Position determination method and device, computer equipment and storage medium

Abstract

The invention relates to a position determination method and device, computer equipment and a storage medium, and relates to the technical field of indoor positioning. The method comprises the following steps: acquiring historical positioning information of a target object in a historical positioning period, and acquiring fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is the previous positioning period of the current positioning period; acquiring a first position deviation between the fingerprint positioning information and the historical positioning information, and acquiring a second position deviation between the PDR positioning information and the historical positioning information; under the condition that the difference between the first position deviation and the second position deviation meets a preset condition, at least one of the fingerprint positioning information and the PDR positioning information serves as target positioning information according to the position relation between the fingerprint positioning information and the positioning effective range; and obtaining the positioning information of the target object in the current positioning period by using the target positioning information. By adopting the method, the indoor positioning accuracy can be improved.

Description

Technical Field

[0001] The present application relates to the field of indoor positioning technology, and in particular to a location determination method, apparatus, computer equipment, storage medium and computer program product. Background Art

[0002] Positioning technology is currently widely used in various intelligent business scenarios. In outdoor scenarios, satellite navigation systems can solve most positioning problems, but in indoor scenarios, the accuracy of satellite navigation systems is insufficient. Currently, various new positioning technologies are emerging, including location fingerprint-based positioning algorithms, which achieve indoor positioning based on the correlation between the signal strength feature RSSI (Received Signal Strength Indication) and the actual spatial position.

[0003] However, the indoor environment usually changes with obstacles and people moving around, and the changed environment will cause the indoor signal strength characteristics to fluctuate. In this indoor environment, the signal characteristic strength at the same location will change, resulting in large differences in positioning results at the same location, leading to insufficient indoor positioning accuracy. Summary of the invention

[0004] Based on this, it is necessary to provide a location determination method, device, computer equipment, computer-readable storage medium and computer program product that can improve indoor positioning accuracy in response to the above technical problems.

[0005] In a first aspect, the present application provides a method for determining a position. The method comprises:

[0006] Acquire historical positioning information of the target object in a historical positioning cycle, and acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning cycle; the historical positioning cycle is a positioning cycle previous to the current positioning cycle;

[0007] Acquire a first position deviation between the fingerprint positioning information and the historical positioning information, and acquire a second position deviation between the PDR positioning information and the historical positioning information;

[0008] When the difference between the first position deviation and the second position deviation meets a preset condition, at least one of the fingerprint positioning information and the PDR positioning information is used as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range;

[0009] The target positioning information is used to obtain the positioning information of the target object in the current positioning period.

[0010] In one of the embodiments, taking at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range includes:

[0011] If the fingerprint positioning information is outside the positioning effective range, determining the PDR positioning information as the target positioning information;

[0012] If the fingerprint positioning information is within the positioning effective range, the fingerprint positioning information and the PDR positioning information are determined to be target positioning information.

[0013] In one of the embodiments, when the fingerprint positioning information and the PDR positioning information are target positioning information, the using the target positioning information to obtain the positioning information of the target object in the current positioning period includes:

[0014] Obtaining a first error range of the fingerprint positioning information and a second error range of the historical positioning information; the first error range is determined by the coordinate point of the fingerprint positioning information and a preset radius; the second error range is determined by the coordinate point of the historical positioning information and the preset radius;

[0015] Based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, the positioning information of the target object in the current positioning period is obtained.

[0016] In one embodiment, obtaining the positioning information of the target object in the current positioning period based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, includes:

[0017] If the first error range intersects with the second error range, weighted summing the fingerprint positioning information and the PDR positioning information is performed according to the first weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the first weight is greater than the weight value of the fingerprint positioning information;

[0018] If the first error range does not intersect with the second error range, the fingerprint positioning information and the PDR positioning information are weighted and summed according to the second weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the second weight is less than the weight value of the fingerprint positioning information.

[0019] In one of the embodiments, before taking at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, the method further includes:

[0020] Acquire the coordinate points of the historical positioning information, and acquire the moving direction of the target object in the current positioning cycle according to the PDR positioning information;

[0021] Determine a straight line that passes through the coordinate point of the historical positioning information and is perpendicular to the moving direction;

[0022] An area formed by extending the straight line in the moving direction is determined as the positioning effective range.

[0023] In one embodiment, the obtaining of a first position deviation between the fingerprint positioning information and the historical positioning information, and the obtaining of a second position deviation between the PDR positioning information and the historical positioning information, comprises:

[0024] Acquire a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and use the first distance deviation and the first direction angle deviation as the first position deviation;

[0025] A second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information are obtained, and the second distance deviation and the second direction angle deviation are used as the second position deviation.

[0026] In one of the embodiments, when the difference between the first position deviation and the second position deviation meets a preset condition, at least one of the fingerprint positioning information and the PDR positioning information is used as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, including:

[0027] When the difference between the first direction angle deviation and the second direction angle deviation is outside the preset angle deviation range, or the difference between the first distance deviation and the second distance deviation is outside the preset distance deviation range, at least one of the fingerprint positioning information and the PDR positioning information is used as target positioning information based on the positional relationship between the fingerprint positioning information and the positioning effective range.

[0028] In one embodiment, when the first position deviation and the second position deviation do not meet a preset condition, the method further includes:

[0029] The fingerprint positioning information is used as the positioning information of the target object in the current positioning period; or the PDR positioning information is used as the positioning information of the target object in the current positioning period; or the fingerprint positioning information and the PDR positioning information are weighted and summed according to a third weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the third weight is equal to the weight value of the fingerprint positioning information.

[0030] In a second aspect, the present application also provides a position determination device. The device comprises:

[0031] A positioning information acquisition module is used to acquire historical positioning information of a target object in a historical positioning cycle, and acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning cycle; the historical positioning cycle is a positioning cycle previous to the current positioning cycle;

[0032] A position deviation acquisition module, used to acquire a first position deviation between the fingerprint positioning information and the historical positioning information, and to acquire a second position deviation between the PDR positioning information and the historical positioning information;

[0033] A first positioning information determination module is configured to use at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a positional relationship between the fingerprint positioning information and a positioning effective range when a difference between the first position deviation and the second position deviation meets a preset condition;

[0034] The second positioning information determining module is used to obtain the positioning information of the target object in the current positioning period by using the target positioning information.

[0035] In a third aspect, the present application further provides a computer device, wherein the computer device comprises a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the method described in the first aspect are implemented.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0037] In a fifth aspect, the present application further provides a computer program product, wherein the computer program product comprises a computer program, and when the computer program is executed by a processor, the steps of the method described in the first aspect are implemented.

[0038] The above-mentioned location determination method, device, computer equipment, storage medium and computer program product can obtain the historical positioning information of the target object in the historical positioning cycle, obtain the fingerprint positioning information and PDR positioning information of the target object in the current positioning cycle, and obtain the positioning information of two consecutive positioning cycles. Determine the first position deviation between the fingerprint positioning information and the historical positioning information, and the second position deviation between the PDR positioning information and the historical positioning information, and determine the difference between the first position deviation and the second position deviation, so as to obtain the difference between the fingerprint positioning information and the PDR positioning information between two consecutive positioning cycles, and adjust the positioning information of the current positioning cycle according to the difference. If the difference meets the preset conditions, at least one of the fingerprint positioning information and the PDR positioning information can be determined as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, and the positioning information of the target object in the current positioning cycle can be obtained using the target positioning information. The positioning effective range can determine whether the fingerprint positioning information has a deviation caused by the fluctuation of the signal strength characteristics, and by combining the PDR positioning information with the fingerprint positioning information, eliminate the deviation caused by the fluctuation of the signal strength characteristics, and the deviation of the fingerprint positioning information itself, thereby improving the accuracy of indoor positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related technologies, the drawings required for use in the embodiments or the related technical descriptions are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 A diagram of an application environment of a location determination method in an embodiment;

[0041] Figure 2 is a flow chart of a method for determining a position in one embodiment;

[0042] Figure 3 A schematic diagram of a flow chart of a step of determining target location information in an embodiment;

[0043] Figure 4 A schematic diagram of a flow chart of steps for determining the positioning information of a target object in a current positioning cycle in one embodiment;

[0044] Figure 5 A schematic diagram of a flow chart of steps for determining a valid positioning range in one embodiment;

[0045] Figure 6 is a flow chart of a location determination method in another embodiment;

[0046] Figure 7 is a structural block diagram of a position determination device in one embodiment;

[0047] Figure 8 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0049] The location determination method provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown. Among them, the terminal 102 communicates with the server 104 through the network, and the terminal 102 can locate the target object according to the preset positioning cycle, and send the positioning information of each positioning cycle to the server 104. The data storage system can store the data that the server 104 needs to process, for example, the historical positioning information of the target object in the historical positioning cycle can be stored in the data storage system. The data storage system can be integrated on the server 104, or it can be placed on the cloud or other network servers.

[0050] The server 104 can obtain the historical positioning information of the target object in the historical positioning cycle, as well as the fingerprint positioning information and PDR (Pedestrian Dead Reckoning) positioning information of the target object in the current positioning cycle. The fingerprint positioning information and the PDR positioning information can be obtained by the same terminal 102, or by different positioning devices corresponding to the target object, and sent to the terminal 102 in a unified manner. The server 104 can determine the first position deviation between the fingerprint positioning information and the historical positioning information, and determine the second position deviation between the PDR positioning information and the historical positioning information. The server 104 can determine whether the difference between the first position deviation and the second position deviation meets the preset conditions, and if the preset conditions are met, determine the positional relationship between the fingerprint positioning information and the positioning effective range, and determine at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information based on the positional relationship. Finally, the server 104 can process the target positioning information to obtain the positioning information of the target object in the current positioning cycle.

[0051] The terminal 102 may be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, IoT devices, and portable wearable devices. The IoT devices may be smart speakers, smart TVs, smart air conditioners, smart car-mounted devices, etc. Portable wearable devices may be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted devices may be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server 104 may be implemented using an independent server or a server cluster consisting of multiple servers.

[0052] In an exemplary embodiment, Figure 2 As shown, a method for determining a position is provided, which is applied to Figure 1 The server 104 in the example is used as an example to illustrate the method, which includes the following steps S202 to S208. Among them:

[0053] Step S202: acquiring historical positioning information of the target object in historical positioning cycles, and acquiring fingerprint positioning information and PDR positioning information of the target object in a current positioning cycle.

[0054] Among them, the historical positioning cycle is the previous positioning cycle of the current positioning cycle. The target object is the object to be located or the object wearing the positioning device. The object can be any physical object such as an object or a living thing. The positioning information is used to represent the positioning result of the target object. For example, the coordinates or longitude and latitude of a custom spatial coordinate system can be used as the positioning information. For the positioning results of different positioning methods, in addition to the coordinates, longitude and latitude, the positioning information can also include the moving distance and moving direction. For example, the PDR positioning information can also store the moving distance and moving direction corresponding to the target object in the current positioning cycle.

[0055] In addition, the fingerprint positioning strategy is a positioning algorithm based on location fingerprints, which uses the correlation between the RSSI (Received Signal Strength Indication) characteristics of Bluetooth beacons received at different locations and the actual spatial position to achieve positioning. The PDR positioning strategy is based on the pedestrian dead reckoning (PDR) of the IMU (Inertial Measurement Unit) sensor. It measures and counts the number of steps, step length, and direction of pedestrians, and infers information such as the pedestrian's walking trajectory and location.

[0056] Specifically, the server may obtain historical positioning information of the target object in the historical positioning cycle from the data storage system, and the data storage system may include a historical positioning register. The server may locate the target object according to a preset fingerprint positioning strategy to obtain the fingerprint positioning information in the current positioning cycle. The server may determine the PDR positioning information of the target object in the current positioning cycle according to a preset PDR positioning strategy and the historical positioning information in the historical positioning cycle.

[0057] In one example, the server can first obtain the historical positioning information of the target object in the historical positioning cycle from the historical positioning register, and use the historical positioning information as the initial position of the PDR positioning strategy. The server takes the initial position as the starting point, and the moving distance and moving direction obtained by the PDR positioning strategy as the moving process, to obtain the end point after the target object moves, and determines the position information corresponding to the end point as the PDR positioning information.

[0058] Step S204, obtaining a first position deviation between the fingerprint positioning information and the historical positioning information, and obtaining a second position deviation between the PDR positioning information and the historical positioning information.

[0059] The position deviation is used to indicate the difference between two different positioning information in the same space.

[0060] Specifically, the server can select two types of positioning information from the three types of positioning information, namely, fingerprint positioning information, historical positioning information, and PDR positioning information, according to a preset deviation calculation strategy, and determine the position deviation of the two types of positioning information in the same coordinate space. Based on this, the server can determine a first position deviation between the fingerprint positioning information and the historical positioning information, and the server can determine a second position deviation between the PDR positioning information and the historical positioning information.

[0061] In one example, the server may obtain the attribute values ​​of the same attributes in the fingerprint positioning information and the historical positioning information, and determine the spatial attributes corresponding to each attribute value based on the attribute value and the pre-built spatial coordinate system. For example, the attribute value may be a coordinate value, and the spatial attribute may be a distance. The server may obtain the coordinate values ​​of the fingerprint positioning information and the historical positioning information, and determine the distance between the two coordinate values ​​based on the distance calculation formula.

[0062] Step S206, when the difference between the first position deviation and the second position deviation meets the preset condition, at least one of the fingerprint positioning information and the PDR positioning information is used as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range.

[0063] Among them, the preset condition can be whether the difference between the first position deviation and the second position deviation is within a preset spatial range or value range. If the difference is within the preset spatial range or value range, it is determined that the difference meets the preset condition; if the difference is outside the preset spatial range or value range, it is determined that the difference does not meet the preset condition.

[0064] Specifically, the server may determine the difference between the first position deviation and the second position deviation, for example, by calculating the deviation through a mathematical algorithm to obtain the difference between the first position deviation and the second position deviation. The server determines whether the difference meets the preset conditions. If the difference meets the preset conditions, the server may determine the fingerprint positioning information in the current positioning cycle and the positional relationship with the effective positioning range. For example, the fingerprint positioning information may be within the effective positioning range, and the positioning information may be outside the effective positioning range. The effective positioning range is the range divided in the preset spatial coordinate system, and the user can configure the effective positioning range. The server may use at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information based on the positional relationship between the fingerprint positioning information and the effective positioning range. For example, the server may use the fingerprint positioning information as the target positioning information, the server may use the PDR positioning information as the target positioning information, and the server may use both the fingerprint positioning information and the PDR positioning information as the target positioning information.

[0065] Step S208: using the target positioning information, obtain the positioning information of the target object in the current positioning period.

[0066] Specifically, the server may determine at least one of the target positioning information as the positioning information of the target object in the current positioning period according to the pre-configured positioning information combination strategy. In one example, the server may combine the fingerprint positioning information and the PDR positioning information, and determine the combined positioning information as the positioning information of the target object in the current positioning period. Alternatively, the server may use the fingerprint positioning information or the PDR positioning information alone as the positioning information of the target object in the current positioning period.

[0067] In the above-mentioned location determination method, by obtaining the historical positioning information of the target object in the historical positioning cycle, obtaining the fingerprint positioning information and PDR positioning information of the target object in the current positioning cycle, the positioning information of two consecutive positioning cycles can be obtained. The first position deviation between the fingerprint positioning information and the historical positioning information, and the second position deviation between the PDR positioning information and the historical positioning information are determined, and the difference between the first position deviation and the second position deviation is determined, so that the difference between the fingerprint positioning information and the PDR positioning information between two consecutive positioning cycles can be obtained, and the positioning information of the current positioning cycle is adjusted according to the difference. If the difference meets the preset conditions, at least one of the fingerprint positioning information and the PDR positioning information can be determined as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, and the positioning information of the target object in the current positioning cycle is obtained using the target positioning information. The positioning effective range can determine whether the fingerprint positioning information has a deviation caused by the fluctuation of the signal strength characteristics, and by combining the PDR positioning information with the fingerprint positioning information, the deviation caused by the fluctuation of the signal strength characteristics and the deviation of the fingerprint positioning information itself are eliminated, thereby improving the accuracy of indoor positioning.

[0068] In an exemplary embodiment, Figure 3 As shown, the specific implementation process of the step of "using at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the effective positioning range" includes steps S302 to S304. Among them:

[0069] Step S302: If the fingerprint positioning information is outside the effective positioning range, the PDR positioning information is determined to be the target positioning information.

[0070] Specifically, the server can determine whether the fingerprint positioning information is within the effective positioning range. If the fingerprint positioning information is outside the effective positioning range, it means that there are excessive errors in the fingerprint positioning process of the current positioning cycle. The fingerprint positioning information obtained can be regarded as invalid information. Therefore, the server can determine that the PDR positioning information is the target positioning information.

[0071] Step S304: If the fingerprint positioning information is within the effective positioning range, the fingerprint positioning information and the PDR positioning information are determined to be target positioning information.

[0072] Specifically, if the fingerprint positioning information is within the effective positioning range, it indicates whether there is an excessive error in the fingerprint positioning process of the current positioning cycle, and the fingerprint positioning information obtained can be used to determine the positioning information of the target object in the current positioning cycle. Therefore, the server can determine the fingerprint positioning information and the PDR positioning information as the target positioning information, so as to combine the fingerprint positioning information and the PDR positioning information in the subsequent step to obtain the positioning information of the target object in the current positioning cycle.

[0073] In this embodiment, by determining that the fingerprint positioning information is within the effective positioning range, it is possible to determine whether the fingerprint positioning information has excessive errors, so as to accurately determine the target positioning information, avoid using fingerprint positioning information with excessive errors as the positioning information of the target object in the current positioning cycle, and use the PDR positioning information as the target positioning information required for subsequent use, so as to perform preliminary screening of the positioning information, remove invalid data, and improve the accuracy of determining the target positioning information.

[0074] In an exemplary embodiment, Figure 4 As shown, when the fingerprint positioning information and the PDR positioning information are the target positioning information, the specific implementation process of the step "obtaining the positioning information of the target object in the current positioning cycle using the target positioning information" includes steps S402 to S404. Among them:

[0075] Step S402: obtaining a first error range of fingerprint positioning information and a second error range of historical positioning information.

[0076] The first error range is determined by the coordinate point of the fingerprint positioning information and the preset radius; the second error range is determined by the coordinate point of the historical positioning information and the preset radius;

[0077] Specifically, the server may obtain a first coordinate point of the fingerprint positioning information in a preset spatial coordinate system, and a second coordinate point of the historical positioning information in a preset spatial coordinate system. The server may construct a first circle with the first coordinate point as the center and a preset radius, and determine the range corresponding to the first circle as the first error range. Similarly, the server may construct a second circle with the second coordinate point as the center and a preset radius, and determine the range corresponding to the second circle as the second error range.

[0078] Optionally, the preset radius may be determined according to the moving distance in the PDR positioning information. For example, the preset radius may be half of the moving distance, and if the moving distance is 5 meters, the preset radius may be 2.5 meters.

[0079] Step S404: based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, the positioning information of the target object in the current positioning period is obtained.

[0080] Specifically, there are multiple situations for the positional relationship between the first error range and the second error range, and the positional relationship in different situations combines the fingerprint positioning information and the PDR positioning information in different ways. If the positional relationship tends to be close to the fingerprint positioning information and the PDR positioning information, the fingerprint positioning information can be used as the main factor to combine the fingerprint positioning information and the PDR positioning information to obtain the positioning information of the target object in the current positioning period. If the positional relationship tends to be far away from the fingerprint positioning information and the PDR positioning information, the PDR positioning information can be used as the main factor to combine the fingerprint positioning information and the PDR positioning information to obtain the positioning information of the target object in the current positioning period.

[0081] In this embodiment, by determining the first error range of the fingerprint positioning information and the second error range of the historical positioning information, and determining the process of combining the fingerprint positioning information and the PDR positioning information through the error range, the positioning information of the target object in the current positioning period is obtained, which can improve the accuracy of the positioning information obtained after the combination.

[0082] In an exemplary embodiment, the specific implementation process of the step of "obtaining the positioning information of the target object in the current positioning period based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information" includes:

[0083] If the first error range intersects with the second error range, the fingerprint positioning information and the PDR positioning information are weighted and summed according to the first weight to obtain the positioning information of the target object in the current positioning period; if the first error range does not intersect with the second error range, the fingerprint positioning information and the PDR positioning information are weighted and summed according to the second weight to obtain the positioning information of the target object in the current positioning period.

[0084] Among them, the weight value of the PDR positioning information in the first weight is greater than the weight value of the fingerprint positioning information; the weight value of the PDR positioning information in the second weight is less than the weight value of the fingerprint positioning information.

[0085] Specifically, the server may pre-configure a first weight and a second weight, and the first weight and the second weight both include weight values ​​corresponding to the fingerprint positioning information and the PDR positioning information. If the first error range intersects with the second error range, it is determined that the deviation between the fingerprint positioning information and the PDR positioning information is not large, and the fingerprint positioning information may be used as the main factor, and the coordinate values ​​of the fingerprint positioning information and the PDR positioning information are weighted and summed by the first weight to obtain the positioning information of the target object in the current positioning period. If the first error range does not intersect with the second error range, it is determined that the deviation between the fingerprint positioning information and the PDR positioning information is large, and the PDR positioning information may be used as the main factor, and the coordinate values ​​of the fingerprint positioning information and the PDR positioning information are weighted and summed by the second weight to obtain the positioning information of the target object in the current positioning period.

[0086] In this embodiment, by determining whether the first error range intersects with the second error range and using different weight values ​​for different situations, the weight value of the weighted summation can be adjusted according to the position information to improve the accuracy of determining the positioning information of the target object in the current positioning period.

[0087] In an exemplary embodiment, Figure 5 As shown, before the step of "using at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range", steps S502 to S506 are also included. Among them:

[0088] Step S502, obtaining the coordinate points of the historical positioning information, and obtaining the moving direction of the target object in the current positioning cycle according to the PDR positioning information.

[0089] Specifically, when the server determines the PDR positioning information through the PDR positioning strategy in the current positioning period, the moving direction of the target object in the current positioning period can be obtained. The server can determine the coordinate point of the historical positioning information in the preset spatial coordinate system.

[0090] Step S504, determining a straight line that passes through the coordinate point of the historical positioning information and is perpendicular to the moving direction.

[0091] Specifically, the server may generate a straight line passing through the coordinate points of the historical positioning information, and make the straight line perpendicular to the moving direction to obtain a final straight line.

[0092] Step S506: The area formed by extending the straight line in the moving direction is determined as the effective positioning range.

[0093] Specifically, the server may extend the straight line in the moving direction to obtain an area formed by the straight line movement, and determine the area as the effective positioning range.

[0094] In this embodiment, the effective positioning range is created through the coordinate points of the historical positioning information and the moving direction of the target object in the current positioning cycle. Since the moving direction is determined by the PDR positioning strategy, the effective positioning range is also determined by the PDR positioning strategy, so the generated effective positioning range can accurately determine the excess error formed by the fingerprint positioning strategy and improve the range accuracy of the effective positioning range.

[0095] In an exemplary embodiment, the specific implementation process of the step of "obtaining a first position deviation between the fingerprint positioning information and the historical positioning information, and obtaining a second position deviation between the PDR positioning information and the historical positioning information" includes:

[0096] A first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information are obtained, and the first distance deviation and the first direction angle deviation are used as a first position deviation.

[0097] Specifically, the server can determine the distance value between the coordinate point of the fingerprint positioning information and the coordinate point of the historical positioning information as the first distance deviation. The server can configure an origin in the preset spatial coordinate system, and determine the direction angle corresponding to the fingerprint positioning information based on the origin and the coordinate point of the fingerprint positioning information. For example, the server can determine the direction angle formed by the two points through the inverse tangent function. For example, the origin can be a point randomly determined and generated according to the actual map information when establishing the spatial coordinate system. The server can determine the direction angle corresponding to the historical positioning information based on the origin and the coordinate point of the historical positioning information. Based on this, the server can subtract the direction angle corresponding to the fingerprint positioning information and the direction angle corresponding to the historical positioning information to obtain the first direction angle deviation. The server uses the first distance deviation and the first direction angle deviation as the first position deviation.

[0098] A second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information are obtained, and the second distance deviation and the second direction angle deviation are used as the second position deviation.

[0099] Specifically, the server may determine the distance value between the coordinate point of the PDR positioning information and the coordinate point of the historical positioning information as the second distance deviation. The server may configure an origin in a preset spatial coordinate system, and the origin in this embodiment should be unified. The server may determine the direction angle corresponding to the PDR positioning information based on the origin and the coordinate point of the PDR positioning information. The server may determine the direction angle corresponding to the historical positioning information based on the origin and the coordinate point of the historical positioning information. Based on this, the server may subtract the direction angle corresponding to the PDR positioning information and the direction angle corresponding to the historical positioning information to obtain a second direction angle deviation. The server uses the second distance deviation and the second direction angle deviation as the second position deviation.

[0100] In this embodiment, the distance values ​​between each other are determined by the coordinate points corresponding to the fingerprint positioning information, PDR positioning information and historical positioning information, thereby obtaining the distance deviation. In addition, the direction angles corresponding to the fingerprint positioning information, PDR positioning information and historical positioning information are determined according to the pre-configured origin, thereby obtaining the direction angle deviation between the two direction angles, which can improve the efficiency and accuracy of obtaining the position deviation.

[0101] In an exemplary embodiment, the specific implementation process of the step of "when the difference between the first position deviation and the second position deviation meets the preset condition, according to the positional relationship between the fingerprint positioning information and the positioning effective range, using at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information" includes:

[0102] When the difference between the first direction angle deviation and the second direction angle deviation is outside the preset angle deviation range, or the difference between the first distance deviation and the second distance deviation is outside the preset distance deviation range, at least one of the fingerprint positioning information and the PDR positioning information is used as the target positioning information based on the positional relationship between the fingerprint positioning information and the positioning effective range.

[0103] Specifically, the server may determine a first difference between the first directional angle deviation and the second directional angle deviation, and determine a second difference between the first distance deviation and the second distance deviation. If the first difference is outside the preset angular deviation range, it may be determined that the preset condition is met. If the second difference is outside the preset distance deviation range, it may be determined that the preset condition is met. If the first difference is outside the preset angular deviation range, and the second difference is outside the preset distance deviation range, it may be determined that the preset condition is met. If the first difference is within the preset angular deviation range, and the second difference is within the preset distance deviation range, it may be determined that the difference does not meet the preset condition. Only when the preset condition is met, the server may use at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information based on the positional relationship between the fingerprint positioning information and the positioning effective range.

[0104] Optionally, the preset angle deviation range may be within plus or minus 90 degrees. The preset distance deviation range may be determined according to the moving distance in the PDR positioning information. For example, the preset distance deviation range may be twice the moving distance. If the moving distance is 5 meters, the preset distance deviation range is within 10 meters.

[0105] In this embodiment, whether the first difference is within the preset angle deviation range and whether the second difference is within the preset distance deviation range can be determined whether the difference between the first position deviation and the second position deviation meets the preset conditions, and whether the difference meets the preset conditions and is reasonable and accurate can be determined.

[0106] In an exemplary embodiment, when the first position deviation and the second position deviation do not satisfy a preset condition, the method further includes:

[0107] The fingerprint positioning information is used as the positioning information of the target object in the current positioning period; or the PDR positioning information is used as the positioning information of the target object in the current positioning period; or the fingerprint positioning information and the PDR positioning information are weighted and summed according to a third weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the third weight is equal to the weight value of the fingerprint positioning information.

[0108] Specifically, when the first position deviation and the second position deviation do not meet the preset conditions, the server can select a strategy from multiple positioning strategies according to the needs of the user to determine the positioning information of the target object in the current positioning period. The positioning strategy can be to use the fingerprint positioning information as the positioning information of the target object in the current positioning period, the positioning strategy can be to use the PDR positioning information as the positioning information of the target object in the current positioning period, and the positioning strategy can be to weighted sum the fingerprint positioning information and the PDR positioning information according to the third weight to obtain the positioning information of the target object in the current positioning period.

[0109] In this embodiment, through a variety of different positioning strategies, different determination methods can be adopted to determine the positioning information when the positioning error is small, which can improve the positioning adaptability and accuracy.

[0110] like Figure 6 As shown, the specific implementation process of the above-mentioned location determination method is described in detail below in combination with a specific embodiment. First, the names of the fingerprint positioning strategy and the PDR positioning strategy are explained, including:

[0111] Fingerprint positioning strategy: The positioning algorithm based on location fingerprint uses the correlation between the RSSI characteristics of Bluetooth beacons received at different locations and the actual spatial location to achieve positioning. Location fingerprint is a non-parametric model that can learn the propagation behavior of wireless signals and the impact of the environment based on data collected in the real environment. Location fingerprint positioning is divided into two stages: online and offline. In the offline stage, the Bluetooth beacon is placed at a designated location indoors, and the RSSI data collection device is used to collect RSSI data indoors and record the precise location of each collection point. Then, a mapping relationship between RSSI data and location information is established to form fingerprint information. In the online stage, real-time RSSI data is collected at the point to be located, and the fingerprint matching algorithm is used to match the fingerprint information in the fingerprint library to complete the identification of the location of the tracked device. Compared with the positioning methods mentioned above, the location fingerprint positioning algorithm is not limited by line of sight and can be applied to environments where multipath fading occurs. Therefore, the location fingerprint method is more suitable for indoor positioning.

[0112] PDR positioning strategy: Pedestrian dead reckoning (PDR) based on IMU sensors measures and counts the number of steps, step length, and direction of pedestrians, and infers information such as the pedestrian's walking trajectory and location.

[0113] Secondly, the idea adopted by the above-mentioned location determination method is to use PDR positioning information to constrain and correct the results of fingerprint positioning. The specific implementation process mainly includes:

[0114] 1. Position initialization: At the beginning of indoor positioning, the fingerprint positioning information is obtained through fingerprint positioning, and the fingerprint positioning information is set as the initial position of PDR positioning, and the fingerprint positioning information is recorded in the historical positioning register.

[0115] 2. Obtain current location: The terminal obtains the current fingerprint location information through the fingerprint location strategy, and obtains the PDR location information through the initial location and PDR location recording.

[0116] 3. Determine the first position deviation: calculate the distance, direction angle, etc. between the current fingerprint positioning information and the position in the historical positioning register.

[0117] 4. Determine the second position deviation: calculate the distance, direction angle, etc. between the current PDR positioning information and the position in the historical positioning register.

[0118] 5. Optimization decision: Determine the distance difference, direction angle difference, etc. between the fingerprint positioning information and the historical positioning information in the historical positioning register. Also determine the distance difference, direction angle difference, etc. between the PDR positioning information and the historical positioning information in the historical positioning register. And compare the above two sets of distance differences and direction angle differences.

[0119] 6. When the parameter trigger conditions are met, the deviation correction judgment is started.

[0120] If it is determined that the difference between the azimuth deviation of the fingerprint positioning information and the azimuth deviation of the PDR positioning information is within the range of plus or minus 90 degrees, the distance deviation of the fingerprint positioning information and the distance deviation of the PDR positioning information are judged. If the difference between the distance deviation of the fingerprint positioning information and the distance deviation of the PDR positioning information is within the range corresponding to the positive and negative preset values, it is determined that no optimization is required.

[0121] If it is determined that the difference between the azimuth deviation of the fingerprint positioning information and the azimuth deviation of the PDR positioning information is outside the range of positive and negative 90 degrees, it is determined that optimization is required. If it is determined that the difference between the azimuth deviation of the fingerprint positioning information and the azimuth deviation of the PDR positioning information is within the range of positive and negative 90 degrees, and the difference between the distance deviation of the fingerprint positioning information and the distance deviation of the PDR positioning information is outside the range corresponding to the positive and negative preset values, it is determined that optimization is required.

[0122] 7. The terminal matches the decision parameters and uses conditional judgment or decision tree method to determine the execution steps of position optimization in order to speed up the judgment.

[0123] 8. The terminal that meets the optimization judgment conditions performs the positioning result optimization operation, and uses the optimized position point as the fingerprint positioning point, and records the result in the historical positioning register. The interval between this positioning and the previous positioning can be 10S to 20S.

[0124] In one example, if Figure 6 As shown, the specific process of the indoor positioning result optimization method proposed in the embodiment of the present application is as follows:

[0125] The terminal sets the result of fingerprint positioning as the initial position of PDR positioning and writes it into the historical positioning register. The terminal obtains the latest fingerprint positioning information and PDR positioning information and calculates the azimuth and distance deviation from the position stored in the historical positioning register. Compare the positioning errors of fingerprint positioning and PDR measured azimuth and displacement distance to see if they are within the threshold range. After the fingerprint positioning error exceeds the threshold, the positioning result optimization is started and the latest result is written into the historical positioning register.

[0126] Finally, in this embodiment, by comparing the distance and azimuth change amplitudes in fingerprint positioning with PDR, it is determined whether position optimization is needed to calculate the distance measurement and azimuth change amplitude, and then optimizing the distance measurement and azimuth change amplitude, the accuracy of indoor positioning can be improved.

[0127] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0128] Based on the same inventive concept, the embodiment of the present application also provides a position determination device for implementing the position determination method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in one or more embodiments of the position determination device provided below can refer to the limitations on the position determination method above, and will not be repeated here.

[0129] In an exemplary embodiment, Figure 7 As shown, a position determination device 700 is provided, comprising: a positioning information acquisition module 701, a position deviation acquisition module 702, a first positioning information determination module 703 and a second positioning information determination module 704, wherein:

[0130] The positioning information acquisition module 701 is used to acquire the historical positioning information of the target object in the historical positioning cycle, and acquire the fingerprint positioning information and PDR positioning information of the target object in the current positioning cycle; the historical positioning cycle is the previous positioning cycle of the current positioning cycle;

[0131] The position deviation acquisition module 702 is used to acquire a first position deviation between the fingerprint positioning information and the historical positioning information, and to acquire a second position deviation between the PDR positioning information and the historical positioning information;

[0132] The first positioning information determining module 703 is configured to use at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range when the difference between the first position deviation and the second position deviation meets a preset condition;

[0133] The second positioning information determining module 704 is used to obtain the positioning information of the target object in the current positioning period using the target positioning information.

[0134] Further, the first positioning information determination module 703 is specifically used to: if the fingerprint positioning information is outside the effective positioning range, determine the PDR positioning information as the target positioning information; if the fingerprint positioning information is within the effective positioning range, determine the fingerprint positioning information and the PDR positioning information as the target positioning information.

[0135] Furthermore, in the case where the fingerprint positioning information and the PDR positioning information are the target positioning information, the second positioning information determination module 704 is specifically used to: obtain a first error range of the fingerprint positioning information and a second error range of the historical positioning information; the first error range is determined by the coordinate point of the fingerprint positioning information and a preset radius; the second error range is determined by the coordinate point of the historical positioning information and a preset radius; based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, obtain the positioning information of the target object in the current positioning period.

[0136] Furthermore, the second positioning information determination module 704 is specifically used to: if the first error range intersects with the second error range, weighted sum of the fingerprint positioning information and the PDR positioning information according to the first weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the first weight is greater than the weight value of the fingerprint positioning information; if the first error range does not intersect with the second error range, weighted sum of the fingerprint positioning information and the PDR positioning information according to the second weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the second weight is less than the weight value of the fingerprint positioning information.

[0137] Furthermore, the device also includes a range determination module, which is specifically used to: obtain the coordinate points of historical positioning information, and obtain the moving direction of the target object in the current positioning cycle based on the PDR positioning information; determine a straight line passing through the coordinate points of the historical positioning information and perpendicular to the moving direction; and determine the area formed by extending the straight line in the moving direction as the effective positioning range.

[0138] Furthermore, the position deviation acquisition module 702 is specifically used to: obtain a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and use the first distance deviation and the first direction angle deviation as the first position deviation; obtain a second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information, and use the second distance deviation and the second direction angle deviation as the second position deviation.

[0139] Furthermore, the first position information determination module 703 is specifically used to: when the difference between the first direction angle deviation and the second direction angle deviation is outside the preset angle deviation range, or the difference between the first distance deviation and the second distance deviation is outside the preset distance deviation range, use at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range.

[0140] Furthermore, when the first position deviation and the second position deviation do not meet the preset conditions, the device also includes a third positioning information determination module, which is specifically used to: use the fingerprint positioning information as the positioning information of the target object in the current positioning period; or use the PDR positioning information as the positioning information of the target object in the current positioning period; or perform weighted summation of the fingerprint positioning information and the PDR positioning information according to a third weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the third weight is equal to the weight value of the fingerprint positioning information.

[0141] Each module in the above-mentioned position determination device can be implemented in whole or in part by software, hardware or a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module above.

[0142] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Figure 8 As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the historical positioning information of the target object in the historical positioning cycle. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a location determination method is implemented.

[0143] Those skilled in the art will understand that Figure 8 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0144] In an exemplary embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above-mentioned method embodiments when executing the computer program.

[0145] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0146] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0147] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0148] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., but are not limited to this.

[0149] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0150] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for determining a position, characterized in that: The method comprises: Acquire historical positioning information of the target object in a historical positioning cycle, and acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning cycle; the historical positioning cycle is a positioning cycle previous to the current positioning cycle; Acquire a first position deviation between the fingerprint positioning information and the historical positioning information, and acquire a second position deviation between the PDR positioning information and the historical positioning information; When the difference between the first position deviation and the second position deviation meets a preset condition, at least one of the fingerprint positioning information and the PDR positioning information is used as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range; The target positioning information is used to obtain the positioning information of the target object in the current positioning period.

2. The method according to claim 1, characterized in that: The using at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range includes: If the fingerprint positioning information is outside the positioning effective range, determining the PDR positioning information as the target positioning information; If the fingerprint positioning information is within the positioning effective range, the fingerprint positioning information and the PDR positioning information are determined to be target positioning information.

3. The method according to claim 2, characterized in that In a case where the fingerprint positioning information and the PDR positioning information are target positioning information, obtaining the positioning information of the target object in the current positioning period by using the target positioning information includes: Obtaining a first error range of the fingerprint positioning information and a second error range of the historical positioning information; the first error range is determined by the coordinate point of the fingerprint positioning information and a preset radius; the second error range is determined by the coordinate point of the historical positioning information and the preset radius; Based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, the positioning information of the target object in the current positioning period is obtained.

4. The method according to claim 3, characterized in that The obtaining, based on the positional relationship between the first error range and the second error range, as well as the fingerprint positioning information and the PDR positioning information, the positioning information of the target object in the current positioning period includes: If the first error range intersects with the second error range, weighted summing the fingerprint positioning information and the PDR positioning information is performed according to the first weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the first weight is greater than the weight value of the fingerprint positioning information; If the first error range does not intersect with the second error range, the fingerprint positioning information and the PDR positioning information are weighted and summed according to the second weight to obtain the positioning information of the target object in the current positioning period; the weight value of the PDR positioning information in the second weight is less than the weight value of the fingerprint positioning information.

5. The method according to claim 2, characterized in that: Before taking at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, the method further includes: Acquire the coordinate points of the historical positioning information, and acquire the moving direction of the target object in the current positioning cycle according to the PDR positioning information; Determine a straight line that passes through the coordinate point of the historical positioning information and is perpendicular to the moving direction; An area formed by extending the straight line in the moving direction is determined as the positioning effective range.

6. The method according to claim 1, characterized in that The obtaining of a first position deviation between the fingerprint positioning information and the historical positioning information, and obtaining a second position deviation between the PDR positioning information and the historical positioning information, includes: Acquire a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and use the first distance deviation and the first direction angle deviation as the first position deviation; A second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information are obtained, and the second distance deviation and the second direction angle deviation are used as the second position deviation.

7. The method according to claim 6, characterized in that The method further comprises: when the difference between the first position deviation and the second position deviation meets a preset condition, taking at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, including: When the difference between the first direction angle deviation and the second direction angle deviation is outside the preset angle deviation range, or the difference between the first distance deviation and the second distance deviation is outside the preset distance deviation range, at least one of the fingerprint positioning information and the PDR positioning information is used as target positioning information based on the positional relationship between the fingerprint positioning information and the positioning effective range.

8. The method according to claim 1, characterized in that When the first position deviation and the second position deviation do not meet a preset condition, the method further includes: Using the fingerprint positioning information as the positioning information of the target object in the current positioning period; or Using the PDR positioning information as the positioning information of the target object in the current positioning period; or The fingerprint positioning information and the PDR positioning information are weighted and summed according to a third weight to obtain the positioning information of the target object in the current positioning cycle; the weight value of the PDR positioning information in the third weight is equal to the weight value of the fingerprint positioning information.

9. A position determination device, characterized in that: The device comprises: A positioning information acquisition module is used to acquire historical positioning information of a target object in a historical positioning cycle, and acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning cycle; the historical positioning cycle is a positioning cycle previous to the current positioning cycle; A position deviation acquisition module, used to acquire a first position deviation between the fingerprint positioning information and the historical positioning information, and to acquire a second position deviation between the PDR positioning information and the historical positioning information; A first positioning information determination module is configured to use at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a positional relationship between the fingerprint positioning information and a positioning effective range when a difference between the first position deviation and the second position deviation meets a preset condition; The second positioning information determining module is used to obtain the positioning information of the target object in the current positioning period by using the target positioning information.

10. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

12. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 8 are implemented.

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