminal device position coordinates to the coordinate frame to be adopted through the coordinate system conversion parameters.

5. The method for automatically calibrating the position of an indoor WIFI access point according to claim 1, characterized in that: In step S201, the multiple ranging information contained in the information unit is regarded as the original signal , the response function of the Gaussian filter is , by the original signal Perform Gaussian function convolution to obtain the filtered signal : 。 6. The method for automatically calibrating the position of an indoor WIFI access point according to claim 1, characterized in that: In step S202, the parameter vector to be estimated includes the coordinates of the WIFI access point; the observation value weight is inversely proportional to the signal strength in different information units, wherein the observation value weight is: ， In the formula, For the The terminal device is in The signal strength information at each moment, c is a constant value introduced to avoid the logarithm being zero; the observation weights are normalized: ， In the formula, Indicates the number of terminal devices, Indicates the number of measurements for each terminal device; The final observation weight matrix The form is: 。 7. The method for automatically calibrating the position of an indoor WIFI access point according to claim 1, characterized in that: In step S203, it is assumed that the actual coordinates of the WIFI access point to be estimated are The information contained in the information unit is ,in For the The terminal device is in The three-dimensional coordinates of a moment, For the The terminal device is in The distance measurement information between each moment and the WIFI access point under the condition of precise time measurement; remember Indicates the geometric distance from the WIFI access point to the terminal device location stored in the information unit: ， Based on the arrival time difference positioning method, the following equations are obtained: ， but Represents the WIFI access point to the The terminal device is in The three-dimensional coordinates of the moment With reference to the terminal device The distance difference; Possible locations of WIFI access points The information contained in the information unit The constraint relationship between them is expressed by the function The expression is: ， Set up The estimated coordinates of the WIFI access point for the iteration are , then here Performing Taylor expansion and ignoring components above the second order, we have: ， , , is the coordinate update amount in the X, Y, and Z directions, which is used to describe the adjustment of the current coordinate estimate in each iteration; The converted matrix form is: ， represents the observation residual vector, is the observation vector, represents the coefficient matrix, represents the parameter correction vector; Observation vector The observation value in, that is, the distance measurement information under the condition of precise time measurement : ， in, is the observation error; The weighted least squares solution of is: ， in, Represents the observation value weight matrix, and the superscript -1 represents the inverse operation. In the next recursive calculation, let , , , update the coordinate value of the WIFI access point for iterative calculation, and the objective function of the iteration is: ， In the formula, Indicates the first error threshold, which is the maximum allowable error limit set when iteratively correcting the WIFI access point location; the iterative calculation is stopped when the error meets the set threshold value, and the updated value after the last iterative calculation is used as the coordinates of the WIFI access point .

8. The method for automatically calibrating the position of an indoor WIFI access point according to claim 1, characterized in that: The step S300 specifically includes the following steps: Step S301, determining whether the newly added information unit is available; Step S302: Update the location of the WIFI access point using the newly added information unit.

9. The method for automatically calibrating the position of an indoor WIFI access point according to claim 8, characterized in that: The information of the newly added information unit in step S301 is , calculate the distance between the terminal device location in the newly added information unit and the current WIFI access point location, the formula is as follows: ， Add the distance between the terminal device and the current WIFI access point in the newly added information unit Subtract the distance information from the newly added information unit: ， Define the second error threshold , used to determine the maximum allowable error limit between the distance information of the newly added information unit and the current estimated distance. If the difference Less than the second error threshold , then use the newly added information unit to update the WIFI access point location; if it exceeds the second error threshold , then the difference Treated as an alarm unit, the new WIFI access point location is calculated , recalculate the distance between the new WIFI access point location and the terminal device location in the information unit , and ranging information The difference , calculate the total error of the current information unit , the total error of the current information unit Total error with previous information unit For comparison, if the total error of the current information unit is increases, the alarm unit information is discarded; if the total error of the current information unit decreases, the alarm unit is used to update the location of the WIFI access point.

10. An indoor positioning WIFI access point automatic calibration system, characterized in that: include: The information unit acquisition module is used to enable the terminal device to start the high-precision positioning module, obtain the GNSS original observation data and enhanced positioning service data, perform high-precision positioning solution to obtain the terminal location information, establish a precise time measurement response connection with the WIFI access point, and obtain the ranging information and signal strength information; the terminal location information, ranging information, and signal strength information are stored as an information unit in the memory of the WIFI access point; The position calculation module is used to construct the residual vector and the corresponding normal equation coefficient matrix when the information units in the memory reach the preset number, calculate the location of the WIFI access point and store it; The method comprises: performing Gaussian filtering on the ranging information in the information unit, and updating the information unit using the filtered ranging information; constructing a parameter vector to be estimated and an observation value weight matrix; constructing a residual vector and a corresponding normal equation coefficient matrix according to the parameter vector to be estimated and the observation value weight matrix, and solving the normal equation to obtain the coordinates of the WIFI access point; and storing the solved WIFI access point coordinates in a memory unit; The location update module is used to dynamically update the location of the WIFI access point based on the continuous increase in the number of information units until it is in a stable state.

11. An electronic device, characterized in that: include: One or more processors for executing one or more programs; A memory for storing one or more programs; Wherein, when one or more programs are executed by the one or more processors, the one or more processors implement the method for automatically calibrating the position of an indoor positioning WIFI access point as described in any one of claims 1-9.

12. A computer-readable storage medium, characterized in that: Executable instructions are stored thereon, and when the instructions are executed by the processor, the processor can implement the method for automatically calibrating the position of an indoor positioning WIFI access point as described in any one of claims 1-9.

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