CN112218239B - Position determination method, position determination device, computer equipment and storage medium - Google Patents
Position determination method, position determination device, computer equipment and storage medium Download PDFInfo
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- CN112218239B CN112218239B CN202010923944.1A CN202010923944A CN112218239B CN 112218239 B CN112218239 B CN 112218239B CN 202010923944 A CN202010923944 A CN 202010923944A CN 112218239 B CN112218239 B CN 112218239B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
Abstract
The application relates to a position determination method, a position determination device, computer equipment and a storage medium. The method comprises the following steps: acquiring an initial position of a terminal in a target area, wherein the initial position is determined by matching signal parameters emitted by signal emitters scanned in the target area by the terminal with position fingerprints of the target area; when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the orientation of each particle at the previous moment in a plurality of particles added in the preset range of the initial position; in the weight of the previous moment of each particle, adjusting the weight of the particle in a non-passing area in a target area to be zero to obtain the weight of the next moment of each particle; and determining the final position of the terminal in the target area according to the weight of the next moment of each particle and the position of the next moment of each particle. The method can improve the accuracy of indoor positioning.
Description
Technical Field
The present application relates to the field of location information processing technologies, and in particular, to a location determining method, an apparatus, a computer device, and a storage medium.
Background
With the development of communication technology, signal data positioning technology has emerged. Signal data location technology, which is mainly used for indoor location, determines a position by using signal transmission between a signal transmitter and a signal receiver.
In the conventional technology, signal data of a plurality of point locations are usually collected in advance as fingerprints, and then in actual positioning, the position fingerprints, real-time signal data and inertial measurement unit data are fused by using a filter to perform indoor positioning. However, the position fingerprints obtained by the traditional method for constructing the position fingerprints at fixed points are often discrete, and a jitter problem occurs in the process of filter fusion.
Therefore, with the conventional technique, the accuracy of positioning is not high.
Disclosure of Invention
In view of the above, it is necessary to provide a position determining method, apparatus, computer device and storage medium capable of improving positioning accuracy.
A method of position determination, the method comprising:
acquiring an initial position of a terminal in a target area, wherein the initial position is determined by matching signal parameters emitted by signal emitters scanned in the target area by the terminal with position fingerprints of the target area;
when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in the preset range of the initial position;
in the weight of the previous moment of each particle, adjusting the weight of the particle in a non-passing area in the target area to be zero to obtain the weight of the next moment of each particle;
and determining the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment.
In one embodiment, in the weighting at a time on each particle, the adjusting the weighting of the particle located in the non-passing region in the target region to zero further includes:
and acquiring and determining a non-passing area in the target area according to the plan view of the target area.
In one embodiment, the determining, according to the position and the orientation of the particle at the time on the particle in the plurality of particles added within the preset range of the initial position, the position of the particle at the next time includes:
obtaining a step length corresponding to each particle, wherein the step length is the step length detected when a user carrying the terminal walks;
and determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in the plurality of particles added in the preset range of the initial position and the step length corresponding to each particle.
In one embodiment, the method further comprises:
when signal parameters transmitted by the signal transmitters scanned at the previous moment are received, acquiring the position of each particle at the previous moment in the plurality of particles added at the initial position;
matching the position of each particle at a moment with the position fingerprint of the target area to determine a signal parameter set corresponding to each particle;
determining the signal similarity corresponding to each particle according to the signal parameter set corresponding to each particle and the signal parameters emitted by each signal emitter scanned at the previous moment;
multiplying the signal similarity corresponding to each particle by the weight of the particle at the previous moment to obtain the weight of the particle at the next moment;
and determining the final position of the terminal in the target area according to the weight of the next moment of each particle and the position of the last moment of each particle.
In one embodiment, determining the final position of the terminal in the target region according to the weight of each particle at the next time and the position of each particle at the next time comprises:
resampling each particle, and replacing the weight of each particle at the next moment with the weight of each particle after resampling;
and determining the final position of the terminal in the target area according to the weight of each particle after resampling and the position of each particle at the next moment.
In one embodiment, the signal parameter comprises a signal strength; the acquiring of the initial position of the terminal in the target area includes:
acquiring the signal intensity emitted by each signal emitter scanned in the target area by the terminal, and selecting the identification of the target signal emitter of which the signal intensity meets the preset intensity condition from each signal emitter;
searching a first grid where the signal intensity transmitted by the target signal transmitter is located in a plurality of grids in the target area according to the identification of the target signal transmitter;
determining the signal intensity similarity corresponding to the first grid according to the signal intensity set associated with the first grid and the signal intensity emitted by each signal emitter scanned in the target area by the terminal;
and selecting a second grid with the signal strength similarity meeting a preset similarity condition from the first grid, and determining the initial position of the terminal in the target area according to the position information of the second grid.
In one embodiment, selecting a second grid from the first grids, where the signal strength similarity satisfies a preset similarity condition, and determining an initial position of the terminal in the target area according to position information of the second grid includes:
selecting the second grids which are positioned at the first N times after the signal intensity similarity is sorted in a descending order from the first grids, wherein N is a positive integer;
clustering the N second grids according to preset positions in the second grids, and determining the second grids in each cluster;
calculating the average signal intensity similarity of the second grids in each class group according to the signal intensity similarity corresponding to each second grid;
and selecting the target cluster with the average signal intensity similarity meeting the preset condition from each cluster, and determining the initial position of the terminal in the target area according to the position information of the second grid in the target cluster.
In one embodiment, the generating of the location fingerprint of the target area comprises:
acquiring first signal parameters emitted by each Bluetooth emitter scanned in the target area by a signal receiver, and scanning positions of the signal receiver when the first signal parameters are scanned, wherein the first signal parameters are distributed at discrete scanning positions in the target area;
performing regression analysis on the first signal parameters and the scanning positions corresponding to the first signal parameters to obtain signal parameter distribution corresponding to each signal emitter;
and fusing the second signal parameters in the signal parameter distribution according to the position information associated with the second signal parameters in the signal parameter distribution to obtain the position fingerprint of the target area.
A position determination apparatus, the apparatus comprising:
an initial position acquisition module, configured to acquire an initial position of a terminal in a target area, where the initial position is determined by matching signal parameters transmitted by signal transmitters scanned by the terminal in the target area with a position fingerprint of the target area;
the particle position determining module is used for determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in a preset range where the initial position is located when the terminal is detected to move;
a particle weight adjusting module, configured to adjust, to zero, a weight of a particle located in a non-passing region in the target region in a weight of a previous time of each particle, so as to obtain a weight of each particle at a next time;
and the final position determining module is used for determining the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment.
A computer device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring an initial position of a terminal in a target area, wherein the initial position is determined by matching signal parameters emitted by signal emitters scanned in the target area by the terminal with position fingerprints of the target area;
when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in the preset range of the initial position;
in the weight of the previous moment of each particle, adjusting the weight of the particle in a non-passing area in the target area to be zero to obtain the weight of the next moment of each particle;
and determining the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring an initial position of a terminal in a target area, wherein the initial position is determined by matching signal parameters emitted by signal emitters scanned in the target area by the terminal with position fingerprints of the target area;
when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in the preset range of the initial position;
in the weight of the previous moment of each particle, adjusting the weight of the particle in a non-passing area in the target area to be zero to obtain the weight of the next moment of each particle;
and determining the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment.
The method, the device, the computer equipment and the storage medium for determining the position firstly acquire the initial position of the terminal in the target area determined by matching the signal parameters emitted by each signal emitter scanned in the target area by the terminal with the position fingerprint of the target area, then determine the position of each particle at the next moment according to the position and the orientation of each particle at the previous moment in a plurality of particles added in the initial position when the terminal moves, then adjust the weight of the particles in the non-passing area in the target area to be zero, and keep the weight of the particles in the passing area unchanged to obtain the weight of each particle at the next moment, and finally determine the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment. Therefore, the method and the device determine a rough initial position according to the signal parameters and the position fingerprints, adopt a particle filtering method, adjust the weight of the particles in the non-passing area to zero, and reduce the probability of positioning to some unreasonable areas, so that the final position determined by the state parameters of the particles is more accurate, and the stability, effectiveness and accuracy of the positioning result are improved.
Drawings
FIG. 1 is a schematic flow chart diagram of a method for location determination in one embodiment;
FIG. 2 is a schematic flow chart illustrating a complementary scheme for determining a position of each particle at a next time based on a position and an orientation of each particle at a time instant in a plurality of particles added at an initial position in one embodiment;
FIG. 3 is a block diagram of the structure of a position determining apparatus in one embodiment;
FIG. 4 is a diagram illustrating an internal structure of a computer device according to an embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
In an embodiment, as shown in fig. 1, a location determining method is provided, and this embodiment is illustrated by applying the method to a terminal, and it is to be understood that the method may also be applied to a server, and may also be applied to a system including the terminal and the server, and is implemented by interaction between the terminal and the server. In this embodiment, the method includes the steps of:
step S202, acquiring the initial position of the terminal in the target area.
The initial position is determined by matching the signal parameters emitted by each signal emitter scanned in the target area by the terminal with the position fingerprint of the target area. A location fingerprint of a target area consists of a set of signal parameters associated with each location in the target area.
Specifically, when the terminal is used for positioning, the terminal scans signal parameters transmitted by each signal transmitter in a target area through an installed signal receiver, and because the signal parameters are transmitted by a plurality of signal transmitters, different signal parameters transmitted by a plurality of signal transmitters exist at each position in the target area, that is, a set of signal parameter sets corresponds to each position. After the terminal scans the signal parameters transmitted by each signal transmitter in the target area, a signal parameter set corresponding to each position in the target area is determined, and the signal parameter set corresponding to each position in the target area is matched with the signal parameter set associated with each position contained in the position fingerprint of the target area, wherein the matching mode can be that the similarity between the signal parameters is calculated, so that the initial position of the terminal in the target area is determined based on the similarity. In one embodiment, the terminal determines the position information associated with the signal parameter set in the position fingerprint with the highest similarity as the initial position of the terminal in the target area.
And step S204, when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in the plurality of particles added in the preset range of the initial position.
Specifically, in this step, a particle filtering method is used to achieve positioning. Therefore, it is necessary to add a plurality of particles to a state space corresponding to the initial position of the terminal, so that the final position of the terminal can be calculated from the state parameters of the respective particles. When the terminal is detected to move, the terminal determines the position of each particle at the next moment according to the position and the orientation of each particle at the previous moment in a plurality of particles added in a preset range where the initial position is located. To achieve real-time positioning, in one embodiment, determining the position of each particle at the next time is determining the position of each particle at the current time, and then the position and orientation of each particle at the previous time is determining the position and orientation of each particle at the previous time.
In step S206, the weight of the particle in the non-passing region in the target region is adjusted to zero in the weight of the previous time of each particle, and the weight of the next time of each particle is obtained.
Specifically, in order to reduce the adverse effect of the non-passing area on the positioning result and to cause the positioning to be in the unreasonable area, the terminal adjusts the weight of the particle located in the non-passing area to zero in the weight of the particle at the previous time, and obtains the weight of the particle at the next time while keeping the weight of the particle located in the passable area unchanged. By adjusting the weight of the particles, the probability of locating unreasonable areas can be effectively reduced.
Optionally, in an embodiment, the terminal adjusts the weight of the particle located in the non-passing region to zero in the weight of the previous time of each particle, to obtain an initial weight of the next time of each particle; and then normalizing the initial weight of each particle at the next moment to obtain the weight of each particle at the next moment.
In one embodiment, step S206 is preceded by: and determining a non-passing area in the target area according to the plan view of the target area. Specifically, the terminal obtains a plan view of the target area, and determines a non-passing area such as a wall, a hollow area and the like from the plan view. In one embodiment, the plan view contains a no-pass identification, and the terminal identifies the no-pass area by identifying the no-pass identification. Optionally, the plan view comprises a CAD drawing.
Step S208, the final position of the terminal in the target area is determined according to the weight of the next moment of each particle and the position of the next moment of each particle.
Specifically, the terminal calculates a final position of the terminal in the target area according to the weight of each particle at the next time and the position of each particle at the next time. In one embodiment, the final position of the terminal may be calculated by the following formula:
where E (x), E (y) denote the final position of the terminal, x i ,y i Indicates the position, ω, of the ith particle at the next time i Representing the weight of the ith particle at the next time instant.
In the position determining method, an initial position of a terminal in a target area determined by matching signal parameters emitted by each signal emitter scanned in the target area by the terminal with a position fingerprint of the target area is obtained, then when the terminal moves, the position of each particle at the next moment is determined according to the position and the orientation of each particle at the previous moment in a plurality of particles added at the initial position, then the weight of the particles in a non-passing area in the target area is adjusted to be zero, the weight of the particles in a passing area is kept unchanged, the weight of each particle at the next moment is obtained, and finally the final position of the terminal in the target area is determined according to the weight of each particle at the next moment and the position of each particle at the next moment. Therefore, the method determines a rough initial position according to the signal parameters and the position fingerprints, and then adopts a particle filtering method, and meanwhile, the weight of the particles in the non-passing area is adjusted to be zero, so that the probability of positioning to some unreasonable areas is reduced, the final position determined by the state parameters of each particle is more accurate, and the stability, effectiveness and accuracy of the positioning result are improved.
In the above embodiment, the entire process from step S204 to step S206 may be understood as the process of motion update. As the name implies, motion update refers to updating the positioning result when the terminal moves.
In one embodiment, the terminal adds N particles according to a preset rule near the initial position. Optionally, the value of N is any one of 500 to 1000. Wherein each particle corresponds to four state parameters [ x, y, θ, ω ], where [ x, y ] represents a position in the target region, θ represents an orientation in the target region, and ω represents a weight of the particle. When adding particles, the state parameters of the particles are distributed as uniformly as possible in the state space within 15 meters of the initial position and 60 degrees of the initial magnetometer, so that all particles have the same weight, i.e. ω =1/N.
In one embodiment, as shown in fig. 2, one possible implementation involves determining the position of each particle at the next instant in time based on the position and orientation of each particle at the previous instant in time in the plurality of particles added at the initial position. On the basis of the above embodiment, step S204 can be specifically implemented by the following steps:
step S2042, when the terminal is detected to move, acquiring a step length corresponding to each particle;
step S2044, determining the position of each particle at the next time according to the position and the direction of each particle at the previous time in the plurality of particles added within the preset range of the initial position and the step length corresponding to each particle.
The step length is detected when a user carrying the terminal walks. The step size may be preset or may be detected in real time.
Specifically, in the motion updating process, after the particle filter for generating the particles is initialized, when the terminal receives data collected by the magnetometer and the inertial measurement unit, the position and the orientation of each particle at the next moment are calculated according to the walking dead reckoning method, the position and the orientation of each particle at the previous moment and the step length corresponding to each particle by the following formula:
x′＝x+(step+n step )*sinθ
y′＝y+(step+n step )*cosθ
θ′＝θ+Δθ+n θ
wherein x, y, θ represent the position and orientation of the particle at a time; x ', y ', θ ' represents the position and orientation of the particle at the next instant in time; step represents the particle pairStep =0 if no terminal movement is detected according to the step length; n is step Representing random noise in the added step size; Δ θ represents an angle change amount obtained by filtering data collected by a magnetometer, a gyroscope, or the like; n is θ Representing random noise added to the angular variation, the purpose of the added noise is to model the error present in the walking dead reckoning process.
In one embodiment, the walking dead reckoning method mainly includes using an Inertial Measurement Unit (IMU) to collect data of acceleration, angular velocity, magnetic force and the like of a user in a traveling process, and calculating the number of steps and the moving direction of a moving user according to the data. Specifically, in the moving process of the user, the left foot and the right foot alternately land on the ground periodically, so that the accelerometer can fluctuate periodically on the acquired data of the inertial measurement unit, and the moving step number can be judged by detecting the wave crest and the wave trough of the accelerometer. In addition, the gyroscope and the magnetometer can determine the moving direction of each step of the user, so that after the user moves one step, the current position of the user can be determined according to the previous position of the user, the moving direction of the user and the step length of the user.
In the embodiment, the position of each particle at the next moment is further determined according to the position and the orientation of each particle at the previous moment and the step length corresponding to each particle, so that the accuracy of determining the position of the particle can be improved, and the accuracy of a positioning result is further improved; and the position fingerprint of the target area, the real-time signal parameters, the inertial measurement unit data, the magnetometer data and the plan view of the target area are fused through particle filtering to determine the positioning result of the terminal, so that the accuracy of the positioning result is effectively improved.
The above embodiment mainly describes the motion update process. In one embodiment, the method further comprises observing the progress of the update. An observation update is an update process that is triggered each time a signal parameter transmitted by a signal transmitter is received. On the basis of the above embodiment, the method further comprises the steps of:
step S212, when receiving the signal parameter emitted by each signal emitter scanned at the previous moment, acquiring the position of each particle at the previous moment in the plurality of particles added at the initial position;
step S214, matching the position of each particle at the previous moment with the position fingerprint of the target area, and determining a signal parameter set corresponding to each particle;
step S216, determining the signal similarity corresponding to each particle according to the signal parameter set corresponding to each particle and the signal parameters emitted by each signal emitter scanned at the previous moment;
step S218, multiplying the signal similarity corresponding to each particle by the weight of the previous time of each particle to obtain the weight of the next time of each particle;
step S220, determining a final position of the terminal in the target area according to the weight of the next time of each particle and the position of the previous time of each particle.
Specifically, each time a new signal parameter transmitted by each signal transmitter is received, the terminal obtains a position of a previous time on each particle in the plurality of particles added at the initial position, searches for a signal parameter set corresponding to the particle matched in the position fingerprint at the previous time according to the position, for example, the signal parameter set may be a bluetooth signal strength sequence, and calculates the signal similarity corresponding to each particle according to the signal parameter set corresponding to each particle and the signal parameter transmitted by each signal transmitter scanned at the previous time by using the following formula:
where σ represents a constant term representing possible errors in the observed signal parameter, and is typically determined using empirical values.
And then multiplying the calculated signal similarity corresponding to each particle by the weight of the previous time of each particle according to a Bayesian rule, and taking the multiplication result as the weight of the next time of each particle, namely omega' = omega scorore. And finally, the terminal normalizes the weights of all the particles, and determines the final position of the terminal in the target area according to the weight of the next moment of each particle and the position of the last moment of each particle. This process is a specific process of observing the update.
In one embodiment, the terminal iteratively alternates the motion update process and the observation update process. Namely, the motion updating process is carried out last time, and the observation updating process is carried out next time.
In one embodiment, the terminal may resample the particles once a motion update or observation update has been performed. On the basis of the above embodiment, step S208 can be specifically implemented by the following steps:
step S2082, resampling each particle, and replacing the weight of each particle at the next moment with the weight of each particle after resampling;
step S2084, determining the final position of the terminal in the target area according to the weight after resampling of each particle and the position of each particle at the next moment.
In another embodiment, step S220 may be specifically implemented by the following steps:
step S2202, resampling each particle, and replacing the weight of each particle at the next time with the weight of each particle after resampling;
in step S2204, the final position of the terminal in the target area is determined based on the weight obtained by resampling each particle and the position of each particle at the next time.
In particular, the purpose of resampling is to remove particles with too low a weight and to add particles with high a weight. In one embodiment, a wheel sampling approach is used in which a high weighted particle corresponds to a larger area in the wheel and then more easily falls on the particle after the wheel is rotated. The terminal performs wheel disc sampling on the particle swarm for N times (N is a positive integer), N new particles can be obtained, and N is guaranteed to be the number of the particles set in the initial period all the time. In the particle group obtained after resampling, the weights of all particles become ω =1/N. After resampling, the final position of the terminal in the target area is weighted and calculated according to the weight after resampling of each particle and the position of each particle at the next moment.
In an embodiment, the signal parameter includes a signal strength, and the step S202 may be specifically implemented by:
step S2022, acquiring the signal intensity emitted by each signal emitter scanned in the target area by the terminal, and selecting the identifier of the target signal emitter with the signal intensity meeting the preset intensity condition from each signal emitter;
step S2024, searching a first grid where the signal intensity transmitted by the target signal transmitter is located in a plurality of grids in the target area according to the identification of the target signal transmitter;
step S2026, determining the signal intensity similarity corresponding to the first grid according to the signal intensity set associated with the first grid and the signal intensity emitted by each signal emitter scanned in the target area by the terminal;
step S2028, selecting a second grid from the first grid, where the signal strength similarity satisfies a preset similarity condition, and determining an initial position of the terminal in the target area according to the position information of the second grid.
In one embodiment, step S2028 includes the steps of:
step S202a, selecting second grids with signal strength similarity positioned in the first N grids after descending order from the first grids;
step S202b, clustering the N second grids according to preset positions in the second grids, and determining the second grids in each cluster;
step S202c, calculating the average signal intensity similarity of the second grids in each cluster according to the signal intensity similarity corresponding to each second grid;
step S202d, selecting a target group with the average signal intensity similarity meeting a preset condition from each group, and determining the initial position of the terminal in the target area according to the position information of the second grid in the target group.
Specifically, the terminal ranks the received signal strengths, finds the identifier of the bluetooth transmitter (e.g., ibeacon) with the strongest signal strength, finds all first grids in the location fingerprint that can observe the signal of the bluetooth transmitter, and calculates the signal strength similarity by using the received signal strengths of all bluetooth transmitters and the signal strength sequence recorded in each first grid according to the following formula:
wherein, score j The signal strength similarity of the signal strength sequence in the jth grid and the signal strength sequence received by the terminal is represented, and the higher the similarity is, the more similar the similarity is indicated; n denotes the number of Bluetooth transmitters received by the terminal, rssi i Indicating the signal strength of the ith Bluetooth transmitter received by the terminal, m i Is the signal strength of the associated bluetooth transmitter in the first grid and is directly set to-100 if no record of that bluetooth transmitter exists in the first grid.
After the calculation with all the first grids is completed, the first N second grids with higher signal strength similarity scores are selected from all the first grids, the N second grids are clustered according to the positions of the central points of the second grids, then the average signal strength similarity of each group is calculated, and the central point of the group with the highest similarity is selected as the initial position of the terminal in the target area.
In this embodiment, considering that the degree of distinction of the signal strength is poor, there may be a problem that the signal strength of the symmetric region is similar, and the signal strength received by the terminal is easily interfered and has a large noise, so that the grid is selected to be clustered and the center point of the group with the highest degree of similarity is selected as the initial position of the terminal in the target region, which is beneficial to reducing adverse effects caused by the foregoing factors, and ensuring the reliability and accuracy of the positioning result.
In one embodiment, the process of generating a location fingerprint of a target area comprises:
step S222, acquiring a first signal parameter emitted by each signal emitter scanned in the target area by the signal receiver, and a scanning position where the signal receiver is located when the first signal parameter is scanned.
The signal receiver scans the first signal parameter transmitted by the signal transmitter at discrete positions when scanning at a preset scanning frequency. That is to say, the first signal parameter is a signal parameter which is distributed over discrete scanning positions in the target region. Signal parameters refer to parameters that characterize the characteristics of a signal. Optionally, the signal parameters include wireless signal parameters, which may be, for example, bluetooth signal parameters, wifi signal parameters, NFC signal parameters, and the like. In one embodiment, taking bluetooth signal parameters as an example, then, the signal receiver is a bluetooth signal receiver and the signal transmitter is a bluetooth signal transmitter. The bluetooth signal transmitter includes a bluetooth beacon.
Specifically, when or after scanning in the target area using the signal receiver, the position fingerprint generation device acquires a first signal parameter transmitted by the signal receiver and transmitted by each signal transmitter scanned in the target area, and the position fingerprint generation device also acquires a scanning position corresponding to the first signal parameter. It will be understood that at each scanning position there corresponds a first signal parameter emitted by at least one signal emitter.
In one embodiment, the signal receiver may be mounted on a mobile robot, and the mobile robot carries the signal receiver to complete the movement in the target area and scan to the first signal parameter. Optionally, the scanning position corresponding to the first signal parameter may be acquired by the mobile robot.
Step S224, performing regression analysis on the first signal parameter and the scanning position corresponding to the first signal parameter to obtain signal parameter distribution corresponding to each signal emitter.
Wherein the second signal parameter is a signal parameter distributed over successive locations in the target area.
Specifically, the position fingerprint generation device performs regression analysis on the first signal parameters transmitted by each signal transmitter and the scanning positions corresponding to the first signal parameters, so as to fit the discrete first signal parameters into continuous second signal parameters, and the signal parameter distribution obtained after the regression analysis includes the second signal parameters and the associated position information. It will be appreciated that at successive locations in the target area corresponding to second signal parameters corresponding to at least one signal emitter, the successive second signal parameters effectively improve the integrity and diversity of the signal parameters relative to the discrete first signal parameters.
Optionally, the fitting manner used for performing the regression analysis on the first signal parameter and the corresponding scanning position thereof includes at least one of linear fitting or polynomial fitting.
Step S226, according to the position information associated with the second signal parameter in each signal parameter distribution, the second signal parameter in each signal parameter distribution is fused to obtain the position fingerprint of the target area.
Specifically, the position fingerprint generating device fuses the second signal parameters in each signal parameter distribution according to the position information associated with the second signal parameters in each signal parameter distribution, and the specific process of the fusion is as follows: and superposing the second signal parameters in the signal parameter distribution, so that a group of second signal parameters is associated at each position, each group of second signal parameters comprises the second signal parameters corresponding to at least one signal emitter, and the position fingerprint of the target area is obtained after the second signal parameters are superposed according to the position information.
For example, assume that at location (x) 1 ，y 1 ) Respectively scanning a first signal parameter a transmitted by the signal transmitter A and a first signal parameter B transmitted by the signal transmitter B, and then superposing the first signal parameter a and the first signal parameter B to obtain [ a, B]Thus, by (x) 1 ，y 1 ) Can inquire to [ a, b]. But also for the superposition of the second signal parameters at other locations.
In the position fingerprint generation method, regression analysis is performed on first signal parameters emitted by each signal emitter and corresponding scanning positions of the first signal parameters, which are scanned in a target area by a signal receiver, so that the scanned discrete first signal parameters are fit to continuous second signal parameters, and then the second signal parameters corresponding to each signal emitter are fused according to position information associated with the second signal parameters, so that the position fingerprint of the target area is obtained. It can be understood that the position fingerprint establishes an association relationship between the continuous second signal parameters and each position information in the target region, so that the position information corresponding to the signal parameters can be determined by matching with the position fingerprint based on the subsequently acquired signal parameters, thereby achieving the purpose of positioning. Therefore, the positioning is realized without acquiring the accurate position of the signal emitter, and the positioning mode of signal data is simplified; in addition, the regression analysis is carried out on the first signal parameter and the scanning position corresponding to the first signal parameter, the integrity and diversity of the signal parameter are effectively improved, so that the finally obtained position fingerprint is more accurate, and the positioning accuracy can be improved by using the position fingerprint when positioning.
In one embodiment, the method involves acquiring a first signal parameter transmitted by each signal transmitter scanned in a target area by a signal receiver, and acquiring a scanning position where the signal receiver is located when the first signal parameter is scanned. On the basis of the above embodiment, step S222 may be specifically implemented by the following steps:
step S2222, obtaining a moving track when the signal receiver scans, and scanned scanning data and a timestamp corresponding to the scanning data;
step S2224, according to the time stamp and the moving track, determining the scanning position of the signal receiver when the scanning data is scanned;
step S2226, determining a first signal parameter transmitted by each signal transmitter and a scanning position where the signal receiver is located when the first signal parameter is scanned, according to the scanning position and the identifier of each signal transmitter.
The scanning data scanned by the signal receiver comprises signal parameters transmitted by a plurality of signal transmitters and the identification of each signal transmitter. Optionally, the signal parameters include bluetooth signal strength, wifi signal strength, NFC signal strength, and the like; the identification of the signal transmitter includes the ID of the signal transmitter.
Alternatively, the signal receiver may be mounted on a mobile robot, and the mobile robot may detour in the target area by using a synchronous positioning and mapping method, while the signal receiver scans scanning data transmitted by each surrounding signal transmitter at a preset frequency (e.g., 20Hz or 25 Hz) and records a timestamp of each scanning, so as to establish a corresponding relationship between the scanning data and the timestamp. In addition, the position fingerprint generating device acquires a moving track of the mobile robot when the mobile robot detours through a synchronous positioning and mapping method, and the moving track is also a moving track of the signal receiver during scanning, and the position fingerprint generating device also acquires scanning data of each scanning of the signal receiver during the scanning process and a corresponding timestamp thereof.
Then, the position fingerprint generating equipment judges whether the two data are synchronous during acquisition according to the time stamp corresponding to the moving track and the time stamp corresponding to the scanning data, and if so, the time stamps corresponding to the scanning data are matched in the moving track, so that the scanning position corresponding to the scanning data can be determined; and if the positions are not synchronous, the position fingerprint generating equipment performs interpolation in the moving track according to the time stamps corresponding to the scanning data to determine the scanning positions corresponding to the scanning data. For example, suppose the scanning data corresponds to a time stamp of t 2 And t is 2 Located at two successive times t in the movement path 1 And t 3 And t is 1 And t 3 The respective corresponding positions are (x) 1 ,y 1 ) And (x) 3 ,y 3 ) Then t can be obtained by interpolation in the motion trajectory 2 The corresponding positions are: x is the number of 2 ＝(t 3 -t 2 )/(t 3 -t 1 )*x 1 +(t 2 -t 1 )/(t 3 -t 1 )*x 3 ，y 2 ＝(t 3 -t 2 )/(t 3 -t 1 )*y 1 +(t 2 -t 1 )/(t 3 -t 1 )*y 3 . It can be seen that the interpolation is performed according to the time difference according to the linear motion, but the interpolation performed in the movement trajectory according to the timestamp corresponding to the scanning data can also be implemented by other interpolation methods, such as lagrangian interpolation, and is not limited to the aforementioned interpolation method.
And then, the position fingerprint generating equipment determines the first signal parameters transmitted by each signal transmitter from the scanning data according to the identification of each signal transmitter, and determines the scanning position corresponding to the first signal parameters transmitted by each signal transmitter according to the scanning position corresponding to the scanning data.
In the embodiment of the application, the synchronous positioning and mapping method is adopted to enable the signal receiver to scan the scanning data, the scanning efficiency is higher, and when the moving track and the scanning data are not synchronous in acquisition, the scanning position corresponding to the scanning data is determined by interpolating in the moving track through the timestamp corresponding to the scanning data, so that the finally determined corresponding relation between the first signal parameter and the scanning position is more accurate, and the accuracy of the generated position fingerprint of the target area is improved.
In order to reduce the complexity of the calculation and the redundant data generated in the regression analysis, in one embodiment, the step S226 may be specifically implemented by the following steps:
step S2262, dividing the target area into a plurality of grids;
step S2264, matching the preset position in each grid with position information associated with the second signal parameter in each signal parameter distribution to determine a third signal parameter corresponding to each signal transmitter;
and step S2266, fusing third signal parameters corresponding to the signal transmitters to obtain the position fingerprint of the target area.
Specifically, the position fingerprint generation device performs regression analysis on the first signal parameter transmitted by each signal transmitter and the scanning position corresponding to the first signal parameter, and fits the first signal parameter to obtain the signal parameter distribution corresponding to each signal transmitter. After the signal parameter distribution is obtained, the position fingerprint generation device divides the target area into a plurality of grids with a preset resolution (for example, 0.5 meter or 1 meter), acquires preset position information in each grid, and further matches the preset position in each grid with position information associated with the second signal parameter in each signal parameter distribution to obtain a third signal parameter corresponding to each signal emitter. As can be seen, the third signal parameter is a signal parameter corresponding to a preset position in each of the grids.
In one embodiment, a location fingerprint generation device divides a target area into a plurality of two-dimensional grids. In one embodiment, the position fingerprint generation device obtains a center point position of each grid, matches the center point position in each grid with position information associated with the second signal parameter in each signal parameter distribution, and obtains a third signal parameter corresponding to each signal emitter.
Further, the signal parameter distribution corresponding to each signal emitter may be determined by a regression analysis model obtained by regression analysis, wherein the model may be represented as y = f (x), x represents a position in the target region, and y represents the second signal parameter. And then, the position fingerprint generating equipment inputs the central point position of each grid into the regression analysis model, and the third signal parameter corresponding to each signal transmitter can be determined.
In the embodiment of the application, the target area is divided into the grids, and the signal parameter of the preset position in the grids is selected as the third signal parameter, so that the calculation amount of generating the position fingerprint can be reduced, the calculation overhead is reduced, and the generation rate is improved.
In one embodiment, a possible implementation of the regression analysis of the first signal parameter and its corresponding scan position to obtain the signal parameter distribution corresponding to each signal emitter is involved. On the basis of the above embodiment, step S224 can be specifically implemented by the following steps:
step S224a, fitting the first signal parameter and the corresponding scanning position thereof by using a gaussian process regression method to obtain signal parameter distribution corresponding to each signal emitter.
Where gaussian process regression is a nonparametric model that uses gaussian process priors to perform regression analysis on the data.
Specifically, the position fingerprint generation device performs gaussian process regression on the first signal parameter transmitted by each signal transmitter and the scanning position corresponding to the first signal parameter, and fits the first signal parameter to obtain a gaussian process regression model corresponding to each signal transmitter. Wherein the gaussian process regression model may be represented as y = f (x), x representing a position in the target region, y representing the second signal parameter. Furthermore, the position fingerprint generation device can determine the signal parameter distribution of each signal transmitter according to the Gaussian process regression model. Optionally, the first signal parameter comprises a first bluetooth signal strength and the second signal parameter comprises a second bluetooth signal strength.
In the embodiment of the application, the discrete first signal parameters are fit into the continuous second signal parameters by adopting a Gaussian process regression method, the fitting accuracy is higher, and the accuracy of the position fingerprint of the target area is further improved.
In one embodiment, taking the signal transmitters as bluetooth beacons as an example, when determining the signal parameter distribution corresponding to each signal transmitter, when the signal parameter is the bluetooth signal strength, considering that the bluetooth signal strength emitted by the bluetooth beacon is usually-40 db to-100 db, for a location where the bluetooth signal strength emitted by the bluetooth beacon cannot be received, the bluetooth signal strength corresponding to the location of the bluetooth beacon is set to-105 db, which is used to characterize that the bluetooth signal strength emitted by the bluetooth beacon cannot be received at the location. Therefore, denser and complete position fingerprints can be constructed, and quick positioning is facilitated.
It should be understood that although the various steps in the flow charts of fig. 1-2 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 1-2 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
In one embodiment, as shown in fig. 3, there is provided a position determining apparatus including: an initial position determination module 302, a particle position determination module 304, a particle weight adjustment module 306, and a final position determination module 308, wherein:
the initial position obtaining module 302 is configured to obtain an initial position of the terminal in the target area, where the initial position is determined by matching signal parameters transmitted by each signal transmitter scanned by the terminal in the target area with a position fingerprint of the target area;
the particle position determining module 304 is configured to, when it is detected that the terminal moves, determine a position of each particle at a next time according to a position and an orientation of each particle at a previous time in a plurality of particles added within a preset range where the initial position is located;
the particle weight adjusting module 306 is configured to adjust the weight of the particle located in the non-passing region in the target region to zero in the weight of the previous time of each particle, so as to obtain the weight of the next time of each particle;
the final position determining module 308 is configured to determine a final position of the terminal in the target area according to the weight of each particle at the next time and the position of each particle at the next time.
In the position determining device, an initial position of a terminal in a target area determined by matching signal parameters emitted by each signal emitter scanned in the target area by the terminal with a position fingerprint of the target area is acquired, then when the terminal moves, a position of each particle at a next moment is determined according to a position and an orientation of each particle at a previous moment in a plurality of particles added at the initial position, then a weight of the particle in a non-passing area in the target area is adjusted to be zero, while the weight of the particle in a passing-capable area is kept unchanged, the weight of each particle at the next moment is obtained, and finally a final position of the terminal in the target area is determined according to the weight of each particle at the next moment and the position of each particle at the next moment. Therefore, the method determines a rough initial position according to the signal parameters and the position fingerprints, and then adopts a particle filtering method, and meanwhile, the weight of the particles in the non-passing area is adjusted to be zero, so that the probability of positioning to some unreasonable areas is reduced, the final position determined by the state parameters of each particle is more accurate, and the stability, effectiveness and accuracy of the positioning result are improved.
In an embodiment, the particle position determining module 304 is specifically configured to, when it is detected that the terminal moves, obtain a step size corresponding to each particle, where the step size is a step size detected when a user carrying the terminal walks; and determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in the plurality of particles added in the preset range of the initial position and the step length corresponding to each particle.
In one embodiment, the apparatus further comprises: a position acquisition module (not shown), a matching module (not shown), a similarity calculation module (not shown), and a multiplication module (not shown), wherein,
the position acquisition module is used for acquiring the position of each particle at a moment in a plurality of particles added at an initial position when receiving signal parameters transmitted by each signal transmitter scanned at the last moment;
the matching module is used for matching the position of each particle at the previous moment with the position fingerprint of the target area to determine a signal parameter set corresponding to each particle;
the similarity calculation module is used for determining the signal similarity corresponding to each particle according to the signal parameter set corresponding to each particle and the signal parameters emitted by each signal emitter scanned at the previous moment;
the multiplying module is used for multiplying the signal similarity corresponding to each particle with the weight of the previous moment of each particle to obtain the weight of the next moment of each particle;
the final position determining module 308 is further configured to determine a final position of the terminal in the target area according to the weight of the next time of each particle and the position of the last time of each particle.
In one embodiment, the final position determining module 308 is specifically configured to resample each particle, and replace the weight of each particle at the next time with the weight of each particle after resampling; and determining the final position of the terminal in the target area according to the weight after resampling of each particle and the position of each particle at the next moment.
In an embodiment, the initial position obtaining module 302 is specifically configured to obtain signal strengths of signals emitted by signal emitters scanned in a target area by a terminal, and select an identifier of the target signal emitter, of which the signal strength meets a preset strength condition, from the signal emitters; searching a first grid in which the signal intensity transmitted by the target signal transmitter is positioned in a plurality of grids in the target area according to the identification of the target signal transmitter; determining the signal intensity similarity corresponding to the first grid according to the signal intensity set associated with the first grid and the signal intensity emitted by each signal emitter scanned in the target area by the terminal; and selecting a second grid from the first grid, wherein the signal intensity similarity meets a preset similarity condition, and determining the initial position of the terminal in the target area according to the position information of the second grid.
In an embodiment, the initial position obtaining module 302 is specifically configured to select, from the first grid, second grids in which the signal strength similarities are located in the top N after being sorted in a descending order; clustering the N second grids according to preset positions in the second grids, and determining the second grids in each cluster; calculating the average signal intensity similarity of the second grids in each class group according to the signal intensity similarity corresponding to each second grid; and selecting a target group with the average signal intensity similarity meeting a preset condition from each group, and determining the initial position of the terminal in the target area according to the position information of the second grid in the target group.
For specific limitations of the position determination device, reference may be made to the above limitations of the position determination method, which are not described herein again. The various modules in the position determining apparatus described above may be implemented in whole or in part by software, hardware, and combinations thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, a computer device is provided, which may be a terminal, and its internal structure diagram may be as shown in fig. 4. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a position determination method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 4 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is further provided, which includes a memory and a processor, the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, and these are all within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A method of position determination, the method comprising a motion update procedure and an observation update procedure, wherein:
the motion update process includes: acquiring an initial position of a terminal in a target area, wherein the initial position is determined by matching signal parameters emitted by signal emitters scanned in the target area by the terminal with position fingerprints of the target area; when the terminal is detected to move, determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in the preset range of the initial position; in the weight of the previous moment of each particle, adjusting the weight of the particle in a non-passing area in the target area to be zero to obtain the weight of the next moment of each particle; determining a final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment;
the observation update process includes: when receiving signal parameters emitted by each signal emitter scanned at the previous moment, acquiring the position of each particle at the previous moment in a plurality of particles added at the initial position; matching the position of each particle at a moment with the position fingerprint of a target area to determine a signal parameter set corresponding to each particle; determining the signal similarity corresponding to each particle according to the signal parameter set corresponding to each particle and the signal parameters emitted by each signal emitter scanned at the previous moment; multiplying the signal similarity corresponding to each particle by the weight of the previous moment of each particle to obtain the weight of the next moment of each particle; and determining the final position of the terminal in the target area according to the weight of the next moment of each particle and the position of the last moment of each particle.
2. The method of claim 1, wherein the adjusting the weight of the particles in the non-passing region in the target region to zero in the weight of each particle at the time, before obtaining the weight of each particle at the next time, further comprises:
and acquiring and determining a non-passing area in the target area according to the plan view of the target area.
3. The method according to claim 1, wherein when the terminal is detected to move, determining a position of each particle at a next moment according to a position and an orientation of each particle at a previous moment in a plurality of particles added within a preset range of the initial position comprises:
when the terminal is detected to move, obtaining a step length corresponding to each particle, wherein the step length is the step length detected when a user carrying the terminal walks;
and determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in the plurality of particles added in the preset range of the initial position and the step length corresponding to each particle.
4. The method of claim 1, wherein determining a final position of the terminal in the target region based on the weight of each of the particles at the next time and the position of each of the particles at the next time comprises:
resampling each particle, and replacing the weight of each particle at the next moment with the weight of each particle after resampling;
and determining the final position of the terminal in the target area according to the weight of each particle after resampling and the position of each particle at the next moment.
5. The method of claim 1, wherein the signal parameter comprises a signal strength; the acquiring of the initial position of the terminal in the target area includes:
acquiring the signal intensity emitted by each signal emitter scanned in the target area by the terminal, and selecting the identification of the target signal emitter of which the signal intensity meets the preset intensity condition from each signal emitter;
searching a first grid in which the signal intensity transmitted by the target signal transmitter is positioned in a plurality of grids in the target area according to the identification of the target signal transmitter;
determining the signal intensity similarity corresponding to the first grid according to the signal intensity set associated with the first grid and the signal intensity emitted by each signal emitter scanned in the target area by the terminal;
and selecting a second grid with the signal strength similarity meeting a preset similarity condition from the first grid, and determining the initial position of the terminal in the target area according to the position information of the second grid.
6. The method of claim 5, wherein selecting a second grid from the first grid, the signal strength similarity of which satisfies a preset similarity condition, and determining an initial position of the terminal in the target area according to position information of the second grid comprises:
selecting the second grids which are positioned at the first N times after the signal intensity similarity is sorted in a descending order from the first grids, wherein N is a positive integer;
clustering the N second grids according to preset positions in the second grids, and determining the second grids in each cluster;
calculating the average signal intensity similarity of the second grids in each class group according to the signal intensity similarity corresponding to each second grid;
and selecting the target cluster with the average signal intensity similarity meeting the preset condition from each cluster, and determining the initial position of the terminal in the target area according to the position information of the second grid in the target cluster.
7. The method of claim 1, wherein the generating of the location fingerprint of the target area comprises:
acquiring first signal parameters emitted by each signal emitter scanned in the target area by a signal receiver, and scanning positions of the signal receiver when the first signal parameters are scanned, wherein the first signal parameters are distributed at discrete scanning positions in the target area;
performing regression analysis on the first signal parameters and the scanning positions corresponding to the first signal parameters to obtain signal parameter distribution corresponding to each signal emitter;
and fusing the second signal parameters in the signal parameter distribution according to the position information associated with the second signal parameters in the signal parameter distribution to obtain the position fingerprint of the target area.
8. A position determining apparatus, characterized in that the apparatus comprises:
an initial position acquisition module, configured to acquire an initial position of a terminal in a target area, where the initial position is determined by matching signal parameters transmitted by signal transmitters scanned by the terminal in the target area with a position fingerprint of the target area;
the particle position determining module is used for determining the position of each particle at the next moment according to the position and the direction of each particle at the previous moment in a plurality of particles added in the preset range of the initial position when the terminal is detected to move;
a particle weight adjusting module, configured to adjust, to zero, a weight of a particle located in a non-passing region in the target region in a weight of a previous time of each particle, so as to obtain a weight of each particle at a next time;
and the final position determining module is used for determining the final position of the terminal in the target area according to the weight of each particle at the next moment and the position of each particle at the next moment.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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