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

Abstract

The application provides a position fingerprint positioning method, device, equipment and computer storage medium. The method positions the current position of a target user through a particle positioning module, and determines the obtained current position as an initial position of the target user; then, a speed parameter of the target user is acquired in real time, and it is judged whether the speed parameter is greater than a preset speed parameter; when the speed parameter is greater than the preset speed parameter, a predicted position and an observed position of the target user are respectively determined based on a particle filtering algorithm according to a PDR positioning module and the particle positioning module; and the obtained predicted position and observed position are fused to determine a final position of the target user. The method optimizes the positioning method of a mobile terminal, improves the positioning accuracy of the mobile terminal, reduces the positioning cumulative error generated in the positioning process of the mobile terminal, provides a new positioning method based on particle filtering fusion fingerprint technology, and improves the user experience.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of indoor positioning technology, and in particular to a location fingerprint positioning method, device, equipment and computer storage medium. BACKGROUND

[0002] Mobile positioning refers to a technology or service for obtaining the position information (latitude and longitude coordinates) of a mobile phone or terminal user through a specific positioning technology, marking the position of the positioned object on an electronic map. The positioning system server end is located in the operator core network, and the client end faces the smart phone users, supports 4G and 5G networks, and is widely used in smart phones, coordination systems, etc.

[0003] Among them, the mobile positioning technology includes fingerprint indoor positioning technology and pedestrian dead reckoning technology. The fingerprint indoor positioning technology is based on the communication data reported by the terminal. According to the first correspondence relationship between the grid of the building, the main adjacent area combination and the fingerprint information, the terminal is positioned indoors. The pedestrian dead reckoning technology can calculate the state of the user when walking to obtain the walking direction and distance of the user.

[0004] In the prior art, the fingerprint indoor positioning technology performs indoor positioning through the first correspondence relationship between the grid of the building, the main adjacent area combination and the fingerprint information. Since the accuracy of the grid can only reach meters, only rough positioning calculation can be performed. The gap between the grids is large, resulting in low positioning accuracy. When the user is in a moving state, the cumulative positioning error will gradually increase. The pedestrian dead reckoning technology can calculate the walking direction and distance of the user when walking, but it cannot position the initial position of the user. At the same time, it cannot eliminate the cumulative positioning error caused by multiple walks of the user. SUMMARY

[0005] The present application provides a location fingerprint positioning method, device, equipment and computer storage medium to solve the defects of low positioning accuracy of current positioning technology and inability to eliminate the cumulative positioning error caused by multiple positioning of the user.

[0006] In a first aspect, the present application provides a location fingerprint positioning method, comprising:

[0007] controlling a positioning module to position the current position of the target user, and determining the current position as the initial position of the target user, the positioning module comprising a PDR positioning module and a particle positioning module;

[0008] obtaining the speed parameter of the target user in real time, and determining whether the speed parameter is greater than a preset speed parameter, the speed parameter being used to indicate the movement of the target user;

[0009] determining, according to the PDR positioning module and the particle positioning module, a predicted position and an observed position of the target user based on a particle filtering algorithm when the speed parameter is greater than the preset speed parameter;

[0010] determining a final position of the target user according to the predicted position and the observed position.

[0011] Optionally, the control positioning module positions a current position of the target user, comprising:

[0012] obtaining a plurality of position particles of the current position of the target user;

[0013] determining position information and weight information corresponding to each position particle according to the plurality of position particles;

[0014] determining the current position of the target user according to the plurality of position information and the plurality of weight information.

[0015] Optionally, the control positioning module positions a current position of the target user, comprising:

[0016] determining a movement parameter of the target user according to the PDR positioning module, the movement parameter being used to indicate parameter information generated in a process in which the target user moves from the initial position to the final position;

[0017] controlling the PDR positioning module to perform a prediction process on the position of the target user according to the movement parameter, to obtain the predicted position of the target user;

[0018] obtaining a target signal parameter corresponding to the predicted position of the target user;

[0019] performing matching processing on the target signal parameter and a signal parameter in a fingerprint database, and determining the observed position of the target user according to a matching result.

[0020] Optionally, the control positioning module positions a current position of the target user, comprising:

[0021] re-determining weight information of the plurality of position particles according to the predicted position and the observed position;

[0022] performing normalization processing on the new weight information to obtain target weight information of the plurality of position particles;

[0023] performing optimization processing on the plurality of position particles according to the target weight information to obtain a plurality of new position particles, wherein the number of position particles before and after the optimization processing is unchanged.

[0024] According to the plurality of new position particles, the predicted position is corrected to obtain a final position of the target user.

[0025] Optionally, the method further comprises:

[0026] Obtaining a locatable area of the positioning module;

[0027] Controlling the particle positioning module to collect signal parameters in the locatable area;

[0028] According to the signal parameters, a fingerprint database corresponding to the locatable area is established.

[0029] Optionally, the method further comprises:

[0030] When the speed parameter is not greater than the preset speed parameter, obtaining position information of the target user according to a preset period;

[0031] According to a plurality of position information obtained in the preset period, a plurality of initial positions of the target user are determined;

[0032] The plurality of initial positions are calculated to obtain new position information, and the new position information is determined as a new initial position of the target user.

[0033] Optionally, the method further comprises:

[0034] After the final position of the target user is determined, the speed parameter of the target user is re-obtained, and it is judged whether the speed parameter is greater than the preset speed parameter;

[0035] When the speed parameter is not greater than the preset speed parameter, the final position is determined as the initial position when the PDR positioning module is positioned again, and the initial position is updated according to the preset period.

[0036] In a second aspect, the application provides a position fingerprint positioning device, comprising:

[0037] A control module is configured to control a positioning module to position a current position of a target user, wherein the positioning module comprises a PDR positioning module and a particle positioning module.

[0038] A determination module is configured to determine the current position as an initial position of the target user.

[0039] An acquisition module is configured to acquire a speed parameter of the target user in real time, wherein the speed parameter is used to indicate a movement of the target user.

[0040] The judging module is configured to judge whether the speed parameter is greater than a preset speed parameter.

[0041] The determining module is further configured to determine a predicted position and an observed position of the target user based on a particle filtering algorithm according to the PDR positioning module and the particle positioning module when the speed parameter is greater than the preset speed parameter.

[0042] The determining module is further configured to determine a final position of the target user according to the predicted position and the observed position.

[0043] Optionally, the obtaining module is further configured to obtain a plurality of position particles of a current position of the target user.

[0044] The determining module is further configured to determine position information and weight information corresponding to each position particle according to the plurality of position particles.

[0045] The determining module is further configured to determine the current position of the target user according to the plurality of position information and the plurality of weight information.

[0046] Optionally, the determining module is further configured to determine a movement parameter of the target user according to the PDR positioning module, the movement parameter being used to indicate parameter information generated in a process in which the target user moves from the initial position to the final position.

[0047] The position fingerprint positioning apparatus further includes a processing module.

[0048] The processing module is configured to control the PDR positioning module to perform a prediction process on a position of the target user according to the movement parameter, to obtain the predicted position of the target user.

[0049] The obtaining module is further configured to obtain a target signal parameter corresponding to the predicted position of the target user.

[0050] The processing module is further configured to perform matching processing on the target signal parameter and signal parameters in a fingerprint database.

[0051] The determining module is further configured to determine an observed position of the target user according to a matching result.

[0052] Optionally, the determining module is further configured to redetermine weight information of the plurality of position particles according to the predicted position and the observed position.

[0053] The processing module is further configured to perform normalization processing on the new weight information, to obtain target weight information of the plurality of position particles.

[0054] The processing module is further configured to perform optimization processing on the plurality of position particles according to the target weight information, to obtain a plurality of new position particles, wherein the number of position particles before and after the optimization processing is unchanged.

[0055] The processing module is further configured to perform correction processing on the predicted position according to the plurality of new position particles, to obtain the final position of the target user.

[0056] Optionally, the obtaining module is further configured to obtain a locatable area of the positioning module.

[0057] The processing module is further configured to control the particle positioning module to collect signal parameters in the locatable area.

[0058] The processing module is further configured to establish a fingerprint database corresponding to the locatable area according to the signal parameters.

[0059] Optionally, the obtaining module is further configured to obtain the position information of the target user at a preset period when the speed parameter is not greater than the preset speed parameter.

[0060] The determining module is further configured to determine initial positions of a plurality of target users according to a plurality of position information obtained in the preset period.

[0061] The processing module is further configured to perform calculation processing on the plurality of initial positions, to obtain new position information.

[0062] The determining module is further configured to determine the new position information as a new initial position of the target user.

[0063] Optionally, the obtaining module is further configured to re-obtain the speed parameter of the target user after determining the final position of the target user.

[0064] The determining module is further configured to determine whether the speed parameter is greater than the preset speed parameter.

[0065] The determining module is further configured to determine the final position as the initial position when the PDR positioning module is positioned again when the speed parameter is not greater than the preset speed parameter.

[0066] The processing module is further configured to update the initial position at the preset period.

[0067] In a third aspect, the present application provides a position fingerprint positioning device, comprising:

[0068] a memory;

[0069] a processor;

[0070] The memory stores computer-executable instructions;

[0071] The processor executes the computer-executable instructions stored in the memory to implement the position fingerprint positioning method according to the first aspect and possible implementation manners of the first aspect.

[0072] In a fourth aspect, a computer storage medium is provided, which stores computer-executable instructions. The computer-executable instructions are executed by a processor to implement the position fingerprint positioning method according to the first aspect and possible implementation manners of the first aspect.

[0073] The position fingerprint positioning method provided in the present application controls the positioning module arranged on the mobile terminal to position the current position of the target user, and determines the obtained current position as the initial position of the target user. Then, the speed parameter of the target user is acquired in real time, and it is determined whether the speed parameter is greater than a preset speed parameter. When the speed parameter is greater than the preset speed parameter, the predicted position and the observed position of the target user are determined based on the PDR positioning module and the particle positioning module respectively according to the particle filtering algorithm. The predicted position and the observed position are fused to determine the final position of the target user. The positioning method of the mobile terminal is optimized, the positioning accuracy of the mobile terminal is improved, the positioning cumulative error generated in the positioning process of the mobile terminal is reduced, a new positioning method based on the particle filtering fusion fingerprint technology is provided, and the user experience is improved. BRIEF DESCRIPTION OF DRAWINGS

[0074] The accompanying drawings, which are incorporated herein and form part of the specification, illustrate embodiments consistent with the present application and, together with the description, further serve to explain the principles of the application.

[0075] Figure 1 A scene schematic diagram of the position fingerprint positioning method provided in the present application;

[0076] Figure 2 A flowchart of the position fingerprint positioning method provided in the present application Figure 1 ;

[0077] Figure 3 A flowchart of the position fingerprint positioning method provided in the present application Figure 2 ;

[0078] Figure 4 A structure schematic diagram of the position fingerprint positioning device provided in the present application;

[0079] Figure 5 A structure schematic diagram of the position fingerprint positioning device provided in the present application.

[0080] The present application has been shown and described with reference to the preferred embodiments. Equivalent mechanisms and methods can be used as substitutes for those described and illustrated. The application is not limited to the examples and illustrations, but only by the claims. DETAILED DESCRIPTION

[0081] The illustrative embodiments will now be described in detail by way of example with reference to the accompanying drawings. The drawings currently include the following figures:

[0082] The terminology used in the description of the application herein, and the appended claims and the above figures, including the terms "first", "second", "third", "fourth", and the like if any, are used for distinguishing between like elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the use of the terms so construed herein is merely for convenience and clarity and in no way to limit the scope of application to a particular implementation.

[0083] In the present application, the word "exemplary" or "for example" is used to mean serving as an example, instance, or illustration. Any implementation described herein as "exemplary" or as an "example" is not necessarily to be construed as preferred or advantageous over other implementations. The illustrative examples given are intended only to

[0084] 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 the relevant data need to comply with relevant laws, regulations and standards, and provide corresponding operation portal for the user to choose authorization or refusal.

[0085] First, the terms involved in the present application are explained.

[0086] PDR: Pedestrain Dead Reckoning, is a process of detecting and dividing the gait according to the motion sensing information of pedestrians, and calculating the distance and direction of travel, so as to estimate the future arrival position; or a relative position positioning technology, which can provide continuous position information of moving body at any time; PDR uses inertial sensing (accelerometer, gyroscope, sometimes also uses magnetometer) to estimate speed and direction, the basic model of walking includes step number, step length and direction; in the case of known step length and step number, the travel distance of the pedestrian can be calculated, and a complete PDR result can be obtained by combining the travel direction.

[0087] Particle filter: a process of approximating the probability density function by finding a set of random samples propagated in the state space, using sample mean to replace integral operation, and then obtaining the minimum variance estimation of system state, these samples are called "particles" figuratively, hence the name particle filter.

[0088] RSSI: Received Signal Strength Indication, is the received signal strength indication; the distance between the signal point and the receiving point is determined by the strength of the received signal, and then the positioning calculation is carried out according to the corresponding data, which is used to judge the connection quality and whether to increase the broadcast transmission strength; and RSSI is a base station side index.

[0089] Mobile positioning refers to the technology or service of obtaining the position information (latitude and longitude coordinates) of mobile phone or terminal user through specific positioning technology, and marking the position of the positioned object on the electronic map; the server side of the positioning system is located in the operator core network, and the client side faces the smart phone users, supports 4G, 5G network, and is widely used in smart phones, coordination system, etc.

[0090] Among them, the mobile positioning technology includes fingerprint indoor positioning technology and pedestrian dead reckoning technology, the fingerprint indoor positioning technology is based on the communication data reported by the terminal; according to the first corresponding relationship between the grid of the building, the main adjacent area combination and the fingerprint information, and the communication data, the terminal is positioned indoors; the pedestrian dead reckoning technology can calculate the state of the user when walking to obtain the walking direction and distance of the user.

[0091] The position fingerprint indoor positioning technology mainly achieves the indoor positioning effect through the detection and matching of the position fingerprint, and the position fingerprint can be of various types, and any "position unique" (helpful for distinguishing positions) feature can be used as a position fingerprint, such as the multipath structure of a communication signal at a position, whether an access point or a base station can be detected at a position, the received signal strength of a signal from a base station detected at a position, the round trip time or delay of a signal when communicating at a position, which can all be used as a position fingerprint, or can be combined as a position fingerprint.

[0092] In the prior art, the fingerprint indoor positioning technology performs indoor positioning through a first correspondence relationship between the grids of a building, the main neighbor zone combination and the fingerprint information, and since the accuracy of the grids can only reach meters, only rough positioning calculation can be performed, the gap between the grids is large, resulting in low positioning accuracy, and when the user is in a moving state, the cumulative positioning error gradually increases; the pedestrian dead reckoning technology can calculate the walking direction and distance when the user walks, but cannot position the initial position of the user, and at the same time, cannot eliminate the cumulative positioning error generated after the user walks multiple times.

[0093] In view of the above problems, the present application provides a position fingerprint positioning method.

[0094] Figure 1 is a scene schematic diagram of the position fingerprint positioning method provided by the present application. As shown in Figure 1 The mobile terminal 1 and the plurality of base station networks 2 are in communication connection; the mobile terminal 1 can receive the characteristic signals sent from the plurality of base station networks 2, and the plurality of base station networks 2 can detect the characteristic signals of all positions in the detection area. Among them, the mobile terminal 1 can be a user terminal provided with a PDR positioning module and a particle positioning module, and the plurality of base station networks 2 can be a base station network composed of 6 base stations. The present application does not specially limit the number of base stations contained in the plurality of base station networks.

[0095] The present application provides a position fingerprint positioning method, which positions the initial position of the user through the particle positioning module and provides the initial position for the PDR positioning module; detects whether the user is in a moving state through the PDR positioning module; if the user is not in a moving state, updates the initial position of the user through the particle positioning module; if the user is in a moving state, performs path deduction through the PDR positioning module and the particle positioning module respectively, and fuses the position information obtained by the two, thereby obtaining the final position of the user. The method optimizes the positioning method of the mobile terminal, improves the positioning accuracy of the mobile terminal, reduces the cumulative positioning error generated in the positioning process of the mobile terminal, provides a new positioning method based on the particle filter fusion fingerprint technology, and improves the user experience.

[0096] The technical solutions of the present application and how the technical solutions solve the above technical problems will be described in detail below with specific embodiments. The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the drawings.

[0097] Figure 2 Flowchart of the position fingerprint positioning method provided by the embodiments of the present application Figure 1 The execution subject of the present embodiment can be, for example, a user terminal provided with a PDR positioning module and a particle positioning module. As shown in Figure 2 The position fingerprint positioning method provided by the present embodiment comprises:

[0098] S201: controlling the positioning module to position the current position of the target user, and determining the current position as the initial position of the target user.

[0099] The initial position is used to indicate the position information of the starting point when the target user starts to move, and the positioning module comprises a PDR positioning module and a particle positioning module.

[0100] It can be understood that the mobile terminal is provided with a plurality of data modules, wherein the PDR positioning module can detect the speed information of the target user, so as to determine whether the target user is in a moving state, and can also deduce the moving path of the target user based on the PDR sensor positioning; the particle positioning module can receive the signal parameters of the position where the target user is located, and can also deduce the moving path of the target user based on the particle filtering algorithm; the particle positioning module is based on "position fingerprint" to realize the positioning of the target user, and the "position fingerprint" is the signal parameters of the signal from the base station detected at different positions, and the signal parameters at different positions have uniqueness, so the positioning of the target user can be realized according to the signal parameters of the position where the target user is currently located; and when the target user is in a stationary state, the accuracy of positioning the target user based on "position fingerprint" is more accurate.

[0101] The existing positioning technology is realized based on a mobile network, that is, a cellular network. The cellular network is mainly composed of three parts: a mobile station, a base station subsystem, and a network subsystem. The mobile station is a network terminal device. The base station subsystem includes a mobile base station, a wireless transceiver device, a dedicated network, a wireless digital device, and the like. The subsystem can be regarded as a converter between a wireless network and a wired network. Since the signal coverage of each communication base station of the network coverage presents a hexagon, which is similar to a honeycomb, it is called a cellular network. According to the shape characteristics of the cellular network, in order to improve the positioning accuracy, not only the signal parameters of one base station can be obtained, but also the signal parameters of multiple base stations can be obtained. The multiple base stations can form a corresponding base station network, so that all positions in the area covered by the base station network have one-to-one corresponding signal parameters. Therefore, the mobile terminal can obtain the signal parameters in the multiple base station networks corresponding to the current position through the particle positioning module. The multiple base station networks can be, for example, a base station network composed of six base stations.

[0102] The control particle positioning module obtains the signal parameters of the current position of the target user. According to the one-to-one correspondence between the signal parameters and the position information, the position information of the current position of the target user is determined, that is, the positioning of the current position of the target user is realized. The current position is determined as the initial position of the target user. At this time, the initial position can also be used as the starting point of the PDR positioning module to derive the moving path, that is, the PDR positioning module determines the initial position as the initial position, so as to improve the efficiency of the PDR positioning module in positioning the position of the target user.

[0103] For example, the user terminal is configured with a positioning module, and the positioning module can include a PDR positioning module and a particle positioning module. The particle positioning module obtains the received signal strength corresponding to the current position of the target user in the base station network composed of six base stations: (RSSI1, RSSI2, RSSI3, RSSI4, RSSI5, RSSI6). According to the correlation between the received signal strength and the position information, the position information corresponding to the received signal strength (RSSI1, RSSI2, RSSI3, RSSI4, RSSI5, RSSI6) is determined. The position information is determined as the initial position of the target user, and the initial position is also determined as the initial position of the PDR positioning module.

[0104] S202: Real-time acquisition of the speed parameter of the target user, and judgment of whether the speed parameter is greater than a preset speed parameter.

[0105] S203: When the speed parameter is greater than the preset speed parameter, the predicted position and the observed position of the target user are determined based on the particle filtering algorithm according to the PDR positioning module and the particle positioning module.

[0106] wherein the speed parameter is used to indicate the moving condition of the target user, and the preset speed parameter can be 0.7 m / s for example 2 ; the predicted position is used to indicate the position information obtained by the PDR positioning module through path derivation of the target user, and the observed position is used to indicate the position information obtained by the particle positioning module through path derivation of the target user.

[0107] It can be understood that the PDR positioning module is provided with a speed sensor, which can detect the moving condition of the target user, and the speed sensor can be an acceleration sensor, which can detect the acceleration of the target user in the moving process, thereby reflecting the moving condition of the target user. The speed parameter obtained by the speed sensor can reflect the moving condition of the target user, and the embodiment does not make special limitation on the speed parameter.

[0108] The speed parameter of the target user is obtained in real time by the speed sensor provided in the PDR positioning module, and it is judged whether the speed parameter is greater than the preset speed parameter.

[0109] If the speed parameter is greater than the preset speed parameter, it indicates that the target user is in a moving state, and at this time the path of the target user is derived by the PDR positioning module and the particle positioning module. The position information of the target user at the next moment can be predicted by the PDR positioning module according to the position information obtained at the last moment and the speed parameter, and the predicted position information is the predicted position. The signal parameters of a plurality of base station networks at the position of the target user are obtained by the particle positioning module, and the current signal parameters are observed according to the signal parameters corresponding to all positions in the current plurality of base station networks, thereby obtaining the observed position of the target user by the particle positioning module, that is, the predicted position and the observed position of the target user are determined based on the particle filtering algorithm by the PDR positioning module and the particle positioning module respectively.

[0110] If the speed parameter is not greater than the preset speed parameter, it indicates that the target user is not in a moving state, that is, the target user stays at the initial position, and at this time the path of the target user does not need to be derived, and only the initial position of the target user can be updated by the particle positioning module.

[0111] For example, the acceleration of the target user is obtained in real time by the acceleration sensor, and it is judged whether the target user is currently in a moving state according to the acceleration; if the current speed parameter is 1 m / s 2 , 1 m / s 2 > 0.7 m / s 2, it indicates that the target user is in a mobile state, at this time, the path of the target user is deduced through the PDR positioning module and the particle positioning module, and two position information corresponding to the PDR positioning module and the particle positioning module are obtained; if the current obtained speed parameter is 0.1 m / s 2 , 0.1 m / s 2 <0.7 m / s 2 , it indicates that the target user is not in a mobile state, at this time, the target user stays in the initial position, and only the initial position of the target user is updated through the particle positioning module.

[0112] S204: determining the final position of the target user according to the predicted position and the observed position.

[0113] Wherein, the final position is used to indicate the destination of the target user in this movement.

[0114] The predicted position determined by the PDR positioning module is sent to the particle positioning module, and the predicted position and the observed position are fused by the particle positioning module; according to the position information obtained after the fusion processing, the final position of the target user is determined.

[0115] For example, the predicted position determined by the PDR positioning module can be PDR coordinates, and the observed position determined by the particle positioning module can be particle coordinates. The PDR coordinates are sent to the particle positioning module, the particle positioning module fuses the PDR coordinates and the particle coordinates, according to the position information obtained after the fusion processing, and the specific form of the position information can be coordinates, for example, so as to determine the final position of the target user, that is, the final coordinates. The form of the position information is not specially limited in the present application.

[0116] It can be understood that when the target user is in the indoor, the position information of the target user represented by the longitude and latitude data is not accurate when the target user is positioned indoors by using the positioning module, and there is a positioning error; therefore, according to the current position of the user, a corresponding coordinate system can be constructed, and the position information of the target user can be represented by corresponding coordinate information, so as to improve the positioning accuracy when the target user is positioned indoors, and the position fingerprint positioning method can also be used for outdoor positioning of the target user. The application scene of the position fingerprint positioning method is not specially limited in the present application.

[0117] The position fingerprint positioning method provided by the embodiment positions the current position of the target user through the positioning module arranged on the mobile terminal, and determines the obtained current position as the initial position of the target user; then the speed parameter of the target user is acquired in real time, and it is judged whether the speed parameter is greater than the preset speed parameter; when the speed parameter is greater than the preset speed parameter, the predicted position and the observed position of the target user are respectively determined based on the PDR positioning module and the particle positioning module based on the particle filtering algorithm; the obtained predicted position and observed position are fused to determine the final position of the target user. The method improves the positioning accuracy of the mobile terminal, reduces the positioning cumulative error generated in the positioning process of the mobile terminal, provides a new positioning method based on the particle filtering fusion fingerprint technology, and improves the user experience.

[0118] Figure 3 The flowchart of the position fingerprint positioning method provided by the embodiment Figure 2 . As shown in Figure 3 , the embodiment is based on Figure 2 the embodiment, and the position fingerprint positioning method is described in detail. The position fingerprint positioning method shown in the embodiment comprises the following steps.

[0119] S301: Obtain a plurality of position particles of the current position of the target user.

[0120] S302: Determine the position information and the weight information corresponding to each position particle respectively according to the plurality of position particles.

[0121] S303: Determine the current position of the target user according to the plurality of position information and the plurality of weight information, and determine the current position as the initial position of the target user.

[0122] The position particle is used to deduce the moving path of the target user, and the weight information is used to indicate the importance of the current position of the target user in different position particles.

[0123] It can be understood that the key strategy of particle filtering is to approximate the posterior probability distribution through a large number of random experiments, and then use the sample mean to replace the integral operation, that is, the path of the target user is simulated through a plurality of position particles, and then the position particle most consistent with the moving path of the target user is deduced.

[0124] Since different position particles have different position information and weight information, the particle positioning module realizes derivation of the moving path of the target user according to different position particles; the position information of different position particles is different, and different position information corresponds to different signal parameters, so the signal parameters of the current position of the target user can be obtained to determine the position information of the current position of the target user, and the position particle corresponding to the current position is determined; the signal parameter is a characteristic parameter that can be detected by the multiple base station networks.

[0125] Through the particle positioning module, multiple position particles are generated to simulate and derive the moving path of the target user, according to the simulation and derivation result, multiple position particles can be obtained, and the current multiple position particles are analyzed and processed, according to the analysis and processing result, the position information and weight information corresponding to each position particle can be obtained; the position information corresponding to the multiple position particles is matched with the position information in the fingerprint database, and the weight information of each position particle is combined to determine the position particle that has a greater impact on the current position of the target user, so that the current position of the target user can be determined, and the current position is determined as the initial position of the target user.

[0126] It can be understood that when the initial position of the target user is determined, that is, the position information of the target user when the target user is stationary, the influence degree of different position particles on the current position of the target user is the same, at this time, the weight information of each position particle can be evenly distributed, and the determination of the initial position will not be affected.

[0127] For example, through the particle positioning module, N position particles can be generated, when the initial position of the target user is determined, the N position particles are assigned equal weights, and the weight corresponding to each position particle can be 1 / N; the received signal strength corresponding to the N position particles is obtained, so that the coordinates corresponding to each position particle are obtained; since the weight corresponding to each position particle is 1 / N, the influence degree of each position particle on the initial position of the target user is the same, at this time, the coordinates of the N position particles are collected, and the collected coordinates are taken as the coordinates of the initial position.

[0128] Optionally, the method further comprises:

[0129] obtaining a positionable area of the positioning module; controlling the particle positioning module to collect signal parameters in the positionable area; and establishing a fingerprint database corresponding to the positionable area according to the signal parameters.

[0130] The positionable area refers to an area that can be covered by the multiple base station networks, the signal parameter is used to indicate the characteristic parameters of the multiple base station networks, and the signal parameter can be, for example, the received signal strength; the fingerprint database is used to indicate data information that all geographic positions in the positionable area correspond to the received signal strength one by one.

[0131] It can be understood that, before positioning the target user, a database containing location fingerprints, i.e. a fingerprint database, needs to be constructed; and the fingerprint database takes signal parameters of multiple base station networks as "location fingerprints", so the fingerprint database contains data information corresponding to all locations and signal parameters in the area currently covered by the multiple base station networks, i.e. the set of the data information constitutes the fingerprint database.

[0132] Obtain the area currently covered by the multiple base station networks where the mobile terminal is located, and determine the area as the locatable area of the positioning module; control the particle positioning module to collect signal parameters in the locatable area; and establish the association between the geographic location and the signal parameters according to the signal parameters, thereby generating the fingerprint database corresponding to the locatable area.

[0133] S304: Real-time acquire the speed parameter of the target user, and determine whether the speed parameter is greater than a preset speed parameter.

[0134] Real-time acquire the speed parameter of the target user through the speed sensor arranged in the PDR positioning module, and determine whether the speed parameter is greater than a preset speed parameter.

[0135] If the speed parameter is not greater than the preset speed parameter, it indicates that the target user is not in a moving state, i.e. the target user stays at the initial location, at this time, the path of the target user does not need to be deduced, and only the initial location of the target user needs to be updated through the particle positioning module.

[0136] If the speed parameter is greater than the preset speed parameter, it indicates that the target user is in a moving state, at this time, the path of the target user is deduced through the PDR positioning module and the particle positioning module, i.e. the predicted location and the observed location of the target user are determined based on the particle filtering algorithm through the PDR positioning module and the particle positioning module.

[0137] For example, real-time acquire the acceleration of the target user through the acceleration sensor, and determine whether the target user is currently in a moving state according to the acceleration; if the currently acquired speed parameter is 0.1 m / s 2 , 0.1 m / s 2 <0.7 m / s 2 , it indicates that the target user is not in a moving state, at this time, the target user stays at the initial location, and only the initial location of the target user needs to be updated through the particle positioning module; if the currently acquired speed parameter is 1 m / s 2 , 1 m / s 2 >0.7 m / s 2If the speed parameter is less than or equal to the preset speed parameter, it indicates that the target user is in a moving state, and the path of the target user is deduced by the PDR positioning module and the particle positioning module to obtain two position information corresponding to the PDR positioning module and the particle positioning module.

[0138] S305: When the speed parameter is less than or equal to the preset speed parameter, the position information of the target user is acquired according to a preset period.

[0139] S306: According to the plurality of position information acquired in the preset period, the initial positions of the plurality of target users are determined.

[0140] S307: The plurality of initial positions are calculated and processed to obtain new position information, and the new position information is determined as the new initial position of the target user.

[0141] The preset period may be, for example, 5 minutes.

[0142] When the speed parameter is less than or equal to the preset speed parameter, the particle positioning module is controlled to acquire the signal parameter of the current position of the target user according to a preset period, and the signal parameter is matched with the signal parameter in the fingerprint database to determine the current position information of the target user, that is, the initial position of the target user is updated according to the preset period, and the position information acquired in the preset period may be multiple; according to the plurality of position information acquired in the preset period, the initial positions of the target user at different times can be determined; the plurality of initial positions are calculated and processed to obtain new position information, and the new position information is determined as the new initial position of the target user.

[0143] For example, the particle positioning module is controlled to acquire the received signal strength of the current position of the target user at a frequency of 5 minutes / time, and the received signal strength is matched with the received signal strength in the fingerprint database to obtain the coordinates of the current position of the target user, and the coordinates may be The particle positioning module acquires the coordinate information multiple times, and the plurality of acquired coordinate information is processed by mean value to obtain the final coordinates The new initial position of the target user is The method for calculating and processing the plurality of initial positions is not specially limited.

[0144] S308: When the speed parameter is greater than the preset speed parameter, the moving parameter of the target user is determined according to the PDR positioning module.

[0145] S309: According to the moving parameter, the PDR positioning module is controlled to predict and process the position of the target user to obtain the predicted position of the target user.

[0146] The movement parameters include a step length of the target user and a step count of the target user.

[0147] It can be understood that the PDR positioning module is provided with multiple sensors, including a speed sensor and a direction sensor, which can detect the movement direction and speed of the target user, so as to determine the movement of the target user. The speed sensor can be an acceleration sensor, for example.

[0148] The PDR positioning module updates the position information of the multiple position particles according to the position information obtained at the current time, the speed parameter and the movement parameter, so as to realize the prediction processing of the position information of the target user at the next time. The predicted position information is the predicted position.

[0149] Preferably, the direction sensor provided in the PDR positioning module can detect the movement direction of the target user, and a two-dimensional coordinate system is constructed according to the initial position of the target user, so as to coordinate the movement of the target user. The acceleration sensor provided in the PDR positioning module can detect the step count of the target user, so as to determine the position information of each position particle at time k. The position particle of the target user at time k is updated by using the following formula, so as to realize the prediction processing of the position information of the target user at time k, and the predicted result is the predicted position.

[0150] (1)

[0151] In the formula, is the position information of the i-th position particle at time k, is the step length of the target user, is the azimuth angle of the target user relative to the initial position; and are random noise terms of normal distribution in x direction and y direction respectively, that is, there is signal interference, which has zero mean and given variance. The variance is obtained according to the sensor, and is close to 0. The establishment of the coordinate system is not specially limited in the application. A two-dimensional coordinate system can be established, or a three-dimensional coordinate system can be established. The present embodiment only takes the establishment of a two-dimensional coordinate system based on the initial position of the target user as an example for detailed description.

[0152] S310: Obtain a target signal parameter corresponding to the predicted position of the target user.

[0153] S311: Match the target signal parameter with the signal parameters in the fingerprint database, and determine the observation position of the target user according to the matching result.

[0154] The target signal parameter is used to indicate the signal parameters acceptable to the multiple base station networks at the predicted position obtained by the PDR positioning module.

[0155] After the PDR positioning module determines the predicted position of the target user, the particle positioning module obtains a target signal parameter corresponding to the predicted position; the particle positioning module obtains signal parameters of a plurality of base station networks at a position where the target user is located, and performs matching processing on the currently obtained target signal parameter according to signal parameters corresponding to all positions in the current plurality of base station networks, so as to obtain an observed position of the target user by the particle positioning module.

[0156] Preferably, the particle positioning module obtains received signal strengths of a plurality of base station networks at a position where the target user is located, and performs matching processing on the received signal strength corresponding to the currently obtained target signal parameter according to received signal strengths corresponding to all positions in the current plurality of base station networks, so as to obtain an observed position of the target user by the particle positioning module, and the obtained observed position can be expressed by the following formula:

[0157] (2)

[0158] (3)

[0159] In the formula, is position information of the target user at time k;

[0160] and is two-dimensional coordinate information obtained by performing matching processing on the currently obtained received signal strength and the received signal strength in the fingerprint database;

[0161] and are signal errors existing in x direction and y direction, respectively;

[0162] is a variance of the fingerprint positioning.

[0163] S312: Redetermine weight information of the plurality of position particles according to the predicted position and the observed position.

[0164] It can be understood that the weight information represents the influence degree of the corresponding position particle on the position information of the target user, and different position particles have different weight information, so that position particles with small influence degree on the position information of the target user can be screened out according to different weight information, and only position particles with large influence degree on the position information of the target user are retained.

[0165] After obtaining the predicted position determined by the PDR positioning module and the observed position determined by the particle positioning module, the influence degree of different position particles on the position information of the target user changes, so it is necessary to redetermine the weight information possessed by the plurality of position particles.

[0166] Preferably, the weight information of the plurality of position particles can be re-determined by using the following formula:

[0167] (4)

[0168] wherein, represents whether the position particle is located in the accessible area, when the position particle is located in the accessible area, ; when the position particle is not located in the accessible area, at this time, the position particle is regarded as an invalid particle;

[0169] represents whether the position particle is in the reachable passage, when the position particle is in the reachable passage, ; when the position particle is not in the reachable passage, that is, the current moving path of the position particle passes through the obstacle.

[0170] is the weight information of the i-th position particle at the k-th moment.

[0171] S313: normalizing the new weight information to obtain target weight information of the plurality of position particles.

[0172] The target weight information refers to the weight information after normalization.

[0173] The new weight information is normalized by using the following formula:

[0174] (5)

[0175] wherein, is the weight information of the i-th position particle at the k-th moment after normalization.

[0176] It can be understood that after the plurality of new weight information currently obtained is normalized, the weight of each position particle can be compared to determine the effective position particle with higher weight, and the position particle with lower weight can be regarded as an invalid position particle, and these invalid position particles are filtered out.

[0177] S314: optimizing the plurality of position particles according to the target weight information to obtain a plurality of new position particles.

[0178] S315: correcting the predicted position according to the plurality of new position particles to obtain the final position of the target user.

[0179] It can be understood that after the normalization of the plurality of position particles, different position particles obtain different weights, and the position particles with lower weights can appear degeneration, at this time, the particles are resampled to ensure that the total number of position particles is unchanged.

[0180] According to the target weight information, the position particles with lower weights are screened out, and the position particles with higher weights are copied according to probabilities, so that a plurality of new position particles are obtained; and the predicted position is corrected according to the plurality of new position particles, so that the final position of the target user is obtained.

[0181] The plurality of new position particles obtained can be At this time, the predicted position is corrected by using the following formula, and the obtained is the final position of the target user.

[0182] (6)

[0183] Optionally, the method further comprises:

[0184] After the final position of the target user is determined, the speed parameter of the target user is reacquired, and it is judged whether the speed parameter is greater than a preset speed parameter; when the speed parameter is not greater than the preset speed parameter, the final position is determined as an initial position when the PDR positioning module is positioned again, and the initial position is updated according to a preset period.

[0185] After the final position of the target user is determined, the speed parameter of the target user is reacquired, and it is judged whether the speed parameter is greater than a preset speed parameter; when the speed parameter is not greater than the preset speed parameter, the final position is determined as an initial position when the PDR positioning module is positioned again, and the initial position is updated according to a preset period.

[0186] The position fingerprint positioning method provided by the embodiment comprises the following steps: obtaining a plurality of position particles of a current position of a target user, and determining position information and weight information corresponding to each position particle respectively; determining the current position of the target user according to the plurality of position information and the plurality of weight information, and determining the current position as an initial position of the target user; obtaining a speed parameter of the target user in real time, and judging whether the speed parameter is greater than a preset speed parameter; when the speed parameter is not greater than the preset speed parameter, updating the initial position of the target user according to a preset period; when the speed parameter is greater than the preset speed parameter, determining a movement parameter of the target user according to a PDR positioning module, and controlling the PDR positioning module to perform prediction processing on the position of the target user to obtain a predicted position of the target user; obtaining a target signal parameter corresponding to the predicted position of the target user, performing matching processing on the target signal parameter and a signal parameter in a fingerprint database, and determining an observed position of the target user according to a matching result; re-determining the weight information of the plurality of position particles according to the predicted position and the observed position; performing normalization processing on the new weight information to obtain target weight information of the plurality of position particles, and then performing optimization processing on the plurality of position particles to obtain a plurality of new position particles; performing correction processing on the predicted position according to the plurality of new position particles obtained currently to obtain a final position of the target user. The method optimizes the positioning method of the mobile terminal, improves the positioning accuracy of the mobile terminal, reduces the positioning cumulative error generated in the positioning process of the mobile terminal, provides a new positioning method based on particle filtering fusion fingerprint technology, and improves the user experience.

[0187] Figure 4 The structure diagram of the position fingerprint positioning device provided by the present application is shown in FIG. 1. Figure 4 The position fingerprint positioning device 400 provided by the present application comprises:

[0188] A control module 401 is configured to control a positioning module to position a current position of a target user, wherein the positioning module comprises a PDR positioning module and a particle positioning module.

[0189] A determination module 402 is configured to determine the current position as an initial position of the target user.

[0190] An acquisition module 403 is configured to acquire a speed parameter of the target user in real time, wherein the speed parameter is used to indicate the movement of the target user.

[0191] A judgment module 404 is configured to judge whether the speed parameter is greater than a preset speed parameter.

[0192] The determining module 402 is further configured to determine a predicted position and an observed position of the target user based on a particle filtering algorithm according to the PDR positioning module and the particle positioning module when the speed parameter is greater than the preset speed parameter.

[0193] The determining module 402 is further configured to determine a final position of the target user according to the predicted position and the observed position.

[0194] Optionally, the obtaining module 403 is further configured to obtain a plurality of position particles of a current position of the target user.

[0195] The determining module 402 is further configured to determine position information and weight information corresponding to each position particle respectively according to the plurality of position particles.

[0196] The determining module 402 is further configured to determine the current position of the target user according to the plurality of position information and the plurality of weight information.

[0197] Optionally, the determining module 402 is further configured to determine a movement parameter of the target user according to the PDR positioning module, the movement parameter being used to indicate parameter information generated in a process in which the target user moves from the initial position to the final position.

[0198] The position fingerprint positioning apparatus further includes a processing module 405.

[0199] The processing module 405 is configured to control the PDR positioning module to perform a prediction process on the position of the target user according to the movement parameter, to obtain the predicted position of the target user.

[0200] The obtaining module 403 is further configured to obtain a target signal parameter corresponding to the predicted position of the target user.

[0201] The processing module 405 is further configured to perform matching processing on the target signal parameter and signal parameters in a fingerprint database.

[0202] The determining module 402 is further configured to determine an observed position of the target user according to a matching result.

[0203] Optionally, the determining module 402 is further configured to redetermine weight information of the plurality of position particles according to the predicted position and the observed position.

[0204] The processing module 405 is further configured to perform normalization processing on the new weight information, to obtain target weight information of the plurality of position particles.

[0205] The processing module 405 is further configured to perform optimization processing on the plurality of position particles according to the target weight information, to obtain a plurality of new position particles, wherein the number of position particles before and after the optimization processing is unchanged.

[0206] The processing module 405 is further configured to perform correction processing on the predicted position according to the plurality of new position particles, to obtain the final position of the target user.

[0207] Optionally, the acquisition module 403 is further configured to acquire a locatable area of the positioning module.

[0208] The processing module 405 is further configured to control the particle positioning module to collect signal parameters in the locatable area.

[0209] The processing module 405 is further configured to establish a fingerprint database corresponding to the locatable area according to the signal parameters.

[0210] Optionally, the acquisition module 403 is further configured to acquire the position information of the target user at a preset period when the speed parameter is not greater than the preset speed parameter.

[0211] The determination module 402 is further configured to determine initial positions of a plurality of target users according to a plurality of position information acquired within the preset period.

[0212] The processing module 405 is further configured to perform calculation processing on the plurality of initial positions, to obtain new position information.

[0213] The determination module 402 is further configured to determine the new position information as a new initial position of the target user.

[0214] Optionally, the acquisition module 403 is further configured to reacquire the speed parameter of the target user after determining the final position of the target user.

[0215] The judgment module 404 is further configured to judge whether the speed parameter is greater than the preset speed parameter.

[0216] The determination module 402 is further configured to determine the final position as the initial position when the PDR positioning module is positioned again when the speed parameter is not greater than the preset speed parameter.

[0217] The processing module 405 is further configured to update the initial position at the preset period.

[0218] Figure 5 The structure diagram of the position fingerprint positioning device provided in the present application is shown in FIG. 1. Figure 5As shown, the present application provides a position fingerprint positioning device, which comprises a receiver 501, a transmitter 502, a processor 503 and a memory 504.

[0219] The receiver 501 is configured to receive instructions and data.

[0220] The transmitter 502 is configured to transmit instructions and data.

[0221] The memory 504 is configured to store computer-executable instructions.

[0222] The processor 503 is configured to execute the computer-executable instructions stored in the memory 504 to implement each step of the position fingerprint positioning method performed by the position fingerprint positioning device in the above-mentioned embodiments. For details, please refer to the related description in the position fingerprint positioning method embodiments.

[0223] Optionally, the memory 504 can be independent or integrated with the processor 503.

[0224] When the memory 504 is independent, the electronic device further comprises a bus for connecting the memory 504 and the processor 503.

[0225] The present application further provides a computer-readable storage medium, which stores computer-executable instructions. When the processor executes the computer-executable instructions, the position fingerprint positioning method performed by the position fingerprint positioning device is implemented.

[0226] It should be noted that, for the above-mentioned method embodiments, in order to simply describe, they are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the action order described, because according to the present application, certain steps can be performed in other order or simultaneously. Secondly, those skilled in the art should know that the embodiments described in the specification all belong to optional embodiments, and the actions and modules involved are not necessarily required by the present application.

[0227] It should be further noted that, although each step in the flowchart is displayed in sequence according to the arrow indication, these steps are not necessarily executed in sequence according to the arrow indication. Unless otherwise stated in this paper, the execution of these steps has no strict order limitation, and these steps can be executed in other order. Moreover, at least part of the steps in the flowchart can include multiple sub-steps or multiple stages, which are not necessarily executed at the same time, but can be executed at different times, and the execution order of these sub-steps or stages is not necessarily sequential, but can be executed in rotation or alternation with other steps or sub-steps or stages of other steps.

[0228] Those skilled in the art can understand that all or some of the steps in the method disclosed above, the functional modules / units in the system and the device can be implemented as software, firmware, hardware or a combination thereof. In the hardware implementation, the division between the functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component can have multiple functions, or one function or step can be performed by several physical components in cooperation. Some or all of the physical components can be implemented as software executed by a processor such as a central processing unit, a digital signal processor or a microprocessor, or as hardware, or as an integrated circuit such as an application specific integrated circuit. Such software can be distributed on computer readable media, which can include computer storage media (or non-transitory media) and communication media (or transitory media). As known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, digital versatile disks (DVD) or other optical disk storage, magnetic cassettes, magnetic tapes, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to store the desired information and can be accessed by a computer. In addition, as known to those skilled in the art, communication media typically includes computer readable instructions, data structures, program modules or other data in modulated data signals such as carrier waves or other transport mechanisms, and can include any information delivery medium.

[0229] In the above-described embodiments, the description of each embodiment focuses on different aspects, and the parts not described in detail in a certain embodiment can be referred to the relevant description of other embodiments. The technical features of the above-described embodiments can be combined in any manner. In order to make the description concise, not all possible combinations of the technical features in the above-described embodiments are described, however, as long as the combinations of the technical features do not exist contradictions, they should be considered as the scope disclosed in the specification.

[0230] Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. It is intended that the application be limited only by the scope of the claims, including any appropriate equivalents. The specification and examples given are considered exemplary and are not intended to be limiting.

[0231] So far, the technical solutions of the present application have been described in combination with the preferred embodiments shown in the drawings, but those skilled in the art can easily understand that the protection scope of the present application is obviously not limited to these specific embodiments, and the above examples are only used to illustrate the technical solutions of the present application, but not to limit them; although the present application has been described in detail with reference to the foregoing examples, those skilled in the art should understand that they can still modify the technical solutions recorded in the foregoing examples, or make equivalent replacement for part or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present application.

Claims

1. A method of position fingerprinting, characterized in that, The method comprises: controlling a positioning module to locate a current position of a target user and determining the current position as an initial position of the target user, the positioning module comprising a PDR positioning module and a particle positioning module; obtaining a speed parameter of the target user in real time and determining whether the speed parameter is greater than a preset speed parameter, the speed parameter being used to indicate a movement condition of the target user; when the speed parameter is greater than the preset speed parameter, determining a predicted position and an observed position of the target user based on a particle filtering algorithm according to the PDR positioning module and the particle positioning module; redetermining weight information of a plurality of position particles according to the predicted position and the observed position; normalizing new weight information to obtain target weight information of the plurality of position particles; optimizing the plurality of position particles according to the target weight information to obtain a plurality of new position particles, wherein the number of position particles before and after optimization is unchanged; correcting the predicted position according to the plurality of new position particles to obtain a final position of the target user; the redetermination of the weight information of the plurality of position particles according to the predicted position and the observed position comprises: wherein, represents whether the position particle is located in an accessible region, when the position particle is located in the accessible region, ; when the position particle is not located in the accessible region at this time the position particle is considered as an invalid particle; represents whether the position particle is in a reachable passage, when the position particle is in the reachable passage, ; when the position particle is not in the reachable passage, , i.e. the current moving path of the position particle passes through the obstacle; the weight information of the i-th position particle at k moment.

2. The method of claim 1, wherein, the control of the positioning module to locate the current position of the target user comprises: obtaining a plurality of position particles of the current position of the target user; determining position information and weight information corresponding to each position particle respectively according to the plurality of position particles; determining the current position of the target user according to a plurality of position information and a plurality of weight information.

3. The method of claim 2, wherein, the determination of the predicted position and the observed position of the target user based on the particle filtering algorithm according to the PDR positioning module and the particle positioning module comprises: determining a movement parameter of the target user according to the PDR positioning module, the movement parameter being used to indicate parameter information generated in the process of the target user moving from the initial position to the final position; controlling the PDR positioning module to perform prediction processing on the position of the target user to obtain the predicted position of the target user according to the movement parameter; obtaining a target signal parameter corresponding to the predicted position of the target user; performing matching processing on the target signal parameter and signal parameters in a fingerprint database, and determining the observed position of the target user according to a matching result.

4. The method of claim 1, wherein, The method further comprises: obtaining a locatable area of the positioning module; controlling the particle positioning module to collect signal parameters in the locatable area; establishing a fingerprint database corresponding to the locatable area according to the signal parameters.

5. The method of claim 1, wherein, The method further comprises: when the speed parameter is not greater than the preset speed parameter, obtaining position information of the target user at a preset period; determining a plurality of initial positions of the target user according to a plurality of position information obtained at the preset period; performing calculation processing on the plurality of initial positions to obtain new position information, and determining the new position information as a new initial position of the target user.

6. The method of claim 1, wherein, The method further comprises: After determining the final position of the target user, a speed parameter of the target user is re-acquired, and it is determined whether the speed parameter is greater than the preset speed parameter; When the speed parameter is not greater than the preset speed parameter, the final position is determined as an initial position when the PDR positioning module is positioned again, and the initial position is updated according to the preset period.

7. A position fingerprinting apparatus, characterized by The device comprises: a control module configured to control a positioning module to position a current position of a target user, the positioning module comprising a PDR positioning module and a particle positioning module; a determination module configured to determine the current position as an initial position of the target user; an acquisition module configured to acquire a speed parameter of the target user in real time, the speed parameter being used to indicate a movement condition of the target user; a judgment module configured to determine whether the speed parameter is greater than a preset speed parameter; the determination module is further configured to, when the speed parameter is greater than the preset speed parameter, determine a predicted position and an observed position of the target user based on a particle filtering algorithm according to the PDR positioning module and the particle positioning module; the determination module is further configured to re-determine weight information of a plurality of position particles according to the predicted position and the observed position; a processing module configured to normalize new weight information to obtain target weight information of the plurality of position particles; the processing module is further configured to optimize the plurality of position particles according to the target weight information to obtain a plurality of new position particles, wherein the number of position particles before and after optimization is unchanged; the processing module is further configured to correct the predicted position according to the plurality of new position particles to obtain a final position of the target user; the re-determination of the weight information of the plurality of position particles according to the predicted position and the observed position comprises: wherein, represents whether the position particle is located in an accessible region, when the position particle is located in the accessible region, ; when the position particle is not located in the accessible region at this time the position particle is considered as an invalid particle; indicates whether the position particle is in a reachable passage, when the position particle is in the reachable passage, ; when the position particle is not in the reachable passage, , i.e. the current moving path of the position particle passes through the obstacle; the weight information of the i-th position particle at k moment.

8. A position fingerprinting device, characterized by comprises: a memory; a processor; wherein the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the position fingerprint positioning method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer execution instructions, and the computer execution instructions are executed by the processor to implement the position fingerprint positioning method according to any one of claims 1 to 6.

Images