A method, apparatus and computer-readable storage medium for locating terminal devices

Abstract

This invention provides a terminal device positioning method, apparatus, and computer-readable storage medium. The method includes: acquiring the signal strengths of at least three communication base stations that the terminal device can receive; obtaining the distance between the terminal device and each communication base station based on the signal strengths of the at least three communication base stations; obtaining a preliminary estimated position of the terminal device using a weighted centroid positioning algorithm based on the distance between the terminal device and each communication base station; 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 the final estimated position of each terminal device using an evolutionary algorithm based on the received preliminary estimated positions of each terminal device. This method, apparatus, and computer-readable storage medium can solve the problem of large errors between the terminal device positioning obtained by existing terminal device positioning methods and the actual position of the user terminal.

Description

Technical Field

[0001] This invention relates to the field of communication technology, and in particular to a terminal device positioning method, apparatus, and computer-readable storage medium. Background Technology

[0002] Cellular networks, comprised of numerous communication base stations and a multitude of user devices (such as mobile phones and tablets), have become a core platform for accurately disseminating information to a wide range of users. Their advantages lie in their broad coverage, large user base, ease of use, and reasonable cost. These characteristics make them an extremely important medium for information transmission. However, the efficiency and effectiveness of this transmission method highly depend on accurately determining the specific location of user terminals, making precise user positioning a major challenge in information delivery using cellular networks.

[0003] Currently, existing terminal device positioning methods result in large discrepancies between the terminal device location and the actual location of the user terminal. Summary of the Invention

[0004] The technical problem to be solved by the present invention is to address the above-mentioned shortcomings of the prior art by providing a terminal device positioning method, apparatus and computer-readable storage medium to solve the problem of large error between the terminal device positioning and the actual location of the user terminal obtained by the existing terminal device positioning method.

[0005] In a first aspect, the present invention provides a terminal device positioning method, applied to a terminal device, the method comprising:

[0006] Obtain the signal strength of at least three communication base stations that the terminal device can receive;

[0007] The distance between the terminal device and each of the communication base stations is obtained based on the signal strength of at least three communication base stations that the terminal device can receive.

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

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

[0010] Furthermore, the step of obtaining 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 specifically includes:

[0011] For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive.

[0012] Based on 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 step of calculating the preliminary estimated distance between the terminal device and the communication base station based on the signal strength of the communication base station that the terminal device can receive specifically includes:

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

[0015]

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

[0017] Further, the step of obtaining 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 specifically includes:

[0018] Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations;

[0019] Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained;

[0020] The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance.

[0021] Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated.

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

[0023]

[0024] Where, d i，j Let x be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station. i y i (x) represents the location of the i-th communication base station. j y j ) represents the location of the i-th communication base station corresponding to the j-th other communication base stations;

[0025] The formula for calculating the path scaling factor of each of the communication base stations is as follows:

[0026]

[0027] Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. This represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th other communication base stations;

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

[0029]

[0030] Where, ρ i，l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

[0031] Furthermore, the step of obtaining the preliminary estimated location of the terminal device based on the distance between the terminal device and each of the communication base stations using a weighted centroid positioning algorithm specifically includes:

[0032] Based on the distance between the terminal device and each of the communication base stations, a weighting coefficient is constructed between the terminal device and each of the communication base stations. The weighting coefficient is used to reflect the degree of influence of the corresponding communication base station on the location of the terminal device.

[0033] Based on the weighting coefficients of the terminal device and each of the communication base stations, the preliminary estimated position of the terminal device is obtained using a weighted centroid positioning algorithm.

[0034] Secondly, the present invention provides a terminal device positioning method applied to a target communication base station, the method comprising:

[0035] The system receives a preliminary estimated location of the terminal device sent by at least one terminal device. The preliminary estimated location of the terminal device is obtained by the terminal device after acquiring the signal strength of at least three communication base stations that it can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the at least three communication base stations that it can receive, and obtaining the preliminary estimated location 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] Based on the initial estimated position of each terminal device received, the final estimated position of each terminal device is obtained through an evolutionary algorithm.

[0037] Further, the step of obtaining the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device specifically includes:

[0038] For each terminal device, the final estimated location of the terminal device is calculated using the evolutionary algorithm based on the initial estimated location of the terminal device and the locations of the at least three communication base stations that the terminal device can connect to.

[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] Based on the final estimated location of each terminal device, obtain the terminal devices located within the pre-defined electronic fence and generate a list of terminal devices;

[0041] The list of terminal devices is appended with a timestamp and sent to other communication base stations within a preset range;

[0042] Receive response information from other communication base stations based on the terminal device list with added timestamps;

[0043] The final list of terminal devices is determined based on the response information, and a message is pushed to each terminal device in the final list of terminal devices.

[0044] Thirdly, the present invention provides a terminal device positioning device, disposed in a terminal device, the device comprising:

[0045] The acquisition module is used to acquire the signal strength of at least three communication base stations that the terminal device can receive;

[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 based on the signal strength of at least three communication base stations that the terminal device can receive;

[0047] The second obtaining module, connected to the first obtaining module, is used to obtain the preliminary estimated position of the terminal device by using a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations.

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

[0049] Fourthly, the present invention provides a terminal device positioning device, disposed at a target communication base station, the device comprising:

[0050] The first receiving module is configured to receive a preliminary estimated location of the terminal device sent by at least one terminal device. The preliminary estimated location of the terminal device is obtained by the terminal device acquiring the signal strength of at least three communication base stations that it can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the at least three communication base stations that it can receive, and obtaining the preliminary estimated location 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 before sending the data.

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

[0052] Fifthly, the present invention provides a terminal device positioning apparatus, including 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 or second aspect above.

[0053] In a sixth aspect, the present invention provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the terminal device positioning method described in the first or second aspect above.

[0054] The present invention provides a terminal device positioning method, apparatus, and computer-readable storage medium. First, it acquires the signal strengths of at least three communication base stations that the terminal device can receive. Then, based on the signal strengths of these three base stations, it obtains the distance between the terminal device and each of the base stations. Next, based on the distances between the terminal device and each base station, it obtains a preliminary estimated position of the terminal device using a weighted centroid positioning algorithm. Finally, it sends the preliminary estimated position of the terminal device to a target communication base station communicating with the terminal device, so that the target base station, based on the received preliminary estimated positions of each terminal device, obtains a final estimated position of each terminal device using an evolutionary algorithm. The present invention obtains the preliminary estimated position of the terminal device using a weighted centroid positioning algorithm and, based on this preliminary estimated position, provides a more accurate final estimated position of the terminal device using an evolutionary algorithm, thus solving the problem of large errors between the terminal device positioning obtained by existing terminal device positioning methods and the actual location of the user terminal. Attached Figure Description

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

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

[0057] Figure 3 This is a flowchart 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 device positioning device according to Embodiment 4 of the present invention;

[0060] Figure 6 This is a schematic diagram of the structure of a terminal device positioning device according to Embodiment 5 of the present invention. Detailed Implementation

[0061] 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 is understood that the specific embodiments and accompanying drawings described herein are merely for explaining the invention and are not intended to limit the invention.

[0063] It is understood that, without conflict, the various embodiments and features in the embodiments of the present invention can be combined with each other.

[0064] It is understood that, for ease of description, only the parts related to the present invention are shown in the accompanying drawings, while the parts unrelated to the present invention are not shown in the drawings.

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

[0066] It is understood that, without conflict, the functions and steps marked in the flowcharts and block diagrams of this invention may occur in a different order than that marked in the accompanying drawings.

[0067] It is understood that the flowcharts and block diagrams of this invention illustrate the possible architecture, functions, and operations of systems, apparatuses, devices, and methods according to various embodiments of this invention. Each block in the flowchart or block diagram may represent a unit, module, program segment, or code, containing executable instructions for implementing the specified function. Furthermore, each block or combination of blocks in the block diagram and flowchart can be implemented using a hardware-based system to achieve the specified function, or using a combination of hardware and computer instructions.

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

[0069] Application Overview

[0070] Cellular networks, comprised of numerous communication base stations and a multitude of user devices (such as mobile phones and tablets), have become a core platform for accurately disseminating information to a wide range of users. Their advantages lie in their broad coverage, large user base, ease of use, and reasonable cost. These characteristics make them an extremely important medium for information transmission. However, the efficiency and effectiveness of this transmission method highly depend on accurately determining the specific location of user terminals, making precise user positioning a major challenge in information delivery using cellular networks.

[0071] Currently, numerous problems such as large positioning errors, excessive charges, and inaccurate information pushes frequently occur. Although some have suggested addressing these issues by enabling the Global Positioning System (GPS) receiver in user devices, GPS is not an ideal solution. The main reason is that GPS usage not only increases network operating costs and equipment power consumption, but also fails to provide effective signal reception in specific environments such as indoor spaces. Therefore, using communication base stations for location estimation has become an alternative. The locations of these base stations are usually fixed and known, and terminal devices can estimate their own location by analyzing their relative position information with neighboring base stations. This process consists of two stages: First, using techniques such as Angle of Arrival (AoA) measurement, distance-related measurement methods, and Received Signal Indication Strength (RSSI), the approximate distance of each terminal relative to its surrounding base stations is estimated. Then, in the second stage, a positioning algorithm is used to convert the measured distance information into specific geographic coordinates. However, a challenge in the execution of this algorithm is the location error caused by inaccurate distance estimation between base stations and other terminals in the network. To address this issue and improve positioning accuracy, researchers have explored and implemented various technologies aimed at providing the most accurate location 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, mainly focusing on node localization methods, localization algorithms, sensor node design, and environmental factors. Regarding node localization methods, common methods include signal strength-based localization, Doppler effect-based localization, and angle estimation-based localization, each suitable for different scenarios and application requirements. In terms of localization algorithms, various algorithms need to be designed and applied to achieve accurate node localization. Common algorithms include least squares and Bayesian localization. These algorithms play a crucial role in node position estimation and localization accuracy. Regarding sensor node design, node design in wireless sensor networks is critical for the application of localization technology. Node hardware design, communication protocols, and energy management all affect the localization performance and reliability. Regarding environmental factors, during node localization, environmental factors such as signal attenuation, multipath effects, and interference can all impact the localization results. Therefore, environmental factors need to be considered, and corresponding measures need to be taken to improve localization accuracy.

[0073] To address the issue of large discrepancies between wireless cellular network terminal device positioning technology and the actual location of user terminals, this paper proposes a matching degree model method for wireless cellular network terminal device positioning technology and the actual location of user terminals, based on the accuracy of wireless cellular network terminal device positioning technology and the dimensions of the actual location of user terminals. This method has certain theoretical and practical significance.

[0074] Existing terminal device positioning methods can be divided into distance-based and distance-free methods. Distance-based positioning algorithms calculate the location of unknown nodes by measuring distance or angle information. Commonly used ranging techniques include Time of Arrival (TOA), Time Difference of Arrival (TDOA), Received Signal Indication Strength (RSSI), and Angle of Arrival (AOA). Distance-free positioning algorithms determine the node location based solely on network connectivity and other information when distance and angle are unknown. Common methods include convex programming and DV-hop.

[0075] However, environmental factors such as distance and obstacles can significantly impact wireless signal transmission, leading to severe signal power attenuation and a large discrepancy between measured and actual distances. This has a major negative impact on information push systems based on communication base station positioning. Firstly, a user may be within a geofence, but the push system may not send a message. Secondly, a user may be outside a geofence, but the push system may still send a message, resulting in overcharging.

[0076] To address the aforementioned technical problems, this application provides a terminal device positioning method, apparatus, and computer-readable storage medium. The method obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and provides a more accurate final estimated position of the terminal device based on the preliminary estimated position through an evolutionary algorithm. This addresses at least the problem of large errors between the terminal device positioning obtained by existing terminal device positioning methods and the actual position of the user terminal.

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

[0078] Example 1:

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

[0080] Step S101: Obtain the signal strength of at least three communication base stations that the terminal device can receive.

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

[0082] Step S102: 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.

[0083] In this embodiment, the strength of the wireless signal energy (signal strength) of each of the 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 one optional embodiment, determining the distance between the terminal device and each of the communication base stations based on the signal strengths of at least three communication base stations that the terminal device can receive specifically includes:

[0085] For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive.

[0086] Based on 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 using the following formula:

[0088]

[0089] in, Here, D0 represents the initial estimated distance between the terminal device and the communication base station, and RSSI(D0) represents the signal strength of the communication base station that the terminal device can receive at the reference distance. The signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, and x σ This represents an 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 one optional embodiment, obtaining 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 specifically includes:

[0092] Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations;

[0093] Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained;

[0094] The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance.

[0095] Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated.

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

[0097]

[0098] Where, d i，j Let x be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station. i y i (x) represents the location of the i-th communication base station. j y j ) represents the location of the i-th communication base station corresponding to the j-th other communication base stations;

[0099] The formula for calculating the path scaling factor of each of the communication base stations is as follows:

[0100]

[0101] Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. This represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th other communication base stations;

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

[0103]

[0104] Where, ρ i，l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

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

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

[0107] In one optional embodiment, obtaining the preliminary estimated location of the terminal device based on the distance between the terminal device and each of the communication base stations using a weighted centroid positioning algorithm specifically includes:

[0108] Based on the distance between the terminal device and each of the communication base stations, a weighting coefficient is constructed between the terminal device and each of the communication base stations. The weighting coefficient is used to reflect the degree of influence of the corresponding communication base station on the location of the terminal device.

[0109] Based on the weighting coefficients of the terminal device and each of the communication base stations, the preliminary estimated position of the terminal device is obtained using a weighted centroid positioning algorithm.

[0110] Specifically, the triangulation centroid positioning algorithm is used to denot 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 This is used to construct the weighting coefficients between the terminal device and each communication base station, thereby reflecting the degree of influence of each communication base station on the location of the terminal device. Based on the weighting coefficients 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] Where (x1, y1), (x2, y2) and (x3, y3) represent the locations of the three communication base stations, respectively. l y l ) indicates the preliminary estimated location of the terminal device.

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

[0115] Specifically, the terminal device sends its preliminary estimated location to the target communication base station with which it communicates. The target communication base station receives the preliminary estimated location of the terminal device sent by at least one terminal device. Based on the preliminary estimated location of each terminal device received, an evolutionary algorithm is used to obtain a more accurate final estimated location of each terminal device.

[0116] Specifically, the final estimated location 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 Let d be the Euclidean distance between the final estimated location of the terminal device and the location of the i-th communication base station. i，l Let x be the Euclidean distance between the initial estimated location of the terminal device and the location of the i-th communication base station. i y i (x) represents the location of the i-th communication base station. l y l () represents the preliminary estimated location of the terminal equipment.

[0121] Specifically, after obtaining the final estimated position of each terminal device through an evolutionary algorithm based on the initial estimated position received from each terminal device, the target communication base station determines which terminal devices are located within a pre-defined electronic fence based on the final estimated position and determines the list of terminal devices to be pushed with information. Determining whether a terminal device is within the electronic fence can be done by simply comparing the terminal device's location coordinates with the coordinates of the electronic fence vertices. Since terminal devices may be in high-speed motion, and the base stations connected to them may change during this process, to avoid duplicate message transmission, the determined list of terminal devices is appended with a timestamp and sent to other communication base stations. The base station then waits for confirmation messages from these base stations, ensuring that communication between stations within a certain range is necessary to confirm which terminal devices will receive messages and avoid duplicate transmissions. The target communication base station receives the response information from other communication base stations based on the timestamp-added terminal device list, handles conflicts according to the timestamp, determines the final list of terminal devices to be pushed with messages, and then pushes the messages to the target terminals. Specifically, during the confirmation process of the terminal device push list (i.e., 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. In this case, it is necessary to judge based on the timestamp, and take the push list of the base station with the larger timestamp as the standard, and delete the conflicting terminal device from the push list of the base station with the smaller timestamp. The reply message received by the base station with the smaller timestamp will contain the information that the conflicting terminal device has been deleted.

[0122] In one specific embodiment, a terminal device positioning method is provided, which accurately estimates the location of the terminal device by utilizing the signal strength of a communication base station and then publishes a message. The method consists of 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] Step 2: Locate the centroid of the triangle.

[0125] Step 3: Location information is transmitted back.

[0126] Step 4: Location information aggregation.

[0127] Step 5: Metaheuristic algorithm for localization.

[0128] Step 6: Electronic fence inspection.

[0129] Step 7: Information distribution coordination.

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

[0131] In another specific embodiment, such as 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, and estimate the distance between the terminal device and the base station based on the distance measurement model of wireless signal propagation path loss.

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

[0134]

[0135] Let the distance between the terminal device and the communication base station be... (That is, a preliminary estimate of the distance), RSSI(D0) represents the signal strength of the communication base station that the terminal device can receive at the reference distance. γ is the path loss factor, reflecting the impact of the environment on signal transmission; the more obstacles in the transmission path, the larger the γ value. σ The uncertainty factor is determined by multipath fading and occlusion. According to the logarithmic distance distribution model formula, the distance... The following formula can be used to calculate:

[0136]

[0137] Furthermore, the above calculation method can only provide a preliminary estimate of the distance between the terminal device and the communication base station. To more accurately estimate the distance, if the terminal device can connect to K communication base stations (BS), further calculations are needed. i (x iy i ), i = 1, 2, ..., K, T l For terminal devices, l = 1, 2, ..., N, in order to use the log-distance distribution model to measure... Convert to T l and BS i Euclidean distance ρ between i，l We need to know the approximate proportional relationship between these two distances. Let's assume two communication base stations BS... i and BS j The connection distance between them, measured using RSSI, is The calculation formula for the Euclidean example model is as follows:

[0138]

[0139] And define α i For base station BS i The path scaling factor is:

[0140]

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

[0142]

[0143] Step 2: The triangular centroid positioning algorithm is used to construct weight coefficients by using the paired distances between the unknown node and the three beacon nodes to obtain more accurate terminal positioning.

[0144] It should be noted that relying solely on RSSI ranging for positioning yields very poor accuracy. RSSI-based weighted centroid positioning algorithms use weighting factors to reflect the influence of each communication base station on the terminal device's location, thereby improving positioning accuracy to some extent.

[0145] Specifically, this invention employs a triangulation centroid positioning algorithm. The terminal device T... l The paired distances to the three communication base stations are denoted as (ρ). 1，l , ρ 2，l , ρ 3，l ), used to construct weighting coefficients.

[0146]

[0147]

[0148] Where BS1(x1, y1), BS2(x2, y2), and BS3(x3, y3) represent three communication base stations, and the centroid coordinates of the triangle they enclose are T of the terminal device. l (x l y l The location of ) (i.e., the preliminary estimated location).

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

[0150] Specifically, after completing the triangulation centroid positioning algorithm calculation in the second step, each terminal device, based on the estimated distances to at least three beacon nodes (i.e., communication base stations with known locations), has initially obtained its own geographical coordinates through algorithm processing. These coordinates represent the terminal device's estimated location on the electronic map, providing a more accurate positioning result compared to relying solely on the signal strength of a single base station. Next, each terminal device needs to encode its estimated location information (usually including latitude and longitude coordinates, and sometimes altitude information) and then transmit this data back to the base station via the communication link.

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

[0152] Specifically, the base station is responsible for collecting and integrating location information received from all connected terminal devices within a specific time window (such as the past few minutes). This operation is crucial for understanding the real-time distribution of all terminals in the network, and can be broken down into the following sub-steps: data reception and recording, data processing 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 metaheuristic algorithm to further refine the positioning of the terminal device.

[0154] It should be noted that the terminal location obtained in step 4 still has an error compared to the actual terminal location. This invention uses an evolutionary algorithm to obtain a more accurate terminal location. Individuals in the evolutionary algorithm correspond to the location of the terminal device. Assume that the terminal device T... l The Euclidean distance between (x, y) (i.e., the final estimated location) and a certain communication base station is denoted as The location T of the terminal device obtained in step 4 l (x l y l The Euclidean distance between a certain communication base station and a certain communication base station is denoted as . The optimization objective 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: Based on the precise location information obtained in Step 5, the base station determines which devices are located within the designated electronic fence and identifies the list of terminal devices to which information will be pushed.

[0157] It should be noted that the method described in this invention ultimately aims to implement a system for pushing messages to terminal devices in a target area, which is the electronic fence. The base station needs to determine whether a terminal device is within the electronic fence based on the terminal device location information obtained in step 5. To simplify the problem, the electronic fences described in this invention are all square in shape. It is possible to determine which terminal devices need to receive messages by simply comparing the terminal device location coordinates with the coordinates of the electronic fence vertices.

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

[0159] It should be noted that since terminal devices may be in high-speed motion, the base stations connected to them may change during the motion. In order to avoid duplicate message transmission, communication between devices within a certain range needs to communicate with each other to confirm the terminal device to which the message will be sent, thus avoiding duplicate transmission.

[0160] Step 8: Obtain the reply message from the base station in Step 7, handle conflicts based on timestamps, determine the final list of terminal devices to be pushed the message, and push the message to the target terminal.

[0161] It should be noted that during the terminal device push list confirmation process in step 7, it is inevitable that a certain terminal device will appear in the push lists of two base stations at the same time. In this case, it is necessary to judge based on the timestamp, and take the push list of the base station with the larger timestamp as the standard, and delete the conflicting terminal device from the push list of the base station with the smaller timestamp. The reply message received by the base station with the 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 this invention treats the positioning of wireless cellular network terminal devices as an optimization problem and uses the advantages of metaheuristic algorithms to solve the problem. By combining RSSI-based weighted centroid algorithm and evolutionary algorithm, this method can provide more accurate terminal device location information. This accurate 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 in this invention first obtains the signal strengths of at least three communication base stations that the terminal device can receive; then, based on the signal strengths of the at least three communication base stations that the terminal device can receive, it obtains the distance between the terminal device and each of the communication base stations; next, based on the distance between the terminal device and each of the communication base stations, it obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm; finally, it sends the preliminary estimated position of the terminal device to the target communication base station communicating 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 positions of each terminal device. This invention obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm, and provides a more accurate final estimated position of the terminal device based on the preliminary estimated position through an evolutionary algorithm, thus solving the problem of large errors between the terminal device positioning obtained by existing terminal device positioning methods and the actual position of the user terminal.

[0164] Example 2:

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

[0166] Step S201: Receive the preliminary estimated location of the terminal device sent by at least one terminal device. The preliminary estimated location of the terminal device is obtained by the terminal device after acquiring the signal strength of at least three communication base stations that the terminal device can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the at least three communication base stations that the terminal device can receive, and obtaining the preliminary estimated location 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.

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

[0168] Step S202: Based on the received preliminary estimated position of each terminal device, obtain the final estimated position of each terminal device through an evolutionary algorithm.

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

[0170] In an optional embodiment, the step of obtaining the final estimated position of each terminal device through an evolutionary algorithm based on the received preliminary estimated position of each terminal device specifically includes:

[0171] For each terminal device, the final estimated location of the terminal device is calculated using the evolutionary algorithm based on the initial estimated location of the terminal device and the locations of the at least three communication base stations that the terminal device can connect to.

[0172] Specifically, the final estimated location 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 Let d be the Euclidean distance between the final estimated location of the terminal device and the location of the i-th communication base station. i，l Let x be the Euclidean distance between the initial estimated location of the terminal device and the location of the i-th communication base station. i y i (x) represents the location of the i-th communication base station. l y l () represents the preliminary estimated location of the terminal equipment.

[0177] In an optional embodiment, 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:

[0178] Based on the final estimated location of each terminal device, obtain the terminal devices located within the pre-defined electronic fence and generate a list of terminal devices;

[0179] The list of terminal devices is appended with a timestamp and sent to other communication base stations within a preset range;

[0180] Receive response information from other communication base stations based on the terminal device list with added timestamps;

[0181] The final list of terminal devices is determined based on the response information, and a message is pushed to each terminal device in the final list of terminal devices.

[0182] Specifically, after obtaining the final estimated position of each terminal device through an evolutionary algorithm based on the initial estimated position received from each terminal device, the target communication base station determines which terminal devices are located within a pre-defined electronic fence based on the final estimated position and determines the list of terminal devices to be pushed with information. Determining whether a terminal device is within the electronic fence can be done by simply comparing the terminal device's location coordinates with the coordinates of the electronic fence vertices. Since terminal devices may be in high-speed motion, and the base stations connected to them may change during this process, to avoid duplicate message transmission, the determined list of terminal devices is appended with a timestamp and sent to other communication base stations. The base station then waits for confirmation messages from these base stations, ensuring that communication between stations within a certain range is necessary to confirm which terminal devices will receive messages and avoid duplicate transmissions. The target communication base station receives the response information from other communication base stations based on the timestamp-added terminal device list, handles conflicts according to the timestamp, determines the final list of terminal devices to be pushed with messages, and then pushes the messages to the target terminals. Specifically, during the confirmation process of the terminal device push list (i.e., 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. In this case, it is necessary to judge based on the timestamp, and take the push list of the base station with the larger timestamp as the standard, and delete the conflicting terminal device from the push list of the base station with the smaller timestamp. The reply message received by the base station with the smaller timestamp will contain the information that the conflicting terminal device has been deleted.

[0183] Example 3:

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

[0185] The acquisition module 11 is used to acquire the signal strength of at least three communication base stations that the terminal device can receive;

[0186] The 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 based on the signal strength of at least three communication base stations that the terminal device can receive;

[0187] The second obtaining module 13, connected to the first obtaining module 12, is used to obtain the preliminary estimated position of the terminal device by using a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations.

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

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

[0190] The 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 based on the signal strength of the communication base station that the terminal device can receive from the communication base station.

[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 used for:

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

[0194]

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

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

[0197] The second calculation unit is used to calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations, based on the location of each of the communication base stations;

[0198] The second obtaining unit is used to obtain a preliminary estimated distance between each communication base station and the corresponding other communication base stations based on the signal strength that each communication base station can receive from the corresponding other communication base stations;

[0199] The third calculation unit is used to calculate the path scale factor of each communication base station based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance.

[0200] The fourth calculation unit is used to calculate the final estimated distance between the terminal device and each of the communication base stations based on 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 formula for calculating the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is as follows:

[0202]

[0203] Where, d i，j Let x be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station. i y i (x) represents the location of the i-th communication base station. j y j ) represents the location of the i-th communication base station corresponding to the j-th other communication base stations;

[0204] The formula for calculating the path scaling factor of each of the communication base stations is as follows:

[0205]

[0206] Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. This represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th other communication base stations;

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

[0208]

[0209] Where, ρ i，l Let be the final estimated distance between terminal device l and the i-th communication base station. This 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] The construction unit is configured to construct a weighting coefficient between the terminal device and each of the communication base stations based on the distance between the terminal device and each of the communication base stations. The weighting coefficient is used to reflect the degree of influence of the corresponding communication base station on the location 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 based on the weight coefficients of the terminal device and each of the communication base stations.

[0213] Example 4:

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

[0215] The first receiving module 21 is used to receive the preliminary estimated position of the terminal device sent by at least one terminal device. The preliminary estimated position of the terminal device is obtained by the terminal device acquiring the signal strength of at least three communication base stations that the terminal device can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the 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 based on the distance between the terminal device and each of the communication base stations before sending the data.

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

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

[0218] The fifth calculation unit is used to calculate the final estimated location of each terminal device using the evolutionary algorithm, based on the initial estimated location of the terminal device and the locations of the at least three communication base stations that the terminal device can connect to.

[0219] Furthermore, the device also includes:

[0220] The acquisition and generation module is used to acquire the terminal devices located within the pre-defined electronic fence based on the final estimated location of each terminal device, and generate a list of terminal devices.

[0221] The second sending module is used to send the list of terminal devices with timestamps appended to other communication base stations within a preset range;

[0222] The second receiving module is used to receive reply information returned by other communication base stations based on the terminal device list with timestamps appended;

[0223] The push module is used to determine the final list of terminal devices based on the response information, and push messages to each terminal device in the final list of terminal devices.

[0224] Example 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 Embodiment 1 or to execute the terminal device positioning method in Embodiment 2.

[0226] The memory 31 is connected to the processor 32. The memory 31 can be a flash memory, a read-only memory or other memory, and the processor 32 can be a central processing unit or a microcontroller.

[0227] Example 6:

[0228] This embodiment provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the terminal device positioning method in Embodiment 1 or Embodiment 2 above.

[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 technologies, CD-ROM (Compact Disc Read-Only Memory), DVD or other optical disc storage, cartridges, magnetic tapes, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer.

[0230] In summary, the terminal device positioning method, apparatus, and computer-readable storage medium provided in this invention first acquire the signal strengths of at least three communication base stations that the terminal device can receive; then, based on the signal strengths of the at least three communication base stations that the terminal device can receive, the distance between the terminal device and each of the communication base stations is obtained; next, based on the distance between the terminal device and each of the communication base stations, a weighted centroid positioning algorithm is used to obtain the preliminary estimated position of the terminal device; finally, the preliminary estimated position of the terminal device is sent to the target communication base station communicating with the terminal device, so that the target communication base station obtains the final estimated position of each terminal device based on the received preliminary estimated position of each terminal device using an evolutionary algorithm. This invention obtains the preliminary estimated position of the terminal device through a weighted centroid positioning algorithm and, based on the preliminary estimated position of the terminal device, provides a more accurate final estimated position of the terminal device through an evolutionary algorithm, thus solving the problem of large errors between the terminal device positioning obtained by existing terminal device positioning methods and the actual position of the user terminal.

[0231] It is understood that the above embodiments are merely exemplary implementations used to illustrate the principles of the present invention, and the present invention is not limited thereto. For those skilled 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 method for locating a terminal device, characterized in that, Applied to a terminal device, the method includes: Obtain the signal strength of at least three communication base stations that the terminal device can receive; The distance between the terminal device and each of the communication base stations is obtained based on the signal strength of at least three communication base stations that the terminal device can receive. Based on the distance between the terminal device and each of the communication base stations, the preliminary estimated position of the terminal device is obtained through a weighted centroid positioning algorithm; The preliminary estimated location of the terminal device is sent to the target communication base station that communicates with the terminal device, so that the target communication base station obtains the final estimated location of each terminal device through an evolutionary algorithm based on the received preliminary estimated location of each terminal device. The step of determining the distance between the terminal device and each of the communication base stations based on the signal strengths of at least three communication base stations that the terminal device can receive specifically includes: For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive. Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations; Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained; The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance. Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated. The formula for calculating the path scaling factor of each of the communication base stations is as follows: Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. d represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th communication base station. i,j Let be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station; The formula for calculating the final estimated distance between the terminal device and each of the communication base stations is as follows: Where, ρ i,l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

2. The method according to claim 1, characterized in that, The step of calculating the preliminary estimated distance between the terminal device and the communication base station based on the signal strength of the communication base station that the terminal device can receive specifically includes: The preliminary estimated distance between the terminal device and the communication base station is calculated using the following formula: in, Here, D0 represents the initial estimated distance between the terminal device and the communication base station, and RSSI(D0) represents the signal strength of the communication base station that the terminal device can receive at the reference distance. The signal strength of the communication base station that the terminal device can receive, γ is the path loss factor, and x σ This represents an uncertainty factor.

3. The method according to claim 1, characterized in that, The formula for calculating the Euclidean distance between each of the communication base stations and the corresponding other communication base stations is as follows: Where, d i,j Let x be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station. i y i (x) represents the location of the i-th communication base station. j y j ) represents the location of the i-th communication base station corresponding to the j-th other communication base stations.

4. The method according to claim 1, characterized in that, The step of obtaining the preliminary estimated location of the terminal device based on the distance between the terminal device and each of the communication base stations using a weighted centroid positioning algorithm specifically includes: Based on the distance between the terminal device and each of the communication base stations, a weighting coefficient is constructed between the terminal device and each of the communication base stations. The weighting coefficient is used to reflect the degree of influence of the corresponding communication base station on the location of the terminal device. Based on the weighting coefficients of the terminal device and each of the communication base stations, the preliminary estimated position of the terminal device is obtained using a weighted centroid positioning algorithm.

5. A method for locating a terminal device, characterized in that, Applied to a target communication base station, the method includes: The system receives a preliminary estimated location of the terminal device sent by at least one terminal device. The preliminary estimated location of the terminal device is obtained by the terminal device after acquiring the signal strength of at least three communication base stations that it can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the at least three communication base stations that it can receive, and obtaining the preliminary estimated location 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. Based on the received preliminary estimated position of each terminal device, the final estimated position of each terminal device is obtained through an evolutionary algorithm; The step of determining the distance between the terminal device and each of the communication base stations based on the signal strengths of at least three communication base stations that the terminal device can receive specifically includes: For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive. Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations; Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained; The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance. Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated. The formula for calculating the path scaling factor of each of the communication base stations is as follows: Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. d represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th communication base station. i,j Let be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station; The formula for calculating the final estimated distance between the terminal device and each of the communication base stations is as follows: Where, ρ i,l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

6. The method according to claim 5, characterized in that, The step of obtaining the final estimated position of each terminal device based on the received preliminary estimated position of each terminal device through an evolutionary algorithm specifically includes: For each terminal device, the final estimated location of the terminal device is calculated using the evolutionary algorithm based on the initial estimated location of the terminal device and the locations of the at least three communication base stations that the terminal device can connect to.

7. The method according to claim 5, characterized in that, 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: Based on the final estimated location of each terminal device, obtain the terminal devices located within the pre-defined electronic fence and generate a list of terminal devices; The list of terminal devices is appended with a timestamp and sent to other communication base stations within a preset range; Receive response information from other communication base stations based on the terminal device list with added timestamps; The final list of terminal devices is determined based on the response information, and a message is pushed to each terminal device in the final list of terminal devices.

8. A terminal device positioning device, characterized in that, The device, configured in a terminal device, includes: The acquisition module is used to acquire the signal strength of at least three communication base stations that the terminal device can receive; 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 based on the signal strength of at least three communication base stations that the terminal device can receive; The second obtaining module, connected to the first obtaining module, is used to obtain the preliminary estimated position of the terminal device by using a weighted centroid positioning algorithm based on the distance between the terminal device and each of the communication base stations. The first sending module, connected to the second obtaining module, is used to send the preliminary estimated location of the terminal device to the target communication base station communicating with the terminal device, so that the target communication base station obtains the final estimated location of each terminal device through an evolutionary algorithm based on the received preliminary estimated location of each terminal device. The first obtaining module is specifically used for: For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive. Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations; Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained; The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance. Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated. The formula for calculating the path scaling factor of each of the communication base stations is as follows: Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. d represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th communication base station. i,j Let be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station; The formula for calculating the final estimated distance between the terminal device and each of the communication base stations is as follows: Where, ρ i，l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

9. A terminal device positioning device, characterized in that, The device, installed at the target communication base station, includes: The first receiving module is configured to receive a preliminary estimated location of the terminal device sent by at least one terminal device. The preliminary estimated location of the terminal device is obtained by the terminal device acquiring the signal strength of at least three communication base stations that it can receive, obtaining the distance between the terminal device and each of the communication base stations based on the signal strength of the at least three communication base stations that it can receive, and obtaining the preliminary estimated location 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 before sending the data. A positioning module, connected to the first receiving module, is used to obtain the final estimated position of each terminal device based on the received preliminary estimated position of each terminal device through an evolutionary algorithm. The step of determining the distance between the terminal device and each of the communication base stations based on the signal strengths of at least three communication base stations that the terminal device can receive specifically includes: For each of the at least three communication base stations, a preliminary estimated distance between the terminal device and the communication base station is calculated based on the signal strength of the communication base station that the terminal device can receive. Based on the location of each of the communication base stations, calculate the Euclidean distance between each of the communication base stations and the corresponding other communication base stations among the at least three communication base stations; Based on the signal strength that each communication base station can receive from the corresponding other communication base stations, a preliminary estimated distance between each communication base station and the corresponding other communication base stations is obtained; The path scaling factor of each communication base station is calculated based on the Euclidean distance between each communication base station and the corresponding other communication base stations and the preliminary estimated distance. Based on the path scaling factor of each communication base station and the preliminary estimated distance between the terminal device and each communication base station, the final estimated distance between the terminal device and each communication base station is calculated. The formula for calculating the path scaling factor of each of the communication base stations is as follows: Where, α i Let K be the path scaling factor for the i-th communication base station, and K be the number of communication base stations. d represents the preliminary estimated distance between the i-th communication base station and the corresponding j-th communication base station. i,j Let be the Euclidean distance between the i-th communication base station and the corresponding j-th communication base station; The formula for calculating the final estimated distance between the terminal device and each of the communication base stations is as follows: Where, ρ i,l Let be the final estimated distance between terminal device l and the i-th communication base station. This is the preliminary estimated distance between terminal device l and the i-th communication base station.

10. A terminal device positioning device, characterized in that, The device 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 1-4, or to implement the terminal device positioning method as described in any one of claims 5-7.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, which, when executed by a processor, implements the terminal device positioning method as described in any one of claims 1-4, or implements the terminal device positioning method as described in any one of claims 5-7.

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