CN112822626A

CN112822626A - Terminal positioning method and device, storage medium and electronic equipment

Info

Publication number: CN112822626A
Application number: CN202010883578.1A
Authority: CN
Inventors: 张凯; 王克己
Original assignee: Tencent Technology Shenzhen Co Ltd
Current assignee: Tencent Technology Shenzhen Co Ltd
Priority date: 2020-08-28
Filing date: 2020-08-28
Publication date: 2021-05-18
Anticipated expiration: 2040-08-28
Also published as: CN112822626B

Abstract

The application provides a terminal positioning method, a terminal positioning device, a storage medium and electronic equipment, and belongs to the technical field of computers. The method comprises the steps of determining first position information of the terminal equipment according to the signal intensity of each radio frequency positioning equipment and the position information of each radio frequency positioning equipment, and determining second position information of the terminal equipment according to the matching degree of each positioning area and a positioning request in a positioning fingerprint library and the position information of the positioning area; and then fusing the first position information and the second position information, and determining the current position of the terminal equipment according to the fusion result. According to the method and the device, the position of the terminal equipment can be accurately determined by fusing the positioning result of each radio frequency positioning device and the positioning result of the positioning fingerprint, so that the positioning precision and the positioning accuracy of the terminal are effectively improved.

Description

Terminal positioning method and device, storage medium and electronic equipment

Technical Field

The present application relates to the field of computer technologies, and in particular, to a terminal positioning method, apparatus, storage medium, and electronic device.

Background

With the popularization of wireless local area networks and the increasing demand of people for positioning technologies, indoor positioning technologies are rapidly developing. The indoor positioning technology is used for determining the position of the mobile terminal in an indoor environment so as to provide positioning service for a user or perform real-time monitoring and tracking.

Since there is generally no satellite signal indoors, GPS (Global Positioning System) cannot function when performing indoor Positioning. Therefore, the indoor positioning technology generally utilizes a Wireless communication network, such as bluetooth, Wireless Fidelity (WIFI) or the like, to measure the geographical location of a certain mobile terminal at a certain time by measuring some parameters of received radio waves. However, because the indoor positioning environment is relatively complex, the positioning accuracy of the current indoor positioning algorithm is low.

Disclosure of Invention

In order to solve the existing technical problem, embodiments of the present application provide a terminal positioning method, apparatus, storage medium, and electronic device, which can improve positioning accuracy and positioning accuracy of terminal positioning.

In order to achieve the above purpose, the technical solution of the embodiment of the present application is implemented as follows:

in a first aspect, an embodiment of the present application provides a terminal positioning method, where the method includes:

receiving a positioning request sent by terminal equipment, wherein the positioning request comprises the signal intensity of each radio frequency positioning equipment detected by the terminal equipment;

acquiring the position information of each radio frequency positioning device, and determining first position information of the terminal device according to the signal strength and the position information of each radio frequency positioning device;

determining second position information of the terminal equipment according to the matching degree of each positioning area in a positioning fingerprint database and the positioning request and the position information of the positioning area;

and determining the current position of the terminal equipment according to the fusion result of the first position information and the second position information.

In a second aspect, an embodiment of the present application provides a terminal positioning apparatus, where the method includes:

a receiving unit, configured to receive a positioning request sent by a terminal device, where the positioning request includes signal strength of each radio frequency positioning device detected by the terminal device;

a first position determining unit, configured to obtain position information of each radio frequency positioning device, and determine first position information of the terminal device according to the signal strength and the position information of each radio frequency positioning device;

a second position determining unit, configured to determine second position information of the terminal device according to matching degrees of each positioning area in a positioning fingerprint library and the positioning request and position information of the positioning area;

and the terminal position determining unit is used for taking the fusion result of the first position information and the second position information as the current position of the terminal equipment.

In an optional embodiment, the second position determining unit is specifically configured to:

determining at least one positioning area from each positioning area according to the matching degree of each positioning area in a positioning fingerprint library and the positioning request;

and determining second position information of the terminal equipment according to the position information of the at least one positioning area.

determining a target positioning area corresponding to first position information of the terminal equipment in the positioning fingerprint database;

determining an adjacent positioning area of the target positioning area in the positioning fingerprint database, and taking the target positioning area and the adjacent positioning area as candidate positioning areas;

and searching at least one positioning area matched with the positioning request in the candidate positioning area.

respectively determining the matching degree of the signal strength information of each candidate positioning area and the signal strength of each radio frequency positioning device in the positioning request;

and selecting a preset number of positioning areas from the candidate positioning areas according to the matching degree of each candidate positioning area.

for each candidate positioning area, respectively determining the characteristic information of the signal intensity information of the candidate positioning area relative to the signal intensity of each radio frequency positioning device, and inputting the characteristic information into a trained matching degree analysis model to obtain the matching degree of the signal intensity information of the candidate positioning area and the signal intensity of each radio frequency positioning device; and the matching degree analysis model is obtained by training according to the position fingerprint data in the positioning fingerprint database.

In an optional embodiment, the characteristic information of the signal strength information of the candidate positioning area relative to the signal strength of each radio frequency positioning device includes part or all of the following:

the number of radio frequency positioning devices contained in the signal strength information of the candidate positioning area;

the number of radio frequency positioning devices contained in the signal strength of each radio frequency positioning device;

the number of common radio frequency positioning devices contained in the signal strength information of the candidate positioning area and the signal strength of each radio frequency positioning device;

a ratio of the number of the common radio frequency positioning devices to the number of the radio frequency positioning devices included in the signal strength information of the candidate positioning area;

the ratio of the number of the common radio frequency positioning devices to the number of the radio frequency positioning devices contained in the signal strength of each radio frequency positioning device;

the number of the radio frequency positioning devices contained in the union set of the signal strength information of the candidate positioning area and the signal strength of each radio frequency positioning device;

a ratio of the number of common radio frequency location devices to the number of radio frequency location devices contained in the union;

the signal intensity information of the candidate positioning area and the average value of the signal intensity difference values of the public radio frequency positioning devices contained in the signal intensity of each radio frequency positioning device;

an average value of the signal strengths of the radio frequency location devices that are included in the signal strength information of the candidate location area but not included in the signal strengths of the respective radio frequency location devices;

an average value of the signal strengths of the radio frequency positioning devices, which is not included in the signal strength information of the candidate positioning area but included in the signal strengths of the radio frequency positioning devices;

the number of signal strength positive sequence pairs of the common radio frequency positioning equipment contained in the signal strength information of the candidate positioning area and the signal strength of each radio frequency positioning equipment;

the number of signal strength inverse-ordered pairs of the common radio frequency positioning device included in the signal strength information of the candidate positioning area and the signal strength of each radio frequency positioning device;

a ratio of the number of said positive-order pairs to the sum of the number of said positive-order pairs and the number of said negative-order pairs;

a ratio of the number of reverse-ordered pairs to a sum of the number of forward-ordered pairs and the number of reverse-ordered pairs.

and if a plurality of positioning areas are selected from the candidate positioning areas, carrying out weighted average on the position information of each positioning area according to the matching degree of each positioning area to obtain second position information of the terminal equipment.

In an optional embodiment, the terminal location determining unit is specifically configured to:

taking an average value of longitude values in the first position information and longitude values in the second position information as a longitude value corresponding to the current position of the terminal device;

and taking the average value of the latitude values in the first position information and the latitude values in the second position information as the latitude value corresponding to the current position of the terminal equipment.

In a third aspect, an embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored in the computer-readable storage medium, and when the computer program is executed by a processor, the method for positioning a terminal in the first aspect is implemented.

In a fourth aspect, the present application further provides an electronic device, including a memory and a processor, where the memory stores a computer program that is executable on the processor, and when the computer program is executed by the processor, the processor is enabled to implement the terminal positioning method of the first aspect.

According to the terminal positioning method, the terminal positioning device, the storage medium and the electronic equipment, the first position information of the terminal equipment is determined according to the signal intensity of each radio frequency positioning equipment and the position information of each radio frequency positioning equipment, and the second position information of the terminal equipment is determined according to the matching degree of each positioning area and the positioning request in the positioning fingerprint library and the position information of the positioning area; and then fusing the first position information and the second position information, and determining the current position of the terminal equipment according to the fusion result. The positioning result obtained according to each radio frequency positioning device and the positioning result obtained by matching through the positioning fingerprint are fused, so that the position of the terminal device can be accurately determined, and the positioning precision and the positioning accuracy are effectively improved.

Drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without inventive exercise.

Fig. 1a is a schematic view of an application scenario of a terminal positioning method according to an embodiment of the present application;

fig. 1b is a signaling interaction diagram of a terminal positioning method according to an embodiment of the present application;

fig. 2 is a flowchart of a terminal positioning method according to an embodiment of the present application;

fig. 3 is a flowchart of a method for determining first location information of a terminal device according to an embodiment of the present disclosure;

fig. 4 is a flowchart of a method for searching a location area from a location fingerprint database according to an embodiment of the present application;

FIG. 5 is a schematic diagram of adjacent positioning areas of a target positioning area according to an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a candidate positioning area of an indoor area according to an embodiment of the present application;

FIG. 7 is a diagram illustrating positioning results for an indoor area according to an embodiment of the present disclosure;

fig. 8 is a schematic structural diagram of a terminal positioning device according to an embodiment of the present disclosure;

fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application clearer, the present application will be described in further detail with reference to the accompanying drawings, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.

Some concepts related to the embodiments of the present application are described below.

Indoor positioning technology: the position of the terminal equipment in the room is determined through a wireless sensor signal or a mechanical sensor signal, namely a signal of radio frequency positioning equipment in the embodiment of the application by combining fingerprint data information stored in a positioning fingerprint library.

Positioning a fingerprint database: and the database provides positioning basis for terminal positioning. The positioning fingerprint database is established by measuring the signal intensity from each radio frequency positioning device in each positioning area within a set range, and the signal intensity of each radio frequency positioning device can be measured by the terminal device. The positioning fingerprint database comprises position fingerprint data corresponding to each positioning area in a set range. The setting range refers to a range providing the positioning service, and may be an indoor range, and may include, but is not limited to, a mall, a supermarket, a shopping center, and the like, and may also include both an indoor range and an outdoor range, such as a park, an amusement park, a station, and the like, which include both an indoor space and an outdoor space. For example, the set range may be divided into grids of a set size, for example, a square grid of 3.33 meters, each grid is used as a positioning area, which may also be referred to as a fingerprint grid, and the position of the geometric center point of the positioning area is used as the position information of the positioning area.

Location fingerprint data: in the positioning fingerprint database, each positioning area corresponds to a piece of position fingerprint data, and the position fingerprint data comprises position information of the positioning area and signal intensity of each radio frequency positioning device on the positioning area. Illustratively, the location fingerprint data may take the form of:

lng，lat|mac1，rssi1；mac2，rssi2；……；macn，rssin

where (lng, lat) is position information of the positioning area, lng represents a longitude value of a geometric center point of the positioning area, and lat represents a latitude value of the geometric center point of the positioning area. mac is an identifier of the radio frequency locating device and is used for uniquely marking a certain radio frequency locating device, and rssi (Received Signal Strength) is a Signal Strength value of the radio frequency locating device in the locating area.

The radio frequency positioning device: refers to a network device that can transmit radio frequency signals, and may include, but is not limited to, a wifi (wireless fidelity) device, a bluetooth device, etc.

The word "exemplary" is used hereinafter to mean "serving as an example, embodiment, or illustration. Any embodiment described as "exemplary" is not necessarily to be construed as preferred or advantageous over other embodiments.

The terms "first" and "second" are used herein for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature, and in the description of embodiments of the application, unless stated otherwise, "plurality" means two or more.

In order to improve the positioning accuracy, in the embodiments of the present application, in consideration of the related technologies, positioning is usually performed only according to the received signal strength information of the bluetooth device, or positioning is performed only by using a method for matching the positioning fingerprint, and the positioning accuracy of both positioning methods is relatively low, a terminal positioning technology is provided, in which a method for positioning according to the signal strength information of the radio frequency positioning device and a method for matching according to the positioning fingerprint are combined, so that the position of the terminal device can be accurately determined, and the positioning accuracy of terminal positioning are effectively improved.

An application scenario of the embodiment of the present application is described below, and is shown in fig. 1a, where the application scenario includes a terminal device 11 and a server 12. The terminal device 11 and the server 12 can communicate with each other via a communication network. The communication network may be a wireless network.

The terminal device 11 may be a mobile phone, a tablet computer, various wearable devices, and other terminals having a mobile communication function. Various applications may be installed on the terminal device 11, for example, an application having a positioning function, such as a map application, may be installed. The terminal device 11 may be connected to the server 12 through a communication network, and the server 12 may be a server or a server cluster or a cloud computing center composed of a plurality of servers, or a virtualization platform. The server 12 stores the correspondence between the identifier and the location information of each radio frequency locating device in the location where the terminal device 11 is located, and also stores a location fingerprint database, which can provide location service for the terminal device 11.

When a positioning fingerprint database is established, basic information of a set range (such as a building) needs to be collected in advance. The basic information may include overall information of the set range and position fingerprint data of each positioning area within the set range. The set in-range positioning region may be preset. The location fingerprint data on a certain location area may take the form of: lng, lat | mac1, rsi 1; mac2, rsi 2; … …, respectively; macn, rssin. And macn is the identifier of the nth radio frequency positioning device in the area and is used for uniquely marking a certain radio frequency positioning device. If the rf positioning device is a WiFi device, the identifier of the rf positioning device may be a Media Access Control Address (MAC Address) Address of the WiFi device, such as 08: 00: 20: 0A: 8C: and 6D. If the radio frequency locating device is a bluetooth device, the identification of the radio frequency locating device may be a MAC address or beacon (wireless telecommunications identification) address of the bluetooth device. rssin is the signal strength of the nth RF locating device in the locating area, such as-80 dB. The data are acquired manually by measurement.

For example, if the setting range is a building, the overall information of the setting range may include, but is not limited to, a latitude and longitude range of the building, contour information of the building, and the like. The latitude and longitude range of the building can be determined by means of satellite signals, and the outline of the building refers to the outline of the building and can be obtained through a building design drawing.

After the positioning fingerprint database is established according to the acquired information, the positioning fingerprint database is stored in the server 12. When the user holds the terminal device 11 within the set range, if positioning is needed, positioning may be performed with reference to the signaling interaction diagram shown in fig. 1 b. Wherein the server may be the server 12 shown in fig. 1a and the terminal device may be the terminal device 11 shown in fig. 1 a. The positioning process comprises the following steps:

step S101, the terminal equipment sends a positioning request to a server.

The positioning request includes the identifier of each radio frequency positioning device detected by the terminal device at the current position and the corresponding signal strength. Specifically, the terminal device may initiate a positioning request through a corresponding application installed in the terminal device, and send signal data detected by the terminal device to the server. The signal data detected by the terminal device includes the identifier of each radio frequency positioning device detected by the terminal device at the current position and the corresponding signal strength.

And step S102, the server acquires the position information of each radio frequency positioning device from the corresponding relation between the locally stored identification of the radio frequency positioning device and the position information according to the identification of each radio frequency positioning device.

The server receives a positioning request sent by the mobile terminal, acquires the identification of each radio frequency positioning device in the positioning request, and acquires the position information of each radio frequency positioning device in the corresponding relation between the identification and the position information of the radio frequency positioning device stored locally according to the identification of each radio frequency positioning device.

Step S103, the server determines first position information of the terminal device according to the signal intensity and the position information of each radio frequency positioning device.

And step S104, the server determines second position information of the terminal equipment according to the matching degree of each positioning area and the positioning request and the position information of the positioning area.

And step S105, the server determines the current position of the terminal equipment according to the fusion result of the first position information and the second position information.

And step S106, the server sends the current position of the terminal equipment to the terminal equipment.

The process can accurately determine the position of the terminal equipment by fusing the positioning result of each radio frequency positioning device and the positioning result of the positioning fingerprint, and effectively improves the positioning precision and the positioning accuracy of the terminal positioning.

Fig. 2 shows a server-side processing flowchart in a terminal positioning method provided in an embodiment of the present application, which may be executed by the server 12 in fig. 1 a. As shown in fig. 2, the method comprises the steps of:

step S201, receiving a positioning request sent by a terminal device.

In an optional embodiment, the server receives a positioning request sent by the terminal device, where the positioning request includes signal strength of each radio frequency positioning device detected by the terminal device, and the positioning request may further include an identifier of each radio frequency positioning device.

The radio frequency positioning device can be a Bluetooth device, a WiFi device and the like, and when the radio frequency positioning device is the Bluetooth device, interference signals around the radio frequency positioning device are small, and positioning results are more accurate.

Step S202, obtaining the position information of each radio frequency positioning device in the positioning request, and determining the first position information of the terminal device according to the signal intensity and the position information of each radio frequency positioning device.

And aiming at each radio frequency positioning device in the positioning request, the server acquires the position information corresponding to the identifier of the radio frequency positioning device according to the pre-stored corresponding relation between the identifier and the position information of each radio frequency positioning device in the place where the terminal device is located.

The position information of each radio frequency positioning device can be represented by a longitude value and a latitude value of the position of the radio frequency positioning device. The position weight of each radio frequency positioning device can be determined according to the signal strength of each radio frequency positioning device, the first position information of the terminal device can be obtained according to the position information and the position weight of each radio frequency positioning device, and the first position information can be represented by a longitude value and a latitude value.

Step S203, determining second location information of the terminal device according to the matching degree between each positioning area and the positioning request and the location information of the positioning area.

Optionally, at least one positioning area matched with the positioning request may be determined from each positioning area according to the matching degree between each positioning area in the positioning fingerprint library and the positioning request, and the second location information of the terminal device may be determined according to the location information of the at least one positioning area.

The positioning fingerprint database comprises position fingerprint data corresponding to each positioning area in a set range, and the position fingerprint data comprises position information of the positioning area and signal intensity of each radio frequency positioning device on the positioning area. Each positioning area may be a grid with a set size, and the position of the geometric center point of the grid is used as the position information of the positioning area.

In an embodiment, the signal strength of each radio frequency positioning device in each positioning area in the positioning fingerprint library may be matched with the signal strength of each radio frequency positioning device detected by the terminal device to obtain one or more positioning areas, and the second position information of the terminal device may be determined according to the obtained position information of the one or more positioning areas.

In another embodiment, to reduce the amount of computation, the location areas in the location fingerprint library may be filtered according to the first location information of the terminal device determined in step S202, candidate location areas are filtered, only the signal strength of each radio frequency location device in each candidate location area is matched with the signal strength of each radio frequency location device detected by the terminal device, so as to obtain one or more location areas, and the second location information of the terminal device is determined according to the obtained location information of the one or more location areas.

Specifically, if a positioning area is obtained after matching, the position information of the positioning area is directly used as the second position information of the terminal device. And if the plurality of positioning areas are obtained after matching, determining second position information of the terminal equipment according to the obtained position information of the plurality of positioning areas.

The position information of the positioning area may be represented by longitude and latitude values of a geometric center point of the grid, and the second position information of the terminal device may also be represented by longitude and latitude values.

And step S204, taking the fusion result of the first position information and the second position information as the current position of the terminal equipment.

By adopting the terminal positioning method provided by the embodiment of the application, the positioning result obtained according to each radio frequency positioning device and the positioning result of the positioning fingerprint can be fused, the position of the terminal device can be accurately determined, and the positioning precision and the positioning accuracy of the terminal positioning are effectively improved.

In some embodiments, in step S202, when determining the first location information of the terminal device, the location weight corresponding to each radio frequency positioning device may be determined according to the signal strength and the location information of each radio frequency positioning device detected by the terminal device, and then the location information of each radio frequency positioning device is weighted and averaged according to the location weight corresponding to each radio frequency positioning device, so as to obtain the first location information of the terminal device.

Specifically, in an alternative embodiment, in the step S202, the determining the first location information of the terminal device may adopt the manner shown in fig. 3, and specifically includes the following steps:

step S2021, determining the strength weight of each rf positioning device according to the signal strength of each rf positioning device.

Illustratively, the number of the radio frequency positioning devices detected by the terminal device is k, k is an integer not less than 1, and the signal strength of the ith radio frequency positioning device is rssi_iI is an integer not less than 1 and less than k, and the location information of the ith radio frequency positioning device is (lng)_i，lat_i) Wherein, lng_iIndicating the longitude value, lat, of the ith radio frequency locator device_iRepresenting the latitude value of the ith radio frequency positioning device.

Specifically, the step S2021 may be implemented by:

(I) according to the signal strength rssi of the ith radio frequency positioning equipment_iThe following formula (1) can be adopted to determine the intensity coefficient match of the ith radio frequency positioning device_i。

For example, if the signal strength rssi of the ith radio frequency locating device_iIs-40 dbm, and since-40 dbm is greater than-62 dbm, it can be expressed in terms of the formula [ rssi_i/(-62)]¹⁰Determining intensity coefficient match of ith radio frequency positioning device_i. If the signal strength rssi of the ith radio frequency positioning device_iIs-80 dbm, and since-80 dbm is less than-62 dbm, it can be expressed according to the formula [0.89976 × rsi_i/(-62)]^7.7095+0.111]Determining the intensity coefficient match of the ith radio frequency positioning device_i。

(II) match according to the intensity coefficient of the ith radio frequency positioning device_iThe strength weight wr of the ith radio frequency positioning device can be determined by the following formula (2)_i。

Similarly, an intensity weight for each radio frequency location device may be determined.

Step S2022, taking the intensity weight of each radio frequency positioning device as a coefficient of the location information, and performing weighted average on the location information of each radio frequency positioning device to obtain preliminary location information of the terminal device.

Obtaining the intensity weight wr of each radio frequency positioning device according to the steps (I) and (II)_iThereafter, the longitude value lngpre of the preliminary location information of the terminal device can be determined by the following formula (3), and the latitude value latpre of the preliminary location information of the terminal device can be determined by the following formula (4).

Wherein k is the number of the radio frequency positioning devices detected by the terminal device, lng_iWarp value, lat, representing the location information of the ith radio frequency locator device_iAnd (3) representing the latitude value of the position information of the ith radio frequency positioning device, wherein the value of i is 1 to k.

And (lngpre, latpre) obtained above is used as preliminary location information of the terminal device.

Step S2023, determining a distance weight of each rf positioning device according to the location information of each rf positioning device and the preliminary location information of the terminal device.

As can be seen from the above description, the ith radio frequency identificationThe position information of the position device may be determined by a longitude value and a latitude value (lng)_i，lat_i) Indicating that the location information (lng) of the ith radio frequency location device is first determined_i，lat_i) A distance difference (Deltax) from the preliminary location information (lngpre, latpre) of the terminal device_i、Δy_i) As in equations (5) and (6):

Δx_i＝lng_i-lngpre (5)

Δy_i＝lat_i-latpre (6)

determining the distance weight wd of the ith radio frequency location device according to the obtained distance difference_iAs shown in equation (7):

as can be seen from the above formula, when

When it is taken

As a distance weight for the ith radio frequency location device

And taking 1.5 as the distance weight of the ith radio frequency positioning device.

Similarly, a distance weight for each radio frequency location device may be determined.

Step S2024, determining a position weight corresponding to each rf positioning device according to the intensity weight and the distance weight of each rf positioning device.

Taking the ith radio frequency positioning device as an example, weighting wr of the intensity of the ith radio frequency positioning device_iAnd distance weight wd_iMultiplying to obtain the position weight w of the ith radio frequency positioning equipment_iAs shown in formula (8).

w_i＝wr_i*wd_i (8)

Through the steps, the position weight of each radio frequency positioning device can be obtained.

Step S2025, performing weighted average on the location information of each radio frequency positioning device according to the location weight corresponding to each radio frequency positioning device, to obtain the first location information of the terminal device.

For example, the location weight wr of the ith radio frequency positioning device has been determined_iLocation information (lng) of the ith radio frequency location device_i，lat_i) The longitude value LNG of the terminal device can be determined according to equation (9)₁From equation (10), a latitude value LAT of the terminal device can be determined₁Obtaining first location information (LNG) of the terminal device₁，LAT₁)。

In the above embodiment, the terminal device is first coarsely positioned to obtain preliminary location information; and then, the initial position information is utilized to carry out fine positioning on the terminal equipment to obtain first position information of the terminal equipment, and a final positioning result is determined based on the first position information, so that the accuracy of the obtained positioning result can be improved.

In another optional embodiment, the location weight corresponding to each radio frequency positioning device may also be determined according to the signal strength of each radio frequency positioning device, and for each radio frequency positioning device, the location weight is used as a coefficient of the location information, and the location information of each radio frequency positioning device is subjected to weighted average to obtain the first location information of the terminal device.

In some embodiments, when a matching location area is searched in the location fingerprint library according to the signal strength of each radio frequency location device detected by the terminal device, since the location areas in the location fingerprint library are all over the whole set range and the number of the location areas is large, each location area in the location fingerprint library is compared with the signal strength of each radio frequency location device detected by the terminal device one by one, and the calculation amount is large. In order to reduce the calculation amount in the matching, the first location information of the terminal device obtained in the above embodiment may be used to filter the location area in the location fingerprint library.

Specifically, the method shown in fig. 4 may be implemented to determine a location area in the location fingerprint library, where the location area matches the signal strength of each radio frequency locating device detected by the terminal device, and includes the following steps:

step S401, determining a target location area corresponding to the first location information of the terminal device in the location fingerprint library.

As can be seen from the above, the location information of the location area in the location fingerprint library is the location of the geometric center point of the location area, which can be specifically represented by the longitude value and the latitude value of the geometric center point. The first location information of the terminal device may be by longitude and latitude values (LNG)₁，LAT₁) And (4) showing.

When determining the target positioning area corresponding to the first position information of the terminal device in the positioning fingerprint library, the following two ways may be adopted:

in one embodiment, the first location information (LNG) may be obtained by using the following equations (11) and (12)₁，LAT₁) Processing the data to obtain position information (lat)_grid,lng_grid) Then, the location information (lat) is searched in the location fingerprint database_grid,lng_grid) A corresponding target location area.

lat_grid＝round(round(LAT₁*3,4)/3.0,5) (11)

lng_grid＝round(round(LNG₁*3,4)/3.0,5) (12)

Where the round (x, y) function represents rounding the floating-point number x and retaining the y-bit fraction. For example, round (LAT)₁3,4) for LAT₁Value of x 3 is rounded off, 4 decimal places are retained, round (LNG)₁3,4) for LNG₁Value of x 3Round off and reserve 4 decimal places.

When the positioning fingerprint database is constructed, the position information of the positioning area is also obtained by processing the formula (11) and the formula (12). Therefore, by comparing the first position information (LNG)₁，LAT₁) By performing the above processing, the position information obtained by the processing can be the same as the position information of the target positioning area, which is beneficial to matching the target positioning area from the positioning fingerprint database according to the position information obtained by the processing.

Step S402, determining the adjacent positioning area of the target positioning area in the positioning fingerprint database, and taking the target positioning area and the adjacent positioning area as candidate positioning areas.

For example, as shown in fig. 5, assuming that the positioning area corresponding to the middle grid is the target positioning area determined in step S401, in the positioning fingerprint library, the northwest, the west, the west south, the east, the northeast, and the north of the target positioning area may be respectively adjacent to the target positioning area and have positioning fingerprint data, there are 8 positioning areas adjacent to the target positioning area in fig. 5, these 8 positioning areas are adjacent to the middle target positioning area, and the target positioning area and the obtained adjacent positioning areas are taken as candidate positioning areas, that is, there are 9 candidate positioning areas at most.

In an alternative embodiment, as shown in fig. 6, in a certain indoor area, the terminal device sends a location request at location point 1, i.e. location point 1 is the current location of the terminal device. With the method shown in fig. 3, the obtained first location information of the terminal device, the target location area determined according to the first location information is location point 2, and

location points

3,4, 5, 6, 7, 8, and 9 are adjacent location areas of the target location area. Since there is no location fingerprint data in the location area adjacent to the southwest direction of the location point 2, the adjacent location area of the location point 2 does not include the location area in the southwest direction thereof. Therefore, in this embodiment, the determined candidate positioning regions include 8 positioning regions from position point 2 to position point 9.

Step S403, in the candidate positioning areas, at least one positioning area matched with the signal strength of each radio frequency positioning device is searched.

Specifically, the signal strength information of each candidate positioning area (including the signal strength of each radio frequency positioning device in the candidate positioning area) is matched with the signal strength of each radio frequency positioning device detected by the terminal device (hereinafter referred to as the signal strength information detected by the terminal device), and at least one positioning area is determined.

In the embodiment, the candidate positioning region is screened out by using the first position information of the terminal device obtained in the above embodiment, and then at least one positioning region matched with the signal strength of each radio frequency positioning device detected by the terminal device is searched from the candidate positioning region, so that the calculation amount during matching can be reduced to a great extent, and the matching accuracy can be improved.

In an alternative embodiment, among the candidate positioning areas, finding at least one positioning area matching the signal strength information detected by the terminal device may be implemented by:

(1) respectively determining the matching degree of the signal intensity information of each candidate positioning area and the signal intensity information detected by the terminal equipment;

(2) and selecting a preset number of positioning areas from the candidate positioning areas according to the matching degree of each candidate positioning area.

In this embodiment, after determining the matching degree between the signal strength information of each candidate positioning region and the signal strength information detected by the terminal device, the matching degrees of the candidate positioning regions may be sorted from large to small, and the top N candidate positioning regions, that is, the N candidate positioning regions with the largest matching degree, may be selected as the positioning regions matched with the signal strength information detected by the terminal device. Wherein, N is the predetermined quantity, can set for as required.

In an alternative embodiment, determining the matching degree between the signal strength information of any one candidate positioning area and the signal strength information detected by the terminal device may be implemented by:

and for any candidate positioning area, determining the characteristic information of the signal intensity information of the candidate positioning area relative to the signal intensity information detected by the terminal equipment, and inputting the characteristic information into a trained matching degree analysis model to obtain the matching degree of the signal intensity information of the candidate positioning area and the signal intensity information detected by the terminal equipment. The matching degree analysis model is obtained by training according to the position fingerprint data in the positioning fingerprint database.

In this embodiment, the matching degree analysis model may use a machine learning model, such as a linear regression model, a decision tree model, or other models. Taking a linear regression model as an example, the linear regression model assumes that a linear correlation between a target value (in the embodiment of the present application, the matching degree of signal strength information of a candidate positioning region and signal strength information detected by a terminal device) and a feature (in the embodiment of the present application, input feature information) satisfies one multiple linear equation. To construct this equation, the parameters of the linear regression model at which the loss function is minimal need to be solved from known training data by constructing the loss function. For example, the expression of the linear regression model is shown in formula (13).

y＝ω^Tx+b (13)

Wherein, ω and b represent the weight parameter and bias parameter of the model, and the values are obtained by training according to the position fingerprint data in the positioning fingerprint database. x represents feature information (in the embodiment of the present application, feature information of signal strength information of any one candidate positioning region relative to signal strength information detected by the terminal device) input to the linear regression model, and the feature information may be a feature vector.

The embodiment of the application takes the position fingerprint data in the positioning fingerprint database as training data, when a linear regression model is trained, the position fingerprint data of two positioning areas in the positioning fingerprint database can be input into the linear regression model, the matching degree of the two positioning areas is output, the matching degree can reflect the distance between the two positioning areas, and the distance can be the distance between the central points of the two positioning areas. And comparing the output matching degree of the two positioning areas with the distance between the two positioning areas marked in advance, determining a loss value, and adjusting the weight parameter and the bias parameter of the linear regression model according to the loss value. And performing the training process on the linear regression model according to a large amount of position fingerprint data, and finally determining the weight parameter and the bias parameter of the model when the loss value is minimum to obtain the trained linear regression model.

In an alternative embodiment, the feature information of the signal strength information of any one candidate positioning area relative to the signal strength information detected by the terminal device may include part or all of the following features, that is, the feature vector is formed by the following parts or all of the features:

number x of radio frequency location devices contained in signal strength information of candidate location area₁；

The number x of the radio frequency positioning devices contained in the signal strength information detected by the terminal device₂；

The signal strength information of the candidate positioning area and the number x of the public radio frequency positioning devices contained in the signal strength information detected by the terminal device₃；

For example, the signal strength information of the candidate positioning area includes: mac1, rsi 1; mac2, rsi 2; mac3, rsi 3; mac4, rsi 4. The signal strength information detected by the terminal equipment comprises: mac1, rsi 1; mac3, rsi 3; mac5, rsi 5; mac6, rssi6, the common radio frequency positioning devices contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal device are mac1 and mac3, x₃Is 2.

Number x of common radio frequency location devices₃The number x of the radio frequency positioning devices included in the signal strength information of the candidate positioning area₁Ratio x of₄(ii) a I.e. x₄＝x₃/x₁；

Number x of common radio frequency location devices₃The number x of the radio frequency positioning devices contained in the signal strength information detected by the terminal device₂Ratio x of₅(ii) a I.e. x₅＝x₃/x₂；

The number x of radio frequency positioning devices contained in the union set of the signal strength information of the candidate positioning areas and the signal strength information detected by the terminal device₆；

For example, the signal strength information of the candidate positioning area includes: mac1, rsi 1; mac2, rsi 2; mac3, rsi 3; mac4, rsi 4. The signal strength information detected by the terminal equipment comprises: mac1, rsi 1; mac3, rsi 3; mac5, rsi 5; mac6, rssi6, then the sum of the signal strength information of the candidate positioning area and the signal strength information detected by the terminal device contains mac1, mac2, mac3, mac4, mac5 and mac6, x₆Is 6.

Number x of common radio frequency location devices₃And the number x of radio frequency location devices included in the union₆Ratio x of₇(ii) a I.e. x₇＝x₃/x₆；

The signal strength information of the candidate positioning area and the average value x of the signal strength difference values of the public radio frequency positioning equipment contained in the signal strength information detected by the terminal equipment₈；

For example, the common radio frequency positioning device comprises mac1, mac2, mac3, mac4 and mac5, and the signal strength of mac1, mac2, mac3, mac4 and mac5 in the candidate positioning area is a₁、a₂、a₃、a₄、a₅The signal strengths of mac1, mac2, mac3, mac4 and mac5 detected by the terminal device are b respectively₁、b₂、b₃、b₄、b₅Then, then

The average value x of the signal strengths of the radio frequency positioning devices which is contained in the signal strength information of the candidate positioning area but not contained in the signal strength information detected by the terminal device₉；

For example, the signal strength information of the candidate positioning region contains mac6, mac7, mac8 and mac9, but the signal strength information detected by the terminal device does not contain mac6, mac7, mac8 and mac 9.The signal strength of mac6, mac7, mac8 and mac9 in the candidate positioning region is a₆、a₇、a₈、a₉Then, then

The average value x of the signal strengths of the radio frequency positioning devices, which is not included in the signal strength information of the candidate positioning area but included in the signal strength information detected by the terminal device₁₀；

For example, the signal strength information of the candidate positioning region does not include mac10, mac11, and mac12, but the signal strength information detected by the terminal device includes mac10, mac11, and mac 12. In the signal strength information detected by the terminal equipment, the signal strengths of mac10, mac11 and mac12 are a respectively₁₀、a₁₁、a₁₂Then, then

The number x of signal strength positive sequence pairs of the common radio frequency positioning equipment contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal equipment₁₁；

The number x of signal strength inverse sequence pairs of the public radio frequency positioning equipment contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal equipment₁₂；

Illustratively, the common radio frequency positioning device includes mac1, mac2, and mac3, and for the candidate positioning areas, the three radio frequency positioning devices are sorted from large to small according to the signal strength, so as to obtain mac3, mac1, and mac 2; the signal strengths of the three radio frequency positioning devices detected by the terminal device are sorted from large to small, and mac1, mac2 and mac3 can be obtained, wherein in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal device, the signal strength of mac1 is greater than that of mac2, and mac1 and mac2 can form a positive-order pair. And, in the signal strength information of the candidate positioning area, the signal strength of mac3 is greater than that of mac2,in the signal strength information detected by the terminal device, the signal strength of mac3 is less than that of mac2, and mac2 and mac3 may form an inverse sequence pair. In the above example, the signal strength positive sequence pair of the common radio frequency location device comprises: mac1 and mac2, number of positive sequence pairs x₁₁Is 1. The signal strength reverse order pair of the public radio frequency location device comprises: mac1 and mac3, mac2 and mac3, number of pairs of inverted sequences x₁₂Is 2.

Number of positive sequence pairs x₁₁Number x of pairs with positive order₁₁And the number x of pairs in reverse order₁₂Ratio of sums x₁₃(ii) a I.e. x₁₃＝x₁₁/(x₁₁+x₁₂)；

Number of pairs of inverse orders x₁₂Number x of pairs with positive order₁₁And the number x of pairs in reverse order₁₂Ratio of sums x₁₄I.e. x₁₄＝x₁₂/(x₁₁+x₁₂)。

Illustratively, in one embodiment, the feature information may be the feature x described above₁To x₁₄More intuitively, the components of the constructed feature vector are shown in table 1.

TABLE 1

In an alternative embodiment, after determining the matching degree corresponding to each candidate positioning region, the second position information of the terminal device may be determined according to a WKNN (Weighted k-nearest neighbor) algorithm. The k-nearest neighbor indicates that the position of the terminal is represented by position information of k neighbors closest to the position of the terminal. In the embodiment of the present application, k candidate positioning areas with the largest matching degree may be selected as k neighbors of the terminal position, and the position information of the k neighbors is subjected to weighted average to obtain the second position information of the terminal device.

In another optional embodiment, when a plurality of positioning areas are selected from the candidate positioning areas according to the matching degree of each candidate positioning area, the position information of each positioning area may be weighted and averaged according to the matching degree of each positioning area to obtain the second position information of the terminal device.

Specifically, assuming that N positioning regions are selected from the candidate positioning regions, N is a preset numerical value, and N may be an integer not less than 1 and less than 9, for example, N is 3. The longitude value LNG of the terminal device is calculated according to the formula (14) and the formula (15)₂Weft value LAT₂Obtaining second location information (LNG) of the terminal device₂、LAT₂)。

Wherein, y_jIndicates the degree of matching, lng, of the jth candidate location area_j、lat_jRespectively representing the longitude value and the latitude value of the jth candidate positioning area; the jth candidate positioning area is a candidate positioning area which is arranged at the jth position and is sorted from high to low according to the matching degree.

In an alternative embodiment, after the first location information and the second location information of the terminal device are obtained, an average value of a longitude value in the first location information and a longitude value in the second location information may be used as a longitude value corresponding to the current location of the terminal device, and an average value of a latitude value in the first location information and a latitude value in the second location information may be used as a latitude value corresponding to the current location of the terminal device, so as to determine the current location of the terminal device.

Specifically, the longitude value LNG corresponding to the current position of the terminal device may be calculated according to equation (16), and the latitude value LAT corresponding to the current position of the terminal device may be calculated according to equation (17):

LNG＝(LNG₁+LNG₂)/2 (16)

LAT＝(LAT₁+LAT₂)/2 (17)

wherein the LNG₁As longitude value in the first location information, LNG₂For longitude values in the second position information, LAT₁Being latitude values, LAT, in the first position information₂Is the latitude value in the second position information.

In order to visually reflect the positioning accuracy of the terminal positioning method in the embodiment of the present application, the positioning accuracy of the terminal positioning method in the embodiment of the present application is tested in three test scenarios, the fusion result of the first position information and the second position information is compared with the first position information and the second position information, the average positioning error is shown in table 2, the positioning error is the difference between the positioning result obtained by the test and the real position of the terminal, multiple tests are performed in each test scenario to obtain multiple positioning errors of the positioning result, the multiple positioning errors are averaged to obtain the average positioning error, and the unit of the average positioning error can be meter. For example, in scenario 1, an average positioning error between a positioning result (i.e., first position information) obtained according to signal strength information of the radio frequency positioning device and a real position of the terminal is 4.95 meters, an average positioning error between a positioning result (i.e., second position information) obtained by using the fingerprint matching method and a real position of the terminal is 4.59 meters, and an average positioning error between a positioning result (i.e., a fusion result of the first position information and the second position information) obtained by using the terminal positioning method provided in the embodiment of the present application and a real position of the terminal is 2.72 meters. Therefore, the terminal positioning method provided by the embodiment of the application can obtain a more accurate positioning result.

TABLE 2

Exemplarily, as shown in fig. 7, in a certain indoor area, the terminal device sends a positioning request at location point 1, i.e. location point 1 is the current location of the terminal device. With the method shown in fig. 3, the obtained first location information of the terminal device, the target location area determined according to the first location information is location point 2, and

location points

3,4, 5, 6, 7, 8, and 9 are adjacent location areas of the target location area. And taking the target positioning area and the adjacent positioning areas thereof as candidate positioning areas. And determining second position information of the terminal equipment according to the candidate positioning area, fusing the first position information and the second position information, and determining the current position of the terminal equipment as a position point 10 according to a fusion result. It can be seen that the distance between location point 10 and location point 1 where the terminal device is actually located is already very close.

As can be seen from table 1 and fig. 7, in the terminal positioning method according to the embodiment of the present application, the fusion result of the first location information and the second location information is used as the positioning result of the terminal device, so that the positioning error can be greatly reduced, and the positioning accuracy of the terminal are improved.

Corresponding to the embodiment of the terminal positioning method, the embodiment of the application also provides a terminal positioning device. Fig. 8 is a schematic structural diagram of a terminal positioning device according to an embodiment of the present application; as shown in fig. 7, the terminal positioning device includes a receiving unit 81, a first position determining unit 82, a second position determining unit 83, and a terminal position determining unit 84. Wherein,

a receiving unit 81, configured to receive a positioning request sent by a terminal device, where the positioning request includes signal strength of each radio frequency positioning device detected by the terminal device;

a first position determining unit 82, configured to obtain position information of each radio frequency positioning device, and determine first position information of the terminal device according to the signal strength and the position information of each radio frequency positioning device;

a second position determining unit 83, configured to determine second position information of the terminal device according to matching degrees of each positioning area in the positioning fingerprint library and the positioning request and position information of the positioning area;

and a terminal position determining unit 84, configured to determine a current position of the terminal device according to a fusion result of the first position information and the second position information.

In an alternative embodiment, the first position determining unit 82 may specifically be configured to:

respectively determining the position weight corresponding to each radio frequency positioning device according to the signal intensity and the position information of each radio frequency positioning device;

and carrying out weighted average on the position information of each radio frequency positioning device according to the position weight corresponding to each radio frequency positioning device to obtain first position information of the terminal device.

In an optional embodiment, the first position determining unit 82 may be further specifically configured to:

respectively determining the intensity weight of each radio frequency positioning device according to the signal intensity of each radio frequency positioning device;

taking the intensity weight of each radio frequency positioning device as a coefficient of the position information, and carrying out weighted average on the position information of each radio frequency positioning device to obtain initial position information of the terminal device;

determining the distance weight of each radio frequency positioning device according to the position information of each radio frequency positioning device and the preliminary position information of the terminal device;

and determining the position weight corresponding to each radio frequency positioning device according to the intensity weight and the distance weight of each radio frequency positioning device.

In an optional embodiment, the second position determining unit 83 may be further specifically configured to:

determining a target positioning area corresponding to first position information of the terminal equipment in a positioning fingerprint database;

determining adjacent positioning areas of the target positioning area in a positioning fingerprint library, and taking the target positioning area and the adjacent positioning areas as candidate positioning areas;

respectively determining the matching degree of the signal intensity of each candidate positioning area and the signal intensity of each radio frequency positioning device in the positioning request;

for each candidate positioning area, respectively determining characteristic information of the signal intensity of the candidate positioning area relative to the signal intensity of each radio frequency positioning device, and inputting the characteristic information into a trained matching degree analysis model to obtain the matching degree of the signal intensity of the candidate positioning area and the signal intensity of each radio frequency positioning device; the matching degree analysis model is obtained by training according to the position fingerprint data in the positioning fingerprint database.

In an alternative embodiment, the characteristic information of the signal strength of the candidate positioning area relative to the signal strength of each rf positioning device includes part or all of the following:

the number of the radio frequency positioning devices contained in the signal strength information detected by the terminal device;

the number of the public radio frequency positioning devices contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal device;

the ratio of the number of common radio frequency positioning devices to the number of radio frequency positioning devices contained in the signal strength information of the candidate positioning area;

the ratio of the number of the public radio frequency positioning devices to the number of the radio frequency positioning devices contained in the signal strength information detected by the terminal device;

the number of radio frequency positioning devices contained in a union set of the signal strength information of the candidate positioning areas and the signal strength information detected by the terminal device;

the average value of the signal intensity difference values of the public radio frequency positioning equipment contained in the signal intensity information of the candidate positioning area and the signal intensity information detected by the terminal equipment;

an average value of the signal strengths of the radio frequency positioning devices which are contained in the signal strength information of the candidate positioning area but not contained in the signal strength information detected by the terminal device;

the average value of the signal intensity of the radio frequency positioning equipment, which is not contained in the signal intensity information of the candidate positioning area but contained in the signal intensity information detected by the terminal equipment;

the number of signal strength positive sequence pairs of the public radio frequency positioning equipment contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal equipment;

the number of signal strength reverse-order pairs of the public radio frequency positioning equipment contained in the signal strength information of the candidate positioning area and the signal strength information detected by the terminal equipment;

the ratio of the number of positive sequence pairs to the sum of the number of positive sequence pairs and the number of negative sequence pairs;

the number of reverse order pairs is a ratio of the number of positive order pairs to the sum of the number of reverse order pairs.

In an alternative embodiment, the second position determination unit 83 may be further configured to:

In an alternative embodiment, the terminal position determining unit 84 may be further configured to:

taking the average value of the longitude value in the first position information and the longitude value in the second position information as a longitude value corresponding to the current position of the terminal equipment;

and taking the average value of the latitude value in the first position information and the latitude value in the second position information as the latitude value corresponding to the current position of the terminal equipment.

The terminal positioning device of the embodiment of the application determines first position information of the terminal device according to the signal intensity of each radio frequency positioning device and the position information of each radio frequency positioning device, and determines second position information of the terminal device according to the position information of at least one positioning area matched with the signal intensity of each radio frequency positioning device in a positioning fingerprint database; and then fusing the first position information and the second position information, and determining the current position of the terminal equipment according to the fusion result. By fusing the positioning result of each radio frequency positioning device and the positioning result of the positioning fingerprint, the position of the terminal device can be accurately determined, and the positioning precision and the positioning accuracy of the terminal positioning are effectively improved.

Corresponding to the method embodiment, the embodiment of the application also provides the electronic equipment. The electronic device may be a server, such as the server 12 shown in fig. 1a, or an electronic device such as a computer, comprising at least a memory for storing data and a processor for data processing. The processor for data Processing may be implemented by a microprocessor, a CPU, a GPU (Graphics Processing Unit), a DSP, or an FPGA when executing Processing. For the memory, the memory stores therein an operation instruction, which may be a computer executable code, and the operation instruction implements the steps in the flow of the terminal positioning method according to the embodiment of the present application.

Fig. 9 is a schematic structural diagram of an electronic device according to an embodiment of the present application; as shown in fig. 9, the electronic device 100 in the embodiment of the present application includes: a processor 101, a display 102, a memory 103, an input device 104, a bus 105, and a communication module 106; the processor 101, memory 103, input device 104, display 102 and communication module 106 are all connected by a bus 105, the bus 105 being used to transfer data between the processor 101, memory 103, display 102, communication module 106 and input device 104.

The memory 103 may be configured to store software programs and modules, such as program instructions/modules corresponding to the method for updating a location fingerprint in the embodiment of the present application, and the processor 101 executes various functional applications and data processing of the electronic device 100, such as the terminal location method provided in the embodiment of the present application, by running the software programs and modules stored in the memory 103. The memory 103 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program of at least one application, and the like; the storage data area may store data created from use of the electronic device 100, such as a location fingerprint library, and the like. Further, the memory 103 may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid state storage device.

The processor 101 is a control center of the electronic apparatus 100, connects various parts of the entire electronic apparatus 100 using the bus 105 and various interfaces and lines, and performs various functions of the electronic apparatus 100 and processes data by running or executing software programs and/or modules stored in the memory 103 and calling data stored in the memory 103. Alternatively, processor 101 may include one or more processing units, such as a CPU, digital processing unit, or the like.

In the embodiment of the present application, the processor 101 displays the positioning result of the terminal positioning to the user through the display 102.

The processor 101 may also be connected to a network through the communication module 106 to obtain signal data sent by the terminal device.

The input device 104 is mainly used for obtaining an input operation of a user, and the input device 104 may be an input device such as a mouse and a keyboard, or may be a touch screen.

The embodiment of the present application further provides a computer storage medium, where the computer storage medium stores computer-executable instructions, and the computer-executable instructions are used to implement the terminal positioning method according to any embodiment of the present application.

In some possible embodiments, the aspects of the terminal positioning method provided in the present application may also be implemented in the form of a program product, which includes program code for causing a computer device to execute the steps of the terminal positioning method according to various exemplary embodiments of the present application described above in this specification when the program product runs on the computer device, for example, the computer device may execute the terminal positioning procedure in steps S201 to S204 shown in fig. 2.

The program product may employ any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. A readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the readable storage medium include: an electrical connection having one or more wires, a portable disk, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

A readable signal medium may include a propagated data signal with readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A readable signal medium may also be any readable medium that is not a readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.

In the several embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described device embodiments are merely illustrative, for example, the division of the unit is only a logical functional division, and there may be other division ways in actual implementation, such as: multiple units or components may be combined, or may be integrated into another system, or some features may be omitted, or not implemented. In addition, the coupling, direct coupling or communication connection between the components shown or discussed may be through some interfaces, and the indirect coupling or communication connection between the devices or units may be electrical, mechanical or other forms.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed on a plurality of network units; some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, all functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may be separately regarded as one unit, or two or more units may be integrated into one unit; the integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.

The above description is only for the specific embodiments of the present application, but the scope of the present application is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present application, and shall be covered by the scope of the present application.

Claims

1. A terminal positioning method is characterized by comprising the following steps:

2. The method of claim 1, wherein determining the first location information of the terminal device according to the signal strength and the location information of each radio frequency positioning device comprises:

3. The method of claim 2, wherein determining the location weight corresponding to each of the radio frequency positioning devices according to the signal strength and the location information of each of the radio frequency positioning devices comprises:

taking the intensity weight of each radio frequency positioning device as a coefficient of position information, and carrying out weighted average on the position information of each radio frequency positioning device to obtain preliminary position information of the terminal device;

4. The method according to claim 1, wherein the determining the second location information of the terminal device according to the matching degree of each location area in the location fingerprint database with the location request and the location information of the location area comprises:

5. The method according to claim 4, wherein the determining at least one location area from each location area according to the matching degree of each location area in the location fingerprint database and the location request comprises:

6. The method according to claim 5, wherein finding at least one location area matching the location request among the candidate location areas comprises:

7. The method of claim 6, wherein separately determining a degree of matching between the signal strength information of each candidate positioning area and the signal strength of each RF positioning device in the positioning request comprises:

8. The method according to claim 7, wherein the characteristic information of the signal strength information of the candidate positioning area relative to the signal strength of each of the radio frequency positioning devices comprises part or all of the following:

9. The method according to claim 6, wherein the determining second location information of the terminal device according to the location information of the at least one positioning area comprises:

10. The method according to claim 1, wherein determining the current location of the terminal device according to the fusion result of the first location information and the second location information comprises:

11. A terminal positioning device, comprising:

and the terminal position determining unit is used for determining the current position of the terminal equipment according to the fusion result of the first position information and the second position information.

12. The apparatus according to claim 11, wherein the first position determining unit is specifically configured to:

13. The apparatus according to claim 11, wherein the first position determining unit is specifically configured to:

the first position determination unit is specifically configured to:

14. A computer-readable storage medium having a computer program stored therein, the computer program characterized by: the computer program, when executed by a processor, implements the method of any of claims 1 to 10.

15. An electronic device comprising a memory and a processor, the memory having stored thereon a computer program operable on the processor, the computer program, when executed by the processor, causing the processor to carry out the method of any one of claims 1 to 10.