CN111239716A - Multi-WIFI rapid positioning method and device - Google Patents
Multi-WIFI rapid positioning method and device Download PDFInfo
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- CN111239716A CN111239716A CN202010070476.8A CN202010070476A CN111239716A CN 111239716 A CN111239716 A CN 111239716A CN 202010070476 A CN202010070476 A CN 202010070476A CN 111239716 A CN111239716 A CN 111239716A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
Abstract
The invention discloses a multi-WIFI rapid positioning method, which comprises the following steps: acquiring longitude and latitude coordinates of all WIFI in a target area; dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity; when the number of the close-range WIFI is larger than 1, calculating first midpoints of all the close-range WIFI; when the short-distance WIFI exceeds a preset quantity proportion at the first midpoint, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning; when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first midpoint or the quantity of the short-distance WIFI is not more than 1, calculating second midpoints of all WIFI according to longitude and latitude coordinates, calculating average distances between all WIFI and the second midpoints, and if the short-distance WIFI at a point smaller than the average distance is judged to exist, selecting the short-distance WIFI with the maximum intensity as a positioning point to finish positioning; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
Description
Technical Field
The invention relates to the technical field of communication positioning, in particular to a multi-WIFI rapid positioning method and device.
Background
WIFI real-time positioning is a technology for determining the position of a related object to be positioned by using an existing wireless network, matching with a WIFI tag and related terminal equipment such as positioning equipment, a WIFI mobile phone, a PDA, a notebook computer and the like, and combining with a corresponding positioning algorithm. How to rapidly and accurately calculate the position of an article to be positioned through different wifi numbers and different signal intensities is always the research direction of the industry.
In the prior art, a wifi positioning method is mainly divided into single wifi positioning and multi-wifi positioning; the position of the multi-wifi positioning device is calculated according to the signal condition of the multi-wifi positioning device, and the common scheme is to convert the signal intensity into an actual distance to calculate an intermediate point. However, due to the complex actual environment, such as signal being blocked, absorbed, reflected, etc., the signal strength generally does not reflect the distance well; besides the position calculation, the multi-point calculation positioning also needs to eliminate the wrong wifi position before or during calculation, and the calculation amount is increased sharply as the number of wifi is increased.
Therefore, a multi-WIFI positioning scheme capable of quickly calculating an accurate position and having a strong environment fault tolerance is needed.
Disclosure of Invention
The invention provides a multi-WIFI rapid positioning method, which divides WIFI into short-distance WIFI and long-distance WIFI, quickly eliminates error points by combining the distances between each point and a midpoint and calculates the distance through longitude and latitude, so as to solve the technical problem that the WIFI positioning efficiency is low due to large calculated amount of the existing multi-WIFI positioning scheme, thereby greatly reducing the calculated amount, improving the fault tolerance rate and further realizing the multi-WIFI rapid positioning.
In order to solve the above technical problem, an embodiment of the present invention provides a multi-WIFI fast positioning method, including:
acquiring longitude and latitude coordinates of all WIFI in a target area;
detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity;
when the number of the close-range WIFI is larger than 1, calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning;
when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first midpoint or the quantity of the short-distance WIFI is not more than 1, calculating second midpoints of all WIFI according to the longitude and latitude coordinates, calculating an average distance between all WIFI and the second midpoints, and if the point smaller than the average distance is judged to have the short-distance WIFI, selecting the short-distance WIFI with the maximum strength as a positioning point to finish positioning; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
As a preferred scheme, the specific step of calculating the third midpoint as a positioning point through all the WIFI with less than the average distance and ending the positioning includes:
and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
As a preferred scheme, when the signal intensity of WIFI exceeds a preset signal mutation value, the WIFI is determined to be a long-distance WIFI; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
Preferably, the preset quantity proportion is 50%.
The embodiment of the invention also provides a multi-WIFI rapid positioning device, which comprises:
the coordinate acquisition module is used for acquiring longitude and latitude coordinates of all WIFI in the target area;
the signal intensity module is used for detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity;
the first positioning module is used for calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates when the number of the close-range WIFI is larger than 1; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning;
the second positioning module is used for calculating second middle points of all WIFI according to the longitude and latitude coordinates when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first middle point or when the quantity of the short-distance WIFI is not more than 1, calculating the average distance between all WIFI and the second middle points, and selecting the short-distance WIFI with the maximum intensity as a positioning point to finish positioning if the point which is less than the average distance is judged to have the short-distance WIFI; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
As a preferred scheme, the second positioning module is configured to calculate a third midpoint as a positioning point through all WIFI with a distance less than an average distance, and end the positioning specific steps, including:
and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
As a preferred scheme, in the specific step of dividing all the WIFI into short-distance WIFI and long-distance WIFI, when the signal intensity of the WIFI exceeds a preset signal mutation value, the WIFI is determined to be the long-distance WIFI; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
Preferably, the preset quantity proportion is 50%.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; wherein the computer program, when running, controls a device on which the computer-readable storage medium is located to perform any one of the above-mentioned multiple WIFI fast positioning methods.
An embodiment of the present invention further provides a terminal device, which includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, where the processor, when executing the computer program, implements the multi-WIFI fast positioning method according to any one of the above items.
Compared with the prior art, the embodiment of the invention has the following beneficial effects:
according to the method, the WIFI is divided into the short-distance WIFI and the long-distance WIFI, error points are quickly eliminated by combining the distances between each point and the middle point, and the distance is calculated through the longitude and the latitude, so that the technical problem that the WIFI positioning efficiency is low due to the fact that the calculated amount of the existing multi-WIFI positioning scheme is large is solved, the calculated amount is greatly reduced, the fault tolerance rate is improved, and the multi-WIFI quick positioning is further realized.
Drawings
FIG. 1: the method is a flow chart of steps of the multi-WIFI rapid positioning method in the embodiment of the invention;
FIG. 2: the method is a schematic diagram of steps of the multi-WIFI rapid positioning method in the embodiment of the invention;
FIG. 3: the non-linear relationship between the wireless signal and the distance in the embodiment of the invention is shown.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, 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 invention.
Referring to fig. 1 to 3, a preferred embodiment of the present invention provides a multi-WIFI fast positioning method, including:
and S1, acquiring longitude and latitude coordinates of all WIFI in the target area.
S2, detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity; in this embodiment, when the signal intensity of the WIFI exceeds a preset signal mutation value, it is determined as a distant WIFI; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
S3, when the number of the close-range WIFI is larger than 1, calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning; in the present embodiment, the predetermined quantity ratio is 50%.
S4, when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first midpoint or the quantity of the short-distance WIFI is not more than 1, calculating second midpoints of all WIFI according to the longitude and latitude coordinates, calculating an average distance between all WIFI and the second midpoints, and if the point smaller than the average distance is judged to have the short-distance WIFI, selecting the short-distance WIFI with the maximum intensity as a positioning point, and ending positioning; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
In this embodiment, the specific step of calculating the third midpoint as the positioning point through all the WIFI with less than the average distance and ending the positioning includes: and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
The technical solution of the present invention will be described in detail with reference to the following specific examples.
The method can be applied to positioning of the child watch, the watch can be quickly and accurately positioned by the method after being collected to nearby wifi, and complex transportation is not needed. Firstly, acquiring coordinates of all wifi; the wifi information received in the positioning process is as the following table 1:
| serial number | Mac address of wifi | Signal strength (db) | Resolved |
| 1 | c0:f4:e6:74:70:38 | -62 | 23.1433173,113.3456006 |
| 2 | c0:f4:e6:74:70:3d | -62 | 23.143336,113.3454183 |
| 3 | 00:22:6d:0c:b2:92 | -76 | 23.1429625,113.3454267 |
| 4 | be:54:fc:92:2c:8a | -78 | 23.1455173,113.3472892 |
| 5 | b0:95:8e:cf:65:c6 | -78 | 23.1411646,113.3482666 |
TABLE 1 Wifi information Table
The signal is larger than the catastrophe point and is divided into short-distance wifi and long-distance wifi. For signal discontinuities, please refer to fig. 3; the wireless signal is non-linear with distance, the signal decays slowly after a certain signal strength, and the point is an acceptable deviation from the actual distance for general positioning requirements. The relational formula of the wifi signal and the propagation distance is as follows: lbf-32.44 +20lgd +20 lgf. In FIG. 3, the abscissa is the signal strength (unit: -db) and the ordinate is the distance (unit: meter). The distance is about 200 meters from the signal source when the signal strength is about 70 meters (the actual transmission condition is influenced by various factors such as shelters, weather environment and the like, some fine adjustment can be made, but the principle is not influenced). Thus, the wifi actual distance of the signal strength is within 100 meters in consideration of various factors during actual use. The located device can be considered to be located near the wifi, the wifi longitude and latitude can be directly used as the location position, comprehensive calculation of a plurality of wifi coordinates is not needed, and the process is very efficient and fast. Since the preset signal mutation value is in the numerical range of-68 db to-71 db, the signal mutation point is set to be-69 db according to the above theory and application requirements, two wifi signals are determined to be stronger than-69 db according to the analysis process, and the two wifi signals are determined to be strong distance wifi and are wifi signals with serial numbers of 1 and 2 respectively. The gps coordinates are found through coordinate query to be respectively: point gps of sequence number 1: 23.1433173,113.3456006, respectively; point gps for sequence number 2: 23.143336,113.3454183.
Then, if the number of the short-distance wifi is more than one, calculating the midpoint of the short-distance wifi, and taking one of the strongest close points as the positioning when most of the short-distance wifi is close to the midpoint, and ending the positioning. If the number of the short-distance WIFI is not more than one, or most of the short-distance WIFI is not close to the midpoint, continuously accumulating and calculating the midpoints of all the WIFI, calculating the average distance between all the WIFI and the midpoint, and selecting the short-distance WIFI with the maximum intensity as a positioning point when judging that the short-distance WIFI exists at the point smaller than the average distance, and ending positioning; otherwise, calculating the midpoint between the WIFI and the positioning point through all WIFI with the average distance smaller than the average distance to serve as the positioning point, and finishing positioning. Since the serial number 1 and the serial number 2 are very close in the embodiment. So we directly use one of the points, the point with sequence number 1. The actual location of the device is 23.143500,113.3456500. The result deviates less than 50 meters from the calculated position. Can meet the requirements of practical application.
The invention can quickly eliminate error points through the proximity degree of each point and the midpoint, and the calculation amount is greatly reduced compared with the traditional multipoint comparison scheme. The invention directly calculates through longitude and latitude, not the actual distance; because the purpose of the calculation is to exclude wifi of wrong geographical location, not for accurate positioning; it is possible to calculate the degree of deviation without converting the latitude and longitude into an actual distance by complicated calculation.
After the WIFI positioning is finished, the equipment is used as a slave machine to broadcast a connectable broadcast to the mobile phone; after discovering the equipment, the mobile phone initiates connection to the equipment; the device receives the connection request and knows that the device is short of the mobile phone; the device discards the connection or rejects the connection. (As a variant, the device can be disconnected immediately after connection, without affecting the constitution of the patent). The above process can be cycled periodically so that the device can continuously know whether the device is in the short distance of the mobile phone.
According to the method, the WIFI is divided into the short-distance WIFI and the long-distance WIFI, error points are quickly eliminated by combining the distances between each point and the middle point, and the distance is calculated through the longitude and the latitude, so that the technical problem that the WIFI positioning efficiency is low due to the fact that the calculated amount of the existing multi-WIFI positioning scheme is large is solved, the calculated amount is greatly reduced, the fault tolerance rate is improved, and the multi-WIFI quick positioning is further realized.
Correspondingly, the embodiment of the invention also provides a multi-WIFI fast positioning device, which comprises:
and the coordinate acquisition module is used for acquiring longitude and latitude coordinates of all WIFI in the target area.
The signal intensity module is used for detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity; in this embodiment, in the specific step of dividing all the WIFI into the short-distance WIFI and the long-distance WIFI, when the signal intensity of the WIFI exceeds a preset signal mutation value, the WIFI is determined to be the long-distance WIFI; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
The first positioning module is used for calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates when the number of the close-range WIFI is larger than 1; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning; in the present embodiment, the predetermined quantity ratio is 50%.
The second positioning module is used for calculating second middle points of all WIFI according to the longitude and latitude coordinates when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first middle point or when the quantity of the short-distance WIFI is not more than 1, calculating the average distance between all WIFI and the second middle points, and selecting the short-distance WIFI with the maximum intensity as a positioning point to finish positioning if the point which is less than the average distance is judged to have the short-distance WIFI; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
In this embodiment, the second positioning module is configured to calculate a third midpoint as a positioning point through all WIFI with a distance less than the average distance, and end the specific step of positioning, including: and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
An embodiment of the present invention further provides a computer-readable storage medium, where the computer-readable storage medium includes a stored computer program; when running, the computer program controls a device on which the computer-readable storage medium is located to execute the multi-WIFI fast positioning method according to any one of the above embodiments.
An embodiment of the present invention further provides a terminal device, where the terminal device includes a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, and the processor, when executing the computer program, implements the multi-WIFI fast positioning method according to any of the above embodiments.
Preferably, the computer program may be divided into one or more modules/units (e.g., computer program) that are stored in the memory and executed by the processor to implement the invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used for describing the execution process of the computer program in the terminal device.
The Processor may be a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, a discrete Gate or transistor logic device, a discrete hardware component, etc., the general purpose Processor may be a microprocessor, or the Processor may be any conventional Processor, the Processor is a control center of the terminal device, and various interfaces and lines are used to connect various parts of the terminal device.
The memory mainly includes a program storage area and a data storage area, wherein the program storage area may store an operating system, an application program required for at least one function, and the like, and the data storage area may store related data and the like. In addition, the memory may be a high speed random access memory, may also be a non-volatile memory, such as a plug-in hard disk, a Smart Memory Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), and the like, or may also be other volatile solid state memory devices.
It should be noted that the terminal device may include, but is not limited to, a processor and a memory, and those skilled in the art will understand that the terminal device is only an example and does not constitute a limitation of the terminal device, and may include more or less components, or combine some components, or different components.
The above-mentioned embodiments are provided to further explain the objects, technical solutions and advantages of the present invention in detail, and it should be understood that the above-mentioned embodiments are only examples of the present invention and are not intended to limit the scope of the present invention. It should be understood that any modifications, equivalents, improvements and the like, which come within the spirit and principle of the invention, may occur to those skilled in the art and are intended to be included within the scope of the invention.
Claims (10)
1. A multi-WIFI fast positioning method is characterized by comprising the following steps:
acquiring longitude and latitude coordinates of all WIFI in a target area;
detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity;
when the number of the close-range WIFI is larger than 1, calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning;
when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first midpoint or the quantity of the short-distance WIFI is not more than 1, calculating second midpoints of all WIFI according to the longitude and latitude coordinates, calculating an average distance between all WIFI and the second midpoints, and if the point smaller than the average distance is judged to have the short-distance WIFI, selecting the short-distance WIFI with the maximum strength as a positioning point to finish positioning; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
2. The multi-WIFI fast positioning method of claim 1, wherein said specific step of calculating the third midpoint as the positioning point through all WIFI less than the average distance, and ending the positioning, includes:
and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
3. The multi-WIFI fast positioning method of claim 1, wherein when the signal strength of WIFI exceeds a preset signal mutation value, it is determined as distant WIFI; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
4. The multi-WIFI fast location method of claim 1, wherein said predetermined number ratio is 50%.
5. The utility model provides a many WIFI quick positioner which characterized in that includes:
the coordinate acquisition module is used for acquiring longitude and latitude coordinates of all WIFI in the target area;
the signal intensity module is used for detecting the signal intensity of all WIFI, and dividing all WIFI into short-distance WIFI and long-distance WIFI according to the signal intensity;
the first positioning module is used for calculating first midpoints of all close-range WIFI according to the longitude and latitude coordinates when the number of the close-range WIFI is larger than 1; when the short-distance WIFI within the preset distance value range of the first midpoint exceeds a preset quantity proportion, determining the short-distance WIFI with the maximum signal intensity in the short-distance WIFI exceeding the certain quantity proportion as a positioning point, and ending positioning;
the second positioning module is used for calculating second middle points of all WIFI according to the longitude and latitude coordinates when the short-distance WIFI is not more than a preset quantity proportion in a preset distance value range of the first middle point or when the quantity of the short-distance WIFI is not more than 1, calculating the average distance between all WIFI and the second middle points, and selecting the short-distance WIFI with the maximum intensity as a positioning point to finish positioning if the point which is less than the average distance is judged to have the short-distance WIFI; and otherwise, calculating a third midpoint as a positioning point through all WIFI with the average distance smaller than the average distance, and ending the positioning.
6. The multi-WIFI fast positioning apparatus of claim 5, wherein the second positioning module is configured to calculate a third midpoint as a positioning point through all WIFI with less than average distance, and the specific step of ending positioning includes:
and calculating the distances between all the WIFI and the second midpoint, determining the WIFI of which the distance is smaller than the average distance, calculating a third midpoint serving as a positioning point according to the longitude and latitude coordinates of the WIFI of which the distance is smaller than the average distance, and finishing positioning.
7. The multi-WIFI fast positioning apparatus of claim 5, wherein said signal strength module is configured to determine, in the specific step of dividing all WIFI into near-range WIFI and far-range WIFI, that is far-range WIFI when the signal strength of WIFI exceeds a preset signal-sudden-change value; when the signal intensity of the WIFI does not exceed a preset signal mutation value, determining the WIFI as a close-range WIFI; the preset signal mutation value ranges from-68 db to-71 db.
8. The multi-WIFI fast locator device of claim 5 wherein said predetermined quantity ratio is 50%.
9. A computer-readable storage medium, characterized in that the computer-readable storage medium comprises a stored computer program; wherein the computer program, when executed, controls an apparatus in which the computer-readable storage medium is located to perform the multi-WIFI fast positioning method of any one of claims 1-4.
10. A terminal device comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, the processor implementing the multi-WIFI fast positioning method of any one of claims 1-4 when executing the computer program.
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