Indoor access point positioning method, communication apparatus, and medium

Abstract

The present application discloses an indoor access point positioning method, a communication apparatus, and a medium, which are applied to the technical field of wireless networks. According to the method, a specified information acquisition origin is acquired, X non-collinear point positions are acquired on the basis of the information acquisition origin, and coordinates of N APs among M APs in a measurement space are determined on the basis of coordinates of the X non-collinear point positions. The coordinates of the N APs are used for determining coordinates of APs other than the N APs among the M APs. According to the method, on the basis of the specified information acquisition origin being used as the starting point for positioning measurement, the measurement starting point no longer depends on GPS positioning, so that the problem of reduced positioning accuracy caused by serious interference or attenuation of GPS signals can be prevented. In addition, since only the coordinates of the N APs among the M APs in the measurement space need to be measured, the movement path required for PDR-based measurement is shortened, so that the accumulated error of PDR is reduced.

Description

Indoor access point positioning method, communication device and medium

[0001] This application claims priority to the Chinese patent application filed with the State Intellectual Property Office on March 19, 2024, with application number 202410312872.5 and application name “A method for positioning an indoor access point, a communication device and a medium”, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The embodiments of the present application relate to the field of wireless network technology, and in particular to an indoor access point positioning method, a communication device, and a medium. Background Art

[0003] With the popularization of location-based services such as navigation, location sharing, smart buildings and surrounding business recommendations, the importance of positioning technology has become increasingly prominent, especially indoor positioning technology, which can provide positioning navigation, personnel positioning and other services for people working and living in indoor spaces.

[0004] Typically, access points (APs) are widely deployed in most indoor locations and periodically broadcast beacon frames to communicate system parameters. By receiving these beacon frames, mobile devices can easily measure the signal strength from nearby APs. User equipment (UE) can use the network information in the beacon frames to connect and extract location-related information from the beacon signals. Based on the user's movement trajectory when moving from outdoor to indoor, and using this as the basis for estimating the AP's location, the user's movement trajectory is obtained in outdoor environments by integrating global positioning system (GPS) and pedestrian dead reckoning (PDR) data.

[0005] Since GPS signals may become inaccurate or completely lost in indoor environments, even with the supplement of PDR, it may not be able to completely make up for the lack of GPS information, thus affecting the overall positioning accuracy. Summary of the Invention

[0006] The present application provides an indoor access point positioning method, a communication device, and a medium for implementing indoor access point positioning.

[0007] In a first aspect, the present application provides a method for locating indoor access points. Optionally, the method may be performed by a terminal device, a component or device (e.g., a processor, chip, or chip system) applied to the terminal device, or a logic module or software capable of implementing all or part of the terminal device's functions. The method may also be performed by a server, a component or device (e.g., a processor, chip, or chip system) applied to the server, or a logic module or software capable of implementing all or part of the server's functions. Taking a terminal device as an example, in this method, the terminal device is located within a measurement space and obtains a designated information collection origin within the measurement space. M access points are deployed in the measurement space. Starting from the information collection origin, the terminal device obtains X non-collinear points, each of which is within the measurement space. The X non-collinear points may include the information collection origin. The terminal device determines the coordinates of N of the M access points based on the coordinates of the X non-collinear points. The coordinates of the N access points are used to determine the coordinates of MN of the M access points, excluding the N access points, where N is less than M and both N and X are greater than or equal to 3.

[0008] This implementation uses the information collection origin as the starting point for positioning measurements, eliminating reliance on GPS positioning. This avoids the problem of reduced positioning accuracy caused by severe interference or attenuation of the GPS signal. Furthermore, since only the coordinates of N of the M APs within the measurement space need to be measured, with N being less than M, the required movement path for PDR-based measurements is shortened, thereby reducing the cumulative PDR error.

[0009] In some possible implementations, the designated information collection origin is generated by the terminal device according to configuration, or may be obtained by the terminal device by receiving input from a user graphical interface.

[0010] In some possible implementations, the terminal device displays a floor plan corresponding to the measurement space, and the user operates the floor plan. The terminal device responds to input operations on the floor plan, and the input operations are used to obtain the information collection origin.

[0011] In this embodiment, since positioning does not rely on GPS signals, there is no need to rely on additional chips and hardware (such as GPS modules) to achieve efficient and fast AP positioning technology, improve AP positioning accuracy and topology recovery accuracy, improve operation and maintenance efficiency, enhance network experience and enable synaesthesia integration.

[0012] In some possible implementations, after the terminal device determines the coordinates of N APs among M APs based on the coordinates of X non-collinear points, the terminal device determines, based on the coordinates of the N APs, whether the N APs include at least three non-collinear APs. If not, the information collection origin is re-acquired until the N APs include at least three non-collinear APs.

[0013] In this embodiment, by determining whether the N APs include three non-collinear APs, it is possible to determine whether the coordinates of the N APs used to calculate the coordinates of the M APs are reliable, thereby improving calculation accuracy.

[0014] In some possible implementations, the terminal device obtains first fine timing measurements (FTM) information between the terminal device and N APs at each of the X non-collinear points. The first FTM information is used to indicate the distance between each of the X non-collinear points and the N APs. The terminal device calculates the coordinates of the N APs based on the coordinates of the X non-collinear points and the first FTM information.

[0015] In this embodiment, since the FTM protocol performs measurements based on Wi-Fi signals, it can be used in indoor environments without being restricted by the inability of GPS signals to penetrate buildings, thereby improving calculation accuracy.

[0016] In some possible implementations, the terminal device selects X non-collinear points on a moving path starting from the information collection origin.

[0017] In this embodiment, after the terminal device has completed its movement, it can select X non-collinear points along the movement path. If the coordinates of the N APs calculated based on the coordinates of the X non-collinear points are not suitable, new points can be selected from the movement path without the terminal device having to re-move.

[0018] In some possible implementations, the terminal device obtains the relative distances between the X non-collinear points and the information collection origin, and calculates the coordinates of the X non-collinear points based on the relative distances.

[0019] In this embodiment, the terminal device records the relative distance at X non-collinear points, which can reduce the number of recording times, eliminate the need for full-process recording, and reduce the required storage space.

[0020] In some possible implementations, the terminal device obtains inertial navigation information between X non-collinear points and the information collection origin, where the inertial navigation information is used to indicate the relative distances between the X non-collinear points and the information collection origin.

[0021] In this embodiment, since the inertial navigation system is not affected by external electromagnetic interference, has a high data update rate, and has good short-term accuracy and stability, the coordinate accuracy of the AP can be improved by indicating the relative distances between X non-collinear points and the information collection origin through inertial navigation information.

[0022] In some possible implementations, X and N are greater than or equal to 4, at least one of the X non-collinear points is not coplanar with at least three of the X non-collinear points, and at least one of the N APs is not coplanar with at least three of the N APs.

[0023] In this embodiment, the measurement space can be a three-dimensional space. When the measurement space is a three-dimensional space, at least four AP coordinates are required to locate the spatial coordinates of M APs, and at least four points are required to locate the spatial coordinates of one AP among N APs. Therefore, if X and N are greater than or equal to 4, positioning accuracy can be improved.

[0024] In some possible implementations, the terminal device obtains second FTM information, where the second FTM information is used to indicate distances between APs in the M APs. The terminal device obtains coordinates of the M APs based on the second FTM information and the coordinates of the N APs.

[0025] In this embodiment, since the terminal device only needs to measure the coordinates of N APs instead of M APs, the required moving path length is shortened, thereby reducing the cumulative error of PDR and improving positioning accuracy.

[0026] In some possible implementations, there is a low-confidence AP among the M APs, where the low-confidence AP is an AP that does not meet a preset condition. The terminal device needs to determine the low-confidence AP among the M APs and calibrate the coordinates of the low-confidence AP.

[0027] In this embodiment, the accuracy of AP positioning can be improved by calibrating low-confidence APs.

[0028] In some possible implementations, a terminal device obtains received signal strength indicator (RSSI) information of a first AP among M APs, where the first AP is any one of the M APs, and the RSSI information includes RSSI values ​​between the first AP and APs other than the first AP among the M APs. The terminal device determines the number of connected APs of the first AP based on the RSSI information. If the number of connected APs of the first AP is less than a first preset value, the terminal device determines that the first AP is a low-confidence AP.

[0029] In some possible implementations, if the number of connected APs of the first AP is greater than or equal to a preset value, the terminal device determines whether the RSSI information includes at least three RSSI values ​​greater than a second preset value. If not, the first AP is determined to be a low-confidence AP.

[0030] In some possible implementations, if the RSSI information includes at least three inter-pair RSSI values ​​greater than a second preset value, a determination is made based on the coordinates of the M APs as to whether at least three of the first AP's connected APs are collinear. If so, the first AP is determined to be a low-confidence AP.

[0031] In some possible implementations, the terminal device calibrates the coordinates of the low-confidence AP according to input from a user graphical interface.

[0032] In some possible implementations, the terminal device reacquires the information collection origin and recalculates the coordinates of the N APs to calibrate the coordinates of the low-confidence AP.

[0033] A second aspect of the present application provides a communication device, the communication device comprising:

[0034] A first acquisition module is configured to acquire a designated information collection origin, where the information collection origin is located in a measurement space including M access points AP;

[0035] The second acquisition module is used to acquire X non-collinear points according to the information collection origin, and the X non-collinear points are all located in the measurement space;

[0036] A determination module is configured to determine coordinates of N APs among M APs based on coordinates of X non-collinear points, where the coordinates of the N APs are used to determine coordinates of APs other than the N APs among the M APs, where N is less than or equal to M, and N and X are greater than or equal to 3.

[0037] In some possible implementations, the designated information collection origin is generated according to a configuration, or is obtained through input through a user graphical interface.

[0038] In some possible implementations, the communication device further includes a display module:

[0039] A display module for displaying a floor plan of the measured space;

[0040] The first acquisition module is further configured to acquire an information collection origin in response to an input operation on the floor plan.

[0041] In some possible implementations, the determination module is further configured to determine, based on the coordinates of the N APs, whether the N APs include at least three non-collinear APs;

[0042] If not, the first acquisition module re-executes the step of acquiring the designated information collection origin until at least three non-collinear APs are included in the N APs.

[0043] In some possible implementations, the second acquisition module is specifically configured to:

[0044] Acquire, at each of the X non-collinear points, first fine time measurement (FTM) information between the points and the N APs, where the first FTM information indicates a distance between each of the X non-collinear points and the N APs.

[0045] The coordinates of N APs are obtained according to the coordinates of the X non-collinear points and the first FTM information.

[0046] In some possible implementations, the second acquisition module is specifically configured to:

[0047] Select X non-collinear points on the moving path starting from the information collection origin.

[0048] In some possible implementations, the second acquisition module is specifically configured to:

[0049] Get the relative distances between X non-collinear points and the information collection origin;

[0050] The coordinates of X non-collinear points are obtained based on the relative distance calculation.

[0051] In some possible implementations, the second acquisition module is specifically configured to:

[0052] Obtain inertial navigation information between X non-collinear points and the information collection origin. The inertial navigation information is used to indicate the relative distance between the X non-collinear points and the information collection origin.

[0053] In some possible implementations, X and N are greater than or equal to 4, at least one of the X non-collinear points is not coplanar with at least three of the X non-collinear points, and at least one of the N APs is not coplanar with at least three of the N APs.

[0054] In some possible implementations, the communication device further includes a third acquisition module:

[0055] A third acquisition module is used to acquire second FTM information, where the second FTM information is used to indicate the distance between APs in the M APs;

[0056] The determination module is further configured to obtain the coordinates of APs other than the N APs in the M APs according to the second FTM information and the coordinates of the N APs.

[0057] In some possible implementations, the determination module is further configured to determine a low-confidence AP among the M APs, where the low-confidence AP is an AP that does not meet a preset condition;

[0058] The determination module is also used to calibrate the coordinates of low-confidence APs.

[0059] In some possible implementations, the determination module is specifically configured to:

[0060] Obtain received signal strength indicator (RSSI) information of a first AP among the M APs, where the first AP is any AP among the M APs, and the RSSI information includes RSSI values ​​between the first AP and APs other than the first AP among the M APs;

[0061] Determine the number of connected APs of the first AP based on the RSSI information;

[0062] If the number of connected APs of the first AP is less than a first preset value, the first AP is determined to be a low-confidence AP.

[0063] In some possible implementations, the determination module is further configured to:

[0064] If the number of connected APs of the first AP is greater than or equal to a preset value, determining whether the RSSI information includes at least three RSSI values ​​greater than a second preset value;

[0065] If not included, the first AP is determined to be a low-confidence AP.

[0066] In some possible implementations, the determination module is further configured to:

[0067] If included, determine whether there are at least three APs collinear among the connected APs of the first AP based on the coordinates of the M APs;

[0068] If so, the first AP is determined to be a low-confidence AP.

[0069] In some possible implementations, the determination module is specifically configured to calibrate the coordinates of the low-confidence AP according to input from a user graphical interface.

[0070] In some possible implementations, the determination module is specifically configured to calibrate the coordinates of the low-confidence AP according to the information collection origin.

[0071] A third aspect of the present application provides a communication device, the communication device comprising:

[0072] The processor is configured to execute a program so that the communication device executes the method described in the first aspect.

[0073] A fourth aspect of the present application provides a computer-readable storage medium comprising instructions, which, when executed on a computer, enable the computer to execute the method described in the first aspect.

[0074] A fifth aspect of the present application provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method as described in the first aspect above.

[0075] The beneficial effects from the second aspect to the fifth aspect can be understood with reference to the beneficial effects of the first aspect and its corresponding implementation methods, and will not be elaborated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0076] FIG1 is a schematic diagram of a system architecture provided in an embodiment of the present application;

[0077] FIG2 is a schematic diagram of an application scenario of an indoor AP positioning method provided by an embodiment of the present application;

[0078] FIG3 is a schematic diagram of an embodiment of a moving path of a terminal device in an embodiment of the present application;

[0079] FIG4 is a schematic diagram of an embodiment of an indoor AP positioning method according to an embodiment of the present application;

[0080] FIG5 is a schematic diagram of an embodiment of a measurement space floor plan in an embodiment of the present application;

[0081] FIG6 is a schematic diagram of another embodiment of a moving path of a terminal device according to an embodiment of the present application;

[0082] FIG7 is a schematic diagram of an embodiment of multiple points on a moving path in an embodiment of the present application;

[0083] FIG8 is a schematic diagram of an embodiment of determining the coordinate axes of the measurement space according to an embodiment of the present application;

[0084] FIG9 is a schematic diagram of another embodiment of determining the coordinate axes of the measurement space according to an embodiment of the present application;

[0085] FIG10 is a schematic diagram of an embodiment of measuring first FTM information in an embodiment of the present application;

[0086] FIG11 is a schematic diagram of an embodiment of calculating AP coordinates in an embodiment of the present application;

[0087] FIG12 is a schematic diagram of an embodiment of measuring second FTM information in an embodiment of the present application;

[0088] FIG13 is a schematic diagram of an embodiment of the relative positions of APs in an embodiment of the present application;

[0089] FIG14 is a schematic diagram of another embodiment of calculating AP coordinates according to an embodiment of the present application;

[0090] FIG15 is a schematic diagram of an embodiment of determining a low-confidence AP in an embodiment of the present application;

[0091] FIG16 is a schematic diagram of an embodiment of matching a topology recovery result with a floor plan in an embodiment of the present application;

[0092] FIG17 is a schematic diagram of another embodiment of the indoor AP positioning method according to an embodiment of the present application;

[0093] FIG18 is a schematic diagram of an embodiment of a communication device according to an embodiment of the present application;

[0094] FIG19 is a schematic diagram of another embodiment of a communication device in an embodiment of the present application. DETAILED DESCRIPTION

[0095] The embodiments of the present application are described below in conjunction with the accompanying drawings. Those skilled in the art will appreciate that, with the development of technology and the emergence of new scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0096] The terms "first", "second" etc. in the specification, claims and drawings of the present application are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the terms used in this way can be interchangeable under appropriate circumstances, and this is merely a way of distinguishing the objects of the same attributes when describing them in the embodiments of the present application. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, so that the process, method, system, product or equipment comprising a series of units need not be limited to those units, but may include other units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0097] First, some technical terms involved in the embodiments of this application are introduced.

[0098] The Global Positioning System (GPS) is a global constellation of 24 satellites that provide accurate positioning, velocity measurement, and a high-precision time standard for most of Earth's surface. The large number of GPS satellites, strategically distributed, ensures that any location on Earth can receive signals from at least four satellites at any time, thus achieving continuous global coverage. GPS positioning can provide high-precision coordinates, velocity, and time information for dynamic targets. It can also achieve relatively high positioning accuracy for static targets over large spatial scales.

[0099] The FTM protocol is a Wi-Fi-based indoor positioning technology that determines a device's location by measuring the distance between it and the access point (AP). These distance measurements are processed using various algorithms, such as triangulation or fingerprinting, to determine the precise location of the device in indoor environments. Compared to traditional GPS positioning technology, the FTM protocol offers greater accuracy and adaptability. Because it relies on Wi-Fi signals, it can be used indoors, despite the limitations of GPS signals that prevent them from penetrating buildings. Furthermore, the FTM protocol leverages existing Wi-Fi infrastructure, requiring no additional hardware investment.

[0100] PDR is an indoor positioning technology primarily used in beacon-free environments. Its core concept is to use an inertial measurement unit (IMU) to sense a pedestrian's acceleration, angular velocity, magnetism, or pressure as they move, and then infer their stride length and direction, thereby locating them.

[0101] Inertial navigation is an autonomous navigation system that does not rely on external information and does not radiate energy externally. It is based on Newton's laws of mechanics. By measuring the acceleration of the carrier in the inertial reference frame, integrating it over time, and transforming it into the navigation coordinate system, it can obtain information such as velocity, yaw angle, and position in the navigation coordinate system. The core component of the inertial navigation system is the IMU, which is mainly composed of accelerometers and gyroscopes, which can measure linear acceleration and angular velocity respectively. The accelerometer measures the acceleration of the object in the inertial reference frame, while the gyroscope measures the angular velocity of the object relative to the inertial space. The information obtained based on the inertial navigation system is called inertial navigation information, also known as inertial guidance information.

[0102] Please refer to Figure 1, and the network architecture based on the indoor AP positioning method in the embodiment of the present application is briefly described below.

[0103] As shown in Figure 1, measurement space 100 includes terminal device 101, access points 102, 103, 104, and 105. Measurement space 100 is an indoor space. Terminal device 101 and each access point calculate the distance between them using the FTM protocol. Optionally, terminal device 101 communicates with server 106, which processes the data calculated by terminal device 101.

[0104] It should be understood that the access points shown in FIG1 are merely examples, and there may be more or fewer access points in actual applications, which is not specifically limited here.

[0105] The terminal device in Figure 1 can also be called user equipment (UE), mobile station (MS), or mobile terminal (MT), etc. Specifically, the terminal device in Figure 1 can be a mobile phone, a tablet computer, or a computer with wireless transceiver capabilities. It can also be a virtual reality (VR) terminal, an augmented reality (AR) terminal, a wireless terminal in industrial control, a wireless terminal in unmanned driving, a wireless terminal in telemedicine, a wireless terminal in smart grids, a wireless terminal in smart cities, a wireless terminal in smart homes, an in-vehicle terminal, a vehicle with vehicle-to-vehicle (V2V) communication capabilities, an intelligent connected vehicle, a drone with UAV to UAV (U2U) communication capabilities, etc., and the specific details are not limited here.

[0106] Figure 2 illustrates a possible application scenario for an indoor AP positioning method. GPS is used to obtain the user's starting location, which serves as the basis for estimating AP locations. GPS and PDR data are then integrated to determine the user's movement trajectory. As shown in Figure 3, the terminal device determines its starting point based on GPS data and moves from this starting point toward each AP, generating the trajectory shown in Figure 3. For each AP within the measurement space, at least three non-collinear points are selected along the trajectory. The coordinates of each AP are determined based on these points and the FTM information transmitted from the terminal device to each AP.

[0107] Indoor GPS signals can be severely attenuated or interfered with. If GPS signals are severely interfered with or attenuated, such as in dense urban environments or indoors or underground where GPS signals have difficulty penetrating, GPS positioning information may become inaccurate or completely lost. In these situations, even with the supplemental help of PDR and WiFi ranging, they may not be able to fully compensate for the loss of GPS information, thus affecting overall positioning accuracy.

[0108] Furthermore, the need to calculate the coordinates of each AP requires a long movement trajectory for the terminal device. The PDR algorithm suffers from cumulative errors and is highly dependent on the environment. PDR is a predictive model that estimates the user's position by calculating their stride length and cadence. However, this approach is susceptible to individual differences and walking environments, leading to cumulative errors. For example, stride length and cadence vary from person to person, and they also vary in different walking environments (such as uphill, downhill, and on stairs). Particularly when turning corners or making turns, stride length, cadence, and walking speed can vary, making these variations difficult for PDR to accurately capture and model. PDR requires accurate measurement and calculation of turning angles, but this is often difficult to achieve in practice due to the complexities of human behavior and angle changes during turns. These factors contribute to increased PDR positioning errors when turning corners or making turns. This error accumulates over time and distance traveled, ultimately leading to significant deviations in positioning results.

[0109] In view of this, an embodiment of the present application provides a method. Referring to FIG4 , an indoor AP positioning method in an embodiment of the present application includes:

[0110] 401. Get the specified information collection origin;

[0111] The terminal device obtains a designated information collection origin. Specifically, the information collection origin can be generated according to a configuration or obtained according to input from a user graphical interface.

[0112] In one possible implementation, the terminal device can display a floor plan corresponding to the measurement space, as shown in Figure 5. The user can select a point on the floor plan that corresponds to the terminal device's actual location in the measurement space as the information collection origin. In practice, users can select points with distinct physical features, such as doorways, corners, elevator entrances, or stairwells. These points are typically unique and easily identifiable, allowing the user to clearly locate the terminal device's actual location in the measurement space. The terminal device obtains the information collection origin in response to input operations on the floor plan. This input operation is used by the terminal device to determine the information collection origin.

[0113] In one possible implementation, the terminal device may display multiple preset points in a floor plan, the preset points generated by the terminal device based on the floor plan, and the terminal device determines one of the preset points as the information collection origin based on input operations on a user graphical interface.

[0114] In the embodiment of the present application, by obtaining a designated information collection origin as the starting point of the positioning measurement, the measurement starting point no longer relies on GPS positioning, thereby avoiding the problem of reduced positioning accuracy caused by severe interference or attenuation of the GPS signal.

[0115] 402. Obtain X non-collinear points based on the information collection origin;

[0116] The terminal device acquires X non-collinear points based on the information collection origin, where X is greater than or equal to 3. As shown in Figure 6, in one possible implementation, the terminal device records the movement path starting from the information collection origin and simultaneously records the terminal device's inertial navigation information along the movement path. When the terminal device stops moving, it selects three non-collinear points from the movement path, as shown in Figure 7. The terminal device calculates the coordinates of the three points (point 1, point 2, and point 3) based on the inertial navigation information.

[0117] It should be noted that the embodiments of this application use a two-dimensional measurement space as an example. In one possible implementation, the measurement space can be three-dimensional, that is, there is a height difference between different APs, X is greater than or equal to 4, and at least one of the X non-collinear points is not coplanar with at least three of the X points.

[0118] When a pedestrian walks with a terminal device, each step will cause the terminal device to generate an upward and downward acceleration pattern in the vertical direction. This pattern will be captured by the accelerometer. When the accelerometer detects a peak and a valley, it is considered that the pedestrian has taken a step and a is recorded. max is the peak acceleration, a min is the valley acceleration. The empirical model for calculating stride length is: By accumulating each detected step, the PDR method estimates the distance traveled by the terminal device. Starting from the information collection origin, each time a step is detected, the device's position is updated based on that step's movement. Let φ(t) be the device's heading direction at sensor timestamp t, and let the two-dimensional coordinate vector p(t) represent the device's position at sensor timestamp t:

[0119] Here, s(t) is used to represent the step length detected by the device at the sensor timestamp t.

[0120] In another possible implementation, the terminal device records inertial navigation information only at the three points shown in Figure 7, rather than for the entire movement path. For example, when the terminal device moves to a certain location, that location is recorded as point 1, and the inertial navigation information from point 1 to the information collection origin is recorded. Similarly, the terminal device records the inertial navigation information from points 2 and 3 to the information collection origin.

[0121] It should be understood that in the embodiment of the present application, the coordinates of the point are calculated using inertial navigation information as an example. In some possible implementations, the terminal device may also record other information indicating the movement distance of the terminal device or information indicating the relative distance between the terminal device and the information collection origin, which is not specifically limited here.

[0122] It should be noted that in the measurement space, based on the different coordinate axes, the coordinates of a point can be expressed in a variety of ways. The following is a brief description using Figures 8 and 9 as examples:

[0123] In one possible implementation, see Figure 8 . The origin of the coordinate axes is the information collection origin. Constructing a coordinate system based on the information collection origin, the coordinates of point 1 are (-5, -3), point 2 are (-12, -10), and point 3 are (-8, -17). The units are meters (m).

[0124] In another possible implementation, see Figure 9. The origin of the coordinate axis is a vertex on the floor plan. A coordinate system is constructed using this vertex. The terminal device calculates the coordinates of the information collection origin in this coordinate system based on the floor plan, which are (18, 20). Based on the information collection origin and the inertial navigation information, the coordinates of point 1 are (25, 17), point 2 are (32, 10), and point 3 are (30, 3), all in meters.

[0125] The terminal device can also use other points as the origin of the coordinate axis, which is not limited here.

[0126] 403. Obtain first FTM information;

[0127] The terminal device performs ranging on N APs among M APs in the measurement space based on the FTM protocol at each of the X points to obtain first FTM information, where N is greater than or equal to 3.

[0128] It should be noted that the embodiment of this application uses a two-dimensional measurement space as an example. In one possible implementation, the measurement space can be a three-dimensional space, that is, there is a height difference between different APs, N is greater than or equal to 4, and at least one of the N APs is not coplanar with at least three of the N APs.

[0129] Figure 10 shows a possible implementation method, where a terminal device measures the distance from point 1 to AP1, AP5, and AP6 based on the FTM protocol at point 1. Similarly, the terminal device measures the distance to AP1, AP5, and AP6 at points 2 and 3, respectively, to obtain first FTM information. The first FTM information is used to indicate the distance between any point at the terminal device and N APs at X locations. That is, the distance from point 1 to AP1, AP5, and AP6 measured by the terminal device at point 1 based on the FTM protocol is the first FTM information of the terminal device at point 1. Similarly, the distance from point 2 to AP1, AP5, and AP6 measured by the terminal device at points 2 and 3 is the first FTM information of the terminal device at points 2 and 3, respectively.

[0130] 404. Determine the coordinates of N APs among the M APs based on the coordinates of the X non-collinear points and the first FTM information.

[0131] Based on the first FTM information measured at different points, the terminal device obtains the distance from each of the X non-collinear points to the same AP, and determines the coordinates of the AP based on the coordinates of the X non-collinear points. For example, as shown in Figure 11, the terminal device determines the distances from points 1, 2, and 3 to AP1 based on the first FTM information. Since the coordinates of points 1, 2, and 3 are known, the coordinates of AP1 are derived based on the coordinates of points 1, 2, and 3.

[0132] There are many ways to estimate the unknown point from the known point. For example, a matrix consisting of the variance of the distance measurement results is constructed [S] (i,j) The variance here is calculated using the standard deviation provided by the FTM protocol. Taking AP1 as an example, it is specifically expressed as:

[0133] Among them, [S] (i,j) is a matrix consisting of X-1 rows and X-1 columns, which is used as a weight matrix to increase the weight of data with high measurement accuracy and reduce the weight of data with low measurement accuracy. i represents the i-th row of the matrix, j represents the j-th column of the matrix, (i, j) represents the element in the matrix, and d i Represents the measured distance from the known coordinate to the unknown coordinate, Var(d i ) represents the measured distance d i In one possible implementation, [S] (i,j) satisfy:

[0134] Among them, d1, d2, ······, d X They are the distances from the 1st, 2nd, ······, and Xth points to AP1 respectively.

[0135] AP coordinates are z = [x, y] T , the coordinates are calculated using the weighted least squares method. z is obtained by the following formula:

[0136] Among them, [x k ,y k ] T Represents the coordinate of the kth point among X points, k=1, 2, ..., X. For example, x2 is the horizontal coordinate of the second point, y X is the vertical coordinate of the Xth point, d X is the distance from the Xth point to the AP. H is a matrix with X-1 rows and 2 columns, and b is a vector with X-1 rows and 1 column.

[0137] In the embodiment of the present application, the weighted least squares method can take into account the differences between different measurement values. By assigning different weights to each measurement value, more reliable measurement values ​​occupy a larger proportion in the final estimation result, which helps to reduce errors and improve the accuracy of ranging.

[0138] It should be understood that the terminal device can also obtain the coordinates of the AP according to other calculation methods, which are not limited here.

[0139] It should be noted that after obtaining the coordinates of N APs, the terminal device can determine whether at least three of the N APs are not collinear based on the AP coordinates. There are multiple ways to determine whether collinearity exists. For example, the terminal device can determine whether at least three of the N APs are not collinear based on the line connecting any two APs.

[0140] Specifically, taking AP1, AP5, and AP6 as an example, the terminal device calculates the cosine value of the angle between the line connecting AP1 and AP5 and the line connecting AP1 and AP6 based on the coordinates of AP1, AP5, and AP6. The cosine value is expressed as:

[0141] in (x A ,y A ),(x B ,y B ),(x C ,y C ) are the estimated absolute horizontal and vertical coordinates of AP1, AP5 and AP6 respectively. Determine whether cosθ<θ t ,θ t is a predefined threshold. If yes, it means that the currently connected APs are approximately collinear.

[0142] It should be understood that the terminal device may also determine whether there are at least three APs in the N APs that are not collinear based on other calculation methods, which is not specifically limited here.

[0143] If there are not at least three APs that are not collinear, step 401 is performed again until at least three APs among the N APs are not collinear.

[0144] In a possible implementation, the terminal device may determine whether all of the N APs are not collinear based on the coordinates of the APs, which is not specifically limited here.

[0145] In the embodiment of the present application, since the terminal device does not need to calculate the coordinates of each AP among the M APs, but instead calculates the coordinates of N APs among the M APs, the moving path of the terminal device is shortened, thereby reducing the cumulative error of the PDR and improving the calculation accuracy.

[0146] 405. Determine the coordinates corresponding to the M APs based on the coordinates of the N APs and the second FTM information;

[0147] A terminal device is located in a measurement space that includes M APs. The terminal device obtains second FTM information, which indicates the distances between the M APs. As shown in Figure 12, the measurement space includes six APs: AP1, AP2, AP3, AP4, AP5, and AP6. Taking AP3 as an example, the second FTM information includes the distances from AP3 to AP1, AP2, AP4, AP5, and AP6, as well as the distances between other APs.

[0148] It should be noted that the terminal device can also obtain the connectivity status between the APs. Based on the connectivity status between the APs and the second FTM information, the terminal device can obtain the relative position relationship between the APs, as shown in FIG13 .

[0149] It should be understood that all APs in Figures 5 and 6 are in a connected state. In one possible implementation, the APs in the measurement space may be connected to only some APs, rather than all APs being in a connected state, which is not limited here.

[0150] In a possible implementation, the second FTM information may be acquired by a network device and sent to the terminal device. The network device may be an access controller (AC) or other network device, which is not specifically limited herein.

[0151] After obtaining the coordinates of the N APs, the terminal device determines the coordinates of the remaining APs in the M APs based on the coordinates of the N APs. As shown in Figure 14 , since the coordinates of AP1, AP5, and AP6 are known, and the distances from AP2 to AP1, AP5, and AP6, respectively, are known based on the second FTM information, the terminal device can determine the coordinates of AP2 based on the coordinates of AP1, AP5, and AP6. The specific calculation method can refer to the method for calculating the coordinates of N APs based on the coordinates of X non-collinear points in step 405, and will not be repeated here. Similarly, the terminal device determines the coordinates of AP3 and AP4 based on the coordinates of AP1, AP5, and AP6, respectively.

[0152] In one possible implementation, among the M AP coordinates obtained by the terminal device, one or more APs do not meet a preset condition. These one or more APs are referred to as low-confidence APs. The low-confidence AP determination process is shown in FIG15 .

[0153] Specifically, the terminal device obtains the RSSI value between any two APs among the M APs and obtains RSSI information. If the RSSI value between the two APs is greater than the preset value, the two APs are in a connected state. If the RSSI value between the two APs is less than the preset value or there is no RSSI value between the two APs, the two APs are not connected. Any two APs among the M APs are called a pair of APs, and the RSSI information is used to indicate the set of RSSI values ​​between multiple pairs of APs among the M APs, that is, Ω. In one possible implementation, the set Ω includes the set of RSSI values ​​between each AP in the M APs and the remaining APs. Exemplarily, the set Ω includes the set Ω1, which is the set of RSSI values ​​from AP1 to AP2, AP3, AP3, AP4, AP5 and AP6, where Ω1 = {RSSI 12 ,RSSI 13 …RSSI 16 RSSI 12 RSSI value between AP1 and AP2, RSSI 13 is the RSSI value between AP1 and AP3, and so on. 12 and RSSI 21 For example, RSSI 12 RSSI value between AP1 and AP2, RSSI 21 RSSI value between AP2 and AP1, RSSI 12 and RSSI 21 The values ​​are equal, RSSI can be included in the set Ω 12 or RSSI 21 In this possible implementation, the set Ω = {RSSI 12 ,RSSI13 …RSSI n}, where RSSI n It is the RSSI value between the M-1th AP and the Mth AP, which is not limited here.

[0154] The terminal device determines the connectivity relationship between the APs based on whether there is an RSSI value between the APs or the difference between the RSSI value and the preset value. If there is a first AP among the M APs, determining whether the first AP is a low-confidence AP includes the following process:

[0155] 1) If the number of APs connected to the first AP is less than the first preset value n t , it is determined that the first AP is a low-confidence AP, and step 6 is performed). If the number of APs connected to the first AP is greater than or equal to the first preset value n t , then execute step 2);

[0156] 2) Count the RSSI values ​​between the first AP and other APs, and find the value greater than the second preset RSSI value. t The number m;

[0157] 3) If m is less than a third preset value, determine that the first AP is a low-confidence AP, and execute step 6); if m is greater than or equal to the third preset value, execute step 4); in one possible implementation, m is 3.

[0158] 4) According to the topology recovery result, the coordinates of the AP to which the first AP is connected are obtained, that is, the coordinates of the AP to which the first AP is connected are determined based on the coordinates of the N APs and the second FTM information;

[0159] 5) If at least three of the first AP's connected APs are collinear, proceed to step 6). If at least three of the first AP's connected APs are not collinear, recalibration is not required.

[0160] 6) Determine the location of the first AP based on the topology recovery results, as shown in Figure 16 . Taking AP6 as a low-confidence AP as an example, the topology recovery results show AP6 in the upper right corner of the floor plan, which matches AP6's actual position in the floor plan. Therefore, the low-confidence AP is considered to match the floor plan. For low-confidence APs that match the floor plan, the terminal device can locate the low-confidence AP based on its position within the measurement space corresponding to the floor plan. In one possible implementation, the terminal device can use manual calibration to locate the low-confidence AP. Specifically, the terminal device determines the coordinates of the low-confidence AP in response to input on the floor plan. In one possible implementation, the terminal device has a positioning function, meaning that the terminal device can obtain its own coordinates within the floor plan. These coordinates can be relative to the information collection origin, as shown in Figure 8 , or relative to a vertex of the floor plan, as shown in Figure 9 , without limitation. The terminal device performs FTM ranging with the low-confidence AP according to the media access control (MAC) address of the low-confidence AP. When the distance between the terminal device and the low-confidence AP is less than a certain threshold, the terminal device uses its own coordinates as the coordinates of the low-confidence AP.

[0161] For a low-confidence AP that does not match the floor plan, the terminal device needs to re-execute step 402 to calculate the coordinates of the low-confidence AP.

[0162] In the embodiment of the present application, since the terminal device obtains the specified information collection origin as the starting point of the positioning measurement, the determination of the measurement starting point no longer depends on GPS positioning, thereby avoiding the problem of reduced positioning accuracy caused by severe interference or attenuation of the GPS signal, and there is no need to rely on additional chips and hardware (such as GPS modules). Since there is no need to measure all APs in the measurement space based on PDR, efficient and fast AP positioning technology can be achieved. At the same time, since the moving path required by PDR is shortened, the cumulative error can be reduced, the AP positioning accuracy and topology recovery accuracy can be improved, thereby improving operation and maintenance efficiency, enhancing network experience and enabling synaesthesia integration.

[0163] In one possible implementation, the terminal device is responsible for calculating the coordinates of N APs and uploading the coordinates of the N APs to the server, which then performs topology recovery. Referring to FIG17 , an indoor AP positioning method in an embodiment of the present application includes:

[0164] 1701. The terminal device obtains the designated information collection origin;

[0165] 1702. The terminal device obtains X non-collinear points based on the information collection origin;

[0166] 1703. The terminal device obtains first FTM information;

[0167] 1704. The terminal device determines the coordinates of N APs among the M APs based on the coordinates of the X non-collinear points and the first FTM information.

[0168] Steps 1701 to 1704 in this embodiment are similar to steps 401 to 404 in the embodiment shown in FIG. 4 , and are not described in detail here.

[0169] 1705. The terminal device sends the coordinates of N APs to the server.

[0170] The terminal device sends first information to the server, where the first information includes the coordinates of N APs.

[0171] 1706. The server determines the coordinates corresponding to the M APs based on the coordinates of the N APs and the second FTM information.

[0172] The specific implementation method of step 1706 can refer to step 405. At this time, the steps implemented by the terminal device in step 1706 are implemented by the server, and the details are not repeated here.

[0173] The indoor AP positioning method in the embodiment of the present application is described above. The communication device in the embodiment of the present application is described below. Please refer to Figure 18. In the embodiment of the present application, the communication device can be a terminal device, or a component or device applied to the terminal device (such as a processor, chip, or chip system, etc.), or a logic module or software that can realize all or part of the functions of the terminal device, and can realize the functions of the terminal device in the above method. In the embodiment of the present application, the communication device can also be a server, or a component or device applied to the server (such as a processor, chip, or chip system, etc.), or a logic module or software that can realize all or part of the server functions, and can realize the functions of the server in the above method. An embodiment of the communication device includes:

[0174] The first acquisition module 1801 is configured to acquire a designated information collection origin, where the information collection origin is located in a measurement space including M access points AP;

[0175] The second acquisition module 1802 is used to acquire X non-collinear points according to the information collection origin, where the X non-collinear points are all located in the measurement space;

[0176] The determination module 1803 is configured to determine the coordinates of N APs among the M APs based on the coordinates of the X non-collinear points, where the coordinates of the N APs are used to determine the coordinates of APs other than the N APs among the M APs, where N is less than or equal to M, and N and X are greater than or equal to 3.

[0177] Next, we will introduce a communication device provided in an embodiment of the present application. Please refer to Figure 19, which is a schematic diagram of the structure of a communication device provided in an embodiment of the present application. The communication device can be the server or network device in the above method embodiment, or it can be a chip, chip system, or processor that supports the server or network device to implement the above method. This communication device can be used to implement the method described in the above method embodiment. For details, please refer to the description of the above method embodiment.

[0178] The communication device may include one or more processors 1901, which are connected to a memory 1902, an input / output unit 1903, and a bus 1904. The processor 1901 may be a general-purpose processor or a dedicated processor. For example, it may be a baseband processor or a central processing unit (CPU). The baseband processor may be used to process communication protocols and communication data, while the CPU may be used to control the communication device (e.g., a base station, a baseband chip, a terminal, a terminal chip, a DU or CU, etc.), execute software programs, and process software program data.

[0179] Optionally, the communication device may include one or more memories 1902, which may store instructions that can be executed on the processor 1901, causing the communication device to perform the method described in the above method embodiment. Optionally, the memory 1902 may also store data. The processor 1901 and memory 1902 may be provided separately or integrated together.

[0180] Optionally, the communication device may further include a transceiver and an antenna. A transceiver may be referred to as a transceiver unit, a transceiver, or a transceiver circuit, and is used to implement transceiver functions. A transceiver may include a receiver and a transmitter. The receiver may be referred to as a receiver or a receiving circuit, and is used to implement a receiving function; the transmitter may be referred to as a transmitter or a transmitting circuit, and is used to implement a transmitting function.

[0181] In another possible design, processor 1901 may include a transceiver for implementing receiving and transmitting functions. For example, the transceiver may be a transceiver circuit, an interface, or an interface circuit. The transceiver circuit, interface, or interface circuit for implementing the receiving and transmitting functions may be separate or integrated. The transceiver circuit, interface, or interface circuit may be used for reading and writing code / data, or the transceiver circuit, interface, or interface circuit may be used for transmitting or delivering signals.

[0182] In another possible design, processor 1901 may optionally store instructions that, when executed on processor 1901, may cause the communication device to perform the method described in the above method embodiment. The instructions may be fixed in processor 1901, in which case processor 1901 may be implemented by hardware.

[0183] In another possible design, the communication device may include a circuit, and the circuit may implement the transmission or reception or communication function of the communication device or the first terminal device in the aforementioned method embodiment. The processor and transceiver described in the embodiments of the present application can be implemented in an integrated circuit (IC), an analog IC, a radio frequency integrated circuit RFIC, a mixed signal IC, an application specific integrated circuit (ASIC), a printed circuit board (PCB), an electronic device, etc. The processor and transceiver can also be manufactured using various IC process technologies, such as complementary metal oxide semiconductor (CMOS), N-type metal oxide semiconductor (NMOS), P-type metal oxide semiconductor (positive channel metal oxide semiconductor, PMOS), bipolar junction transistor (BJT), bipolar CKOS (BiCMOS), silicon germanium (SiGe), gallium arsenide (GaAs), etc.

[0184] The communication device described in the above embodiments may be a terminal device or a network device, but the scope of the communication device described in the embodiments of the present application is not limited thereto, and the structure of the communication device may not be limited to FIG19. The communication device may be an independent device or may be part of a larger device. For example, the communication device may be:

[0185] (1) An independent integrated circuit (IC), or chip, or chip system or subsystem;

[0186] (2) A set of one or more ICs, optionally including a storage component for storing data and instructions;

[0187] (3) ASIC, such as modem;

[0188] (4) Modules that can be embedded in other devices;

[0189] (5) Receivers, terminals, smart terminals, cellular phones, wireless devices, handheld devices, mobile units, vehicle-mounted devices, network devices, cloud devices, artificial intelligence devices, etc.;

[0190] (6)Others, etc.

[0191] It is understandable that some optional features in the embodiments of the present application may, in certain scenarios, be implemented independently of other features, such as the solution on which they are currently based, to solve corresponding technical problems and achieve corresponding effects. They may also be combined with other features in certain scenarios as needed. Accordingly, the communication device provided in the embodiments of the present application may also implement these features or functions accordingly, which will not be described in detail here.

[0192] It should be understood that the processor in the embodiment of the present application can be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method embodiment can be completed by an integrated logic circuit of hardware in the processor or instructions in the form of software. The above processor can be a general-purpose processor, a digital signal processor (DSP), an application specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic device, discrete gate or transistor logic device, discrete hardware component.

[0193] It is understood that the memory in the embodiments of the present application may be a volatile memory or a non-volatile memory, or may include both volatile and non-volatile memories. Among them, the non-volatile memory may be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), or a flash memory. The volatile memory may be a random access memory (RAM), which is used as an external cache. By way of example and not limitation, many forms of RAM are available, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDR SDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), and direct RAM bus RAM (DR RAM). It should be noted that the memory of the systems and methods described herein is intended to include, but is not limited to, these and any other suitable types of memory.

[0194] An embodiment of the present application also provides a computer-readable storage medium, comprising instructions, which, when executed on a computer, enable the computer to execute the method in the aforementioned embodiment.

[0195] An embodiment of the present application also provides a computer program product comprising instructions, which, when executed on a computer, enables the computer to execute the method in the aforementioned embodiment.

[0196] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0197] In the several embodiments provided in this application, it should be understood that the disclosed systems, devices and methods can be implemented in other ways. For example, the device embodiments described above are merely schematic. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interface, device or unit, which can be electrical, mechanical or other forms.

[0198] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0199] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0200] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0201] In the above embodiments, all or part of the embodiments can be implemented by software, hardware, firmware, or any combination thereof. When implemented using software, all or part of the embodiments can be implemented in the form of a computer program product. The computer program product includes one or more computer instructions. When the computer instructions are loaded and executed on a computer, all or part of the processes or functions according to the embodiments of the present application are generated. The computer can be a general-purpose computer, a special-purpose computer, a computer network, or other programmable device. The computer instructions can be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer instructions can be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired (e.g., coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (e.g., infrared, wireless, microwave, etc.) method. The computer-readable storage medium can be any available medium that can be accessed by a computer or a data storage device such as a server or data center that includes one or more available media integrated therein. Available media may be magnetic media (eg, floppy disks, hard disks, tapes), optical media (eg, high-density digital video discs (DVDs)), or semiconductor media (eg, solid state disks (SSDs)).

Claims

1. A method for locating an indoor access point, characterized in that: include: Obtaining a designated information collection origin, where the information collection origin is located in a measurement space, where the measurement space includes M access points AP; Acquire X non-collinear points according to the information collection origin, wherein the X non-collinear points are all located in the measurement space, and X is greater than or equal to 3; Coordinates of N APs among the M APs are determined based on the coordinates of the X non-collinear points, where the coordinates of the N APs are used to determine coordinates of APs other than the N APs among the M APs, where N is greater than or equal to 3 and less than M.

2. The method according to claim 1, characterized in that The designated information collection origin is generated according to configuration or is obtained through input through a user graphical interface.

3. The method according to claim 2, characterized in that The method further comprises: a floor plan showing the measured space; In response to an input operation on the floor plan, the information collection origin is acquired.

4. The method according to any one of claims 1 to 3, characterized in that After determining the coordinates of N APs among the M APs based on the coordinates of the X non-collinear points, the method further includes: Determining, according to the coordinates of the N APs, whether the N APs include at least three non-collinear APs; If not, the step of obtaining the designated information collection origin is performed again until at least three non-collinear APs are included in the N APs.

5. The method according to any one of claims 1 to 4, characterized in that The determining the coordinates of N APs among the M APs according to the coordinates of the X non-collinear points includes: Acquire, at each of the X non-collinear points, first fine time measurement (FTM) information between the points and the N APs, where the first FTM information is used to indicate a distance between each of the X non-collinear points and the N APs; The coordinates of the N APs are obtained according to the coordinates of the X non-collinear points and the first FTM information.

6. The method according to any one of claims 1 to 5, characterized in that The step of obtaining X non-collinear points according to the information collection origin includes: The X non-collinear points are selected on a moving path starting from the information collection origin.

7. The method according to any one of claims 1 to 6, characterized in that The step of obtaining X non-collinear points according to the information collection origin includes: Obtaining the relative distances between the X non-collinear points and the information collection origin; The coordinates of the X non-collinear points are obtained according to the relative distance calculation.

8. The method according to claim 7, characterized in that The obtaining of the relative distances between the X non-collinear points and the information collection origin includes: Acquire inertial navigation information between the X non-collinear points and the information collection origin, where the inertial navigation information indicates a relative distance between the X non-collinear points and the information collection origin.

9. The method according to any one of claims 4 to 8, characterized in that X and N are greater than or equal to 4, at least one of the X non-collinear points is not coplanar with at least three of the X non-collinear points, and at least one of the N APs is not coplanar with at least three of the N APs.

10. The method according to any one of claims 1 to 9, characterized in that The method further comprises: Obtaining second FTM information, where the second FTM information is used to indicate distances between APs in the M APs; The coordinates of APs other than the N APs in the M APs are obtained according to the second FTM information and the coordinates of the N APs.

11. The method according to claim 10, characterized in that The method further comprises: Determining a low-confidence AP among the M APs, where the low-confidence AP is an AP that does not meet a preset condition; The coordinates of the low-confidence APs are calibrated.

12. The method according to claim 11, characterized in that The determining the low-confidence AP among the M APs includes: Obtaining received signal strength indicator RSSI information of a first AP among the M APs, where the first AP is any one of the M APs, and the RSSI information includes RSSI values ​​between the first AP and APs other than the first AP among the M APs; Determine the number of connected APs of the first AP according to the RSSI information; If the number of connected APs of the first AP is less than a first preset value, the first AP is determined to be the low-confidence AP.

13. The method according to claim 12, characterized in that The method further comprises: If the number of connected APs of the first AP is greater than or equal to the first preset value, determining whether the RSSI information includes at least three RSSI values ​​greater than a second preset value; If not included, the first AP is determined to be the low-confidence AP.

14. The method according to claim 13, characterized in that The method further comprises: If included, determining whether there are at least three APs in a collinear relationship among the connected APs of the first AP according to the coordinates of the M APs; If so, the first AP is determined to be the low-confidence AP.

15. The method according to any one of claims 11 to 14, characterized in that The calibrating the coordinates of the low-confidence AP includes: The coordinates of the low-confidence AP are calibrated according to the input of the user graphical interface.

16. The method according to any one of claims 11 to 14, characterized in that The calibrating the coordinates of the low-confidence AP includes: The coordinates of the low-confidence AP are calibrated according to the information collection origin.

17. A communication device, characterized in that: The device includes multiple functional modules, which interact with each other to implement the method according to any one of claims 1 to 16.

18. A communication device, characterized in that: include: A processor, configured to execute a program so that the communication device performs the method according to any one of claims 1 to 16.

19. A computer-readable storage medium comprising instructions, which, when executed on a computer, cause the computer to perform the method according to any one of claims 1 to 16.

20. A computer program product comprising instructions which, when run on a computer, cause the computer to perform the method according to any one of claims 1 to 16.

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