Positioning method and apparatus and electronic device

Abstract

Disclosed in embodiments of the present disclosure are a positioning method and apparatus and an electronic device. The method comprises: when a positioned object travels in an indoor area, obtaining a current travelling direction of the positioned object at a current moment, current wireless feature data and historical wireless feature data within a set duration before the current moment of a scanned access device; on the basis of the current wireless feature data and a pre-generated positioning fingerprint database, determining an initial geographic raster where the positioned object is located and positioning fingerprint data corresponding to the initial geographic raster; on the basis of the initial geographic raster and the current travelling direction of the positioned object at the current moment, obtaining positioning fingerprint data corresponding to a target geographic raster from the positioning fingerprint database; and on the basis of the historical wireless feature data, the initial geographic raster and the positioning fingerprint data corresponding to the target geographic raster, determining a geographic raster matching the positioned object. The technical solution improves the positioning precision, and reduces the calculation complexity and the calculation amount.

Description

Positioning methods, devices and electronic equipment

[0001] This disclosure claims priority to Chinese Patent Application No. 202410667536.2, filed on May 27, 2024, entitled “Positioning Method, Apparatus and Electronic Device”, the entire contents of which are incorporated herein by reference. Technical Field

[0002] This disclosure relates to the field of positioning technology, specifically to a positioning method, apparatus, and electronic device. Background Technology

[0003] Positioning can be broadly categorized into indoor and outdoor positioning based on the scenario. Outdoor positioning typically relies on GNSS (Global Navigation Satellite System) signals received by the object being located (such as smartphones, watches, vehicles, robots, etc.). However, indoors, satellite signals are often blocked, making it impossible to locate the object based on GNSS signals. Existing technologies have proposed positioning based on wireless signals from access point devices such as WiFi, Bluetooth, and base stations scanned by the device. The inventors of this disclosure have discovered that the same wireless signals can appear in different locations indoors. This leads to a discrepancy between the indoor location determined based on the wireless signals scanned by the object and the actual indoor location of the object; that is, existing indoor positioning methods suffer from insufficient accuracy. Therefore, a solution is needed to improve indoor positioning accuracy. Summary of the Invention

[0004] This disclosure provides a positioning method, apparatus, and electronic device.

[0005] In a first aspect, this disclosure provides a positioning method, which includes:

[0006] When the target is moving in an indoor area, the system obtains the target's current direction of movement, the current wireless feature data of the scanned access devices, and the historical wireless feature data within a set time period prior to the current time.

[0007] Based on the current wireless feature data of the access device and the pre-generated location fingerprint database, the initial geographic grid where the located object is located and the location fingerprint data corresponding to the initial geographic grid are determined. The location fingerprint database stores the location fingerprint data by geographic grid, and the geographic grid includes geographic grids that constitute the indoor area.

[0008] Based on the initial geographic grid where the object being located is located and the current direction of travel of the object being located at the current moment, the location fingerprint data corresponding to the target geographic grid is obtained from the location fingerprint database;

[0009] Based on the historical wireless feature data, the initial geographic grid, and the location fingerprint data corresponding to the target geographic grid, a geographic grid matching the located object is determined.

[0010] Secondly, embodiments of the present invention provide a positioning device, comprising:

[0011] The first acquisition module is configured to acquire the current direction of movement of the target object at the current moment, the current wireless feature data of the scanned access device, and the historical wireless feature data within a set time period before the current moment when the target object is moving in an indoor area.

[0012] The first determining module is configured to determine the initial geographic grid where the located object is located and the location fingerprint data corresponding to the initial geographic grid based on the current wireless feature data of the access device and a pre-generated location fingerprint database. The location fingerprint database stores the location fingerprint data by geographic grid, and the geographic grid includes geographic grids that constitute the indoor area.

[0013] The second acquisition module is configured to acquire the location fingerprint data corresponding to the target geographic grid from the location fingerprint database based on the initial geographic grid where the located object is located and the current travel direction of the located object at the current time.

[0014] The second determining module is configured to determine a geographic grid that matches the located object based on the historical wireless feature data, the initial geographic grid, and the location fingerprint data corresponding to the target geographic grid.

[0015] The function can be implemented by hardware or by hardware executing corresponding software. The hardware or software includes one or more modules corresponding to the above function.

[0016] In one possible design, the above-described device includes a memory and a processor. The memory stores one or more computer instructions that support the device in performing the corresponding methods described above, and the processor is configured to execute the computer instructions stored in the memory. The device may also include a communication interface for communicating with other devices or communication networks.

[0017] Thirdly, embodiments of this disclosure provide an electronic device including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in any of the above aspects.

[0018] Fourthly, embodiments of this disclosure provide a computer-readable storage medium for storing computer instructions used by any of the above-described devices, which, when executed by a processor, are used to implement the methods described in any of the above aspects.

[0019] Fifthly, embodiments of this disclosure provide a computer program product comprising a computer program that, when executed by a processor, is used to implement the methods described in any of the above aspects.

[0020] The technical solutions provided in this disclosure may have the following beneficial effects:

[0021] In this embodiment of the disclosure, when performing indoor positioning of the object to be located, the current direction of movement of the object to be located at the current moment, the current wireless feature data of the scanned access device, and the historical wireless feature data within a set time period before the current moment are obtained. Based on the current wireless feature data and a pre-generated positioning fingerprint database, the initial geographic grid where the object to be located is located and the positioning fingerprint data corresponding to the initial geographic grid are determined. Based on the initial geographic grid and the current direction of movement of the object to be located, the positioning fingerprint data corresponding to the target geographic grid is obtained from the pre-generated positioning fingerprint database. Based on the historical wireless feature data, the initial geographic grid, and the positioning fingerprint data corresponding to the target geographic grid, the geographic grid that matches the object to be located is determined. As the object being located moves indoors, the relative position between the object and the access device changes. Simultaneously, the wireless signal from the access device scanned by the object changes regularly along the movement path. Therefore, when determining the geographic grid matching the object, this disclosure uses not only the current wireless feature data of the access device but also historical wireless feature data within a set time period prior to the current moment. By using the signal change trends represented by the historical wireless feature data, the initial geographic grid determined based on the current wireless feature data of the access device is corrected, improving positioning accuracy. Furthermore, this disclosure also determines the target geographic grid from the positioning fingerprint database using the object's current direction of movement at the current moment, narrowing the search range of the positioning fingerprint data and reducing computational complexity and workload.

[0022] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and are not intended to limit this disclosure. Attached Figure Description

[0023] Other features, objects, and advantages of this disclosure will become more apparent from the following detailed description of non-limiting embodiments, taken in conjunction with the accompanying drawings. In the drawings:

[0024] Figure 1 shows a flowchart of a positioning method provided in one embodiment of the present disclosure.

[0025] Figure 2A shows a schematic diagram of the indoor area geographic grid division effect provided by one embodiment of the present disclosure.

[0026] Figure 2B shows a schematic diagram of the filtering effect of candidate geographic rasters provided in one embodiment of the present disclosure.

[0027] Figure 2C shows a schematic diagram of the filtering effect of a target geographic raster provided in one embodiment of the present disclosure.

[0028] Figures 3A and 3B illustrate the signal strength changes of two different Bluetooth access devices at different locations.

[0029] Figures 3C-3D illustrate the signal strength variation effects of two different WiFi access devices at different locations.

[0030] Figure 4 shows a structural block diagram of a positioning device provided in one embodiment of the present disclosure.

[0031] Figure 5 shows a structural block diagram of an electronic device provided according to an embodiment of the present disclosure.

[0032] Figure 6 is a schematic diagram of the structure of a computer system suitable for implementing the positioning method according to an embodiment of the present disclosure. Detailed Implementation

[0033] In the following, exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings to enable those skilled in the art to readily implement them. Furthermore, for clarity, portions unrelated to the description of the exemplary embodiments have been omitted from the drawings.

[0034] In this disclosure, it should be understood that terms such as “comprising” or “having” are intended to indicate the presence of features, figures, steps, behaviors, components, parts or combinations thereof disclosed in this specification, and do not preclude the possibility of the presence or addition of one or more other features, figures, steps, behaviors, components, parts or combinations thereof.

[0035] It should also be noted that, unless otherwise specified, the embodiments and features described in this disclosure can be combined with each other. This disclosure will now be described in detail with reference to the accompanying drawings and embodiments.

[0036] The user information (including but not limited to user device information such as location information, user personal information, etc.) and data (including but not limited to data used for analysis, data stored, data displayed, etc.) involved in this disclosure are all information and data authorized by the user or fully authorized by all parties. Furthermore, the collection, use and processing of the relevant data shall comply with the relevant laws, regulations and standards of the relevant countries and regions, and corresponding operation portals shall be provided for users to choose to authorize or refuse.

[0037] The details of the embodiments of this disclosure are described in detail below through specific examples.

[0038] Figure 1 shows a flowchart of a positioning method provided in one embodiment of the present disclosure. As shown in Figure 1, the positioning method includes the following steps:

[0039] In step S101, when the object being located is moving in an indoor area, the current direction of movement of the object being located at the current moment, the current wireless feature data of the scanned access device, and the historical wireless feature data within a set time period before the current moment are obtained.

[0040] In this system, one or more access devices are pre-deployed in the indoor area. These access devices can be Bluetooth devices, WiFi devices, base stations, etc., and continuously output wireless signals, such as Bluetooth or WiFi signals. The target object can be a mobile device, vehicle-mounted device, or other device capable of scanning the signals of the access devices. To determine the location of the target object within the indoor area, as the target object moves within the indoor area, the system can acquire wireless characteristic data of the access devices scanned by the target object, as well as historical wireless characteristic data within a set time period prior to the current moment. The wireless characteristic data may include, but is not limited to, the wireless signal data output by the access devices and the device name.

[0041] In step S102, based on the current wireless feature data of the access device and the pre-generated location fingerprint database, the initial geographic grid where the located object is located and the location fingerprint data corresponding to the initial geographic grid are determined. The location fingerprint database stores the location fingerprint data by geographic grid, and the geographic grid includes geographic grids that constitute the indoor area.

[0042] The indoor area is pre-divided into multiple geographic grids. Figure 2A shows a schematic diagram of the indoor area geographic grid division effect provided by an embodiment of this disclosure. As shown in Figure 2A, the location fingerprint data of the access device in each geographic grid can be measured in advance using corresponding equipment, thereby establishing a location fingerprint database for the indoor area. The location fingerprint database records the location fingerprint data of the access device according to the geographic grid, and the location fingerprint data includes: the wireless signal data of the access device, the name of the access device, and the actual location, etc. If there are more than two access devices in the indoor area, the location fingerprint database will record the location fingerprint data of each access device.

[0043] The initial geographic grid where the located object is located in this disclosure, i.e. the geographic grid corresponding to the last location in Figure 2A, can be calculated based on the current wireless feature data of the access device scanned by the located object during its movement.

[0044] In step S103, based on the initial geographic grid where the object being located is located and the current direction of travel of the object being located at the current moment, the location fingerprint data corresponding to the target geographic grid is obtained from the location fingerprint database.

[0045] The target geographic grid can include the geographic grids that the located object may pass through as it moves along the current direction of travel from the initial geographic grid. At the same time, since there may be some error in the current direction of travel, the target geographic grid can also include the geographic grids that the located object may pass through as it moves along the direction within the error range of the current direction of travel from the initial geographic grid.

[0046] Based on this, step S103, which is to obtain the location fingerprint data corresponding to the target geographic grid from the location fingerprint database based on the initial geographic grid where the located object is located and the current travel direction of the located object at the current time, can be implemented in the following manner:

[0047] From the location fingerprint database, obtain the geographic grids whose distance to the initial geographic grid of the located object is within a preset distance range;

[0048] From the acquired geographic grid, select geographic grids located on both sides of the current travel direction and within a set filtering range and / or intersecting with the filtering range as target geographic grids, wherein the filtering range is a fan-shaped area centered on the object being located, and the angle between the two sides of the fan-shaped area and the current travel direction is equal to a set angle.

[0049] The location fingerprint data corresponding to the target geographic grid is obtained from the location fingerprint database.

[0050] Geographic gratings whose distance to the initial geographic grating is within a preset distance range can be selected and recorded as candidate geographic gratings. Figure 2B shows a schematic diagram of the filtering effect of candidate geographic gratings provided in one embodiment of this disclosure. The selected geographic gratings are candidate geographic gratings corresponding to the light-colored square area shown in Figure 2B. The distance between two geographic gratings refers to the distance between the location points of the geographic gratings, and the location point of the geographic grating can be the center location point of the geographic grating. The location points of the geographic gratings are recorded in the location fingerprint database.

[0051] Figure 2C illustrates the filtering effect of a target geographic raster provided in one embodiment of this disclosure. The error range of the current travel direction, i.e., the filtering range, is shown in Figure 2C. Taking the last location of the object being located as the starting point, the left and right directions deviating from the current travel direction by a set angle are defined as the edges of a fan-shaped region (i.e., the two dashed lines with arrows in Figure 2C). The filtering range is the fan-shaped region with the two fan-shaped region edges as its sides. Candidate geographic rasters within and / or intersecting with this fan-shaped region are the target geographic rasters. The target geographic rasters shown in Figure 2C (the darkest colored area) are the candidate geographic rasters within and intersecting with this fan-shaped region.

[0052] Furthermore, the step of selecting geographic rasters located on both sides of the current travel direction and within a set filtering range and / or intersecting with the filtering range as target geographic rasters from the acquired geographic rasters can be implemented as follows:

[0053] Determine the straight lines from the initial geographic raster to the acquired geographic raster;

[0054] Determine the angle between the straight line of the geographic grid and the current direction of travel;

[0055] Determine the difference between the included angle of the geographic grid and the set angle;

[0056] Geographic grids whose difference from the set angle is less than a preset difference threshold are identified as target geographic grids.

[0057] Here, the straight line from the initial geographic raster to the acquired geographic raster refers to the straight line from the location point of the initial geographic raster to the location point of the acquired geographic raster. The difference threshold can be a set value close to 0.

[0058] The following section explains the approach to indoor positioning in this disclosure, using the division of geographic grids as an example.

[0059] This disclosure defines geographic grids regardless of the deployment location of access devices within the indoor area. Multiple access devices of the same and / or different types can be deployed within the same indoor area. The deployment location of access devices within the indoor area is usually fixed. With the access device's deployment location unchanged, the location fingerprint data of the access device in different geographic grids does not change over time. Therefore, location fingerprint data of the access device in different geographic grids within the indoor area can be pre-collected using a data acquisition device. Furthermore, since access devices output wireless signals in all directions centered on the access device, the same location fingerprint data may be measured at different geographic grids within the indoor area. Typically, the distances from these geographic grids to the access device are similar. Therefore, existing technologies that match the wireless feature data of the access device scanned by the target object with the pre-collected location fingerprint data may result in mismatches in the geographic grids matched to the target object.

[0060] Existing technologies typically determine an initial geographic grid based on the wireless feature data currently scanned by the object being located, as shown in Figure 2B where the last location was located. Since this initial geographic grid may be inaccurate, existing technologies, to address this issue, select a certain range of geographic grids centered on this grid (e.g., candidate geographic grids within a set distance range from the grid, as shown by the light-colored grids in Figure 2B), and then comprehensively determine the geographic grid that matches the object being located. However, because the initial geographic grid is determined solely based on the wireless feature data currently scanned by the object being located, if the initial geographic grid itself has a large error, the comprehensively determined geographic grid that matches the object being located will still be inaccurate and cannot meet the needs of indoor positioning.

[0061] To improve the accuracy of indoor positioning, the inventors of this disclosure studied the signal variation trends of access devices in indoor areas. They discovered that regardless of whether the access device is a Bluetooth or WiFi device, the signal of the access device exhibits a certain variation trend when the target object moves indoors. For example, if the path is from a position away from the Bluetooth device towards it, the Bluetooth device's signal will show an increasing trend; conversely, if the path is in the opposite direction from the Bluetooth device, the signal will show a decreasing trend. The same applies to WiFi devices. Therefore, this disclosure proposes a scheme to determine the matching geographic grid for the target object after it has moved indoors for a period of time, i.e., after accumulating some wireless signal data. This is achieved by combining the currently scanned wireless signal characteristics of the target object with the wireless signal variation trends of the previously traversed path, thereby improving the accuracy of indoor positioning. The embodiments provided in this disclosure are described in detail below with reference to the accompanying drawings.

[0062] Figures 3A and 3B illustrate the signal strength changes of two different Bluetooth access devices at different locations. As shown in Figures 3A and 3B, when a user holds a Bluetooth scanning device A and moves in the same direction from the initial position, the Bluetooth signals received from the two different Bluetooth access devices gradually increase from the initial position, and then the Bluetooth signal strength begins to decrease at a distance of more than 40 meters from the initial position.

[0063] Figures 3C-3D illustrate the signal strength changes of two different WiFi access devices at different locations. As shown in Figures 3C-3D, when a user moves a handheld WiFi scanning device from an initial position in the same direction, the WiFi signals received from both different WiFi access devices gradually increase in strength from the initial position, reaching their maximum strength after moving a few meters, and then starting to decrease after about 10 meters. Bluetooth access devices and WiFi access devices are very common indoor devices; therefore, this disclosure does not require additional equipment deployment to improve indoor positioning accuracy.

[0064] In step S104, based on the historical wireless feature data, the initial geographic grid, and the location fingerprint data corresponding to the target geographic grid, a geographic grid matching the located object is determined;

[0065] In this disclosed solution, during indoor positioning, historical wireless feature data of the access device scanned during the movement of the object being located can be used to determine the historical signal change trend of the access device. Simultaneously, based on the positioning fingerprint data corresponding to the access device in the initial geographic grid and the target geographic grid, the signal change trend of the access device during its movement from the initial geographic grid to the target geographic grid is determined. The target geographic grid whose signal change trend matches the historical signal change trend is identified as the matching geographic grid for the object being located. In some embodiments, the signal change trend can be understood as a change in signal strength, such as an increase or decrease.

[0066] Therefore, step S104, which is the step of determining the geographic grid that matches the located object based on the historical wireless feature data, the initial geographic grid, and the location fingerprint data corresponding to the target geographic grid, can be implemented in the following manner:

[0067] Based on the historical wireless feature data, the historical signal change trend of the access device is determined;

[0068] Based on the initial geographic raster of the object being located and the location fingerprint data corresponding to the target geographic raster, the geographic raster whose signal change trend is consistent with the historical signal change trend is determined as the geographic raster for the location matching of the object being located.

[0069] In some embodiments, the historical signal change trend can be the change in signal strength of the access device scanned within a set time period prior to the current moment. The signal change trend determined based on the location fingerprint data corresponding to the initial geographic grid and the target geographic grid can be the change in signal strength of the access device from the initial geographic grid to the target geographic grid.

[0070] Furthermore, the step of determining the geographic raster whose signal change trend is consistent with the historical signal change trend as the geographic raster matching the located object based on the location fingerprint data corresponding to the initial geographic raster of the located object and the target geographic raster can be implemented in the following manner:

[0071] Using the initial geographic raster of the object being located as the starting geographic raster, and based on the positional relationship of the geographic rasters stored in the location fingerprint database, determine the target geographic raster that the object being located passes through when it travels within the fan-shaped area from the starting geographic raster.

[0072] Based on the location fingerprint data of the starting geographic raster and the target geographic raster passed through each path, the signal change trend of the path is determined.

[0073] If the signal change trend of a path of the starting point geographic raster is consistent with the historical signal change trend, then the starting point geographic raster is used as the geographic raster to match the located object.

[0074] As mentioned above, the location point of a geographic raster is the center point of the geographic raster. The path formed when moving from the starting geographic raster within the fan-shaped area can include all possible paths starting from the center point of the starting geographic raster and passing through the center point of the target geographic raster within the fan-shaped area.

[0075] Furthermore, the method further includes:

[0076] If the signal change trends of all paths of the starting point geographic raster are inconsistent with the historical signal change trends, then from the target geographic raster, determine a target geographic raster adjacent to the starting point geographic raster as a new starting point geographic raster, and return to execute the step of determining the target geographic raster along the path formed by the location object when it travels from the starting point geographic raster to the sector area based on the positional relationship of the geographic rasters stored in the positioning fingerprint database.

[0077] In this embodiment, as described above, the initial geographic raster may be inaccurate. Therefore, if no target geographic raster consistent with the historical signal change trend is found, the starting geographic raster can be reselected within the error range, and then a target geographic raster consistent with the historical signal change trend can be found again.

[0078] The following detailed explanation will still use Figure 2C as an example.

[0079] As shown in Figure 2C, the darkest grid is the target geographic grid, and the initial geographic grid is the grid where the final location is located. Moving forward along the initial geographic grid, assuming a path passes through target geographic grids 3, 4, and 2, if the WiFi signal strength decreases along this path, but the WiFi signal strength is increasing based on historical wireless characteristic data before reaching the initial geographic grid, then this path is abandoned. Then, the next path starting from the initial geographic grid is found, assuming this next path passes through target geographic grids 3, 4, 1, and 5. If the WiFi signal strength is consistently increasing along this path, then the initial geographic grid can be considered a matching geographic grid. However, if the WiFi signal strength is still decreasing, other paths are found starting from the initial geographic grid. If the WiFi signal strength is decreasing along all paths, then the initial geographic grid is incorrect. In this case, a geographic grid adjacent to the left or right of the initial geographic grid is selected as the new starting geographic grid, and the previous process is repeated until a matching geographic grid is determined.

[0080] It should be noted that there may be more than one access device deployed in the indoor area, and the signal change trend of one path of the starting point geographic grid is consistent with the historical signal change trend, specifically:

[0081] The signal change trends of each access device along a path of the starting geographic grid are consistent with the historical signal change trends of the corresponding access devices.

[0082] In some embodiments, the method may further include the following steps:

[0083] Based on the current wireless feature data and the location fingerprint data corresponding to the target geographic grid, the location of the object being located at the current moment is determined.

[0084] If the geographic grid is very small, such as 0.5m x 0.5m, and the indoor positioning accuracy is within 1 meter, then the position of the target geographic grid can be determined as the current location of the object being located; that is, the current location of the object being located is the coordinates of the location point of the target geographic grid. If the geographic grid has a longer side length, such as 5m x 5m, and the indoor positioning accuracy requirement is still within 1 meter, then it is necessary to calculate the current location of the object being located based on the current wireless feature data and the positioning fingerprint data corresponding to the target geographic grid. This calculation process can be implemented using existing technologies, and this disclosure does not impose any restrictions.

[0085] Since satellite positioning signals cannot be received indoors, in order to obtain the current direction of travel of the object being located at the current moment, in an optional implementation of this embodiment, the current direction of travel of the object being located at the current moment can be determined by the measurement data output by the sensors mounted on the object being located. The sensors include a magnetometer and an accelerometer. The method further includes the following steps:

[0086] Acquire the magnetometer and accelerometer data of the object being located;

[0087] Based on the magnetometer data and the accelerometer data, the magnetic heading angle of the object being located is calculated;

[0088] Based on the magnetic heading angle and magnetic declination, the current direction of travel of the object being located is determined at the current moment.

[0089] In some embodiments, the heading angle of the object being positioned can be calculated using triaxial magnetometer measurement data and accelerometer measurement data. The calculation method is as follows:

[0090] a) Calculate the roll and pitch angles of the object being positioned using accelerometer measurement data. The calculation formula is shown below:

[0091] in, These are the triaxial measurements from the accelerometer. θ represents the roll angle and pitch angle, respectively.

[0092] In some embodiments, the magnetometer measurement data can be projected onto a horizontal plane using roll and pitch angles to obtain the projected magnetometer observations. The projection formula is as follows:

[0093] In the formula, m x m y and m z These are the original triaxial measurements of the magnetometer, M. x M y and M z These are the projected magnetometer observations.

[0094] b) Using the horizontal component M in the projected magnetometer observations x M y The magnetic heading angle can be calculated. By querying the International Geomagnetic Reference Field (IGRF) model, the local magnetic declination of the indoor area can be obtained. Combining the magnetic heading angle and magnetic declination, the heading angle of the object being located can be calculated.

[0095] ψ true=ψ mag +Δψdeclination=arctan(M y / M x )+Δψdeclination

[0096] In the formula, ψ true Let ψ be the heading angle of the object. mag Δψdeclination is the magnetic north direction angle, and Δψdeclination is the magnetic declination angle.

[0097] In an optional implementation of this embodiment, if the object being located is not equipped with a magnetometer or accelerometer, its current direction of travel at the current moment can be determined by curve fitting using its current location. The method may further include the following steps:

[0098] Obtain multiple historical positioning locations of the object being located at multiple historical moments;

[0099] Based on the multiple historical locations, the current direction of travel of the located object at the current moment is obtained through curve fitting.

[0100] In this optional implementation, the historical positioning positions of the object to be located at multiple historical moments prior to the current moment can be obtained. These historical positioning positions can be those obtained by locating the object at historical moments using the method of this embodiment. Using the historical positioning positions from multiple historical moments, the movement trajectory of the object to be located is obtained by fitting the data using calculation methods such as least squares. Based on this movement trajectory, the current direction of travel of the object to be located at the current moment can be determined.

[0101] In some embodiments, multiple historical moments to the current moment can be obtained by straight line fitting. The movement trajectory is a straight line, and the direction of the straight line is the current movement direction of the object being located at the current moment.

[0102] In other embodiments, if historical positioning locations at a large number of historical moments can be obtained, curve fitting can be performed to obtain a curved movement trajectory. The tangent direction of the curve at the current moment is the current movement direction of the object being located.

[0103] The above is a positioning method provided by embodiments of this disclosure. In this method, as the object being positioned moves indoors, the relative positional relationship between the object being positioned and the access device changes. Simultaneously, the wireless signal of the access device scanned by the object being positioned exhibits regular changes along the movement path. Therefore, when determining the geographic grid matching the object being positioned, this disclosure not only uses the current wireless feature data of the access device but also uses historical wireless feature data within a set time period prior to the current moment. By using the signal change trend represented by the historical wireless feature data, the initial geographic grid determined based on the current wireless feature data of the access device is corrected, improving positioning accuracy. Furthermore, this disclosure also determines the target geographic grid from the positioning fingerprint database using the current movement direction of the object being positioned at the current moment, narrowing the search range of the positioning fingerprint data and reducing computational complexity and workload.

[0104] The following are embodiments of the apparatus disclosed herein, which can be used to execute embodiments of the method disclosed herein.

[0105] Figure 4 shows a structural block diagram of a positioning device provided according to an embodiment of the present disclosure. This device can be implemented as part or all of an electronic device through software, hardware, or a combination of both. As shown in Figure 4, the positioning device includes:

[0106] The first acquisition module 401 is configured to acquire the current direction of movement of the target object at the current moment, the current wireless feature data of the scanned access device, and the historical wireless feature data within a set time length before the current moment when the target object is moving in an indoor area.

[0107] In this system, one or more access devices are pre-deployed in the indoor area. These access devices can be Bluetooth devices, WiFi devices, base stations, etc., and continuously output wireless signals, such as Bluetooth or WiFi signals. The target object can be a mobile device, vehicle-mounted device, or other device capable of scanning the signals of the access devices. To determine the location of the target object within the indoor area, as the target object moves within the indoor area, the system can acquire wireless characteristic data of the access devices scanned by the target object, as well as historical wireless characteristic data within a set time period prior to the current moment. The wireless characteristic data may include, but is not limited to, the wireless signal data output by the access devices and the device name.

[0108] The first determining module 402 is configured to determine the initial geographic grid where the object being located is located and the location fingerprint data corresponding to the initial geographic grid based on the current wireless feature data of the access device and a pre-generated location fingerprint database. The location fingerprint database stores the location fingerprint data by geographic grid, and the geographic grid includes geographic grids that constitute the indoor area.

[0109] The indoor area is pre-divided into multiple geographic grids, as shown in Figure 2A. Location fingerprint data of the access devices in each geographic grid can be measured in advance using appropriate equipment, thereby establishing a location fingerprint database for the indoor area. This database records the location fingerprint data of the access devices according to the geographic grids. The location fingerprint data includes: the access device's wireless signal data, the access device's name, and its actual location. If there are more than two access devices in the indoor area, the location fingerprint database will record the location fingerprint data of each access device.

[0110] In this disclosure, the initial geographic grid where the located object is located can be calculated based on the current wireless feature data of the access device scanned by the located object during its movement.

[0111] The second acquisition module 403 is configured to acquire the location fingerprint data corresponding to the target geographic grid from the location fingerprint database based on the initial geographic grid where the located object is located and the current travel direction of the located object at the current time.

[0112] The target geographic grid can include the geographic grids that the located object may pass through as it moves along the current direction of travel from the initial geographic grid. At the same time, since there may be some error in the current direction of travel, the target geographic grid can also include the geographic grids that the located object may pass through as it moves along the direction within the error range of the current direction of travel from the initial geographic grid.

[0113] Based on this, the second acquisition module can be implemented as follows:

[0114] From the location fingerprint database, obtain the geographic grids whose distance to the initial geographic grid of the located object is within a preset distance range;

[0115] From the acquired geographic grid, select geographic grids located on both sides of the current travel direction and within a set filtering range and / or intersecting with the filtering range as target geographic grids, wherein the filtering range is a fan-shaped area centered on the object being located, and the angle between the two sides of the fan-shaped area and the current travel direction is equal to a set angle.

[0116] The location fingerprint data corresponding to the target geographic grid is obtained from the location fingerprint database.

[0117] Geographic rasters within a preset distance range from the initial geographic raster can be selected and designated as candidate geographic rasters. The selected geographic rasters correspond to the candidate geographic rasters in the light-colored square area shown in Figure 2B. The distance between two geographic rasters refers to the distance between their location points, which can be the center point of the geographic raster. The location points of the geographic rasters are recorded in the location fingerprint database.

[0118] The error range of the current travel direction, which is also the filtering range, is shown in Figure 2C. It is a sector area with the sides defined by the two dashed lines with arrows. Candidate geographic rasters within this sector area and / or intersecting with this sector area are the target geographic rasters.

[0119] Furthermore, the step of selecting geographic rasters located on both sides of the current travel direction and within a set filtering range and / or intersecting with the filtering range as target geographic rasters from the acquired geographic rasters can be implemented as follows:

[0120] Determine the straight lines from the initial geographic raster to the acquired geographic raster;

[0121] Determine the angle between the straight line of the geographic grid and the current direction of travel;

[0122] Determine the difference between the included angle of the geographic grid and the set angle;

[0123] Geographic grids whose difference from the set angle is less than a preset difference threshold are identified as target geographic grids.

[0124] Here, the straight line from the initial geographic raster to the acquired geographic raster refers to the straight line from the location point of the initial geographic raster to the location point of the acquired geographic raster. The difference threshold can be a set value close to 0.

[0125] The following section explains the approach to indoor positioning in this disclosure, using the division of geographic grids as an example.

[0126] This disclosure defines geographic grids regardless of the deployment location of access devices within the indoor area. Multiple access devices of the same and / or different types can be deployed within the same indoor area. The deployment location of access devices within the indoor area is usually fixed. With the access device's deployment location unchanged, the location fingerprint data of the access device in different geographic grids does not change over time. Therefore, location fingerprint data of the access device in different geographic grids within the indoor area can be pre-collected using a data acquisition device. Furthermore, since access devices output wireless signals in all directions centered on the access device, the same location fingerprint data may be measured at different geographic grids within the indoor area. Typically, the distances from these geographic grids to the access device are similar. Therefore, existing technologies that match the wireless feature data of the access device scanned by the target object with the pre-collected location fingerprint data may result in mismatches in the geographic grids matched to the target object.

[0127] As shown in Figure 2B, existing technologies typically determine an initial geographic grid based on the wireless feature data currently scanned by the object being located. Since this initial geographic grid may be inaccurate, existing technologies, to address this inaccuracy, select candidate geographic grids within a certain range (e.g., candidate geographic grids within a set distance range from the initial grid, as shown by the light-colored grids in Figure 2B) centered on this initial grid, and then comprehensively determine the geographic grid matching the object being located. However, because the initial geographic grid is determined solely based on the wireless feature data currently scanned by the object being located, if the initial geographic grid itself has a large error, the comprehensively determined geographic grid matching the object being located will still be inaccurate and cannot meet the needs of indoor positioning.

[0128] To improve the accuracy of indoor positioning, the inventors of this disclosure studied the signal variation trends of access devices in indoor areas. They discovered that regardless of whether the access device is a Bluetooth or WiFi device, the signal of the access device exhibits a certain variation trend when the target object moves indoors. For example, if the path is from a position away from the Bluetooth device towards it, the Bluetooth device's signal will show an increasing trend; conversely, if the path is in the opposite direction from the Bluetooth device, the signal will show a decreasing trend. The same applies to WiFi. Therefore, this disclosure proposes a scheme to determine the matching geographic grid for the target object after it has moved indoors for a period of time, i.e., after accumulating some wireless signal data. This is achieved by combining the currently scanned wireless signal characteristics of the target object with the wireless signal variation trends of the previously traversed path, thereby improving the accuracy of indoor positioning. The embodiments provided in this disclosure are described in detail below with reference to the accompanying drawings.

[0129] Figures 3A and 3B illustrate the signal strength changes of two different Bluetooth access devices at different locations. As shown in Figures 3A and 3B, when a user holds a Bluetooth scanning device A and moves in the same direction from the initial position, the Bluetooth signals received from the two different Bluetooth access devices gradually increase from the initial position, and then the Bluetooth signal strength begins to decrease at a distance of more than 40 meters from the initial position.

[0130] Figures 3C-3D illustrate the signal strength changes of two different WiFi access devices at different locations. As shown in Figures 3C-3D, when a user moves a handheld WiFi scanning device from an initial position in the same direction, the WiFi signals received from both different WiFi access devices gradually increase in strength from the initial position, reaching their maximum strength after moving a few meters, and then starting to decrease after about 10 meters. Bluetooth access devices and WiFi access devices are very common indoor devices; therefore, this disclosure does not require additional equipment deployment to improve indoor positioning accuracy.

[0131] The second determining module 404 is configured to determine a geographic grid that matches the located object based on the historical wireless feature data, the initial geographic grid, and the location fingerprint data corresponding to the target geographic grid.

[0132] In this disclosed solution, during indoor positioning, historical wireless feature data of the access device scanned during the movement of the object being located can be used to determine the historical signal change trend of the access device. Simultaneously, based on the positioning fingerprint data corresponding to the access device in the initial geographic grid and the target geographic grid, the signal change trend of the access device during its movement from the initial geographic grid to the target geographic grid is determined. The target geographic grid whose signal change trend matches the historical signal change trend is identified as the matching geographic grid for the object being located. In some embodiments, the signal change trend can be understood as a change in signal strength, such as an increase or decrease.

[0133] Therefore, the second determining module 404 can be implemented in the following manner:

[0134] Based on the historical wireless feature data, the historical signal change trend of the access device is determined;

[0135] Based on the initial geographic raster of the object being located and the location fingerprint data corresponding to the target geographic raster, the geographic raster whose signal change trend is consistent with the historical signal change trend is determined as the geographic raster for the location matching of the object being located.

[0136] In some embodiments, the historical signal change trend can be the change in signal strength of the access device scanned within a set time period prior to the current moment. The signal change trend determined based on the location fingerprint data corresponding to the initial geographic grid and the target geographic grid can be the change in signal strength of the access device from the initial geographic grid to the target geographic grid.

[0137] Furthermore, the step of determining the geographic raster whose signal change trend is consistent with the historical signal change trend as the geographic raster matched with the located object based on the location fingerprint data corresponding to the initial geographic raster of the located object and the target geographic raster can be implemented in the following manner:

[0138] Using the initial geographic raster of the object being located as the starting geographic raster, and based on the positional relationship of the geographic rasters stored in the location fingerprint database, determine the target geographic raster that the object being located passes through when it travels within the fan-shaped area from the starting geographic raster.

[0139] Based on the location fingerprint data of the starting geographic raster and the target geographic raster passed through each path, the signal change trend of the path is determined.

[0140] If the signal change trend of a path of the starting point geographic raster is consistent with the historical signal change trend, then the starting point geographic raster is used as the geographic raster to match the located object.

[0141] As mentioned above, the location point of a geographic raster is the center point of the geographic raster. The path formed when moving from the starting geographic raster within the fan-shaped area can include all possible paths starting from the center point of the starting geographic raster and passing through the center point of the target geographic raster within the fan-shaped area.

[0142] Furthermore, the device further includes:

[0143] The third determining module is configured to, if the signal change trends of all paths of the starting point geographic raster are inconsistent with the historical signal change trends, then determine a target geographic raster adjacent to the starting point geographic raster as a new starting point geographic raster, return to execute the positional relationship of the geographic rasters stored in the positioning fingerprint database, and determine the target geographic rasters traversed by the path formed by the located object when it travels from the starting point geographic raster within the fan-shaped area.

[0144] In this embodiment, as described above, the initial geographic raster may be inaccurate. Therefore, if no target geographic raster consistent with the historical signal change trend is found, the starting geographic raster can be reselected within the error range, and then a target geographic raster consistent with the historical signal change trend can be found again.

[0145] The following detailed explanation will still use Figure 2C as an example.

[0146] As shown in Figure 2C, the darkest colored cell is the target geographic grid, and the initial geographic grid is the grid where the final location is located. Moving forward along the initial geographic grid, assuming a path passes through target geographic grids 3, 4, and 2, if the WiFi signal strength decreases along this path, but the WiFi signal strength is increasing based on historical wireless characteristic data before reaching the initial geographic grid, then this path is abandoned. Then, the next path starting from the initial geographic grid is found, assuming this next path passes through target geographic grids 3, 4, 1, and 5. If the WiFi signal strength is consistently increasing along this path, then the initial geographic grid can be considered a matching geographic grid. However, if the WiFi signal strength is still decreasing, other paths are found starting from the initial geographic grid. If the WiFi signal strength is decreasing along all paths, then the initial geographic grid is incorrect. In this case, a geographic grid adjacent to the left or right of the initial geographic grid is selected as the new starting geographic grid, and the previous process is repeated until a matching geographic grid is determined.

[0147] It should be noted that there may be more than one access device deployed in the indoor area, and the signal change trend of one path of the starting point geographic grid is consistent with the historical signal change trend, specifically:

[0148] The signal change trends of each access device along a path of the starting geographic grid are consistent with the historical signal change trends of the corresponding access devices.

[0149] In some embodiments, the apparatus may further include:

[0150] The fourth determining module is configured to determine the location of the object being located at the current moment based on the current wireless feature data and the location fingerprint data corresponding to the target geographic grid.

[0151] If the geographic grid is very small, such as 0.5m x 0.5m, and the indoor positioning accuracy is within 1 meter, then the position of the target geographic grid can be determined as the current location of the object being located; that is, the current location of the object being located is the coordinates of the location point of the target geographic grid. If the geographic grid has a longer side length, such as 5m x 5m, and the indoor positioning accuracy requirement is still within 1 meter, then it is necessary to calculate the current location of the object being located based on the current wireless feature data and the positioning fingerprint data corresponding to the target geographic grid. This calculation process can be implemented using existing technologies, and this disclosure does not impose any restrictions.

[0152] Since satellite positioning signals cannot be received indoors, in order to obtain the current direction of travel of the object being located at the current moment, in an optional implementation of this embodiment, the current direction of travel of the object being located at the current moment can be determined by using measurement data output by sensors mounted on the object being located. The sensors include a magnetometer and an accelerometer, and the device further includes:

[0153] The third acquisition module is configured to acquire magnetometer data and accelerometer data of the object being located.

[0154] The first calculation module is configured to calculate the magnetic heading angle of the object being located based on the magnetometer data and the accelerometer data.

[0155] The fifth determining module is configured to determine the current direction of travel of the object being located at the current moment based on the magnetic heading angle and magnetic declination angle.

[0156] In some embodiments, the heading angle of the object being positioned can be calculated using triaxial magnetometer measurement data and accelerometer measurement data. The calculation device is as follows:

[0157] a) Calculate the roll and pitch angles of the object being positioned using accelerometer measurement data. The calculation formula is shown below:

[0158] in, These are the triaxial measurements from the accelerometer. θ represents the roll angle and pitch angle, respectively.

[0159] In some embodiments, the magnetometer measurement data can be projected onto a horizontal plane using roll and pitch angles to obtain the projected magnetometer observations. The projection formula is as follows:

[0160] In the formula, m x m y and m z These are the original triaxial measurements of the magnetometer, M. x M y and M z These are the projected magnetometer observations.

[0161] b) Using the horizontal component M in the projected magnetometer observations x M y The magnetic heading angle can be calculated. By consulting the International Geomagnetic Reference Field (IGRF) model, the local magnetic declination of the indoor area can be obtained. Combining the magnetic heading angle and magnetic declination, the heading angle of the object being located can be calculated.

[0162] ψ true =ψ mag+Δψdeclination=arctan(M y / M x )+Δψdeclination

[0163] In the formula, ψ true Let ψ be the heading angle of the object. mag Δψdeclination is the magnetic north direction angle, and Δψdeclination is the magnetic declination angle.

[0164] In an optional implementation of this embodiment, if the object being located is not equipped with a magnetometer or accelerometer, its current direction of travel at the current moment can be determined by curve fitting using its current location. The device may further include:

[0165] The fourth acquisition module is configured to acquire multiple historical positioning locations of the object being located at multiple historical moments;

[0166] The fitting module is configured to obtain the current direction of travel of the located object by curve fitting based on the multiple historical positioning positions.

[0167] In this optional implementation, the historical positioning positions of the object to be located at multiple historical moments prior to the current moment can be obtained. These historical positioning positions can be those obtained by positioning using the device of this embodiment. Using the historical positioning positions from multiple historical moments, the movement trajectory of the object to be located is obtained by fitting the data using a calculation device such as the least squares method. Based on this movement trajectory, the current direction of travel of the object to be located at the current moment can be determined.

[0168] In some embodiments, multiple historical moments to the current moment can be obtained by straight line fitting. The movement trajectory is a straight line, and the direction of the straight line is the current movement direction of the object being located at the current moment.

[0169] In other embodiments, if historical positioning locations at a large number of historical moments can be obtained, curve fitting can be performed to obtain a curved movement trajectory. The tangent direction of the curve at the current moment is the current movement direction of the object being located.

[0170] The above describes the positioning device provided in this embodiment. In this device, as the object being positioned moves indoors, the relative positional relationship between the object and the access device changes. Simultaneously, the wireless signal from the access device scanned by the object changes regularly along the movement path. Therefore, when determining the geographic grid matching the object, this disclosure uses not only the current wireless feature data of the access device but also historical wireless feature data within a set time period prior to the current moment. By using the signal change trends represented by the historical wireless feature data, the initial geographic grid determined based on the current wireless feature data of the access device is corrected, improving positioning accuracy. Furthermore, this disclosure also determines the target geographic grid from the positioning fingerprint database using the current movement direction of the object at the current moment, narrowing the search range of the positioning fingerprint data and reducing computational complexity and workload.

[0171] This disclosure also discloses an electronic device. FIG5 shows a structural block diagram of an electronic device provided in one embodiment of this disclosure. As shown in FIG5, the electronic device 500 includes a memory 501 and a processor 502; wherein...

[0172] The memory 501 is used to store one or more computer instructions, wherein the one or more computer instructions are executed by the processor 502 to implement the above method steps.

[0173] Figure 6 is a schematic diagram of the structure of a computer system suitable for implementing the positioning method according to an embodiment of the present disclosure.

[0174] As shown in Figure 6, the computer system 600 includes a processing unit 601, which can be implemented as a CPU (Central Processing Unit), GPU (Graphics Processing Unit), FPGA (Field Programmable Gate Array), NPU (Neural Network Processing Unit), or other processing units. The processing unit 601 can execute various processes according to any of the above-described embodiments of the methods disclosed herein, based on programs stored in read-only memory (ROM) 602 or programs loaded from storage portion 608 into random access memory (RAM) 603. The RAM 603 also stores various programs and data required for the operation of the computer system 600. The processing unit 601, ROM 602, and RAM 603 are interconnected via a bus 604. An input / output (I / O) interface 605 is also connected to the bus 604.

[0175] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0176] In particular, according to embodiments of this disclosure, any of the methods described above in the embodiments of this disclosure can be implemented as a computer software program. For example, embodiments of this disclosure include a computer program product comprising a computer program tangibly embodied on a machine-readable medium, the computer program containing program code for performing any of the methods in the embodiments of this disclosure. In such an embodiment, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611.

[0177] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this disclosure. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0178] The units or modules described in the embodiments of this disclosure can be implemented in software or hardware. The described units or modules can also be located in a processor, and the names of these units or modules do not necessarily constitute a limitation on the unit or module itself.

[0179] In another aspect, this disclosure also provides a computer-readable storage medium, which may be a computer-readable storage medium included in the apparatus described in the above embodiments; or it may be a standalone computer-readable storage medium not assembled into a device. The computer-readable storage medium stores one or more computer instructions, which are used by one or more processors to perform the methods described in this disclosure.

[0180] The above description is merely a preferred embodiment of this disclosure and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this disclosure is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features disclosed in this disclosure that have similar functions.

Claims

1. A positioning method, wherein, The method comprises the steps of: obtaining the current travel direction of the positioned object at the current time, the current wireless feature data of the scanned access device and the historical wireless feature data within a set time length before the current time when the positioned object travels in an indoor area; determining the initial geographic grid where the positioned object is located and the positioning fingerprint data corresponding to the initial geographic grid based on the current wireless feature data of the access device and the pre-generated positioning fingerprint database, wherein the positioning fingerprint database stores the positioning fingerprint data according to geographic grids, and the geographic grids include the geographic grids constituting the indoor area; obtaining the positioning fingerprint data corresponding to the target geographic grid from the positioning fingerprint database based on the initial geographic grid where the positioned object is located and the current travel direction of the positioned object at the current time; determining the geographic grid matched with the positioned object based on the historical wireless feature data, the initial geographic grid and the positioning fingerprint data corresponding to the target geographic grid.

2. The method of claim 1, wherein, The step of obtaining the positioning fingerprint data corresponding to the target geographic grid from the positioning fingerprint database based on the initial geographic grid where the positioned object is located and the current travel direction of the positioned object at the current time comprises the steps of: obtaining the geographic grids within a preset distance range from the initial geographic grid where the positioned object is located from the positioning fingerprint database; selecting the geographic grids located on both sides of the current travel direction and within a set screening range and / or intersecting with the screening range as the target geographic grids from the obtained geographic grids, wherein the screening range is a sector area with the positioned object as the center, and the included angle between the two edges of the sector area and the current travel direction is equal to a set angle; obtaining the positioning fingerprint data corresponding to the target geographic grid from the positioning fingerprint database.

3. The method of claim 2, wherein, The step of selecting the geographic grids located on both sides of the current travel direction and within a set screening range and / or intersecting with the screening range as the target geographic grids from the obtained geographic grids comprises the steps of: determining the straight lines from the initial geographic grid to the obtained geographic grids respectively; determining the included angle between the straight line of the geographic grid and the current travel direction; determining the difference between the included angle of the geographic grid and the set angle; determining the geographic grid with the difference less than a preset difference threshold as the target geographic grid.

4. The method according to any one of claims 1 to 3, wherein, The step of determining the geographic grid matched with the positioned object based on the historical wireless feature data, the initial geographic grid and the positioning fingerprint data corresponding to the target geographic grid comprises the steps of: determining the historical signal change trend of the access device based on the historical wireless feature data; determining the geographic grid with the signal change trend consistent with the historical signal change trend as the position matched geographic grid of the positioned object based on the initial geographic grid of the positioned object and the positioning fingerprint data corresponding to the target geographic grid.

5. The method of claim 4, wherein, The method further comprises: If the signal change trends of all paths of the starting geographical grid are inconsistent with the historical signal change trend, one target geographical grid adjacent to the starting geographical grid is determined from the target geographical grids as a new starting geographical grid, and the step of determining the target geographical grids passed by the paths formed by the starting geographical grid in the fan-shaped region is executed again. If the access device comprises two or more, the signal change trend of one path of the starting geographical grid is consistent with the historical signal change trend, specifically comprising: The signal change trends of each access device on one path of the starting geographical grid are consistent with the historical signal change trends of the corresponding access devices.

6. The method of claim 5, wherein, The method further comprises: The positioning position of the positioned object at the current time is determined based on the current wireless feature data and the positioning fingerprint data corresponding to the target geographical grid.

7. The method of claim 5 or 6, wherein, The method further comprises: The first acquisition module is configured to acquire the current traveling direction of the positioned object, the current wireless feature data of the scanned access device and the historical wireless feature data within a set time length before the current time when the positioned object travels in the indoor region.

8. The method according to any one of claims 1-9, wherein, The first determination module is configured to determine the initial geographical grid where the positioned object is located and the positioning fingerprint data corresponding to the initial geographical grid based on the current wireless feature data of the access device and the pre-generated positioning fingerprint database. The second acquisition module is configured to acquire the positioning fingerprint data corresponding to the target geographical grid from the positioning fingerprint database based on the initial geographical grid where the positioned object is located and the current traveling direction of the positioned object at the current time.

9. A positioning device, wherein, The second determination module is configured to determine the geographical grid matched with the positioned object based on the historical wireless feature data, the initial geographical grid and the positioning fingerprint data corresponding to the target geographical grid. ​ ​ ​ ​ 10. An electronic device, comprising: A computer program product comprising a computer readable medium storing computer instructions, wherein the computer instructions are executable by a processor to implement the method of any one of claims 1-8.

11. A computer readable storage medium, wherein, The storage medium stores computer instructions; The computer instructions are executable by a processor to implement the method of any one of claims 1-8.

12. A computer program product, wherein, A computer program, which when executed by a processor is configured to implement the method of any one of claims 1-8. A computer program, which when executed by a processor is configured to implement the method of any one of claims 1-8.

Images