Position determination method and apparatus, computer device, and storage medium

Abstract

The application 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: obtaining historical positioning information of a target object in a historical positioning period, and obtaining fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is a previous positioning period of the current positioning period; a first position deviation between the fingerprint positioning information and the historical positioning information is obtained, and a second position deviation between the PDR positioning information and the historical positioning information is obtained; in the case that a 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 taken as target positioning information according to a position relationship between the fingerprint positioning information and a positioning effective range; and positioning information of the target object in the current positioning period is obtained by using the target positioning information. The method can improve the indoor positioning accuracy.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of indoor positioning technology, and in particular to a position determination method and device, a computer device, a storage medium and a computer program product. BACKGROUND

[0002] Positioning technology is currently widely used in various intelligent business scenarios. In an outdoor scenario, a satellite navigation system can solve most positioning problems, while the accuracy of the satellite navigation system is insufficient in an indoor scenario. Various new positioning technologies are emerging, including a positioning algorithm based on a location fingerprint, which realizes indoor positioning according to the correlation between a signal strength characteristic RSSI (Received Signal Strength Indication) and an actual spatial position.

[0003] However, an indoor environment usually changes constantly with obstacles and personnel movement, and the changed environment causes fluctuations in the signal strength characteristic in the indoor environment. In the indoor environment, the signal characteristic strength at the same position changes, which causes a large difference in the positioning result at the same position and results in insufficient indoor positioning accuracy. SUMMARY

[0004] Therefore, it is necessary to provide a position determination method and device, a computer device, a computer readable storage medium and a computer program product capable of improving indoor positioning accuracy in view of the above technical problems.

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

[0006] obtaining historical positioning information of a target object in a historical positioning period, and obtaining fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is a last positioning period of the current positioning period;

[0007] 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;

[0008] in a case where a 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 target positioning information according to a position relationship between the fingerprint positioning information and a positioning effective range;

[0009] obtaining positioning information of the target object in the current positioning period by using the target positioning information.

[0010] In one of the embodiments, the step of determining 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 comprises:

[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 inside the positioning effective range, determining the fingerprint positioning information and the PDR positioning information as the target positioning information.

[0013] In one of the embodiments, the step of obtaining the positioning information of the target object in the current positioning period by using the target positioning information comprises:

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

[0015] 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 and the fingerprint positioning information and the PDR positioning information.

[0016] In one of the embodiments, 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 and the fingerprint positioning information and the PDR positioning information comprises:

[0017] If the first error range intersects with the second error range, obtaining the positioning information of the target object in the current positioning period by weighting and summing the fingerprint positioning information and the PDR positioning information according to a first weight; 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, obtaining the positioning information of the target object in the current positioning period by weighting and summing the fingerprint positioning information and the PDR positioning information according to a second weight; 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 the step of determining 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 comprises:

[0020] obtaining a coordinate point of the historical positioning information, and obtaining a moving direction of the target object in a current positioning period according to the PDR positioning information;

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

[0022] extending the straight line to the moving direction to form an area, and determining the area as the positioning effective range.

[0023] In one embodiment, the method further comprises:

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

[0025] obtaining a second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information, and taking the second distance deviation and the second direction angle deviation as the second position deviation.

[0026] In one embodiment, when the difference between the first position deviation and the second position deviation meets a preset condition, the method further comprises:

[0027] when a difference between the first direction angle deviation and the second direction angle deviation is outside a preset angle deviation range, or a difference between the first distance deviation and the second distance deviation is outside a preset distance deviation range, taking at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to a 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 the preset condition, the method further comprises:

[0029] The fingerprint positioning information is taken as the positioning information of the target object in the current positioning period, or the PDR positioning information is taken 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, and 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 further provides a position determination device. The device comprises:

[0031] A positioning information acquisition module is configured to acquire historical positioning information of a target object in a historical positioning period and to acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning period, wherein the historical positioning period is a previous positioning period of the current positioning period.

[0032] A position deviation acquisition module is configured 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, in a case where a difference between the first position deviation and the second position deviation meets a preset condition, take at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a position relationship between the fingerprint positioning information and a positioning effective range.

[0034] A second positioning information determination module is configured to obtain 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. The computer device comprises a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the method according to the first aspect when executing the computer program.

[0036] In a fourth aspect, the present application further provides a computer readable storage medium. The computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the method according to the first aspect.

[0037] In a fifth aspect, the present application further provides a computer program product. The computer program product comprises a computer program, and the computer program is executed by a processor to implement the steps of the method according to the first aspect.

[0038] The position determination method, device, computer device, storage medium and computer program product can obtain the positioning information of the target object in two continuous positioning periods by obtaining the historical positioning information of the target object in a historical positioning period, obtaining the fingerprint positioning information and the PDR positioning information of the target object in a current positioning period, determining the first position deviation of the fingerprint positioning information and the historical positioning information, determining the second position deviation of the PDR positioning information and the historical positioning information, and determining the difference between the first position deviation and the second position deviation. The difference between the fingerprint positioning information and the PDR positioning information in the two continuous positioning periods can be obtained, and the positioning information in the current positioning period is adjusted according to the difference. If the difference meets a preset condition, at least one of the fingerprint positioning information and the PDR positioning information is determined as the target positioning information according to the position relationship between the fingerprint positioning information and the positioning effective range, and the positioning information of the target object in the current positioning period is obtained by using the target positioning information. The positioning effective range can determine whether the fingerprint positioning information deviates due to signal strength characteristic fluctuation, and eliminate the deviation caused by the signal strength characteristic fluctuation and the deviation of the fingerprint positioning information by combining the PDR positioning information with the fingerprint positioning information, so as to improve the accuracy of indoor positioning. BRIEF DESCRIPTION OF DRAWINGS

[0039] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the related art, the drawings needed to be used in the embodiments or the related art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0040] Figure 1 An application environment diagram of the position determination method in an embodiment;

[0041] Figure 2 A flowchart of the position determination method in an embodiment;

[0042] Figure 3 A flowchart of the step of determining the target positioning information in an embodiment;

[0043] Figure 4 A flowchart of the step of determining the positioning information of the target object in the current positioning period in an embodiment;

[0044] Figure 5 A flowchart of the step of determining the positioning effective range in an embodiment;

[0045] Figure 6 A flowchart of the position determination method in another embodiment;

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

[0047] Figure 8 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0048] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0049] The location determination method provided in this application embodiment can be applied to, for example, Figure 1 In the application environment shown, terminal 102 communicates with server 104 via a network. Terminal 102 can locate the target object according to a preset positioning cycle and send the positioning information for each cycle to server 104. A data storage system can store the data that server 104 needs to process, such as the historical positioning information of the target object in historical positioning cycles. The data storage system can be integrated onto server 104 or located in the cloud or on other network servers.

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

[0051] The terminal 102 can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things device can be a smart speaker, a smart television, a smart air conditioner, a smart vehicle-mounted device, etc. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, etc. The head-mounted device can be a virtual reality (VR) device, an augmented reality (AR) device, smart glasses, etc. The server 104 can be implemented by a standalone server or a server cluster composed of multiple servers.

[0052] In an exemplary embodiment, as shown in Figure 2 a position determination method is provided. The method is applied to the server 104 in Figure 1 for example, and includes the following steps S202 to S208. Wherein:

[0053] In step S202, historical positioning information of a target object in a historical positioning period is obtained, and fingerprint positioning information and PDR positioning information of the target object in a current positioning period are obtained.

[0054] The historical positioning period is the last positioning period of the current positioning period. The target object is an object to be positioned or an object wearing a positioning device. The object can be an object, a living being, or any object with a physical entity. The positioning information is used to represent the positioning result of the target object, for example, the coordinates of a self-defined spatial coordinate system or latitude and longitude can be used as the positioning information. For the positioning results of different positioning methods, in addition to the coordinates and latitude and longitude, the positioning information can also include the moving distance and moving direction. For example, the PDR positioning information can also store the corresponding moving distance and moving direction of the target object in the current positioning period.

[0055] In addition, the fingerprint positioning strategy is a positioning algorithm based on location fingerprints, which uses the correlation between the received RSSI (Received Signal Strength Indication) features of different location Bluetooth beacons and the actual spatial position to realize positioning. The PDR positioning strategy is a pedestrian dead reckoning PDR based on IMU (Inertial Measurement Unit) sensors, which measures and counts the number of steps, step length, and direction of a pedestrian walking, and calculates the walking trajectory and position of the pedestrian.

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

[0057] In one example, the server can first obtain the historical positioning information of the target object in the historical positioning period from the historical positioning register, and take the historical positioning information as an initial position of the PDR positioning strategy, and take the initial position as a starting point, take a moving distance and a moving direction obtained by the PDR positioning strategy as a moving process, obtain a terminal point after the target object moves, and determine position information corresponding to the terminal 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 represent the difference between two different positioning information in the same space.

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

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

[0062] Step S206, in a case where a difference between the first position deviation and the second position deviation satisfies a preset condition, taking at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a position relationship between the fingerprint positioning information and the positioning effective range.

[0063] 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, or 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 can determine the difference between the first position deviation and the second position deviation, for example, by calculating the deviations 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 condition. If the difference meets the preset condition, the server can determine the position relationship between the fingerprint positioning information in the current positioning period and the positioning effective range. For example, the fingerprint positioning information can be within the positioning effective range, and the positioning information can be outside the positioning effective range. The positioning effective range is a range divided in a preset spatial coordinate system, and the user can configure the positioning effective range. The server can determine at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to the position relationship between the fingerprint positioning information and the positioning effective range. For example, the server can determine the fingerprint positioning information as the target positioning information, the server can determine the PDR positioning information as the target positioning information, and the server can determine both the fingerprint positioning information and the PDR positioning information as the target positioning information.

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

[0066] Specifically, the server can 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 can combine the fingerprint positioning information and the PDR positioning information to determine the combined positioning information as the positioning information of the target object in the current positioning period. Alternatively, the server can separately determine the fingerprint positioning information or the PDR positioning information as the positioning information of the target object in the current positioning period.

[0067] In the position determination method, the historical positioning information of the target object in the historical positioning period, the fingerprint positioning information of the target object in the current positioning period and the PDR positioning information are obtained, and the positioning information of two continuous positioning periods is obtained. The first position deviation of the fingerprint positioning information and the historical positioning information, and the second position deviation of 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 in the two continuous positioning periods is obtained, and the positioning information of the current positioning period is adjusted according to the difference. If the difference meets the preset condition, at least one of the fingerprint positioning information and the PDR positioning information is determined as the target positioning information according to the position relationship between the fingerprint positioning information and the positioning effective range, and the positioning information of the target object in the current positioning period is obtained by using the target positioning information. The positioning effective range can determine whether the fingerprint positioning information has deviation caused by signal strength characteristic fluctuation, and eliminate the deviation caused by signal strength characteristic fluctuation and the deviation of the fingerprint positioning information itself by combining the PDR positioning information with the fingerprint positioning information, so as to improve the accuracy of indoor positioning.

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

[0069] In step S302, if the fingerprint positioning information is outside the positioning effective range, the PDR positioning information is determined as the target positioning information.

[0070] Specifically, the server can determine whether the fingerprint positioning information is in the positioning effective range. If the fingerprint positioning information is outside the positioning effective range, it means that there is excessive error in the fingerprint positioning process of the current positioning period, and the fingerprint positioning information obtained thereby can be invalid information, so the server can determine the PDR positioning information as the target positioning information.

[0071] In step S304, if the fingerprint positioning information is in the positioning effective range, the fingerprint positioning information and the PDR positioning information are determined as the target positioning information.

[0072] Specifically, if the fingerprint positioning information is in the positioning effective range, it means that there is no excessive error in the fingerprint positioning process of the current positioning period, and the fingerprint positioning information obtained thereby can be used to determine the positioning information of the target object in the current positioning period. 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 subsequently to obtain the positioning information of the target object in the current positioning period.

[0073] In this embodiment, by determining whether the fingerprint positioning information is within the positioning effective range, it can be determined whether the fingerprint positioning information has excessive error, so as to accurately determine the target positioning information, avoid using the fingerprint positioning information with excessive error as the target object in the current positioning period, and use the PDR positioning information as the target positioning information required in the subsequent period. In this way, the positioning information can be preliminarily screened to remove invalid data, and the accuracy of determining the target positioning information can be improved.

[0074] In one exemplary embodiment, as shown in FIG. 4, when the fingerprint positioning information and the PDR positioning information are the target positioning information, the specific implementation process of the step of "obtaining the positioning information of the target object in the current positioning period by using the target positioning information" includes steps S402-S404. In this embodiment, the steps S402-S404 are described in detail as follows. Figure 4

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

[0076] In this embodiment, the first error range is determined by the coordinate point of the fingerprint positioning information and a preset radius, and the second error range is determined by the coordinate point of the historical positioning information and the preset radius.

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

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

[0079] Step S404: Obtain 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 and the fingerprint positioning information and the PDR positioning information.

[0080] ​Specifically, there are multiple cases of positional relationship between the first error range and the second error range, and different cases of positional relationship have different ways of combining the fingerprint positioning information and the PDR positioning information. If the positional relationship is biased towards the fingerprint positioning information being close to the PDR positioning information, the fingerprint positioning information can be used as the main information 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 is biased towards the fingerprint positioning information being far away from the PDR positioning information, the PDR positioning information can be used as the main information 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 by the error range determining the combining process of the fingerprint positioning information and the PDR positioning information, the positioning information of the target object in the current positioning period is obtained, which can improve the accuracy of the combined positioning information.

[0082] In one 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, and 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] In the first weight, the weight value of the PDR positioning information is greater than the weight value of the fingerprint positioning information. In the second weight, the weight value of the PDR positioning information is less than the weight value of the fingerprint positioning information.

[0085] Specifically, the server can pre-configure the first weight and the second weight, and the first weight and the second weight each contain weight values corresponding to the fingerprint positioning information and the PDR positioning information. If the first error range intersects the second error range, it is determined that the deviation of the fingerprint positioning information and the PDR positioning information is not large, the fingerprint positioning information can be given priority, and the weighted sum of the coordinate values of the fingerprint positioning information and the PDR positioning information is obtained 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 the second error range, it is determined that the deviation of the fingerprint positioning information and the PDR positioning information is large, the PDR positioning information can be given priority, and the weighted sum of the coordinate values of the fingerprint positioning information and the PDR positioning information is obtained by the second weight, to obtain the positioning information of the target object in the current positioning period.

[0086] In the embodiment, by whether the first error range intersects the second error range, and different weight values are used for weighted sum in different cases, the weight value of the weighted sum can be adjusted according to the position information, and the accuracy of the positioning information of the target object in the current positioning period is improved.

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

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

[0089] Specifically, when the server determines the PDR positioning information in the current positioning period by the PDR positioning strategy, 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 space coordinate system.

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

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

[0092] Step S506, extending the area formed by the straight line to the moving direction to determine the positioning effective range.

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

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

[0095] In one 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] Obtaining a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and taking the first distance deviation and the first direction angle deviation as the 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 a 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 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 the spatial coordinate system is established. 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 historical positioning information from the direction angle corresponding to the fingerprint positioning information to obtain the first direction angle deviation. The server takes the first distance deviation and the first direction angle deviation as the first position deviation.

[0098] Obtaining a second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information, and taking the second distance deviation and the second direction angle deviation as the second position deviation.

[0099] Specifically, the server can 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 can configure an origin in a preset spatial coordinate system, and the origin in this embodiment should be unified. The server can 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 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 historical positioning information from the direction angle corresponding to the PDR positioning information to obtain the second direction angle deviation. The server takes the second distance deviation and the second direction angle deviation as the second position deviation.

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

[0101] In an exemplary embodiment, the specific implementation process of the step "in a case where 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" includes:

[0102] In a case where the difference between the first direction angle deviation and the second direction angle deviation is out of a preset angle deviation range, or the difference between the first distance deviation and the second distance deviation is out of a preset distance deviation range, 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.

[0103] Specifically, the server can determine a first difference between the first direction angle deviation and the second direction angle deviation, and determine a second difference between the first distance deviation and the second distance deviation. If the first difference is out of the preset angle deviation range, it can be determined that the preset condition is met. If the second difference is out of the preset distance deviation range, it can be determined that the preset condition is met. If the first difference is out of the preset angle deviation range and the second difference is out of the preset distance deviation range, it can be determined that the preset condition is met. If the first difference is within the preset angle deviation range and the second difference is within the preset distance deviation range, it can be determined that the difference does not meet the preset condition. Only in a case where the preset condition is met, the server can take 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.

[0104] Optionally, the preset angle deviation range can be within 90 degrees in positive and negative directions. The preset distance deviation range can be determined according to the moving distance in the PDR positioning information, for example, the preset distance deviation range can be twice the moving distance, and 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 used to determine whether the difference between the first position deviation and the second position deviation meets the preset condition, and the rationality and accuracy of the difference meeting the preset condition can be determined.

[0106] In an exemplary embodiment, if the first position deviation and the second position deviation do not meet the preset conditions, the method further includes:

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

[0108] Specifically, if the first and second position deviations do not meet preset conditions, the server can select one of several positioning strategies based on user needs to determine the target object's location information for the current positioning period. The positioning strategy could be to use fingerprint positioning information as the target object's location information for the current positioning period, to use PDR positioning information as the target object's location information for the current positioning period, or to obtain the target object's location information for the current positioning period by weighted summation of fingerprint positioning information and PDR positioning information according to a third weight.

[0109] In this embodiment, by using 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 execution process of the above location determination method is described in detail below with reference to a specific embodiment. First, the names of fingerprint positioning strategy and PDR positioning strategy are explained, including:

[0111] Fingerprint positioning strategy: Location fingerprint-based positioning algorithms utilize the correlation between the RSSI features of received Bluetooth beacons from different locations and their actual spatial locations to achieve positioning. Location fingerprinting is a non-parametric model that learns the propagation behavior of wireless signals and the influence of the environment based on data collected from the real environment. Location fingerprint positioning consists of two phases: online and offline. In the offline phase, Bluetooth beacons are placed at designated locations indoors, and RSSI data acquisition equipment is used to collect RSSI data and record the precise location of each acquisition point. Then, a mapping relationship between RSSI data and location information is established to form fingerprint information. In the online phase, 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 database to complete the identification of the tracked device's location. Compared to the previously mentioned positioning methods, the location fingerprint positioning algorithm is not limited by line-of-sight and can be applied to environments with multipath fading; therefore, the location fingerprint method is more suitable for indoor positioning.

[0112] PDR positioning strategy: Pedestrian Dead Reckoning PDR measures and counts the number of steps, step length and direction of the walker, and calculates the trajectory and position of the walker.

[0113] Secondly, the idea of the above position determination method is to use PDR positioning information to constrain and correct the results of fingerprint positioning. The specific execution 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 the current position: The terminal obtains the current fingerprint positioning information through the fingerprint positioning strategy, and obtains the PDR positioning information through the initial position and PDR positioning measurement.

[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, and 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 difference and direction angle difference.

[0119] 6. When the parameter trigger condition is met, start the deviation correction determination.

[0120] If the difference between the azimuth angle deviation of the fingerprint positioning information and the azimuth angle 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 value, it is determined that optimization is not needed.

[0121] If the difference between the azimuth angle deviation of the fingerprint positioning information and the azimuth angle deviation of the PDR positioning information is outside the range of plus or minus 90 degrees, it is determined that optimization is needed. If the difference between the azimuth angle deviation of the fingerprint positioning information and the azimuth angle deviation of the PDR positioning information is within the range of plus or minus 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 value, it is determined that optimization is needed.

[0122] 7. The terminal matches the decision parameters. To speed up the decision-making process, conditional decision-making or decision tree methods are used to determine the execution steps for location optimization.

[0123] 8. Terminals that meet the optimization criteria perform location result optimization operations, set the optimized location point as the fingerprint location point, and record the result in the historical location register. The interval between the current location and the previous location can be 10 to 20 seconds.

[0124] In one example, such as Figure 6 As shown in the embodiments of this application, the specific process of the indoor positioning result optimization method is as follows:

[0125] The terminal sets the fingerprint positioning result as the initial position for PDR positioning and writes it to the historical positioning register. The terminal obtains the latest fingerprint positioning information and PDR positioning information, and calculates the azimuth and distance deviations between these positions and the positions stored in the historical positioning register. It compares the positioning errors of the fingerprint positioning and the PDR-measured azimuth and displacement distance to see if they are within a threshold range. If the fingerprint positioning error exceeds the threshold, positioning result optimization is initiated, and the latest result is written to the historical positioning register.

[0126] Finally, in this embodiment, by comparing the range and azimuth change amplitude in fingerprint positioning with that in PDR to determine whether position optimization is needed for distance and azimuth change amplitude calculation, and by optimizing accordingly, the accuracy of indoor positioning can be improved.

[0127] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0128] Based on the same inventive concept, this application also provides a location determination device for implementing the location determination method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more location determination device embodiments provided below can be found in the limitations of the location determination method described above, and will not be repeated here.

[0129] In one exemplary embodiment, as shown in Figure 7 A position determination apparatus 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 configured to acquire historical positioning information of a target object in a historical positioning period, and acquire fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is a last positioning period of the current positioning period.

[0131] The position deviation acquisition module 702 is configured to 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.

[0132] The first positioning information determination module 703 is configured to, in a case where a difference between the first position deviation and the second position deviation satisfies a preset condition, determine at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a position relationship between the fingerprint positioning information and a positioning effective range.

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

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

[0135] Further, in a 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 configured to: acquire 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 a coordinate point of the fingerprint positioning information and a preset radius; the second error range is determined by a coordinate point of the historical positioning information and the preset radius; and obtain the positioning information of the target object in the current positioning period based on a position relationship between the first error range and the second error range, and the fingerprint positioning information and the PDR positioning information.

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

[0137] Further, the device further includes a range determination module, which is specifically configured to: acquire coordinate points of historical positioning information, and acquire a moving direction of the target object in the current positioning period according to the PDR positioning information; determine a straight line that passes through the coordinate points of the historical positioning information and is perpendicular to the moving direction; and determine a region formed by extending the straight line towards the moving direction as a positioning effective range.

[0138] Further, the position deviation acquisition module 702 is specifically configured to: acquire a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and take the first distance deviation and the first direction angle deviation as a first position deviation; acquire a second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information, and take the second distance deviation and the second direction angle deviation as a second position deviation.

[0139] Further, the first position information determination module 703 is specifically further configured to: in a case where a difference between the first direction angle deviation and the second direction angle deviation is out of a preset angle deviation range, or a difference between the first distance deviation and the second distance deviation is out of a preset distance deviation range, take at least one of the fingerprint positioning information and the PDR positioning information as the target positioning information according to a position relationship between the fingerprint positioning information and the positioning effective range.

[0140] Further, in a case where the first position deviation and the second position deviation do not satisfy a preset condition, the device further includes a third positioning information determination module, which is specifically configured to: take the fingerprint positioning information as the positioning information of the target object in the current positioning period; or take the PDR positioning information as the positioning information of the target object in the current positioning period; or sum 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; a weight value of the PDR positioning information in the third weight is equal to a weight value of the fingerprint positioning information.

[0141] Each of the modules in the position determining apparatus can be implemented wholly or partially by software, hardware and combinations thereof. The modules can be embedded in or independent of a processor in a computer device in hardware form, or stored in a memory in the computer device in software form, so as to be invoked and executed by the processor to perform operations corresponding to the modules.

[0142] In an example embodiment, a computer device, which can be a server, is provided, and an internal structure diagram of the computer device can be as shown in Figure 8 The computer device includes a processor, a memory, an input / output interface (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 configured 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 running the operating system and the computer program in the non-volatile storage medium. The database of the computer device is configured to store historical positioning information of a target object in a historical positioning period. The input / output interface of the computer device is configured to exchange information between the processor and external devices. The communication interface of the computer device is configured to communicate with terminals outside through a network connection. The computer program is configured to be executed by the processor to implement a position determining method.

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

[0144] In an example embodiment, a computer device is also provided, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the steps in the above method embodiments.

[0145] In an embodiment, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

[0146] In an embodiment, a computer program product is provided, which includes a computer program. The computer program is executed by a processor to implement the steps in the above method embodiments.

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

[0148] It can be understood by those skilled in the art that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer readable storage medium, and when the computer program is executed, it can include the processes of the above-mentioned embodiments of each method. Any reference to memory, database or other medium used in the embodiments provided by the present 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 storage, high-density embedded non-volatile memory, resistive memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric 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 but not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The database involved in the embodiments provided by the present application can include at least one of a relational database and a non-relational database. The non-relational database can include a distributed database based on a block chain, etc., without being limited thereto. The processor involved in the embodiments provided by the present application can be a general-purpose processor, a central processing unit, a graphics processing unit, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, etc., without being limited thereto.

[0149] The technical features of the above embodiments can be combined in any way. To make the description concise, not all possible combinations of the technical features in the above embodiments are described, but as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope of the present disclosure.

[0150] The above-described embodiments are merely illustrative of several embodiments of the present application, and the description is relatively specific and detailed, but should not be understood as a limitation on the scope of the patent. It should be noted that for those skilled in the art, without departing from the concept of the present application, a number of modifications and improvements can be made, which are all within the scope of the present application. Therefore, the scope of protection of the present application should be subject to the appended claims.

Claims

1. A method of position determination, characterized by, The method comprises: obtaining historical positioning information of a target object in a historical positioning period, and obtaining fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is a last positioning period of the current positioning period; 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; in a case where a 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 target positioning information according to a positional relationship between the fingerprint positioning information and a positioning effective range; the preset condition is whether the difference between the first position deviation and the second position deviation is within a preset spatial range or value range, and if the difference is within the preset spatial range or value range, it is determined that the difference meets the preset condition; the 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 comprises: if the fingerprint positioning information is outside the positioning effective range, determining the PDR positioning information as the target positioning information; and if the fingerprint positioning information is within the positioning effective range, determining the fingerprint positioning information and the PDR positioning information as the target positioning information; obtaining positioning information of the target object in the current positioning period by using the target positioning information.

2. The method of claim 1, wherein, in a case where the fingerprint positioning information and the PDR positioning information are the target positioning information, the obtaining positioning information of the target object in the current positioning period by using the target positioning information comprises: 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 a coordinate point of the fingerprint positioning information and a preset radius; and the second error range is determined by a coordinate point of the historical positioning information and the preset radius; obtaining positioning information of the target object in the current positioning period based on a positional relationship between the first error range and the second error range, and the fingerprint positioning information and the PDR positioning information.

3. The method of claim 2, wherein, the obtaining 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, and the fingerprint positioning information and the PDR positioning information comprises: if the first error range intersects with the second error range, weightedly summing the fingerprint positioning information and the PDR positioning information according to a first weight to obtain the positioning information of the target object in the current positioning period; a weight value of the PDR positioning information in the first weight is greater than a weight value of the fingerprint positioning information. If the first error range and the second error range do not intersect, the fingerprint positioning information and the PDR positioning information are weighted and summed according to a second weight to obtain the positioning information of the target object in the current positioning period; a weight value of the PDR positioning information in the second weight is less than a weight value of the fingerprint positioning information.

4. The method of claim 1, wherein, Before the at least one of the fingerprint positioning information and the PDR positioning information is taken as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, the method further includes: obtaining a coordinate point of the historical positioning information, and obtaining a moving direction of the target object in the current positioning period according to the PDR positioning information; determining a straight line that passes through the coordinate point of the historical positioning information and is perpendicular to the moving direction; extending the straight line to the moving direction to form a region, and determining the region as the positioning effective range.

5. The method of claim 1, wherein, The first positional deviation between the fingerprint positioning information and the historical positioning information is obtained, and a second positional deviation between the PDR positioning information and the historical positioning information is obtained, including: obtaining a first distance deviation and a first direction angle deviation between the fingerprint positioning information and the historical positioning information, and taking the first distance deviation and the first direction angle deviation as the first positional deviation; obtaining a second distance deviation and a second direction angle deviation between the PDR positioning information and the historical positioning information, and taking the second distance deviation and the second direction angle deviation as the second positional deviation.

6. The method of claim 5, wherein, In a case where a difference between the first positional deviation and the second positional deviation satisfies a preset condition, the at least one of the fingerprint positioning information and the PDR positioning information is taken as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range, including: in a case where a difference between the first direction angle deviation and the second direction angle deviation is outside a preset angle deviation range, or a difference between the first distance deviation and the second distance deviation is outside a preset distance deviation range, the at least one of the fingerprint positioning information and the PDR positioning information is taken as the target positioning information according to the positional relationship between the fingerprint positioning information and the positioning effective range.

7. The method of claim 1, wherein, In a case where the first positional deviation and the second positional deviation do not satisfy the preset condition, the method further includes: taking the fingerprint positioning information as the positioning information of the target object in the current positioning period; or taking 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 period; a weight value of the PDR positioning information in the third weight is equal to a weight value of the fingerprint positioning information.

8. A position determining apparatus, characterized by The apparatus includes: a positioning information obtaining module, configured to obtain historical positioning information of a target object in a historical positioning period, and obtain fingerprint positioning information and PDR positioning information of the target object in a current positioning period; the historical positioning period is a last positioning period of the current positioning period. a position deviation obtaining module, configured to obtain a first position deviation between the fingerprint positioning information and the historical positioning information, and obtain a second position deviation between the PDR positioning information and the historical positioning information; a first positioning information determining module, configured to, if a difference between the first position deviation and the second position deviation meets a preset condition, determine at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to a position relationship between the fingerprint positioning information and a positioning valid range; the preset condition is whether the difference between the first position deviation and the second position deviation is within a preset spatial range or value range, and if the difference is within the preset spatial range or value range, it is determined that the difference meets the preset condition; the determining at least one of the fingerprint positioning information and the PDR positioning information as target positioning information according to the position relationship between the fingerprint positioning information and the positioning valid range comprises: if the fingerprint positioning information is outside the positioning valid range, determining the PDR positioning information as target positioning information; and if the fingerprint positioning information is within the positioning valid range, determining the fingerprint positioning information and the PDR positioning information as target positioning information; a second positioning information determining module, configured to obtain positioning information of the target object in a current positioning period by using the target positioning information. 9.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-8 when the computer program is executed by the processor. The processor executes the computer program to implement the steps of the method in any one of claims 1 to 7.

10. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

11. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7. The computer program is executed by the processor to implement the steps of the method in any one of claims 1 to 7.

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