CN114485656A

CN114485656A - Indoor positioning method and related device

Info

Publication number: CN114485656A
Application number: CN202011254242.5A
Authority: CN
Inventors: 张烨
Original assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Current assignee: Guangdong Oppo Mobile Telecommunications Corp Ltd
Priority date: 2020-11-11
Filing date: 2020-11-11
Publication date: 2022-05-13
Also published as: WO2022100272A1

Abstract

The application discloses an indoor positioning method and a related device, which are applied to an indoor positioning system, wherein the indoor positioning system comprises a server and electronic equipment, and the method comprises the following steps: the method comprises the steps that a server receives first sensing data sent by the electronic equipment, wherein the first sensing data comprise first WIFI information and/or first IMU information; the method comprises the steps that a server determines positioning information of the electronic equipment based on an indoor positioning map and first sensing data, wherein the indoor positioning map is provided with a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one WIFI information and/or one IMU information; and the server sends the positioning information of the electronic equipment to the electronic equipment. Adopt this application embodiment can promote indoor positioning accuracy.

Description

Indoor positioning method and related device

Technical Field

The present application relates to the field of electronic technologies, and in particular, to an indoor positioning method and an indoor positioning apparatus.

Background

With the rapid increase of data services and multimedia services, the demands of people on positioning and navigation are increasing day by day, and a Global Positioning System (GPS) or a beidou satellite positioning system based on a Global Navigation Satellite System (GNSS) can already meet certain outdoor positioning demands in an outdoor environment. However, in the indoor environment, especially in the complex indoor environment, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, and other environments, it is often necessary to determine the position information of the mobile terminal or its holder in the indoor environment, but because of the problem of limitations of the complex indoor environment and the like, the current positioning accuracy is not high, and therefore how to improve the indoor positioning accuracy is a technical problem to be solved urgently.

Disclosure of Invention

The embodiment of the application provides an indoor positioning method and a related device.

In a first aspect, an embodiment of the present application provides an indoor positioning method, which is applied to a server in an indoor positioning system, where the indoor positioning system further includes an electronic device, and the method includes:

receiving first sensing data sent by the electronic equipment, wherein the first sensing data comprises first WIFI information and/or first IMU information;

determining positioning information of the electronic equipment based on an indoor positioning map and the first sensing data, wherein the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one WIFI information and/or one IMU information;

and sending the positioning information of the electronic equipment to the electronic equipment.

In a second aspect, an embodiment of the present application provides an indoor positioning method, which is applied to an electronic device in an indoor positioning system, where the indoor positioning system further includes a server, and the method includes:

sending first sensing data to the server, wherein the first sensing data comprises first WIFI information and/or first IMU information;

receiving positioning information of the electronic device sent by the server, wherein the positioning information of the electronic device is determined by the server based on an indoor positioning map and the first sensing data, the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one piece of WIFI information and/or one piece of IMU information.

In a third aspect, an embodiment of the present application provides an indoor positioning system, where the indoor positioning system includes a server and an electronic device, where:

the electronic equipment is used for sending first sensing data to the server, wherein the first sensing data comprises first WIFI information and/or first IMU information;

the server is used for receiving the first sensing data; determining positioning information of the electronic equipment based on an indoor positioning map and the first sensing data, wherein the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one WIFI information and/or one IMU information; sending positioning information of the electronic equipment to the electronic equipment;

the electronic equipment is also used for receiving the positioning information of the electronic equipment.

In a fourth aspect, an embodiment of the present application provides an indoor positioning device, which is applied to a server in an indoor positioning system, where the indoor positioning system further includes an electronic device, and the device includes:

the receiving unit is used for receiving first sensing data sent by the electronic equipment, and the first sensing data comprises first WIFI information and/or first IMU information;

the determining unit is used for determining positioning information of the electronic equipment based on an indoor positioning map and the first sensing data, wherein a plurality of calibration positions exist on the indoor positioning map, each calibration position is associated with one piece of sensing data, and the sensing data comprises one piece of WIFI information and/or one piece of IMU information;

a sending unit, configured to send the positioning information of the electronic device to the electronic device.

In a fifth aspect, an embodiment of the present application provides an indoor positioning device, which is applied to an electronic device in an indoor positioning system, where the indoor positioning system further includes a server, and the device includes:

the server comprises a sending unit, a receiving unit and a processing unit, wherein the sending unit is used for sending first sensing data to the server, and the first sensing data comprises first WIFI information and/or first IMU information;

the receiving unit is used for receiving the positioning information of the electronic equipment sent by the server, the positioning information of the electronic equipment is determined by the server based on an indoor positioning map and the first sensing data, the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one piece of WIFI information and/or one piece of IMU information.

In a sixth aspect, embodiments of the present application provide a server, including a processor, a memory, a transceiver, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing steps in any of the methods of the first aspect of the embodiments of the present application.

In a seventh aspect, an embodiment of the present application provides an electronic device, including a processor, a memory, a transceiver, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for executing the steps in any of the methods in the second aspect of the embodiment of the present application.

In an eighth aspect, the present application provides a computer-readable storage medium, where the computer-readable storage medium stores a computer program for electronic data exchange, where the computer program enables a computer to perform some or all of the steps described in any of the methods of the first aspect or the second aspect of the present application.

In a ninth aspect, the present application provides a computer program product, wherein the computer program product comprises a non-transitory computer readable storage medium storing a computer program, and the computer program is operable to cause a computer to perform some or all of the steps as described in any of the methods of the first aspect or any of the methods of the second aspect of the embodiments of the present application. The computer program product may be a software installation package.

It can be seen that, in the embodiment of the application, the server receives the first sensing data sent by the electronic device, then determines the positioning information of the electronic device based on the indoor positioning map and the first sensing data, and finally sends the positioning information of the electronic device to the electronic device.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present application, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.

Fig. 1 is a schematic diagram of an indoor positioning system provided in an embodiment of the present application;

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

fig. 3 is a schematic flowchart of another indoor positioning method provided in an embodiment of the present application;

FIG. 4 is a schematic diagram of a distribution of test locations provided by an embodiment of the present application;

FIG. 5 is a histogram of a positioning error distribution provided by an embodiment of the present application;

FIG. 6 is a schematic illustration of a positioning error provided by an embodiment of the present application;

fig. 7 is a schematic flowchart of another indoor positioning method provided in the embodiment of the present application;

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

FIG. 9 is an exemplary schematic diagram provided by an embodiment of the present application;

FIG. 10 is another exemplary schematic diagram provided by embodiments of the present application;

fig. 11 is a schematic structural diagram of a server provided in an embodiment of the present application;

fig. 12 is a schematic structural diagram of an electronic device provided in an embodiment of the present application;

fig. 13 is a schematic structural diagram of an indoor positioning device provided in an embodiment of the present application;

fig. 14 is a schematic structural diagram of another indoor positioning device provided in an embodiment of the present application.

Detailed Description

In order to make the technical solutions of the present application better understood, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the 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.

The terms "first," "second," and the like in the description and claims of the present application and in the above-described drawings are used for distinguishing between different objects and not for describing a particular order. Furthermore, the terms "include" and "have," as well as any variations thereof, are intended to cover non-exclusive inclusions. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those steps or elements listed, but may alternatively include other steps or elements not listed, or inherent to such process, method, article, or apparatus.

Reference herein to "an embodiment" means that a particular feature, structure, or characteristic described in connection with the embodiment can be included in at least one embodiment of the application. The appearances of the phrase in various places in the specification are not necessarily all referring to the same embodiment, nor are separate or alternative embodiments mutually exclusive of other embodiments. It is explicitly and implicitly understood by one skilled in the art that the embodiments described herein can be combined with other embodiments.

Research on indoor positioning techniques is mainly divided into two categories: positioning technology based on radio frequency signals and positioning technology based on Inertial Measurement Unit (IMU). The first technology requires a signal transmitter or receiver to be arranged in an application scene, and is widely used in offices, factories, homes and other places. Such technologies include WIFI, Bluetooth (Bluetooth), Long Range Radio (LoRa), Ultra Wide Band (UWB), and the like, where WIFI is a relatively mature and more applied technology.

Wi-Fi coverage is wide in medium and short distances and is rarely affected by non line of sight (NLOS). For a WIFI positioning system, a hardware platform is relatively mature. But in a complex indoor environment, the multipath effect of WIFI still exists, so that a positioning method based on a signal attenuation model cannot be used. The WIFI positioning system generally utilizes machine learning to realize positioning, and the specific implementation process is divided into two stages: in the off-line stage, a large amount of WIFI signal data are used for training to establish an environment model capable of describing the intensity of WIFI signals in detail; in the on-line stage, the system collects data in real time, substitutes the data into the signal distribution model established in the previous stage, and calculates the detailed position of the signal by a classification algorithm.

Bluetooth beacon technology is also currently a relatively mature technology. Bluetooth is used for positioning by receiving a Received Signal Strength Indicator (RSSI) value of a measured Signal, and the principle of the bluetooth is similar to that of WIFI positioning. On the other hand, because the measurement of reaching Angle-of-Arrival (AoA) is also integrated in the Bluetooth technology, the positioning accuracy is higher than that of WIFI, the Bluetooth positioning device has the advantages of small size, simplicity in deployment, strong cruising ability and the like, and the positioning can be realized as long as the Bluetooth function of the device is started. Bluetooth transmission is not affected by line of sight. Based on the characteristics, the Bluetooth technology is very suitable for indoor positioning, but the Bluetooth communication distance is short, the stability is general, and the Bluetooth technology is easily influenced by shielding, so that the Bluetooth technology is commonly used for positioning small-range areas such as classrooms and offices.

The LoRa technology is a recently emerging wireless technology. In 8 months 2013, Semtech integrates newly developed long-distance low-power technologies on one chip. The receiving sensitivity of the LoRa chip is-148 dbm, namely, the LoRa can receive a wireless signal with weak strength. The distance between the anchor point and the positioning label is estimated through the signal flight time and the received signal strength between the LoRa gateway and the node, and the target node is positioned by combining the measured values of the anchor points. Because of the low power consumption and long-distance transmission capability, LoRa positioning has important research value in positioning of equipment and assets.

The UWB positioning system mainly comprises an anchor node and a positioning node. The coordinates of the anchor nodes are known, and the anchor nodes need to be arranged in advance in a positioning area to wait for the communication between the positioning nodes entering the network and the anchor nodes. Currently, UWB positioning systems mainly achieve positioning by means of ranging. When positioning, the system firstly obtains distance information based on different ranging technologies and calculates the position by combining different position estimation algorithms. The representative of ultra-wideband positioning is Ubisense, the positioning scheme adopts UWB pulse signals, a plurality of sensors analyze the positions of the labels by adopting TDOA and AOA positioning algorithms, the precision is high (the highest can reach sub-meter level), and the multi-path resolving capability is strong. Ultra-wideband communication does not require the use of carriers in conventional communication regimes, but rather transmits data by sending and receiving extremely narrow pulses having nanosecond or subnanosecond levels, and therefore has a bandwidth on the order of GHz. The ultra-wideband positioning technology has the advantages of strong penetrating power, good anti-multipath effect, high safety, low system complexity, capability of providing accurate positioning precision and the like, and has quite wide prospect. In recent years, many pioneering companies have introduced lower cost and performance-independent positioning schemes using UWB technology, such that UWB is no longer limited to the niche market.

IMU-based indoor technology is widely used in the field of navigation and guidance. The inertial measurement unit is a common sensor on a mobile robot and a mobile intelligent device. The IMU is provided with an accelerometer for outputting three-axis acceleration and a gyroscope for outputting three-axis angular velocity, the output frequency is high, factors of illumination and scene image textures do not need to be considered, accurate data can be provided under the condition that the mobile robot moves rapidly, the real-time performance is good, but serious accumulated errors are the problems to be solved by an independent inertial navigation system. A multi-parameter constraint step detection algorithm is designed based on a pedestrian trajectory estimation (PDR) principle by utilizing the corresponding relation between a pedestrian walking motion model and acceleration data change. Aiming at the step length estimation problem, a step length estimation model with different motion states is designed by researching the advantages and the disadvantages of a common step length estimation model and the application range, wherein the motion states are obtained by processing inertial data through a BP neural network algorithm. Aiming at the problem of course detection, self-correction measures are taken by researching the relation between a course sampling value and a pedestrian motion model, and the random error of course sampling is reduced. Drift can still occur over long periods of operation due to accumulated errors in IMU measurements and estimations. The problem of improving the stability of the system is often achieved by fusing data of other sensors.

The indoor positioning system based on the intelligent terminal is an effective means for solving the problems of positioning and PDR navigation under the condition of no GPS signal and no map indoors, and can play a great role in large-scale business, storage, logistics and public buildings. Indoor positioning navigation is a very market application scene.

Referring to fig. 1, an embodiment of the present application provides an indoor positioning system, which includes a server 100 and an electronic device 200, where:

the electronic device 200 is configured to send first sensing data to the server 100, where the first sensing data includes first WIFI information and/or first IMU information;

a server 100 for receiving the first sensing data; determining positioning information of the electronic device 200 based on an indoor positioning map and the first sensing data, wherein the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one piece of WIFI information and/or one piece of IMU information; transmitting location information of the electronic device 200 to the electronic device 200;

the electronic device 200 is further configured to receive the positioning information of the electronic device 200 sent by the server 100.

It can be seen that, in the embodiment of the present application, since a plurality of calibration positions exist on the indoor positioning map, each calibration position is associated with one sensing data, so that the accurate positioning information of the electronic device 200 can be determined through the first sensing data, so as to achieve the purpose of improving the indoor positioning accuracy.

In an implementation, before receiving the first sensing data, the server 100 is further configured to:

a1: receiving test data sent by test equipment, wherein the test data comprises a test position and test sensing data, the test sensing data comprises test WIFI information and/or test IMU information, and the test position is obtained by the test equipment through ultra wide band UWB positioning;

a2: calibrating the test location on an indoor map and associating the test sensory data with the test location, the plurality of calibration locations including the test location;

a3: repeating the steps A1-A2 until the data acquisition is completed;

a4: and processing the indoor map after the position calibration to obtain the indoor positioning map.

Optionally, the test position calibrated on the indoor map includes a first test position, and the first test position is associated with a plurality of test sensing data; in terms of processing the indoor map after the position calibration, the server 100 is specifically configured to:

determining to obtain first test sensing data based on a plurality of test sensing data associated with the first test position;

replacing the test sensory data associated with the first test location with the first test sensory data.

Optionally, in terms of determining to obtain the first test sensing data based on the plurality of test sensing data associated with the first test location, the server 100 is specifically configured to:

determining to obtain first test WIFI information based on a plurality of test WIFI information associated with the first test position; and/or determining to obtain first test IMU information based on a plurality of test IMU information associated with the first test position;

and taking the first testing WIFI information and/or the first testing IMU information as the first testing sensing data.

Optionally, the test WIFI information includes an identification of at least one Access Point (AP) and a signal strength of each AP of the at least one AP; in respect of determining to obtain the first test WIFI information based on the multiple test WIFI information associated with the first test location, the server 100 is specifically configured to:

obtaining identifiers of K APs and at least one signal strength of each AP in the K APs based on a plurality of pieces of testing WIFI information associated with the first testing position, wherein the identifiers of the K APs are different from each other, and K is a positive integer;

selecting M APs from the K APs, wherein the signal strength greater than or equal to a first threshold exists in at least one signal strength of each AP in the M APs, M is less than or equal to K, and M is a positive integer;

and taking the identifiers of the M APs and at least one signal strength of each AP in the M APs as the first WIFI testing information.

Optionally, the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; in determining to obtain first testing IMU information based on the plurality of testing IMU information associated with the first testing location, the server 100 is specifically configured to:

determining a mean value of the magnetic field strength component and a mean value of the total magnetic field strength for each of the three directions based on a plurality of test IMU information associated with the first test location;

and taking the mean value of the magnetic field intensity components and the mean value of the total magnetic field intensity as the first test IMU information.

In one implementation, in determining the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data, the server 100 is specifically configured to:

matching the first WIFI information with WIFI information associated with each calibration position, and/or matching the first IMU information with IMU information associated with each calibration position;

if the first WIFI information matches WIFI information associated with a first target calibration position on the indoor positioning map, and/or the first IMU information matches IMU information associated with the first target calibration position, taking the first target calibration position as the position of the electronic device 200.

b1: determining a first location of the electronic device based on the indoor positioning map and the first sensory data;

b2: receiving second sensing data sent by the electronic device 200, where the second sensing data includes second WIFI information and/or second IMU information;

b3: determining a second position of the electronic device 200 based on the indoor positioning map, the sensing data previously sent by the electronic device at least once, and the second sensing data;

b4: repeating steps B2-B3 to obtain at least one second position;

b5: determining a positioning trajectory of the electronic device 200 based on the first location and the at least one second location.

Optionally, the server 100 is further configured to:

if the first target position is outside the positioning track, determining a second test position based on the positioning track, wherein the first target position is at least one of the first position and the at least one second position, the calibration positions comprise the second test position, and the second test position is on the positioning track;

updating the test sensory data associated with the second test location based on sensory data associated with a second target location, the second target location being at least one of the first location and the at least one second location.

Optionally, the second target position is outside the localization track, and a distance between the second target position and the second test position is less than or equal to a second threshold,

or the second target position is on the positioning track, and the distance between the second target position and the second test position is smaller than or equal to a third threshold.

In an implementation manner of the present application, after step a2, the server 100 is further configured to:

determining a plurality of untested locations on the indoor map, the plurality of calibration locations comprising the plurality of untested locations;

if the distance between the untested position and the test position i is smaller than or equal to a fourth threshold value, correlating the untested position with the test WIFI information correlated with the test position i; and/or if the distance between the untested position and the test position j is less than or equal to a fifth threshold, associating the untested position with the test IMU information associated with the test position j;

in step a2, the test location calibrated on the indoor map includes the test location i and the test location j.

Optionally, after updating the test sensing data associated with the second test location based on the sensing data associated with the second target location, the server 100 is further configured to:

replacing the WIFI information associated with the plurality of first untested positions with the updated associated WIFI information of the second tested position; and/or replacing IMU information associated with a plurality of second untested positions with IMU information associated with the second untested positions after updating;

the plurality of untested positions comprise a plurality of first untested positions and a plurality of second testing positions, the distance between the first untested positions and the second testing positions is smaller than or equal to the fourth threshold, and the distance between the second untested positions and the second testing positions is smaller than or equal to the fifth threshold.

It should be noted that, for a specific implementation process of the present embodiment, reference may be made to a specific implementation process described in the following method embodiments, and a description of the specific implementation process is not repeated here.

Referring to fig. 2, fig. 2 is a flowchart illustrating an indoor positioning method applied to a server 100 in an indoor positioning system, where the indoor positioning system further includes an electronic device 200, and as shown in the figure, the indoor positioning method includes the following operations.

Step 210: the electronic device 200 transmits first sensing data to the server 100, where the first sensing data includes first WIFI information and/or first IMU information.

Wherein, first WIFI information is obtained by the WIFI module of the electronic device 200, and the first WIFI information includes at least one of the following: an identification (e.g., MAC address, name, etc.) of at least one AP currently searched by the electronic device 200, a signal strength of each AP searched, channel (channel) information, and a timestamp.

The first IMU information is acquired by the IMU of the electronic device 200, and the first IMU information includes at least one of the following: the magnetic field intensity components (northeast space coordinate system) in the three directions x, y and z and the total magnetic field intensity currently detected by the electronic device 200.

Step 220: the server 100 receives first sensing data sent by the electronic device 200; the server 100 determines location information of the electronic device 200 based on an indoor location map and the first sensing data.

The indoor positioning map comprises a plurality of calibration positions, each calibration position is associated with sensing data, and the sensing data comprises WIFI information and/or IMU information.

Wherein the WIFI information comprises at least one of the following information: identification of at least one AP, signal strength of each AP, channel information, timestamp.

Wherein the IMU information includes at least one of: the magnetic field intensity components (northeast space coordinate system) in the x, y and z directions and the total intensity of the magnetic field.

Step 230: the server 100 transmits the positioning information of the electronic device 200 to the electronic device 200; the electronic device 200 receives the positioning information of the electronic device 200 transmitted by the server 100.

The positioning information of the electronic device 200 includes a position of the electronic device 200 and/or a positioning track of the electronic device 200.

In an implementation manner of the present application, as shown in fig. 3, before the server 100 receives the first sensing data sent by the electronic device 200, the method further includes:

a1: the server 100 receives test data sent by a test device, wherein the test data comprises a test position and test sensing data, the test sensing data comprises test WIFI information and/or test IMU information, and the test position is obtained by the test device through UWB positioning;

a2: the server 100 calibrates the test location on an indoor map and associates the test sensing data with the test location, the plurality of calibration locations including the test location;

a3: the server 100 repeats the steps A1-A2 until the data acquisition is completed;

a4: the server 100 processes the indoor map after the position calibration to obtain the indoor positioning map.

The indoor map is an indoor map of a current indoor place. For example, if the current indoor location is mall a, the indoor map is the indoor map of mall a. For another example, if the current indoor location is museum B, the indoor map is the indoor map of museum B. For another example, assuming that the current indoor place is theater C, the indoor map is an indoor map of theater C.

The WIFI information testing method comprises the following steps that the WIFI information is obtained by a WIFI module of the testing equipment, and the WIFI information testing method comprises at least one of the following steps: the identification of at least one AP currently searched by the testing device, the signal strength of each searched AP, channel information and a time stamp.

The IMU information is acquired by an IMU of the test equipment, and the IMU information comprises at least one of the following: the magnetic field intensity components (northeast space coordinate system) and the total magnetic field intensity in the x direction, the y direction and the z direction which are currently detected by the testing equipment.

The test position is obtained by the UWB module of the test equipment through a positioning technology, and the test position can be represented by coordinates.

The distribution of the test positions is shown in fig. 4, and as shown in fig. 4, the test positions are randomly selected to uniformly cover the whole test area. The WIFI positioning result can be calculated according to the signal intensity of the AP, the coordinate distance of the test position is calibrated, and a histogram is drawn as shown in fig. 5. The result of the WIFI positioning should control 90% of positioning errors within 5 meters, and then the positioning errors of the WIFI are limited to 0-2 m, so that the position where the geomagnetic field improves the WIFI positioning accuracy can be slightly improved to 1-1.8 m, as shown in fig. 6.

Optionally, the test positions calibrated on the indoor map include a first test position, and the first test position is associated with multiple test sensing data; the server 100 processes the indoor map after the position calibration, including:

the server 100 determines to obtain first test sensing data based on a plurality of test sensing data associated with the first test position;

the server 100 replaces the test sensory data associated with the first test location with the first test sensory data.

Wherein the first test position may be one or more.

Optionally, the determining, by the server 100, first test sensing data based on a plurality of test sensing data associated with the first test position includes:

the server 100 determines to obtain first test WIFI information based on the plurality of test WIFI information associated with the first test position; and/or determining to obtain first test IMU information based on a plurality of test IMU information associated with the first test position;

the server 100 uses the first test WIFI information and/or the first test IMU information as the first test sensing data.

Optionally, the test WIFI information includes an identification of at least one AP and a signal strength of each AP of the at least one AP; the server 100 determines to obtain first test WIFI information based on a plurality of test WIFI information associated with the first test location, including:

the server 100 obtains identifiers of K APs and at least one signal strength of each AP in the K APs based on the multiple pieces of testing WIFI information associated with the first testing position, where the identifiers of the K APs are different from each other, and K is a positive integer;

the server 100 selects M APs from the K APs, wherein a signal strength greater than or equal to a first threshold exists in at least one signal strength of each AP in the M APs, M is less than or equal to K, and M is a positive integer;

the server 100 uses the identifiers of the M APs and at least one signal strength of each AP of the M APs as the first test WIFI information.

For example, assuming that the first test location associates 2 pieces of test WIFI information, one piece of test WIFI information includes an identifier of AP1, an identifier of AP2, a signal strength 1 of AP1, and a signal strength 2 of AP2, and another piece of test WIFI information includes an identifier of AP2, an identifier of AP3, a signal strength 3 of AP2, and a signal strength 4 of AP3, then the 2 pieces of test WIFI information are used to obtain the identifiers of 3 APs (such as the identifier of AP1, the identifier of AP2, and the identifier of AP 3), the signal strength 1 of AP1, the signal strength 2 and the signal strength 3 of AP2, and the signal strength 4 of AP3, and if the signal strength 1 is greater than a first threshold, the signal strength 2 is less than the first threshold, the signal strength 3 is greater than the first threshold, and the signal strength 4 is less than the first threshold, then 2 APs (such as AP1 and AP2) are selected from the 3 APs, so that the obtained first piece of test WIFI information includes the identifiers of AP1 and the identifiers of AP2, Signal strength 1 for AP1, signal strength 2 for AP2, and signal strength 3.

Optionally, the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; the server 100 determines to obtain first test IMU information based on the plurality of test IMU information associated with the first test location, including:

the server 100 determines a mean value of the magnetic field strength component and a mean value of the total magnetic field strength for each of the three directions based on a plurality of test IMU information associated with the first test location;

the server 100 takes the mean value of the magnetic field strength component and the mean value of the total magnetic field strength as the first test IMU information.

For example, assuming that the first test location correlates 2 test IMU information, one test IMU information includes a magnetic field strength component 1 in the x-direction, a magnetic field strength component 2 in the y-direction, a magnetic field strength component 3 in the z-direction, a total magnetic field strength 1, and the other test IMU information includes a magnetic field strength component 4 in the x-direction, a magnetic field strength component 5 in the y-direction, a magnetic field strength component 6 in the z-direction, a total magnetic field strength 2, then the resulting first test IMU information includes (magnetic field strength component 1+ magnetic field strength component 2)/2 in the x-direction, (magnetic field strength component 3+ magnetic field strength component 4)/2 in the y-direction, (magnetic field strength component 5+ magnetic field strength component 6)/2 in the z-direction, (magnetic field total strength 1+ magnetic field strength 2)/2.

In an implementation manner of the present application, the determining, by the server 100, the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data includes:

the server 100 matches the first WIFI information with WIFI information associated with each of the calibration locations, and/or matches the first IMU information with IMU information associated with each of the calibration locations;

if the first WIFI information matches WIFI information associated with a first target calibration position on the indoor positioning map, and/or the first IMU information matches IMU information associated with the first target calibration position, the server 100 uses the first target calibration position as the position of the electronic device 200.

The first WIFI information comprises identifications of T first APs and signal strength of each first AP, the WIFI information associated with the first target calibration position comprises identifications of P second APs and signal strength of each second AP, P is greater than or equal to T, and T and P are positive integers; if the identifications of the T first APs in the T first APs are matched with the identifications of the T second APs in the P second APs and the signal strengths of the T first APs are matched with the signal strengths of the T second APs, it is determined that the first WIFI information is matched with the WIFI information associated with the first target calibration position, otherwise, it is determined that the first WIFI information is not matched with the WIFI information associated with the first target calibration position, and the quotient of the T and the P is greater than or equal to a sixth threshold value.

For example, assuming that the first WIFI information includes 3 AP identifiers (e.g., an identifier of AP1, an identifier of AP2, and an identifier of AP 3), the WIFI information associated with the first target calibration position includes 4 AP identifiers (e.g., an identifier of AP1, an identifier of AP2, an identifier of AP3, and an identifier of AP 4), and it can be seen that the 3 AP identifiers included in the first WIFI information match the 3 AP identifiers included in the WIFI information associated with the first target calibration position; assuming that the first WIFI information includes signal strength 1 of AP1, signal strength 2 of AP2, and signal strength 3 of AP3, and the WIFI information associated with the first target calibration position includes signal strength 4 of AP1, signal strength 5 of AP2, signal strength 6 of AP3, and signal strength 7 of AP4, if the signal strength 1 is within a range [ signal strength 4-k, signal strength 4+ k ], the signal strength 2 is within a range [ signal strength 5-k, signal strength 5+ k ], and the signal strength 3 is within a range [ signal strength 6-k, signal strength 6+ k ], it indicates that the signal strengths of the 3 APs included in the first WIFI information match the signal strengths of the 3 APs included in the WIFI information associated with the first target calibration position; assuming that the sixth threshold is 70%, since 3/4 is 75%, it may be determined that the first WIFI information matches the WIFI information associated with the first target calibration location.

In an implementation manner of the present application, as shown in fig. 7, the determining, by the server 100, the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data includes:

b1: the server 100 determines a first location of the electronic device 200 based on the indoor positioning map and the first sensing data;

b2: the server 100 receives second sensing data sent by the electronic device 200, where the second sensing data includes second WIFI information and/or second IMU information;

b3: the server 100 determines a second position of the electronic device 200 based on the indoor positioning map, the sensing data previously sent by the electronic device 200 at least once, and the second sensing data;

b4: the server 100 repeats the steps B2-B3 to obtain at least one second position;

b5: the server 100 determines a positioning trajectory of the electronic device 200 based on the first location and the at least one second location.

The server 100 connects the first location and the at least one second location, and performs smoothing to obtain the positioning track. For example, assuming that the positions of the electronic device 200 determined by the server 100 respectively include a first position, a second position 1, a second position 2, and a second position 3, the server 100 sequentially connects the first position, the second position 1, the second position 2, and the second position 3 and performs smoothing processing to obtain a positioning track of the electronic device 200, as shown in fig. 8.

Optionally, before step B2, the method further includes: the server 100 acquires the height of the user of the electronic device 200 and determines the step length of the user according to the height of the user;

the determining, by the server 100, the second position of the electronic device 200 based on the indoor positioning map, the sensing data that was sent by the electronic device 200 at least once, and the second sensing data includes:

the server 100 determines a second location of the electronic device 200 based on the indoor positioning map, the sensing data previously transmitted by the electronic device 200 at least once, the step size of the user, and the second sensing data.

The sensing data sent by the electronic device 200 at least once before includes L pieces of sensing data, where L is a positive integer; the server 100 determines a second location of the electronic device 200 based on the indoor positioning map, the sensing data previously sent by the electronic device 200 at least once, the second sensing data, and the step length of the user, including:

the server 100 determines to obtain L first location sets based on the indoor positioning map and the L sensing data, where the L first location sets correspond to the L sensing data one to one, and each first location set includes at least one location a; the server 100 determines to obtain a second location set based on the indoor positioning map and the second sensing data, where the second location set includes at least one location b;

the server 100 determines to obtain R tracks based on the L first position sets and the second position set, where R is a positive integer;

the server 100 selects a target track from the R tracks, where a distance between any two adjacent positions included in the target track is in a first distance range, a median value of the first distance range is a product of the user step length and a target time interval, and the target time interval is a receiving time interval of two adjacent pieces of sensing data;

the server 100 uses the position b included in the target positioning track as the second position of the electronic device 200.

For example, assuming that L is 1, the server 100 determines to obtain a first location set based on the indoor positioning map and the sensing data sent by the electronic device 200 last time, and the server 100 determines to obtain a second location set based on the indoor positioning map and the second sensing data, and if the first location set includes the location a1 and the second location set includes the location b1 and the location b2, then 2 positioning tracks are determined based on the two location sets, that is, the positioning track 1 of the location a 1-the location b1 and the positioning track 2 of the location a 1-the location b2, and if the distance between the location a1 and the location b1 is not within the first distance range and the distance between the location a1 and the location b2 is within the first distance range, then the second location of the electronic device 200 is the location b 2.

Optionally, the method further comprises:

if the first target position is outside the positioning track, the server 100 determines a second test position based on the positioning track, where the first target position is at least one of the first position and the at least one second position, the plurality of calibration positions includes the second test position, and the second test position is on the positioning track;

the server 100 updates the test sensing data associated with the second test location based on the sensing data associated with the second target location, the second target location being at least one of the first location and the at least one second location.

In one embodiment, the second target location comprises the first target location; the server 100 updates the second test location associated test sensory data based on the second target location associated sensory data, including:

the server 100 updates the test sensing data associated with the second test position to the sensing data associated with the first target position.

In another embodiment, the updating, by the server 100, the test sensing data associated with the second test location based on the sensing data associated with the second target location includes:

the server 100 determines average sensing data based on the sensing data associated with the second target location and updates the sensing data based on the second target location association to the average sensing data.

For example, as shown in fig. 9, the second location 2 is not on the positioning track, but the test location 1 is on the positioning track, which indicates that the second location 2 is determined inaccurately, and further reflects that the test sensing data associated with the test location 1 is inaccurate, at this time, in order to obtain a more accurate indoor positioning map, the test sensing data associated with the test location 1 needs to be updated, for example, the test sensing data associated with the test location 1 may be updated to the sensing data associated with the second location 2, and for example, the average sensing data may be determined based on the sensing data associated with the second location 2 and the sensing data associated with the second location 3, and then the test sensing data associated with the test location 1 is updated to the average sensing data.

Optionally, the second target position is outside the positioning track, and a distance between the second target position and the second test position is less than or equal to a second threshold.

Optionally, the second target position is on the positioning track, and a distance between the second target position and the second test position is smaller than or equal to a third threshold.

The second threshold may be equal to or not equal to the third threshold, which is not limited herein.

In an implementation manner of the present application, after the step a2, the method further includes:

the service equipment determines a plurality of untested positions on the indoor map, wherein the plurality of calibration positions comprise the plurality of untested positions;

if the distance between the untested position and the test position i is smaller than or equal to a fourth threshold value, the service equipment associates the untested position with the test WIFI information associated with the test position i; and/or if the distance between the untested position and the test position j is less than or equal to a fifth threshold, associating the untested position with the test IMU information associated with the test position j;

The fifth threshold may be smaller than the fourth threshold, or may be larger than the fourth threshold, which is not limited herein.

In particular, since the test locations are random, in order to enrich the data of the indoor positioning map, the untested locations also need to be associated with the sensing data. For example, as shown in fig. 8, the indoor map is divided into small areas of 1 dm × 1 dm, as shown in fig. 10, the small areas without test points in the small areas are all untested positions, the sensing data required to be associated with the untested positions depend on the surrounding test positions, for example, if the fourth threshold is 5 dm and the fifth threshold is 2 dm, if the test point at the upper left corner in fig. 10 is associated with the test WIFI information 1 and the test IMU information 1, the WIFI information associated with the untested position within a distance of 5 dm from the test point is the test WIFI information 1, and the IMU information associated with the untested position within a distance of 2 dm from the test point is the test IMU information 1.

Optionally, after the server 100 updates the test sensing data associated with the second test location based on the sensing data associated with the second target location, the method further includes:

the server 100 replaces the WIFI information associated with the plurality of first untested positions with the updated WIFI information associated with the second tested position; and/or replacing IMU information associated with a plurality of second untested positions with IMU information associated with the second untested positions after updating;

Specifically, when the information associated with a certain test position is updated, the information associated with the untested positions around the test position also needs to be updated to improve the accuracy of indoor positioning.

Referring to fig. 11, fig. 11 is a schematic structural diagram of a server 100 in the indoor positioning system, where the indoor positioning system further includes an electronic device 200, and as shown in the figure, the server includes a processor, a memory, a transceiver, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing the following steps:

receiving first sensing data sent by the electronic device 200, wherein the first sensing data comprises first WIFI information and/or first IMU information;

determining positioning information of the electronic device 200 based on an indoor positioning map and the first sensing data, wherein the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data comprises one piece of WIFI information and/or one piece of IMU information;

transmitting the location information of the electronic device 200 to the electronic device 200.

In an implementation manner of the present application, before receiving the first sensing data sent by the electronic device 200, the program includes instructions for further performing the following steps:

a3: repeating the steps A1-A2 until the data acquisition is completed;

Optionally, the test position calibrated on the indoor map includes a first test position, and the first test position is associated with a plurality of test sensing data; in processing the indoor map after position calibration, the program includes instructions specifically for performing the steps of:

Optionally, in terms of determining the first test sensing data based on the plurality of test sensing data associated with the first test location, the program includes instructions specifically configured to perform the following steps:

Optionally, the test WIFI information includes an identification of at least one access node AP and a signal strength of each AP of the at least one AP; in respect of determining to obtain first test WIFI information based on the plurality of test WIFI information associated with the first test location, the program includes instructions specifically for performing the steps of:

Optionally, the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; in determining first test IMU information based on the plurality of test IMU information associated with the first test location, the program includes instructions specifically for performing the steps of:

In an implementation of the present application, in determining the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data, the program includes instructions specifically configured to:

b1: determining a first location of the electronic device 200 based on the indoor positioning map and the first sensory data;

b3: determining a second position of the electronic device 200 based on the indoor positioning map, the sensing data previously sent by the electronic device 200 at least once, and the second sensing data;

b4: repeating steps B2-B3 to obtain at least one second position;

Optionally, the program includes instructions for further performing the steps of:

Optionally, the second target position is outside the positioning track, and a distance between the second target position and the second test position is less than or equal to a second threshold;

In one implementation of the present application, after step a2, the program includes instructions for performing the following steps:

Optionally, after updating the test sensing data associated with the second test location based on the sensing data associated with the second target location, the program includes instructions for further performing the steps of:

It should be noted that, for the specific implementation process of the present embodiment, reference may be made to the specific implementation process described in the above method embodiment, and a description thereof is omitted here.

Referring to fig. 12, fig. 12 is a schematic structural diagram of an electronic device 200 in the indoor positioning system further including a server 100 according to an embodiment of the present disclosure, where the electronic device includes a processor, a memory, a transceiver, and one or more programs, where the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing the following steps:

sending first sensing data to the server 100, where the first sensing data includes first WIFI information and/or first IMU information;

receiving positioning information of the electronic device 200 sent by the server 100, where the positioning information of the electronic device 200 is determined by the server 100 based on an indoor positioning map and the first sensing data, the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data includes one piece of WIFI information and/or one piece of IMU information.

In an implementation manner of the present application, the positioning information of the electronic device 200 includes a location of the electronic device 200;

the position of the electronic device 200 is a first target calibration position on the indoor positioning map, the WIFI information associated with the first target calibration position matches the first WIFI information, and/or the IMU information associated with the first target calibration position matches the first IMU information.

In an implementation manner of the present application, the positioning information of the electronic device 200 includes a positioning track of the electronic device 200;

the positioning track of the electronic device 200 is determined based on a first location and at least one second location, the first location is determined by the server 100 based on the indoor positioning map and the first sensing data, the at least one second location is obtained by repeating steps B2-B3 by the server 100, the step B2 is to receive second sensing data sent by the electronic device 200, the second sensing data includes second WIFI information and/or second IMU information, and the step B3 is to determine the second location of the electronic device 200 based on the indoor positioning map, the sensing data sent by the electronic device 200 at least once before, and the second sensing data.

Referring to fig. 13, fig. 13 is a schematic diagram of an indoor positioning apparatus applied to a server 100 in an indoor positioning system, where the indoor positioning system further includes an electronic device 200, and the apparatus includes:

a receiving unit 1301, configured to receive first sensing data sent by the electronic device 200, where the first sensing data includes first WIFI information and/or first IMU information;

a determining unit 1302, configured to determine positioning information of the electronic device 200 based on an indoor positioning map and the first sensing data, where the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data includes one piece of WIFI information and/or one piece of IMU information;

a sending unit 1303, configured to send the positioning information of the electronic device 200 to the electronic device 200.

In an implementation manner of the present application, before receiving the first sensing data sent by the electronic device 200, the determining unit 1302 is further configured to:

a3: repeating the steps A1-A2 until the data acquisition is completed;

Optionally, the test position calibrated on the indoor map includes a first test position, and the first test position is associated with a plurality of test sensing data; in terms of processing the indoor map after the position calibration, the determining unit 1302 is specifically configured to:

Optionally, in terms of determining to obtain the first test sensing data based on the plurality of test sensing data associated with the first test position, the determining unit 1302 is specifically configured to:

Optionally, the test WIFI information includes an identification of at least one access node AP and a signal strength of each AP of the at least one AP; in terms of determining to obtain the first test WIFI information based on the multiple test WIFI information associated with the first test location, the determining unit 1302 is specifically configured to:

Optionally, the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; in terms of determining to obtain first testing IMU information based on the multiple testing IMU information associated with the first testing location, the determining unit 1302 is specifically configured to:

In an implementation manner of the present application, in determining the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data, the determining unit 1302 is specifically configured to:

b3: determining a second position of the electronic device 200 based on the indoor positioning map, the sensing data previously transmitted by the electronic device 200 at least one time, and the second sensing data;

b4: repeating steps B2-B3 to obtain at least one second position;

Optionally, the apparatus further includes a first updating unit 1304, where the first updating unit 1304 is configured to:

if the first target position is outside the positioning track, determining a second test position based on the positioning track, wherein the first target position is at least one of the first position and the at least one second position, the calibration positions include the second test position, and the second test position is on the positioning track;

In an implementation manner of the present application, the determining unit 1302 is further configured to:

Optionally, the apparatus further includes a second updating unit 1305, and after the test sensing data associated with the second test location is updated based on the sensing data associated with the second target location, the second updating unit 1305 is configured to:

It should be noted that the determining unit 1302, the first updating unit 1304, and the second updating unit 1305 may be implemented by the processor in fig. 11, and the receiving unit 1301 and the sending unit 1303 may be implemented by the transceiver in fig. 11.

Referring to fig. 14, fig. 14 is a schematic diagram of an indoor positioning apparatus applied to an electronic device 200 in an indoor positioning system, where the indoor positioning system further includes a server 100, and the apparatus includes:

a sending unit 1401, configured to send first sensing data to the server 100, where the first sensing data includes first WIFI information and/or first inertial measurement unit IMU information;

a receiving unit 1402, configured to receive positioning information of the electronic device 200 sent by the server 100, where the positioning information of the electronic device 200 is determined by the server 100 based on an indoor positioning map and the first sensing data, the indoor positioning map has a plurality of calibration positions, each calibration position is associated with one sensing data, and the sensing data includes one piece of WIFI information and/or one piece of IMU information.

It should be noted that the transmitting unit 1401 and the receiving unit 1402 can be implemented by the transceiver in fig. 12.

Embodiments of the present application also provide a computer storage medium, where the computer storage medium stores a computer program for electronic data exchange, and the computer program enables a computer to execute part or all of the steps of any one of the methods described in the above method embodiments, and the computer includes an electronic device or a server.

Embodiments of the present application also provide a computer program product comprising a non-transitory computer readable storage medium storing a computer program operable to cause a computer to perform some or all of the steps of any of the methods as described in the above method embodiments. The computer program product may be a software installation package, the computer comprising an electronic device or a server.

It should be noted that, for simplicity of description, the above-mentioned method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present application is not limited by the order of acts described, as some steps may occur in other orders or concurrently depending on the application. Further, those skilled in the art should also appreciate that the embodiments described in the specification are preferred embodiments and that the acts and modules referred to are not necessarily required in this application.

In the foregoing embodiments, the descriptions of the respective embodiments have respective emphasis, and for parts that are not described in detail in a certain embodiment, reference may be made to related descriptions of other embodiments.

In the embodiments provided in the present application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the above-described embodiments of the apparatus are merely illustrative, and for example, the above-described division of the units is only one type of division of logical functions, and other divisions may be realized in practice, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of some interfaces, devices or units, and may be an electric or other form.

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, 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, functional units in the embodiments of the present application may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated unit may be stored in a computer readable memory if it is implemented in the form of a software functional unit and sold or used as a stand-alone product. Based on such understanding, the technical solution of the present application may be substantially implemented or a part of or all or part of the technical solution contributing to the prior art may be embodied in the form of a software product stored in a memory, and including several instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the above-mentioned method of the embodiments of the present application. And the aforementioned memory comprises: a U-disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a removable hard disk, a magnetic or optical disk, and other various media capable of storing program codes.

Those skilled in the art will appreciate that all or part of the steps in the methods of the above embodiments may be implemented by associated hardware instructed by a program, which may be stored in a computer-readable memory, which may include: flash Memory disks, Read-Only memories (ROMs), Random Access Memories (RAMs), magnetic or optical disks, and the like.

The foregoing detailed description of the embodiments of the present application has been presented to illustrate the principles and implementations of the present application, and the above description of the embodiments is only provided to help understand the method and the core concept of the present application; meanwhile, for a person skilled in the art, according to the idea of the present application, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present application.

Claims

1. An indoor positioning method applied to a server in an indoor positioning system, the indoor positioning system further including an electronic device, the method comprising:

receiving first sensing data sent by the electronic equipment, wherein the first sensing data comprise first WIFI information and/or first Inertial Measurement Unit (IMU) information;

2. The method of claim 1, wherein prior to receiving the first sensory data sent by the electronic device, the method further comprises:

a3: repeating the steps A1-A2 until the data acquisition is completed;

3. The method of claim 2, wherein the calibrated test locations on the indoor map include a first test location, and the first test location is associated with a plurality of test sensing data; the processing of the indoor map after the position calibration comprises:

4. The method of claim 3, wherein determining first test sensory data based on the plurality of test sensory data associated with the first test location comprises:

5. The method of claim 4, wherein the test WIFI information includes an identification of at least one access node (AP) and a signal strength of each of the at least one AP; the determining of the first test WIFI information based on the plurality of test WIFI information associated with the first test position includes:

6. The method of claim 4, wherein the test IMU information includes three directions of magnetic field strength components and a total magnetic field strength; the determining of the first test IMU information based on the plurality of test IMU information associated with the first test location includes:

7. The method according to any one of claims 1-6, wherein the determining the positioning information of the electronic device based on the indoor positioning map and the first sensing data comprises:

and if the first WIFI information is matched with WIFI information associated with a first target calibration position on the indoor positioning map and/or the first IMU information is matched with IMU information associated with the first target calibration position, taking the first target calibration position as the position of the electronic equipment.

8. The method of any of claims 1-6, wherein determining the location information of the electronic device based on the indoor location map and the first sensory data comprises:

b2: receiving second sensing data sent by the electronic equipment, wherein the second sensing data comprise second WIFI information and/or second IMU information;

b3: determining a second position of the electronic equipment based on the indoor positioning map, the sensing data which is sent by the electronic equipment at least one time before and the second sensing data;

b4: repeating steps B2-B3 to obtain at least one second position;

b5: determining a location trajectory of the electronic device based on the first location and the at least one second location.

9. The method of claim 8, further comprising:

10. The method of claim 9, wherein the second target position is outside of the localization track and the second target position is a distance from the second test position that is less than or equal to a second threshold;

11. The method according to any one of claims 2-10, wherein after step a2, the method further comprises:

12. The method of claim 11, wherein after updating the test sensory data associated with the second test location based on the sensory data associated with the second target location, the method further comprises:

13. An indoor positioning method applied to an electronic device in an indoor positioning system, the indoor positioning system further comprising a server, the method comprising:

sending first sensing data to the server, wherein the first sensing data comprises first WIFI information and/or first Inertial Measurement Unit (IMU) information;

14. The method of claim 13, wherein the positioning information of the electronic device comprises a location of the electronic device;

the position of the electronic equipment is a first target calibration position on the indoor positioning map, the WIFI information associated with the first target calibration position is matched with the first WIFI information, and/or the IMU information associated with the first target calibration position is matched with the first IMU information.

15. The method of claim 13, wherein the positioning information of the electronic device comprises a positioning track of the electronic device;

the positioning track of the electronic device is determined based on a first position and at least one second position, the first position is determined by the server based on an indoor positioning map and the first sensing data, the at least one second position is obtained by repeating the steps B2-B3 by the server, the step B2 is to receive second sensing data sent by the electronic device, the second sensing data comprises second WIFI information and/or second IMU information, and the step B3 is to determine the second position of the electronic device based on the indoor positioning map, the sensing data sent by the electronic device at least once before, and the second sensing data.

16. An indoor positioning system, characterized in that, indoor positioning system includes server and electronic equipment, wherein:

the electronic equipment is used for sending first sensing data to the server, wherein the first sensing data comprises first WIFI information and/or first Inertial Measurement Unit (IMU) information;

17. The system of claim 16, wherein prior to receiving the first sensed data, the server is further configured to:

a3: repeating the steps A1-A2 until the data acquisition is completed;

18. The system of claim 17, wherein the calibrated test locations on the indoor map comprise a first test location, the first test location being associated with a plurality of test sensory data; in terms of processing the indoor map after the position calibration, the server is specifically configured to:

19. The system of claim 18, wherein, in determining first test sensory data based on the plurality of test sensory data associated with the first test location, the server is specifically configured to:

20. The system of claim 19, wherein the test WIFI information includes an identification of at least one access node AP and a signal strength of each AP of the at least one AP; in an aspect that the first test WIFI information is determined to be obtained based on the plurality of test WIFI information associated with the first test location, the server is specifically configured to:

21. The system of claim 19, wherein the test IMU information includes three directional magnetic field strength components and a total magnetic field strength; in respect of determining to obtain first testing IMU information based on the multiple testing IMU information associated with the first testing location, the server is specifically configured to:

22. The system according to any of claims 16-21, wherein the server is specifically configured to, in determining the positioning information of the electronic device based on an indoor positioning map and the first sensing data:

23. The system according to any of claims 16-21, wherein the server is specifically configured to, in determining the positioning information of the electronic device based on an indoor positioning map and the first sensed data:

b4: repeating steps B2-B3 to obtain at least one second position;

24. The system of claim 23, wherein the server is further configured to:

25. The system of claim 24, wherein the second target position is outside of the localization track and the second target position is a distance from the second test position that is less than or equal to a second threshold,

26. The system according to any of claims 17-25, wherein after step a2, the server is further configured to:

27. The system of claim 26, wherein after updating the second test site associated test sensory data based on the second target site associated sensory data, the server is further configured to:

28. An indoor positioning device, characterized in that, is applied to the server among the indoor positioning system, indoor positioning system still includes electronic equipment, the device includes:

the receiving unit is used for receiving first sensing data sent by the electronic equipment, and the first sensing data comprises first WIFI information and/or first Inertial Measurement Unit (IMU) information;

29. An indoor positioning device, characterized in that, is applied to the electronic equipment among the indoor positioning system, indoor positioning system still includes the server, the device includes:

the sending unit is used for sending first sensing data to the server, and the first sensing data comprises first WIFI information and/or first Inertial Measurement Unit (IMU) information;

30. A server, comprising a processor, a memory, a transceiver, and one or more programs stored in the memory and configured to be executed by the processor, the programs including instructions for performing the steps in the method of any of claims 1-12.

31. An electronic device comprising a processor, a memory, a transceiver, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing the steps in the method of any of claims 13-15.

32. A computer-readable storage medium, characterized in that a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-12, or the computer program causes a computer to perform the method according to any one of claims 13-15.