Terminal equipment positioning method and device and computer readable storage medium

Abstract

The invention provides a terminal equipment positioning method and device and a computer readable storage medium. The method comprises the following steps: acquiring signal strengths of at least three communication base stations which can be received by terminal equipment; obtaining the distance between the terminal equipment and each communication base station according to the signal intensity of the at least three communication base stations, which can be received by the terminal equipment; according to the distance between the terminal device and each communication base station, obtaining a preliminary estimated position of the terminal device through a weighted centroid positioning algorithm; and sending the preliminary estimated position of the terminal device to a target communication base station communicating with the terminal device, so that the target communication base station obtains a final estimated position of each terminal device through an evolutionary algorithm according to the received preliminary estimated position of each terminal device. According to the method, the device and the computer readable storage medium, the problem of large error between the terminal equipment positioning obtained by the existing terminal equipment positioning method and the actual position of the user terminal can be solved.

Description

Technical Field

[0001] The present invention relates to the field of communication technology, and in particular to a terminal equipment positioning method, device and computer-readable storage medium. Background Art

[0002] Wireless cellular networks, consisting of a wide range of communication base stations and numerous user devices (such as mobile phones and tablets), have become the core platform for accurately disseminating information to a wide range of users. Its characteristics are wide coverage, a large user base, ease of use and reasonable cost. These characteristics make it an extremely important information transmission medium. However, the efficiency and effectiveness of this transmission method are highly dependent on accurately knowing the specific location of the user terminal, which makes how to achieve accurate user positioning a major problem in information push using cellular networks.

[0003] At present, there is a large error between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a terminal device positioning method, device and computer-readable storage medium in view of the above-mentioned shortcomings of the prior art, so as to solve the problem that there is a large error between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal.

[0005] In a first aspect, the present invention provides a terminal device positioning method, which is applied to a terminal device, and the method includes:

[0006] Obtaining signal strengths of at least three communication base stations that can be received by the terminal device;

[0007] Obtaining the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device;

[0008] According to the distance between the terminal device and each of the communication base stations, a preliminary estimated position of the terminal device is obtained by a weighted centroid positioning algorithm;

[0009] The preliminary estimated position of the terminal device is sent to a target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

[0010] Further, obtaining the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device specifically includes:

[0011] For each of the at least three communication base stations, calculating a preliminary estimated distance between the terminal device and the communication base station according to a signal strength of the communication base station that can be received by the terminal device;

[0012] According to the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is obtained.

[0013] Further, the calculating the preliminary estimated distance between the terminal device and the communication base station according to the signal strength of the communication base station that can be received by the terminal device specifically includes:

[0014] The preliminary estimated distance between the terminal device and the communication base station is calculated by the following formula:

[0015]

[0016] in, is the preliminary estimated distance between the terminal device and the communication base station, D0 is the reference distance, RSSI (D0) is the signal strength of the communication base station that the terminal device can receive at the reference distance, is the signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, x σ is the uncertainty factor.

[0017] Further, obtaining the final estimated distance between the terminal device and each of the communication base stations according to the preliminary estimated distance between the terminal device and each of the communication base stations specifically includes:

[0018] Calculating the Euclidean distance between each of the communication base stations and other corresponding communication base stations among the at least three communication base stations according to the position of each of the communication base stations;

[0019] Obtaining a preliminary estimated distance between each communication base station and the corresponding other communication base stations according to the signal strength of the corresponding other communication base stations that can be received by each communication base station;

[0020] Calculating a path scaling factor of each of the communication base stations according to the Euclidean distance between each of the communication base stations and the corresponding other communication base stations and the preliminary estimated distance;

[0021] According to the path scaling factor of each of the communication base stations and the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is calculated.

[0022] Furthermore, the calculation formula of the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is:

[0023]

[0024] Among them, d i，j is the Euclidean distance between the i-th communication base station and the corresponding other j-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x j ,y j ) is the position of the i-th communication base station corresponding to the other j-th communication base station;

[0025] The calculation formula of the path scaling factor of each communication base station is:

[0026]

[0027] Among them, α i is the path scaling factor of the i-th communication base station, K is the number of communication base stations, is the preliminary estimated distance between the i-th communication base station and the corresponding other j-th communication base station;

[0028] The calculation formula for the final estimated distance between the terminal device and each of the communication base stations is:

[0029]

[0030] Among them, ρ i，l is the final estimated distance between terminal device l and the i-th communication base station, is the preliminary estimated distance between terminal device l and the i-th communication base station.

[0031] Further, obtaining the preliminary estimated position of the terminal device by a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations specifically includes:

[0032] According to the distance between the terminal device and each of the communication base stations, construct a weight coefficient between the terminal device and each of the communication base stations, wherein the weight coefficient is used to reflect the influence of the corresponding communication base station on the location of the terminal device;

[0033] According to the weight coefficients of the terminal device and each of the communication base stations, a weighted centroid positioning algorithm is used to obtain a preliminary estimated position of the terminal device.

[0034] In a second aspect, the present invention provides a terminal device positioning method, which is applied to a target communication base station, and the method includes:

[0035] Receiving a preliminary estimated position of a terminal device sent by at least one terminal device, the preliminary estimated position of the terminal device being sent after the terminal device obtains the signal strength of at least three communication base stations that can be received by the terminal device, obtains the distance between the terminal device and each of the communication base stations based on the signal strength of at least three communication base stations that can be received by the terminal device, and obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations;

[0036] According to the received preliminary estimated position of each terminal device, the final estimated position of each terminal device is obtained by an evolutionary algorithm.

[0037] Furthermore, obtaining the final estimated position of each terminal device by an evolutionary algorithm according to the received preliminary estimated position of each terminal device specifically includes:

[0038] For each of the terminal devices, the evolutionary algorithm is used to calculate the final estimated position of the terminal device based on the preliminary estimated position of the terminal device and the positions of the at least three communication base stations to which the terminal device can be connected.

[0039] Furthermore, after obtaining the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device, the method further includes:

[0040] Acquire terminal devices located within a pre-defined electronic fence according to the final estimated position of each terminal device, and generate a terminal device list;

[0041] Sending the terminal device list with a timestamp to other communication base stations within a preset range;

[0042] Receiving reply information returned by other communication base stations based on the terminal device list with a timestamp attached;

[0043] A final terminal device list is determined according to the reply information, and a message is pushed to each terminal device in the final terminal device list.

[0044] In a third aspect, the present invention provides a terminal device positioning device, which is arranged in a terminal device, and the device comprises:

[0045] An acquisition module, used to acquire signal strengths of at least three communication base stations that can be received by the terminal device;

[0046] A first obtaining module, connected to the acquisition module, is used to obtain the distance between the terminal device and each of the communication base stations according to the signal strength of at least three communication base stations that can be received by the terminal device;

[0047] A second obtaining module, connected to the first obtaining module, is used to obtain a preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations;

[0048] The first sending module is connected to the second obtaining module, and is used to send the preliminary estimated position of the terminal device to the target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

[0049] In a fourth aspect, the present invention provides a terminal equipment positioning device, which is arranged at a target communication base station, and the device comprises:

[0050] A first receiving module, used to receive a preliminary estimated position of a terminal device sent by at least one terminal device, wherein the preliminary estimated position of the terminal device is obtained by the terminal device after obtaining the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the distance between the terminal device and each of the communication base stations according to the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations;

[0051] A positioning module is connected to the first receiving module and is used to obtain a final estimated position of each of the terminal devices through an evolutionary algorithm based on the received preliminary estimated position of each of the terminal devices.

[0052] In a fifth aspect, the present invention provides a terminal device positioning apparatus, comprising a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the terminal device positioning method described in the first aspect or the second aspect above.

[0053] In a sixth aspect, the present invention provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the terminal device positioning method described in the first aspect or the second aspect is implemented.

[0054] The terminal device positioning method, device and computer-readable storage medium provided by the present invention first obtain the signal strength of at least three communication base stations that the terminal device can receive; then obtain the distance between the terminal device and each of the communication base stations based on the signal strength of at least three communication base stations that the terminal device can receive; then obtain the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations; finally, send the preliminary estimated position of the terminal device to a target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each of the terminal devices through an evolutionary algorithm based on the received preliminary estimated position of each of the terminal devices. The present invention obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and gives a more accurate final estimated position of the terminal device through an evolutionary algorithm based on the preliminary estimated position of the terminal device, thereby solving the problem of large errors between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal. BRIEF DESCRIPTION OF THE DRAWINGS

[0055] Figure 1 This is a flow chart of a terminal device positioning method according to Embodiment 1 of the present invention;

[0056] Figure 2 A flowchart of another terminal device positioning method according to an embodiment of the present invention;

[0057] Figure 3 This is a flow chart of a terminal device positioning method according to Embodiment 2 of the present invention;

[0058] Figure 4 This is a schematic diagram of the structure of a terminal device positioning device according to Embodiment 3 of the present invention;

[0059] Figure 5 This is a schematic diagram of the structure of a terminal equipment positioning device according to Embodiment 4 of the present invention;

[0060] Figure 6 This is a structural schematic diagram of a terminal equipment positioning device according to embodiment 5 of the present invention. DETAILED DESCRIPTION

[0061] In order to enable those skilled in the art to better understand the technical solution of the present invention, the embodiments of the present invention will be further described in detail below with reference to the accompanying drawings.

[0062] It should be understood that the specific embodiments and drawings described herein are only used to explain the present invention rather than to limit the present invention.

[0063] It can be understood that, in the absence of conflict, the various embodiments of the present invention and the various features in the embodiments can be combined with each other.

[0064] It can be understood that, for the convenience of description, the drawings of the present invention only show the parts related to the present invention, while the parts irrelevant to the present invention are not shown in the drawings.

[0065] It can be understood that each unit and module involved in the embodiments of the present invention may correspond to only one physical structure, or may be composed of multiple physical structures, or multiple units and modules may be integrated into one physical structure.

[0066] It can be understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of the present invention may occur in an order different from that marked in the drawings.

[0067] It is understood that the flowcharts and block diagrams of the present invention illustrate the possible architectures, functions, and operations of the systems, devices, equipment, and methods according to the various embodiments of the present invention. Each box in the flowchart or block diagram may represent a unit, module, program segment, or code, which contains executable instructions for implementing the specified functions. Moreover, each box or combination of boxes in the block diagram and flowchart may be implemented by a hardware-based system that implements the specified functions, or may be implemented by a combination of hardware and computer instructions.

[0068] It can be understood that the units and modules involved in the embodiments of the present invention can be implemented by software or hardware. For example, the units and modules can be located in a processor.

[0069] Application Overview

[0070] Wireless cellular networks, consisting of a wide range of communication base stations and numerous user devices (such as mobile phones and tablets), have become the core platform for accurately disseminating information to a wide range of users. Its characteristics are wide coverage, a large user base, ease of use and reasonable cost. These characteristics make it an extremely important information transmission medium. However, the efficiency and effectiveness of this transmission method are highly dependent on accurately knowing the specific location of the user terminal, which makes how to achieve accurate user positioning a major problem in information push using cellular networks.

[0071] Currently, many problems such as large positioning errors, excessive deductions, and inaccurate information push are frequently encountered. Although some people have proposed to deal with these problems by turning on the global positioning system (GPS) receiver in the user device, GPS is not an ideal solution. The main reason is that the use of GPS not only increases network operating costs and equipment energy consumption, but also GPS signals cannot be effectively received in certain environments such as indoor spaces. In view of this, using communication base stations for location estimation has become another option. The locations of these base stations are usually fixed and known, and the terminal device can estimate its own location by analyzing the relative location information with neighboring base stations. This process is divided into two stages: first, the approximate distance of each terminal relative to its surrounding base stations is estimated by means of technical means such as angle of arrival (AoA) measurement, distance-related measurement methods, and received signal strength indication (RSSI). Then, in the second stage, the positioning algorithm is used to convert the above measured distance information into specific geographical coordinates. However, one challenge in the execution of this algorithm is the location error caused by inaccurate distance estimation between the base station and other terminals in the network. To solve this problem and improve positioning accuracy, researchers have explored and implemented a variety of technical means to provide the most accurate location positioning services for all terminal devices within the network.

[0072] Domestic scholars have conducted a series of studies on high-precision electronic fence message publishing systems. The scholars have mainly conducted relevant research from the aspects of node positioning methods, positioning algorithms, sensor node design, environmental factors, etc. In terms of node positioning methods, common node positioning methods include positioning based on signal strength, positioning based on Doppler effect, positioning based on angle estimation, etc. Different positioning methods are suitable for different scenarios and application requirements. In terms of positioning algorithms, in order to achieve accurate positioning of nodes, various positioning algorithms need to be designed and applied. Common positioning algorithms include least squares method, Bayesian positioning algorithm, etc. These algorithms play an important role in node position estimation and positioning accuracy. In terms of sensor node design, node design in wireless sensor networks is crucial for the application of positioning technology. The hardware design, communication protocol, energy management, etc. of the node will affect the positioning performance and reliability of the node. In terms of environmental factors, in the process of node positioning, environmental factors such as signal attenuation, multipath effect, interference, etc. will affect the positioning results. Therefore, it is necessary to consider environmental factors and take corresponding measures to improve positioning accuracy.

[0073] In order to solve the problem of large errors between the positioning technology of wireless cellular network terminal equipment and the actual location of user terminals, starting from the dimensions of the accuracy of the positioning technology of wireless cellular network terminal equipment and the actual location of user terminals, a matching model method is constructed to comprehensively identify different dimensions and construct the positioning technology of wireless cellular network terminal equipment and the actual location of user terminals, which has certain theoretical and practical significance.

[0074] Existing terminal device positioning methods can be divided into distance-based and non-distance-based. Distance-based positioning algorithms calculate the position of unknown nodes by measuring distance or angle information. Commonly used ranging technologies include time of arrival (TOA), time difference of arrival (TDOA), received signal strength indication (RSSI) and angle of arrival (AOA). Distance-free positioning algorithms determine the node position based only on information such as network connectivity without knowing the distance and angle. Commonly used methods include convex programming, DV-hop, etc.

[0075] However, environmental factors such as distance and obstacles can have a great impact on the transmission of wireless signals, causing serious attenuation of signal power strength, resulting in a large error between the measured distance and the actual distance, which has a great negative impact on the information push system based on communication base station positioning. First, the user is within the electronic fence, but the message push system does not push. Second, the user is not within the electronic fence, but the message push system pushes the message, resulting in the user being overcharged.

[0076] In response to the above technical problems, the present application provides a terminal device positioning method, device and computer-readable storage medium, which obtains a preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and gives a more accurate final estimated position of the terminal device through an evolutionary algorithm based on the preliminary estimated position of the terminal device, so as to at least solve the problem of large error between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal.

[0077] After introducing the basic principles of the present application, various non-limiting embodiments of the present application will be described in detail with reference to the accompanying drawings.

[0078] Embodiment 1:

[0079] This embodiment provides a terminal device positioning method, which is applied to a terminal device, such as Figure 1 As shown, the method includes:

[0080] Step S101: Obtain the signal strengths of at least three communication base stations that can be received by the terminal device.

[0081] It should be noted that the signal strength of at least three communication base stations that can be received by the terminal device refers to the signal strength corresponding to each of the at least three communication base stations that the terminal device can connect to.

[0082] Step S102: Obtain the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device.

[0083] In this embodiment, the strength (signal strength) of the wireless signal energy of each communication base station among at least three communication base stations received by the terminal device is converted into the distance between the terminal device and each communication base station.

[0084] In an optional embodiment, obtaining the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device specifically includes:

[0085] For each of the at least three communication base stations, calculating a preliminary estimated distance between the terminal device and the communication base station according to a signal strength of the communication base station that can be received by the terminal device;

[0086] According to the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is obtained.

[0087] Specifically, the preliminary estimated distance between the terminal device and the communication base station is calculated by the following formula:

[0088]

[0089] in, is the preliminary estimated distance between the terminal device and the communication base station, D0 is the reference distance, RSSI (D0) is the signal strength of the communication base station that the terminal device can receive at the reference distance, is the signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, x σ is the uncertainty factor.

[0090] In this embodiment, in order to more accurately estimate the distance between the terminal device and the communication base station, the final estimated distance between the terminal device and each communication base station is further estimated based on the preliminary estimated distance between the terminal device and each communication base station.

[0091] In an optional embodiment, obtaining the final estimated distance between the terminal device and each of the communication base stations according to the preliminary estimated distance between the terminal device and each of the communication base stations specifically includes:

[0092] Calculating the Euclidean distance between each of the communication base stations and other corresponding communication base stations among the at least three communication base stations according to the position of each of the communication base stations;

[0093] Obtaining a preliminary estimated distance between each communication base station and the corresponding other communication base stations according to the signal strength of the corresponding other communication base stations that can be received by each communication base station;

[0094] Calculating a path scaling factor of each of the communication base stations according to the Euclidean distance between each of the communication base stations and the corresponding other communication base stations and the preliminary estimated distance;

[0095] According to the path scaling factor of each of the communication base stations and the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is calculated.

[0096] Specifically, the calculation formula of the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is:

[0097]

[0098] Among them, d i，j is the Euclidean distance between the i-th communication base station and the corresponding other j-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x j ,y j ) is the position of the i-th communication base station corresponding to the other j-th communication base station;

[0099] The calculation formula of the path scaling factor of each communication base station is:

[0100]

[0101] Among them, α i is the path scaling factor of the i-th communication base station, K is the number of communication base stations, is the preliminary estimated distance between the i-th communication base station and the corresponding other j-th communication base station;

[0102] The calculation formula for the final estimated distance between the terminal device and each of the communication base stations is:

[0103]

[0104] Among them, ρ i，l is the final estimated distance between terminal device l and the i-th communication base station, is the preliminary estimated distance between terminal device l and the i-th communication base station.

[0105] Step S103: According to the distance between the terminal device and each of the communication base stations, a preliminary estimated position of the terminal device is obtained by a weighted centroid positioning algorithm.

[0106] In this embodiment, the present invention adopts a triangular centroid positioning algorithm in a weighted centroid positioning algorithm, and uses the distance between the terminal device and each communication base station to obtain a preliminary estimated position of the terminal device.

[0107] In an optional embodiment, obtaining the preliminary estimated position of the terminal device by a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations specifically includes:

[0108] According to the distance between the terminal device and each of the communication base stations, construct a weight coefficient between the terminal device and each of the communication base stations, wherein the weight coefficient is used to reflect the influence of the corresponding communication base station on the location of the terminal device;

[0109] According to the weight coefficients of the terminal device and each of the communication base stations, a weighted centroid positioning algorithm is used to obtain a preliminary estimated position of the terminal device.

[0110] Specifically, the triangular centroid positioning algorithm is used to record the pairwise distances between the terminal device and three selected communication base stations from at least three communication base stations as (ρ 1，l , ρ 2，l , ρ 3，l ) is used to construct the weight coefficient between the terminal device and each communication base station, thereby reflecting the influence of each communication base station on the location of the terminal device, and based on the weight coefficient between the terminal device and each communication base station, the preliminary estimated location of the terminal device is obtained. The specific formula is as follows:

[0111]

[0112]

[0113] Among them, (x1, y1), (x2, y2) and (x3, y3) represent the locations of three communication base stations respectively. l ,y l ) represents the preliminary estimated location of the terminal device.

[0114] Step S104: Send the preliminary estimated position of the terminal device to the target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

[0115] Specifically, the terminal device sends the preliminary estimated position of the terminal device to a target communication base station that communicates with the terminal device. The target communication base station receives the preliminary estimated position of the terminal device sent by at least one terminal device, and based on the received preliminary estimated position of each terminal device, uses an evolutionary algorithm to further obtain a more accurate final estimated position of each terminal device.

[0116] Specifically, a more accurate final estimated position of each terminal device is further obtained through the following formula:

[0117]

[0118]

[0119]

[0120] Where (x, y) is the final estimated location of the terminal device, K is the number of communication base stations, and d i，o is the Euclidean distance between the final estimated position of the terminal device and the position of the i-th communication base station, d i，l is the Euclidean distance between the initial estimated location of the terminal device and the location of the i-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x l ,y l ) is the preliminary estimated location of the terminal device.

[0121] Specifically, after the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device, it determines which terminal devices are located in the pre-defined electronic fence according to the obtained final estimated position, and determines the terminal device list to which the information will be pushed. Among them, to determine whether the terminal device is in the electronic fence, the terminal device position coordinates can be simply compared with the vertex coordinates of the electronic fence to determine which terminal devices need to be pushed messages. Since the terminal device may be in a high-speed motion process, the base station connected to it may change during the motion process. In order to avoid repeated message sending, the determined terminal device list is sent to other communication base stations with a timestamp, and the confirmation message sent by other communication base stations is waited for, so that the communication within a certain range needs to communicate with each other, confirm the terminal devices to which each other will push messages, and avoid repeated sending. The target communication base station receives the reply information returned by other communication base stations based on the timestamp of the terminal device list, handles conflicts according to the timestamp, determines the terminal device list to which the message is finally pushed, and pushes the message to the target terminal. Specifically, in the process of confirming the terminal device push list (that is, the terminal device list), it is inevitable that a certain terminal device will appear in the push lists of two base stations at the same time. At this time, it is necessary to judge based on the timestamp, and the push list of the base station with a larger timestamp shall prevail, and the conflicting terminal device shall be deleted from the push list of the base station with a smaller timestamp. The reply message received by the base station with a smaller timestamp will contain information that the conflicting terminal device has been deleted.

[0122] In a specific embodiment, a terminal device positioning method is provided, which accurately estimates the terminal device location by using the communication base station signal strength and publishes a message. The method is divided into the following steps:

[0123] Step 1: Obtain the signal strength of each communication base station and estimate the distance between the terminal device and each communication base station.

[0124] Step2: Locate the centroid of the triangle.

[0125] Step 3: Send back the location information.

[0126] Step 4: Location information aggregation.

[0127] Step 5: Meta-heuristic algorithm positioning.

[0128] Step 6: Electronic fence detection.

[0129] Step7: Information distribution and coordination.

[0130] Step 8: Conflict resolution and message push.

[0131] In another specific embodiment, Figure 2 As shown, the terminal device positioning method includes the following steps:

[0132] Step 1: Obtain the signal strength of the communication base station that the terminal device can receive respectively, and estimate the distance between the terminal device and the base station according to the distance measurement model of the wireless signal propagation path loss.

[0133] Specifically, the present invention selects a logarithmic distance distribution model as a distance measurement model for wireless signal propagation path loss.

[0134]

[0135] Assume that the distance between the terminal device and the communication base station is (that is, the initial estimated distance), Indicates the signal strength of the communication base station that the terminal device can receive. D0 is the reference distance, which is generally 1 meter. RSSI (D0) indicates the signal strength of the communication base station that the terminal device can receive at the reference distance. γ is the path loss factor, which reflects the impact of the environment on signal transmission. The more obstacles there are in the transmission path, the larger the γ value. σ is the uncertainty factor determined by multipath fading and shielding. According to the logarithmic distance distribution model formula, the distance It can be calculated using the following formula:

[0136]

[0137] Furthermore, the above calculation method can only preliminarily estimate the distance between the terminal device and the communication base station. In order to more accurately estimate the distance between the terminal device and the communication base station. If the terminal device can connect to K communication base stations BS i (x i,y i ), i = 1, 2, ..., K, T l is the terminal device, l = 1, 2, ..., N, in order to use the logarithmic distance distribution model to measure Convert to T l and BS i The Euclidean distance between i，l , we need to know the approximate proportional relationship between these two distances. Suppose there are two communication base stations BS i and BS j The connection distance between them measured using RSSI is And the calculation formula of the European example model is:

[0138]

[0139] And define α i Base Station BS i The path scaling factor is:

[0140]

[0141] Then, T l and BS i The Euclidean distance between them after the path scaling factor is repaired i，l (That is, the final estimated distance) can be calculated using the following formula:

[0142]

[0143] Step 2: Adopt the triangle centroid positioning algorithm and use the pairwise distances between the unknown node and the three beacon nodes to construct the weight coefficient to obtain more accurate terminal positioning.

[0144] It should be noted that if you rely solely on RSSI ranging for positioning, the accuracy is very poor. The weighted centroid positioning algorithm based on RSSI reflects the influence of each communication base station on the location of the terminal device through the weight factor, thereby improving the positioning accuracy to a certain extent.

[0145] Specifically, the present invention adopts a triangular centroid positioning algorithm. l The pairwise distances to the three communication base stations are recorded as (ρ 1，l , ρ 2，l , ρ 3，l ), which is used to construct the weight coefficient.

[0146]

[0147]

[0148] BS1(x1, y1), BS2(x2y2) and BS3(x3, y3) represent three communication base stations, and the coordinates of the centroid of the triangle they enclose are the coordinates of the terminal device T l (x l ,y l )’s position (also known as the preliminary estimated position).

[0149] Step 3: When the terminal device communicates with the base station, it carries the location information obtained in step 2 and transmits it back to the base station.

[0150] Specifically, after completing the second step of the triangular centroid positioning algorithm calculation, each terminal device has preliminarily obtained its own geographic location coordinates through algorithm processing based on the estimated distance between at least three beacon nodes (i.e., communication base stations with known locations). These coordinate information represents the estimated position of the terminal device on the electronic map. Compared with the position estimated only by the signal strength of a single base station, this method can provide more accurate positioning results. Next, each terminal device needs to encode its estimated location information (usually including longitude and latitude coordinates, and sometimes altitude information), and then transmit this data back to the base station through the communication link with the base station.

[0151] Step 4: The base station aggregates the terminal device location information received within a certain time window.

[0152] Specifically, the base station is responsible for collecting and integrating the location information received from all connected terminal devices within a specific time window (such as the past few minutes). This operation is crucial to understanding the real-time distribution status of all terminals in the network. The specific operation can be broken down into the following sub-steps: data reception and recording, data sorting and deduplication, time window setting, data aggregation, preliminary analysis and anomaly detection.

[0153] Step 5: Optimize the location information obtained in step 4 based on the meta-heuristic algorithm to further accurately locate the terminal device.

[0154] It should be noted that there is still an error between the terminal location obtained in step 4 and the actual terminal location. The present invention uses an evolutionary algorithm to further obtain a more accurate terminal location. The individuals in the evolutionary algorithm correspond to the locations of the terminal devices. Assume that the terminal device T l The Euclidean distance between (x, y) (i.e. the final estimated position) and a communication base station is recorded as The terminal device location T obtained in step 4 l (x l ,y l ) and a communication base station is recorded as The optimization goal of the evolutionary algorithm is shown in the following formula, where K is the number of base stations that the terminal can connect to.

[0155]

[0156] Step 6: The base station determines which devices are located within the designated electronic fence based on the precise location information obtained in step 5, and determines the list of terminal devices to which information will be pushed.

[0157] It should be noted that the method of the present invention ultimately realizes a system for pushing messages to terminal devices in a target area, and this target area is an electronic fence. The base station needs to determine whether the terminal device is within the electronic fence based on the terminal device location information obtained in step 5. In order to simplify the problem, the electronic fences of the present invention are all square in shape. It is possible to simply compare the terminal device location coordinates with the electronic fence vertex coordinates to determine which terminal devices need to be pushed messages.

[0158] Step 7: Send the terminal list obtained in step 6 with a timestamp to other base stations, and wait for confirmation messages from other base stations.

[0159] It should be noted that since the terminal device may be in high-speed movement, the base station connected to it may change during the movement. In order to avoid repeated message sending, communications within a certain range need to communicate with each other to confirm the terminal devices to which each other will push messages to avoid repeated sending.

[0160] Step 8: Get the reply message from the base station in step 7, handle conflicts according to the timestamp, determine the final list of terminal devices to which the message will be pushed, and push the message to the target terminal.

[0161] It should be noted that in the process of confirming the terminal device push list in step 7, it is inevitable that a terminal device will appear in the push lists of two base stations at the same time. At this time, it is necessary to judge based on the timestamp, and the push list of the base station with a larger timestamp shall prevail. The conflicting terminal device shall be deleted from the push list of the base station with a smaller timestamp. The reply message received by the base station with a smaller timestamp will contain the information that the conflicting terminal device has been deleted.

[0162] It is worth mentioning that the terminal device positioning method provided by the present invention regards the positioning of wireless cellular network terminal devices as an optimization problem, and uses the advantages of meta-heuristic algorithms to solve the above problem. By combining the RSSI-based weighted centroid algorithm and the evolutionary algorithm, this method can provide more accurate terminal device location information. These precise location information will be widely used to provide message delivery or other value-added services to terminal users in specific areas.

[0163] The terminal device positioning method provided by the embodiment of the present invention first obtains the signal strength of at least three communication base stations that the terminal device can receive; then, based on the signal strength of at least three communication base stations that the terminal device can receive, obtains the distance between the terminal device and each of the communication base stations; then, based on the distance between the terminal device and each of the communication base stations, obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm; finally, the preliminary estimated position of the terminal device is sent to a target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each of the terminal devices through an evolutionary algorithm based on the received preliminary estimated position of each of the terminal devices. The present invention obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and gives a more accurate final estimated position of the terminal device through an evolutionary algorithm based on the preliminary estimated position of the terminal device, thereby solving the problem of large errors between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal.

[0164] Embodiment 2:

[0165] This embodiment provides a terminal device positioning method, which is applied to a target communication base station, such as Figure 3 As shown, the method includes:

[0166] Step S201: receiving a preliminary estimated position of a terminal device sent by at least one terminal device, the preliminary estimated position of the terminal device being sent after the terminal device obtains the signal strength of at least three communication base stations that can be received by the terminal device, and obtains the distance between the terminal device and each of the communication base stations based on the signal strength of at least three communication base stations that can be received by the terminal device, and obtains the preliminary estimated position of the terminal device based on the distance between the terminal device and each of the communication base stations by using a weighted centroid positioning algorithm.

[0167] Specifically, the target communication base station receives a preliminary estimated position of a terminal device sent by at least one terminal device.

[0168] Step S202: according to the received preliminary estimated position of each terminal device, obtaining the final estimated position of each terminal device through an evolutionary algorithm.

[0169] Specifically, based on the received preliminary estimated position of each terminal device, an evolutionary algorithm is used to further obtain a more accurate final estimated position of each terminal device.

[0170] In an optional embodiment, obtaining the final estimated position of each terminal device by an evolutionary algorithm according to the received preliminary estimated position of each terminal device specifically includes:

[0171] For each of the terminal devices, the evolutionary algorithm is used to calculate the final estimated position of the terminal device based on the preliminary estimated position of the terminal device and the positions of the at least three communication base stations to which the terminal device can be connected.

[0172] Specifically, a more accurate final estimated position of each terminal device is further obtained through the following formula:

[0173]

[0174]

[0175]

[0176] Where (x, y) is the final estimated location of the terminal device, K is the number of communication base stations, and d i，o is the Euclidean distance between the final estimated position of the terminal device and the position of the i-th communication base station, d i，l is the Euclidean distance between the initial estimated location of the terminal device and the location of the i-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x l ,y l ) is the preliminary estimated location of the terminal device.

[0177] In an optional embodiment, after obtaining the final estimated position of each terminal device by an evolutionary algorithm based on the received preliminary estimated position of each terminal device, the method further includes:

[0178] Acquire terminal devices located within a pre-defined electronic fence according to the final estimated position of each terminal device, and generate a terminal device list;

[0179] Sending the terminal device list with a timestamp to other communication base stations within a preset range;

[0180] Receiving reply information returned by other communication base stations based on the terminal device list with a timestamp attached;

[0181] A final terminal device list is determined according to the reply information, and a message is pushed to each terminal device in the final terminal device list.

[0182] Specifically, after the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device, it determines which terminal devices are located in the pre-defined electronic fence according to the obtained final estimated position, and determines the terminal device list to which the information will be pushed. Among them, to determine whether the terminal device is in the electronic fence, the terminal device position coordinates can be simply compared with the vertex coordinates of the electronic fence to determine which terminal devices need to be pushed messages. Since the terminal device may be in a high-speed motion process, the base station connected to it may change during the motion process. In order to avoid repeated message sending, the determined terminal device list is sent to other communication base stations with a timestamp, and the confirmation message sent by other communication base stations is waited for, so that the communication within a certain range needs to communicate with each other, confirm the terminal devices to which each other will push messages, and avoid repeated sending. The target communication base station receives the reply information returned by other communication base stations based on the timestamp of the terminal device list, handles conflicts according to the timestamp, determines the terminal device list to which the message is finally pushed, and pushes the message to the target terminal. Specifically, in the process of confirming the terminal device push list (that is, the terminal device list), it is inevitable that a certain terminal device will appear in the push lists of two base stations at the same time. At this time, it is necessary to judge based on the timestamp, and the push list of the base station with a larger timestamp shall prevail, and the conflicting terminal device shall be deleted from the push list of the base station with a smaller timestamp. The reply message received by the base station with a smaller timestamp will contain information that the conflicting terminal device has been deleted.

[0183] Embodiment 3:

[0184] like Figure 4 As shown, this embodiment provides a terminal device positioning device, which is arranged in the terminal device and is used to execute the terminal device positioning method in the above embodiment 1, including:

[0185] An acquisition module 11 is used to acquire signal strengths of at least three communication base stations that can be received by the terminal device;

[0186] A first obtaining module 12, connected to the obtaining module 11, is used to obtain the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device;

[0187] A second obtaining module 13, connected to the first obtaining module 12, is used to obtain a preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations;

[0188] The first sending module 14 is connected to the second obtaining module 13, and is used to send the preliminary estimated position of the terminal device to the target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

[0189] Furthermore, the first obtaining module 12 specifically includes:

[0190] A first calculation unit is used to calculate, for each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station according to the signal strength of the communication base station that can be received by the terminal device;

[0191] The first obtaining unit is used to obtain the final estimated distance between the terminal device and each of the communication base stations based on the preliminary estimated distance between the terminal device and each of the communication base stations.

[0192] Furthermore, the first computing unit is specifically configured to:

[0193] The preliminary estimated distance between the terminal device and the communication base station is calculated by the following formula:

[0194]

[0195] in, is the preliminary estimated distance between the terminal device and the communication base station, D0 is the reference distance, RSSI (D0) is the signal strength of the communication base station that the terminal device can receive at the reference distance, is the signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, x σ is the uncertainty factor.

[0196] Furthermore, the first obtaining unit specifically includes:

[0197] A second calculation unit, configured to calculate the Euclidean distance between each of the communication base stations and corresponding other communication base stations among the at least three communication base stations according to the position of each of the communication base stations;

[0198] A second obtaining unit is used to obtain a preliminary estimated distance between each communication base station and the corresponding other communication base stations according to the signal strength of the corresponding other communication base stations that can be received by each communication base station;

[0199] A third calculation unit, configured to calculate a path scaling factor of each of the communication base stations according to the Euclidean distance and the preliminary estimated distance between each of the communication base stations and the corresponding other communication base stations;

[0200] The fourth calculation unit is used to calculate the final estimated distance between the terminal device and each of the communication base stations according to the path scale factor of each of the communication base stations and the preliminary estimated distance between the terminal device and each of the communication base stations.

[0201] Furthermore, the calculation formula of the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is:

[0202]

[0203] Among them, d i，j is the Euclidean distance between the i-th communication base station and the corresponding other j-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x j ,y j ) is the position of the i-th communication base station corresponding to the other j-th communication base station;

[0204] The calculation formula of the path scaling factor of each communication base station is:

[0205]

[0206] Among them, α i is the path scaling factor of the i-th communication base station, K is the number of communication base stations, is the preliminary estimated distance between the i-th communication base station and the corresponding other j-th communication base station;

[0207] The calculation formula for the final estimated distance between the terminal device and each of the communication base stations is:

[0208]

[0209] Among them, ρ i，l is the final estimated distance between terminal device l and the i-th communication base station, is the preliminary estimated distance between terminal device l and the i-th communication base station.

[0210] Furthermore, the second obtaining module 13 specifically includes:

[0211] A construction unit, configured to construct a weight coefficient between the terminal device and each of the communication base stations according to the distance between the terminal device and each of the communication base stations, wherein the weight coefficient is used to reflect the influence of the corresponding communication base station on the position of the terminal device;

[0212] The third obtaining unit is used to obtain the preliminary estimated position of the terminal device by using a weighted centroid positioning algorithm according to the weight coefficient of the terminal device and each of the communication base stations.

[0213] Embodiment 4:

[0214] like Figure 5 As shown, this embodiment provides a terminal device positioning device, which is arranged in a target communication base station and is used to execute the terminal device positioning method in the above embodiment 2, including:

[0215] A first receiving module 21 is used to receive a preliminary estimated position of a terminal device sent by at least one terminal device, wherein the preliminary estimated position of the terminal device is obtained by the terminal device after obtaining the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the distance between the terminal device and each of the communication base stations according to the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations;

[0216] The positioning module 22 is connected to the first receiving module 21, and is used to obtain the final estimated position of each of the terminal devices through an evolutionary algorithm according to the received preliminary estimated position of each of the terminal devices.

[0217] Furthermore, the positioning module 22 specifically includes:

[0218] The fifth calculation unit is used to calculate the final estimated position of each terminal device using the evolutionary algorithm based on the preliminary estimated position of the terminal device and the positions of the at least three communication base stations to which the terminal device can be connected.

[0219] Furthermore, the device also includes:

[0220] An acquisition generation module, used to acquire terminal devices located within a pre-defined electronic fence according to the final estimated position of each terminal device, and generate a terminal device list;

[0221] A second sending module, used to send the terminal device list with a timestamp attached to other communication base stations within a preset range;

[0222] A second receiving module is used to receive reply information returned by other communication base stations based on the terminal device list with a timestamp attached;

[0223] The push module is used to determine a final terminal device list according to the reply information, and push a message to each terminal device in the final terminal device list.

[0224] Embodiment 5:

[0225] refer to Figure 6This embodiment provides a terminal device positioning device, including a memory 31 and a processor 32, the memory 31 stores a computer program, and the processor 32 is configured to run the computer program to execute the terminal device positioning method in Example 1, or execute the terminal device positioning method in Example 2.

[0226] The memory 31 is connected to the processor 32 . The memory 31 may be a flash memory, a read-only memory or other memory. The processor 32 may be a central processing unit or a single-chip microcomputer.

[0227] Embodiment 6:

[0228] This embodiment provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the terminal device positioning method in the above-mentioned embodiment 1 or embodiment 2 is implemented.

[0229] The computer-readable storage medium includes volatile or non-volatile, removable or non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, computer program modules or other data). Computer-readable storage media include, but are not limited to, RAM (Random Access Memory), ROM (Read-Only Memory), EEPROM (Electrically Erasable Programmable read only memory), flash memory or other memory technology, CD-ROM (Compact Disc Read-Only Memory), digital versatile disk (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer.

[0230] In summary, the terminal device positioning method, apparatus and computer-readable storage medium provided in the embodiments of the present invention first obtain the signal strength of at least three communication base stations that the terminal device can receive; then, based on the signal strength of at least three communication base stations that the terminal device can receive, obtain the distance between the terminal device and each of the communication base stations; then, based on the distance between the terminal device and each of the communication base stations, obtain the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm; finally, send the preliminary estimated position of the terminal device to a target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each of the terminal devices through an evolutionary algorithm based on the received preliminary estimated position of each of the terminal devices. The present invention obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and gives a more accurate final estimated position of the terminal device through an evolutionary algorithm based on the preliminary estimated position of the terminal device, thereby solving the problem of large errors between the terminal device positioning obtained by the existing terminal device positioning method and the actual position of the user terminal.

[0231] It is to be understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of the present invention, but the present invention is not limited thereto. For those of ordinary skill in the art, various modifications and improvements can be made without departing from the spirit and essence of the present invention, and these modifications and improvements are also considered to be within the scope of protection of the present invention.

Claims

1. A terminal device positioning method, characterized in that: Applied to a terminal device, the method comprises: Obtaining signal strengths of at least three communication base stations that can be received by the terminal device; Obtaining the distance between the terminal device and each of the communication base stations according to the signal strengths of at least three communication base stations that can be received by the terminal device; According to the distance between the terminal device and each of the communication base stations, a preliminary estimated position of the terminal device is obtained by a weighted centroid positioning algorithm; The preliminary estimated position of the terminal device is sent to a target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

2. The method according to claim 1, characterized in that The obtaining, according to the signal strengths of at least three communication base stations that can be received by the terminal device, the distance between the terminal device and each of the communication base stations specifically includes: For each of the at least three communication base stations, calculating a preliminary estimated distance between the terminal device and the communication base station according to a signal strength of the communication base station that can be received by the terminal device; According to the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is obtained.

3. The method according to claim 2, characterized in that The calculating, according to the signal strength of the communication base station that can be received by the terminal device, a preliminary estimated distance between the terminal device and the communication base station specifically includes: The preliminary estimated distance between the terminal device and the communication base station is calculated by the following formula: in, is the preliminary estimated distance between the terminal device and the communication base station, D0 is the reference distance, RSSI (D0) is the signal strength of the communication base station that the terminal device can receive at the reference distance, is the signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, x σ is the uncertainty factor.

4. The method according to claim 2, characterized in that: The obtaining, according to the preliminary estimated distance between the terminal device and each of the communication base stations, a final estimated distance between the terminal device and each of the communication base stations specifically includes: Calculating the Euclidean distance between each of the communication base stations and other corresponding communication base stations among the at least three communication base stations according to the position of each of the communication base stations; Obtaining a preliminary estimated distance between each communication base station and the corresponding other communication base stations according to the signal strength of the corresponding other communication base stations that can be received by each communication base station; Calculating a path scaling factor of each of the communication base stations according to the Euclidean distance between each of the communication base stations and the corresponding other communication base stations and the preliminary estimated distance; According to the path scaling factor of each of the communication base stations and the preliminary estimated distance between the terminal device and each of the communication base stations, the final estimated distance between the terminal device and each of the communication base stations is calculated.

5. The method according to claim 4, characterized in that The calculation formula of the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is: Among them, d i,j is the Euclidean distance between the i-th communication base station and the corresponding other j-th communication base station, (x i ,y i ) is the location of the i-th communication base station, (x j ,y j ) is the position of the i-th communication base station corresponding to the other j-th communication base station; The calculation formula of the path scaling factor of each communication base station is: Among them, α i is the path scaling factor of the i-th communication base station, K is the number of communication base stations, is the preliminary estimated distance between the i-th communication base station and the corresponding other j-th communication base station; The calculation formula for the final estimated distance between the terminal device and each of the communication base stations is: Among them, ρi i,l For terminal devices l The final estimated distance to the i-th communication base station, For terminal devices l The initial estimated distance to the i-th communication base station.

6. The method according to claim 1, characterized in that The obtaining, according to the distance between the terminal device and each of the communication base stations, of a preliminary estimated position of the terminal device by a weighted centroid positioning algorithm specifically includes: According to the distance between the terminal device and each of the communication base stations, construct a weight coefficient between the terminal device and each of the communication base stations, wherein the weight coefficient is used to reflect the influence of the corresponding communication base station on the location of the terminal device; According to the weight coefficients of the terminal device and each of the communication base stations, a weighted centroid positioning algorithm is used to obtain a preliminary estimated position of the terminal device.

7. A terminal device positioning method, characterized in that: Applied to a target communication base station, the method comprises: Receiving a preliminary estimated position of a terminal device sent by at least one terminal device, the preliminary estimated position of the terminal device being sent after the terminal device obtains the signal strength of at least three communication base stations that can be received by the terminal device, obtains the distance between the terminal device and each of the communication base stations based on the signal strength of at least three communication base stations that can be received by the terminal device, and obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations; According to the received preliminary estimated position of each terminal device, the final estimated position of each terminal device is obtained by an evolutionary algorithm.

8. The method according to claim 7, characterized in that The step of obtaining the final estimated position of each terminal device by using an evolutionary algorithm according to the received preliminary estimated position of each terminal device specifically includes: For each of the terminal devices, the evolutionary algorithm is used to calculate the final estimated position of the terminal device based on the preliminary estimated position of the terminal device and the positions of the at least three communication base stations to which the terminal device can be connected.

9. The method according to claim 7, characterized in that: After obtaining the final estimated position of each terminal device by an evolutionary algorithm based on the received preliminary estimated position of each terminal device, the method further includes: Acquire terminal devices located within a pre-defined electronic fence according to the final estimated position of each terminal device, and generate a terminal device list; Sending the terminal device list with a timestamp to other communication base stations within a preset range; Receiving reply information returned by other communication base stations based on the terminal device list with a timestamp attached; A final terminal device list is determined according to the reply information, and a message is pushed to each terminal device in the final terminal device list.

10. A terminal equipment positioning device, characterized in that: Set in a terminal device, the device includes: An acquisition module, used to acquire signal strengths of at least three communication base stations that can be received by the terminal device; A first obtaining module, connected to the acquisition module, is used to obtain the distance between the terminal device and each of the communication base stations according to the signal strength of at least three communication base stations that can be received by the terminal device; A second obtaining module, connected to the first obtaining module, is used to obtain a preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations; The first sending module is connected to the second obtaining module, and is used to send the preliminary estimated position of the terminal device to the target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device.

11. A terminal equipment positioning device, characterized in that: Set at a target communication base station, the device includes: A first receiving module is used to receive a preliminary estimated position of a terminal device sent by at least one terminal device, wherein the preliminary estimated position of the terminal device is obtained by the terminal device after obtaining the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the distance between the terminal device and each of the communication base stations according to the signal strength of at least three communication base stations that the terminal device can receive, and obtaining the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm according to the distance between the terminal device and each of the communication base stations; A positioning module is connected to the first receiving module and is used to obtain a final estimated position of each of the terminal devices through an evolutionary algorithm based on the received preliminary estimated position of each of the terminal devices.

12. A terminal equipment positioning device, characterized in that: It includes a memory and a processor, wherein the memory stores a computer program, and the processor is configured to run the computer program to implement the terminal device positioning method as described in any one of claims 1-6, or to implement the terminal device positioning method as described in any one of claims 7-9.

13. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the terminal device positioning method described in any one of claims 1 to 6 is implemented, or the terminal device positioning method described in any one of claims 7 to 9 is implemented.

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