Printing method and terminal based on joint positioning

Abstract

The invention discloses a printing method and terminal based on joint positioning, and the method comprises the steps: obtaining Bluetooth positioning data and ultra-wideband positioning data corresponding to a mobile device end in at least one printing device end in response to a printing instruction of the mobile device end; performing data fusion on the Bluetooth positioning data and the ultra-wideband positioning data to obtain position data of the at least one printing equipment end; and determining a target printing equipment end used for executing the printing instruction in the at least one printing equipment end according to the position data. The positioning precision can be improved, and accurate distribution of printing tasks is ensured.

Description

Technical Field

[0001] The present invention relates to the field of positioning processing technology, and in particular to a printing method and terminal based on joint positioning. Background Art

[0002] With the deepening of office automation and the development of information technology, printing equipment has become an indispensable part of daily business operations. However, traditional printing resource management methods often have problems such as uneven resource allocation, high maintenance costs, and low efficiency. In the face of these problems, the use of modern management and technical means to coordinate printing resources has become the choice of many companies.

[0003] Nearby printing is a common method of allocating printing resources. Users can obtain printing services at a location close to them. This allocation method requires accurate location information of the printing device. Currently, most printer positioning systems use the RSSI (Received Signal Strength Indicator) fingerprint library positioning method. However, the office area where the printer is located usually has a large number of office equipment and mobile devices, resulting in a large amount of noise and interference sources in the current environment, causing a large amount of interference data in the RSSI positioning process, thus affecting the final positioning data. The deviation caused by the positioning data makes it impossible to accurately allocate printing tasks, resulting in unreasonable execution of printing tasks, which affects the user experience and printing efficiency. Summary of the invention

[0004] The technical problem to be solved by the present invention is to provide a printing method and terminal based on joint positioning, which can improve the positioning accuracy and ensure the accurate allocation of printing tasks.

[0005] In order to solve the above technical problems, a technical solution adopted by the present invention is: A printing method based on joint positioning, comprising: In response to a printing instruction from a mobile device, obtaining Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device from at least one printing device; Fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain the location data of the at least one printing device end; A target printing device end for executing the printing instruction is determined in the at least one printing device end according to the position data.

[0006] In order to solve the above technical problems, another technical solution adopted by the present invention is: A printing terminal based on joint positioning comprises a memory, a processor and a computer program stored in the memory and running on the processor. When the processor executes the computer program, each step of the printing method based on joint positioning is implemented.

[0007] The beneficial effects of the present invention are as follows: the coverage range of Bluetooth positioning data is relatively wide, the positioning accuracy of ultra-wideband positioning data is high and its anti-interference ability is strong, and the Bluetooth positioning data and the ultra-wideband positioning data are fused and processed to generate the location data of the printing device end, so as to realize the complementary advantages between the two positioning data, effectively balance the positioning accuracy and positioning range, thereby improving the positioning accuracy of the printing device, and broadening the applicable scenarios of the nearby printing method, ensuring that the printing tasks of the mobile device can be accurately allocated to the designated printing device end. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 A flowchart of a printing method based on joint positioning provided by an embodiment of the present invention; Figure 2 A schematic diagram of the structure of a printing terminal based on joint positioning provided by an embodiment of the present invention; Description of labels: 100. A printing terminal based on joint positioning; 101. Memory; 102. Processor. DETAILED DESCRIPTION

[0009] In order to explain the technical content, achieved objectives and effects of the present invention in detail, the following is an explanation in combination with the implementation modes and the accompanying drawings.

[0010] An embodiment of the present invention provides a printing method based on joint positioning, comprising: In response to a printing instruction from a mobile device, obtaining Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device from at least one printing device; Fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain the location data of the at least one printing device end; A target printing device end for executing the printing instruction is determined in the at least one printing device end according to the position data.

[0011] From the above description, it can be seen that the beneficial effects of the present invention are: the coverage range of Bluetooth positioning data is relatively wide, the positioning accuracy of ultra-wideband positioning data is high and the anti-interference ability is strong, and the Bluetooth positioning data and the ultra-wideband positioning data are fused and processed to generate the location data of the printing device end, so as to realize the complementary advantages between the two positioning data, effectively balance the positioning accuracy and positioning range, thereby improving the positioning accuracy of the printing device, and broadening the applicable scenarios of the nearby printing method, ensuring that the printing tasks of the mobile device can be accurately assigned to the designated printing device end.

[0012] Further, fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain the location data of the at least one printing device includes: Performing data preprocessing on the Bluetooth positioning data and the ultra-wideband positioning data to obtain standard joint data; Performing data decomposition on the standard joint data to obtain low-rank decomposition data and sparse decomposition data; Performing a first data processing on the low-rank decomposition data to obtain low-rank standard data; Performing a second data processing on the sparse decomposed data to obtain sparse standard data; The low-rank standard data and the sparse standard data are fused to obtain the position data of the at least one printing device end.

[0013] From the above description, it can be seen that due to the lack of information collection in the process of positioning data collection for Bluetooth positioning technology and ultra-wideband positioning technology, the positioning accuracy is affected. The fusion of Bluetooth positioning data and ultra-wideband positioning data can effectively combine the data characteristics of different positioning data, thereby complementing each other's advantages according to the data characteristics, and at the same time eliminate the interference data of the positioning data to improve the final positioning accuracy.

[0014] Furthermore, the standard joint data is decomposed to obtain low-rank decomposition data and sparse decomposition data as follows: ,and ; in, f represents the objective function of data decomposition by robust principal component analysis, M represents standard joint data, L represents low-rank decomposition data, represents the nuclear norm of low-rank decomposition data, S represents sparse decomposition data, represents the L1 norm of the sparse decomposition data, and α represents the regularization parameter.

[0015] From the above description, it can be seen that the robust principal component analysis method can effectively separate the noise and outliers in the Bluetooth positioning data and the ultra-wideband positioning data, improve the accuracy and reliability of the positioning data, and thus improve the accuracy of the position data obtained after fusion.

[0016] Further, performing a first data processing on the low-rank decomposition data to obtain low-rank standard data includes: Extracting singular values ​​and singular vectors from the low-rank decomposition data by singular value decomposition; Low-rank standard data is constructed according to the singular values ​​and the singular vectors.

[0017] From the above description, we can see that Bluetooth and ultra-wideband are two different positioning technologies, and their positioning data may have different characteristics and noise distribution. When their positioning data are fused into a matrix, the low-rank decomposition data obtained by robust principal component analysis contains the synergistic and complementary features between the two positioning data, which can be effectively extracted by singular value decomposition. While compressing the data, the most critical information of the data is retained.

[0018] Further, performing a second data processing on the sparse decomposition data to obtain sparse standard data includes: Get the preset screening threshold; Determining non-noise data in the sparse decomposed data according to the screening threshold; Sparse standard data is constructed according to the non-noise data.

[0019] From the above description, it can be seen that when Bluetooth and ultra-wideband are used for positioning processing, there may be outliers and noise data due to the influence of factors such as measurement errors and environmental interference. The sparse decomposition data obtained by the robust principal component analysis method contains the outliers and noise data of the two types of positioning data. The noise data of the positioning data can be effectively eliminated by screening the threshold, thereby reducing the impact of noise data on positioning accuracy.

[0020] Further, fusing the low-rank standard data and the sparse standard data to obtain the position data of the at least one printing device end includes: The parameter data which minimizes the numerical difference between the low-rank standard data and the sparse standard data is solved by the least square method as the position data of the at least one printing device end.

[0021] From the above description, it can be seen that low-rank standard data represents the basic pattern of Bluetooth positioning data and ultra-wideband positioning data, that is, it reflects the precise distance measurement in ultra-wideband positioning and the wide range coverage in Bluetooth positioning data. At the same time, low-rank standard data can also capture relatively stable features over a long period of time, such as the impact of fixed obstacles inside buildings on signal propagation. Sparse standard data represents unusual events that occur in Bluetooth positioning data and ultra-wideband positioning data in a short period of time, such as multipath effects, signal interference, or equipment failure. At the same time, sparse standard data can also capture instantaneous changes, such as temporary occlusion of signals by pedestrians or moving objects. The parameter data solved by the least squares method can effectively integrate the information in the two standard data to improve the accuracy of positioning.

[0022] Further, obtaining Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device in at least one printing device includes: Obtaining a device identifier of the mobile device; The Bluetooth positioning data and the ultra-wideband positioning data within the collection time corresponding to the printing instruction in the at least one printing device end are acquired according to the device identification.

[0023] From the above description, it can be seen that since multiple mobile devices may send print instructions at the same time, obtaining corresponding data based on the device identification of the mobile device can effectively distinguish the positioning data of different mobile devices and improve the efficiency of data acquisition.

[0024] Further, determining a target printing device end for executing the printing instruction in the at least one printing device end according to the position data includes: Calculating the relative distance between the mobile device and each of the printing devices according to the location data; The target printing device end with the smallest relative distance is selected from the at least one printing device end to execute the printing instruction.

[0025] From the above description, it can be seen that the location data generated by the fusion of Bluetooth positioning technology and ultra-wideband positioning technology has a high degree of accuracy. The relative distance between the printing device and the mobile device is determined based on the location data to ensure that the system can automatically select the printing device closest to the user to complete the printing task, avoid positioning deviation, and effectively optimize the user experience.

[0026] Furthermore, before obtaining the Bluetooth positioning data and the ultra-wideband positioning data corresponding to the mobile device in at least one printing device, the method further includes: Detecting whether the Bluetooth positioning module and the ultra-wideband positioning module of the mobile device are turned on; If it is detected that only the Bluetooth positioning module or the ultra-wideband positioning module is turned on on the mobile device, the Bluetooth positioning data or ultra-wideband positioning data corresponding to the mobile device in the at least one printing device is obtained, and the target printing device for executing the printing instruction is determined in the at least one printing device according to the Bluetooth positioning data or the ultra-wideband positioning data.

[0027] From the above description, it can be seen that when the mobile device cannot turn on the Bluetooth positioning function and the ultra-wideband positioning function at the same time, the distribution and processing of printing tasks can be achieved only through Bluetooth positioning data and ultra-wideband positioning data, so as to improve the fault tolerance of the printing method and broaden the compatibility of the printing method with different mobile devices.

[0028] Another embodiment of the present invention provides a printing terminal based on joint positioning, including a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, each step of the above-mentioned printing method based on joint positioning is implemented.

[0029] From the above description, it can be seen that the beneficial effects of the present invention are: the coverage range of Bluetooth positioning data is relatively wide, the positioning accuracy of ultra-wideband positioning data is high and the anti-interference ability is strong, and the Bluetooth positioning data and the ultra-wideband positioning data are fused and processed to generate the location data of the printing device end, so as to realize the complementary advantages between the two positioning data, effectively balance the positioning accuracy and positioning range, thereby improving the positioning accuracy of the printing device, and broadening the applicable scenarios of the nearby printing method, ensuring that the printing tasks of the mobile device can be accurately assigned to the designated printing device end.

[0030] The above-mentioned joint positioning-based printing method and terminal of the present invention can be applied to complex office scenarios, can improve the positioning accuracy of the printing device, and ensure the accurate allocation of printing tasks, which is described below through specific implementation methods: Please refer to Figure 1 , Embodiment 1 of the present invention is: A printing method based on joint positioning, specifically comprising: S1. In response to a printing instruction from a mobile device, obtain Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device from at least one printing device.

[0031] Specifically, step S1 includes: S11, obtaining a device identification of the mobile device; S12: Acquire Bluetooth positioning data and ultra-wideband positioning data within a collection time corresponding to the printing instruction in the at least one printing device according to the device identifier.

[0032] In some embodiments, the printing device is configured with both a Bluetooth module and an ultra-wideband module, and a Bluetooth beacon and an ultra-wideband communication base station are provided in the application environment to realize Bluetooth positioning and ultra-wideband positioning.

[0033] S2. Fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain location data of the at least one printing device.

[0034] Specifically, step S2 includes: S21. Preprocess the Bluetooth positioning data and the ultra-wideband positioning data to obtain standard joint data.

[0035] S22. Perform data decomposition on the standard joint data to obtain low-rank decomposition data and sparse decomposition data.

[0036] S23. Perform a first data processing on the low-rank decomposition data to obtain low-rank standard data.

[0037] S24. Perform a second data processing on the sparse decomposition data to obtain sparse standard data.

[0038] S25. Fusing the low-rank standard data and the sparse standard data to obtain the position data of the at least one printing device end.

[0039] S3. Determine a target printing device end for executing the printing instruction in the at least one printing device end according to the location data.

[0040] Specifically, step S3 includes: S31. Calculate the relative distance between the mobile device and each of the printing devices according to the location data.

[0041] S32: Select the target printing device end with the smallest relative distance from the at least one printing device end to execute the printing instruction.

[0042] In an optional implementation, before step S1, the method further includes: S101. If it is detected that only the Bluetooth positioning module or the ultra-wideband positioning module is turned on in the mobile device, the Bluetooth positioning data or the ultra-wideband positioning data corresponding to the mobile device in the at least one printing device is obtained, and the target printing device for executing the printing instruction is determined in the at least one printing device according to the Bluetooth positioning data or the ultra-wideband positioning data.

[0043] In some embodiments, if it is detected that both the Bluetooth positioning module and the ultra-wideband positioning module of the mobile device are turned on, the above step S1 is executed.

[0044] Embodiment 2 of the present invention is: A printing method based on joint positioning, which is different from the first embodiment in that: the specific implementation of step S21 to step S25 is limited. The following standard joint data, low-rank decomposition data, sparse decomposition data, low-rank standard data, sparse standard data and position data are all matrix data.

[0045] Step S21 is specifically as follows: S211: Remove invalid data from the Bluetooth positioning data and the ultra-wideband positioning data to obtain valid data from the Bluetooth positioning data and the ultra-wideband positioning data, wherein the invalid data includes data points generated due to signal interference, hardware failure or other abnormal conditions.

[0046] In some embodiments, invalid data is identified by standard deviation filtering or threshold screening.

[0047] S212: normalize the two valid data to scale them into a unified range, wherein the range is specifically [0, 1] or [-1, 1].

[0048] Specifically, the normalization process is as follows: ; Among them, Data is the valid data after normalization, raw_data is the original data, min(raw_data) is the minimum value in the original data, and max(raw_data) is the maximum value in the original data. Normalization can effectively improve the numerical stability of subsequent data fusion, so that data from different sensors can be compared and calculated at the same scale.

[0049] In some embodiments, UWB (ultra-wideband) technology can provide very accurate distance measurement, but it may be affected by multipath effects, so the data preprocessing stage includes steps such as removing outliers and smoothing to reduce the impact of multipath errors on ranging. BLE (Bluetooth Low Energy) technology provides relatively low-precision but high-density connections, which can effectively enhance the robustness of position estimation. Therefore, the data preprocessing stage includes steps such as signal strength correction and filtering to improve the consistency and reliability of readings.

[0050] S213. According to the BLE data and UWB data processed in the above steps S211 and S212, a joint matrix is ​​constructed as standard joint data. Each row of the joint matrix represents data collected at different time points, and each column of the joint matrix identifies different types of data. For example, a total of T time points of BLE data and UWB data are currently acquired, and n BLE data and m UWB data are collected at each time point, then the size of the joint matrix is ​​T×(n+m).

[0051] In some embodiments, Bluetooth positioning data and ultra-wideband positioning data belong to signal data, usually time series data, and have different time dynamic characteristics and noise characteristics. Therefore, the noise and outliers in the standard joint data will be more complex, not only including sparse disturbances, so the present invention uses robust principal component analysis to decompose the data to analyze and process the noise and outliers and the main features of the data.

[0052] Step S22 is specifically as follows: ,and ; Among them, f represents the objective function of data decomposition by robust principal component analysis, M represents standard joint data, L represents low-rank decomposition data, represents the nuclear norm of low-rank decomposition data, S represents sparse decomposition data, represents the L1 norm of the sparse decomposition data, and α represents the regularization parameter. The nuclear norm is equal to the sum of all singular values ​​of the matrix, and the L1 norm is equal to the sum of the absolute values ​​of all elements of the matrix.

[0053] In some embodiments, since there may be a large number of missing values ​​or incomplete data in the signal data, this will affect the performance of RPCA (Robust Principal Component Analysis), and missing data may cause inaccurate decomposition of low-rank matrices and sparse matrices. Therefore, when performing data decomposition by robust principal component analysis, the present invention uses a low-rank matrix completion method to complete the missing data.

[0054] Specifically, the low-rank matrix completion method is as follows: ,and . Where L represents the low-rank matrix to be restored; M represents the matrix that may contain missing values; Ω represents the index set of the observed elements; P Ω () is a projection operator that restricts the matrix to contain only elements in the index set Ω and sets other elements (i.e. missing values) to 0 or remains unchanged; || || * Represents the nuclear norm of the matrix.

[0055] Step S23 includes: S231. Extract singular values ​​and singular vectors from the low-rank decomposition data through singular value decomposition.

[0056] Among them, the singular value decomposition SVD is specifically: . Among them, L represents a low-rank matrix, that is, low-rank decomposition data; U and V represent orthogonal matrices, the columns of U are the left singular vectors of the matrix L, and the columns of V are the right singular vectors of the matrix L; Σ represents a diagonal matrix, and the elements on its diagonal are the singular values ​​of the matrix L, which are arranged in order from large to small.

[0057] Therefore, by extracting the singular values ​​and singular vectors in the low-rank decomposition data, that is, retaining the largest singular value and singular vector in the matrix Σ (that is, the corresponding columns in the matrix U and the matrix V), the main data features of the low-rank decomposition data can be obtained, while reducing the data storage and computing requirements.

[0058] S232. Construct low-rank standard data according to the singular values ​​and the singular vectors.

[0059] Step S24 includes: S241. Obtain a preset screening threshold.

[0060] S242: Determine non-noise data in the sparse decomposition data according to the screening threshold.

[0061] S243: Construct sparse standard data according to the non-noise data.

[0062] Step S242 is specifically as follows: Among them, S th represents sparse standard data; S represents sparse decomposition data; θ represents a screening threshold, which is used to determine which values ​​are considered to be noise data. The screening threshold is usually determined based on a statistical analysis of the noise level. For example, the screening threshold can be set to a specified multiple of the noise standard deviation.

[0063] Step S25 includes: S251. Solve the parameter data that minimizes the numerical difference between the low-rank standard data and the sparse standard data by the least square method, and use the parameter data as the position data of the at least one printing device end.

[0064] Step S251 is specifically as follows: Among them, P represents parameter data, that is, the final solution target; arg min is a mathematical symbol used to represent the solution of the optimization problem; L represents low-rank standard data, and S represents sparse standard data; It represents the square of the two norm, that is, the sum of the squares of the matrix elements. Thus, a position data P can be solved so that the difference between P after the low-rank standard data L changes and the sparse standard data S is minimized.

[0065] The present invention distributes printing tasks by integrating the location data generated by UWB and BLE positioning technologies, thereby solving the problems of poor positioning accuracy, poor connection stability and small coverage in the prior art, and effectively improving the overall performance and user experience of the printing system.

[0066] Embodiment 3 of the present invention is: The above-mentioned printing method based on joint positioning is applied to actual scenarios.

[0067] Step 1: When a user needs to execute a printing task, he sends a printing instruction through his mobile device, so that the Bluetooth module and / or ultra-wideband module of the mobile device periodically broadcasts to the surroundings to search for nearby printing devices.

[0068] Step 2: The printing device receives the broadcast sent by the mobile device, activates its configured ultra-wideband module and Bluetooth module to collect relevant positioning data, and at the same time, the printing device reports the collected positioning data to the central server.

[0069] Step 3: The central server obtains the accumulated positioning data for a specified time period of N, and groups the positioning data according to the device identification of the mobile device and the requirements of the printing task.

[0070] Step 4: The central server obtains the Bluetooth positioning data and ultra-wideband positioning data of the mobile device in step 1, and executes the printing method based on joint positioning in the above-mentioned embodiments 1 and 2 to obtain the relative distance between the mobile device and each printing device.

[0071] Step 5: The central server arranges all printing devices in ascending order according to their relative distances, and sends the arrangement results to the mobile device for display.

[0072] Step 6: The user selects the target printing device according to the arrangement order of the mobile devices and sends a print connection request.

[0073] Step 7: The target printing device receives the print connection request, establishes a connection with the mobile device, and completes the print task according to the print content sent by the mobile device.

[0074] Please refer to Figure 2 , Embodiment 4 of the present invention is: A printing terminal 100 based on joint positioning includes a memory 101, a processor 102, and a computer program stored in the memory 101 and running on the processor 102. When the processor 102 executes the computer program, each step of a printing method based on joint positioning in the above-mentioned embodiments 1 to 2 is implemented.

[0075] In summary, the present invention provides a printing method and terminal based on joint positioning. The coverage of Bluetooth positioning data is relatively wide, and the positioning accuracy of ultra-wideband positioning data is high and the anti-interference ability is strong. The two types of positioning data are decomposed by robust principal component analysis to obtain corresponding low-rank standard data and sparse standard data, so as to accurately obtain the main information of each positioning data. Among them, the low-rank standard data represents the basic mode of Bluetooth positioning data and ultra-wideband positioning data, that is, it reflects the precise distance measurement in ultra-wideband positioning and the large-scale coverage in Bluetooth positioning data; and the low-rank standard data can also capture relatively stable features over a long period of time, such as the impact of fixed obstacles inside buildings on signal propagation. Sparse standard data represents unusual events that occur in Bluetooth positioning data and ultra-wideband positioning data in a short period of time, such as multipath effects, signal interference or equipment failures; and sparse standard data can also capture instantaneous changes, such as temporary blocking of signals by pedestrians or moving objects. Finally, the main information of the two positioning data is fused through the least squares method to achieve complementary advantages between the two positioning data, effectively balance the positioning accuracy and positioning range, thereby improving the positioning accuracy of the printing device, and broadening the applicable scenarios of the nearby printing method, ensuring that the printing tasks of mobile devices can be accurately assigned to the designated printing device.

[0076] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's specification and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A printing method based on joint positioning, characterized in that: include: In response to a printing instruction from a mobile device, obtaining Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device from at least one printing device; Fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain the location data of the at least one printing device end; A target printing device end for executing the printing instruction is determined in the at least one printing device end according to the position data.

2. A printing method based on joint positioning according to claim 1, characterized in that: Fusing the Bluetooth positioning data and the ultra-wideband positioning data to obtain the location data of the at least one printing device includes: Performing data preprocessing on the Bluetooth positioning data and the ultra-wideband positioning data to obtain standard joint data; Performing data decomposition on the standard joint data to obtain low-rank decomposition data and sparse decomposition data; Performing a first data processing on the low-rank decomposition data to obtain low-rank standard data; Performing a second data processing on the sparse decomposed data to obtain sparse standard data; The low-rank standard data and the sparse standard data are fused to obtain the position data of the at least one printing device end.

3. A printing method based on joint positioning according to claim 2, characterized in that: The standard joint data is decomposed to obtain low-rank decomposition data and sparse decomposition data as follows: ,and ; Among them, f represents the objective function of data decomposition by robust principal component analysis, M represents standard joint data, L represents low-rank decomposition data, represents the nuclear norm of low-rank decomposition data, S represents sparse decomposition data, represents the L1 norm of the sparse decomposition data, and α represents the regularization parameter.

4. The printing method based on joint positioning according to claim 2, characterized in that: Performing a first data processing on the low-rank decomposition data to obtain low-rank standard data includes: Extracting singular values ​​and singular vectors from the low-rank decomposition data by singular value decomposition; Low-rank standard data is constructed according to the singular values ​​and the singular vectors.

5. The printing method based on joint positioning according to claim 2, characterized in that: Performing a second data processing on the sparse decomposed data to obtain sparse standard data includes: Get the preset screening threshold; Determining non-noise data in the sparse decomposed data according to the screening threshold; Sparse standard data is constructed according to the non-noise data.

6. A printing method based on joint positioning according to claim 2, characterized in that: The step of fusing the low-rank standard data and the sparse standard data to obtain the position data of the at least one printing device end comprises: The parameter data which minimizes the numerical difference between the low-rank standard data and the sparse standard data is solved by the least square method as the position data of the at least one printing device end.

7. The printing method based on joint positioning according to claim 2, characterized in that: Acquiring Bluetooth positioning data and ultra-wideband positioning data corresponding to the mobile device in at least one printing device includes: Obtaining a device identifier of the mobile device; The Bluetooth positioning data and the ultra-wideband positioning data within the collection time corresponding to the printing instruction in the at least one printing device end are acquired according to the device identification.

8. The printing method based on joint positioning according to claim 1, characterized in that: Determining a target printing device end for executing the printing instruction in the at least one printing device end according to the position data comprises: Calculating the relative distance between the mobile device and each of the printing devices according to the location data; The target printing device end with the smallest relative distance is selected from the at least one printing device end to execute the printing instruction.

9. The printing method based on joint positioning according to claim 1, characterized in that: Before obtaining the Bluetooth positioning data and the ultra-wideband positioning data corresponding to the mobile device in at least one printing device, the method further includes: If it is detected that only the Bluetooth positioning module or the ultra-wideband positioning module is turned on on the mobile device, the Bluetooth positioning data or ultra-wideband positioning data corresponding to the mobile device in the at least one printing device is obtained, and the target printing device for executing the printing instruction is determined in the at least one printing device according to the Bluetooth positioning data or the ultra-wideband positioning data.

10. A printing terminal based on joint positioning, comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the processor implements the various steps in the printing method based on joint positioning as described in any one of claims 1 to 9.

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