WO2022100272A1

WO2022100272A1 - Indoor positioning method and related apparatus

Info

Publication number: WO2022100272A1
Application number: PCT/CN2021/118520
Authority: WO
Inventors: 张烨
Original assignee: Oppo广东移动通信有限公司
Priority date: 2020-11-11
Filing date: 2021-09-15
Publication date: 2022-05-19
Also published as: CN114485656A

Abstract

An indoor positioning method, being applied to an indoor positioning system. The indoor positioning system comprises a server (100) and an electronic device (200). The indoor positioning method comprises: the server (100) receives first sensing data sent by the electronic device (200) (210), the first sensing data comprising first WiFi information and/or first IMU information; the server (100) determines the position information of the electronic device (200) on the basis of an indoor positioning map and the first sensing data (220), there being multiple calibration positions on the indoor positioning map, each calibration position being associated with a piece of sensing data, and the sensing data comprising a piece of WiFi information and/or a piece of IMU information; and the server sends the position information of the electronic device to the electronic device (230). Further disclosed are an indoor positioning method and apparatus applied to the electronic device (200), the electronic device (200), an apparatus applied to the server (100), the server (100), and a computer readable storage medium. The present application can improve indoor positioning accuracy.

Description

Indoor positioning method and related device

The present application claims the priority of an earlier application with the title of "Indoor Positioning Method and Related Apparatus" filed on November 11, 2020, and the priority of the earlier application, the contents of which are incorporated into this text by way of reference.

technical field

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

Background technique

With the rapid increase of data services and multimedia services, people's demand for positioning and navigation is increasing. In the outdoor environment, the Global Positioning System (GPS) or Beidou satellite positioning system based on the Global Navigation Satellite System (GNSS) can already meet certain requirements. outdoor positioning requirements. However, indoors, especially in complex indoor environments such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, etc., it is often necessary to determine the indoor location information of the mobile terminal or its holder. Due to the limitations of complex indoor environments, the current positioning accuracy is not high, so how to improve the accuracy of indoor positioning is a technical problem that needs to be solved urgently.

SUMMARY OF THE INVENTION

Embodiments of the present application provide an indoor positioning method and a related device.

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

receiving first sensing data sent by the electronic device, where the first sensing data includes first WIFI information and/or first IMU information;

The positioning information of the electronic device is determined based on the indoor positioning map and the first sensing data. There are multiple calibration positions on the indoor positioning map, and each calibration position is associated with a piece of sensing data. The sensing data Include a WIFI information and/or an IMU information;

Sending positioning information of the electronic device to the electronic device.

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

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

Receive the positioning information of the electronic device sent by the server, where the positioning information of the electronic device is determined by the server based on an indoor positioning map and the first sensing data, and there are multiple calibrations on the indoor positioning map position, each of the calibrated positions is associated with a piece of sensory data, and the sensory data includes a piece of WIFI information and/or a piece of IMU information.

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

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

The server is configured to receive the first sensing data; determine the positioning information of the electronic device based on the indoor positioning map and the first sensing data, there are multiple calibration positions on the indoor positioning map, each The calibration position is associated with a sensory data, and the sensory data includes a WIFI information and/or an IMU information; send the positioning information of the electronic device to the electronic device;

The electronic device is further configured to receive positioning information of the electronic device.

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

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

a determining unit, configured to determine the positioning information of the electronic device based on the indoor positioning map and the first sensing data, there are multiple calibration positions on the indoor positioning map, and each of the calibration positions is associated with one sensing data, The sensing data includes a WIFI information and/or an IMU information;

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

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

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

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

In a sixth aspect, an embodiment of the present application provides a server, including a processor, a memory, a transceiver, and one or more programs, wherein the one or more programs are stored in the memory and configured by the processor For execution, the above program includes instructions for executing steps in any method of the first aspect of the embodiments of the present application.

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

In an eighth aspect, an embodiment of the present application provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program for electronic data exchange, wherein the computer program enables a computer to execute the computer program as described in the first embodiment of the present application. Some or all of the steps described in any method of one aspect or any method of the second aspect.

In a ninth aspect, an embodiment of the present application provides a computer program product, wherein the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute as implemented in the present application. Examples include some or all of the steps described in any method of the first aspect or any method of the second aspect. The computer program product may be a software installation package.

Description of drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the accompanying drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present application. For those of ordinary skill in the art, other drawings can also be obtained based on these drawings without any creative effort.

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

2 is a schematic flowchart of an indoor positioning method provided by an embodiment of the present application;

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

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

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

6 is a schematic diagram of a positioning error provided by an embodiment of the present application;

7 is a schematic flowchart of another indoor positioning method provided by an embodiment of the present application;

8 is a schematic diagram of a positioning trajectory of an electronic device provided by an embodiment of the present application;

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

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

11 is a schematic structural diagram of a server provided by an embodiment of the present application;

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

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

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

Detailed ways

In order to make those skilled in the art better understand the solutions of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only It is a part of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present application.

The terms "first", "second" and the like in the description and claims of the present application and the above drawings are used to distinguish different objects, rather than to describe a specific order. Furthermore, the terms "comprising" and "having" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but optionally also includes unlisted steps or units, or optionally also includes For other steps or units inherent to these processes, methods, products or devices.

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

The research on indoor positioning technology is mainly divided into two categories: positioning technology based on radio frequency signals and positioning technology based on Inertial Measurement Unit (IMU). The first type of technology requires the arrangement of signal transmitters or receivers in application scenarios, and is often used in offices, factories, homes and other places. Such technologies include WIFI, Bluetooth (Bluetooth), Long Range Radio (Long Range Radio, LoRa) and Ultra Wideband (Ultra Wideband, UWB), etc. Among them, WIFI is a relatively mature and widely used technology.

Wi-Fi coverage is wide in short and medium distances and is minimally affected by non-line-of-sight (NLOS). For the WIFI positioning system, the hardware platform is relatively mature. However, in a complex indoor environment, the multipath effect of WIFI is still widespread, so the positioning method based on the signal attenuation model cannot be used. WIFI positioning system generally uses machine learning to achieve its positioning. The specific implementation process is divided into two stages: offline stage, first use a large amount of WIFI signal data for training to build an environment model that can describe the strength of WIFI signal in detail; online stage, The system first collects data in real time, and substitutes it into the signal distribution model established in the previous stage, and then calculates the detailed position of the signal by the classification algorithm.

Bluetooth beacon technology is currently a relatively mature technology. Bluetooth realizes positioning by receiving the Received Signal Strength Indicator (RSSI) value of the measured signal, and its principle is similar to WIFI positioning. On the other hand, since the measurement of Angle-of-Arrival (AoA) is also integrated in the Bluetooth technology, the positioning accuracy is higher than that of WIFI, and it has the advantages of small size, simple deployment, and strong battery life. The Bluetooth function of the device can realize its positioning. Bluetooth transmission is not affected by line-of-sight. Based on the above characteristics, Bluetooth technology is very suitable for indoor positioning, but the Bluetooth communication distance is short, the stability is average, and it is easily affected by occlusion, so it is often used for positioning in small areas such as classrooms and offices.

LoRa technology is a wireless technology that has recently emerged. In August 2013, Semtech integrated the newly developed long-range low-power technology on a single chip. The receiving sensitivity of the LoRa chip is -148dbm, that is, LoRa can receive weak wireless signals. The distance between the anchor point and the positioning tag is estimated by the signal flight time and received signal strength between the LoRa gateway and the node, and the target node is located by combining the measurement values of multiple anchor points. Due to its low-power and long-distance transmission capability, LoRa positioning has important research value in the positioning of equipment and assets.

The UWB positioning system mainly includes anchor nodes and positioning nodes. The anchor node coordinates are known, and it needs to be arranged in the positioning area in advance, and the positioning node waiting for the network to communicate with it. At present, the UWB positioning system mainly realizes positioning by means of ranging. When positioning, the system first obtains distance information based on different ranging technologies, and combines different position estimation algorithms to calculate the position. The representative of ultra-wideband positioning is Ubisense. Its positioning scheme uses UWB pulse signals. Multiple sensors use TDOA and AOA positioning algorithms to analyze the position of tags. It has high accuracy (up to sub-meter level) and strong multipath resolution. Ultra-wideband communication does not need to use carrier waves in traditional communication systems, but transmits data by sending and receiving extremely narrow pulses with nanoseconds or less, so it has a bandwidth on the order of GHz. Because UWB positioning technology has the advantages of strong penetrating power, good anti-multipath effect, high security, low system complexity, and can provide precise positioning accuracy, the prospect is quite broad. In recent years, many start-up companies have used UWB technology to launch lower-cost positioning solutions that do not affect performance, so that UWB is no longer limited to niche markets.

IMU-based indoor technology is widely used in the field of navigation and guidance. Inertial measurement units are common sensors on mobile robots and mobile smart devices. The IMU is equipped with an accelerometer that outputs three-axis acceleration and a gyroscope that outputs three-axis angular velocity. The output frequency is high, and there is no need to consider the factors of illumination and scene image texture. It can provide accurate data when the mobile robot moves rapidly, with good real-time performance. But serious cumulative error is a problem to be solved by a single inertial navigation system. Based on the principle of Pedestrian Trajectory Reckoning (PDR), a multi-parameter constrained step detection algorithm is designed by using the corresponding relationship between the pedestrian's walking motion model and the acceleration data. Aiming at the problem of step size estimation, by studying the advantages, disadvantages and application scope of common step size estimation models, a step size estimation model with different motion states is designed. The motion states are obtained by processing inertial data through BP neural network algorithm. Aiming at the problem of heading detection, by studying the relationship between the heading sampling value and the pedestrian motion model, self-correction measures are taken to reduce the random error of heading sampling. Due to the accumulated errors in the IMU measurement and estimation, the phenomenon of drift still occurs during long-term operation. The problem of improving system stability is often achieved by fusing data from other sensors.

The indoor positioning system based on intelligent terminal is an effective means to solve the problem of positioning and PDR navigation without GPS signal and map indoors, and can play a huge advantage in large supermarkets, warehousing and logistics, and public buildings. Indoor positioning navigation is a very marketable application scenario.

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

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

The server 100 is configured to receive the first sensing data; determine the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data. There are multiple calibration positions on the indoor positioning map, and each The calibration position is associated with a sensor data, and the sensor data includes a WIFI information and/or an IMU information; send the positioning information of the electronic device 200 to the electronic device 200;

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

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

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

A1: Receive test data sent by the test equipment, the test data includes a test location and a test sensor data, the test sensor data includes a test WIFI information and/or a test IMU information, and the test location is all The test equipment is obtained through ultra-wideband UWB positioning;

A2: demarcate the test position on an indoor map, and associate the test sensor data with the test position, the plurality of calibration positions include the test position;

A3: Repeat steps A1-A2 until data collection is completed;

A4: Process the indoor map after location calibration to obtain the indoor positioning map.

Optionally, the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; in terms of processing the indoor map after position calibration, the server 100 Specifically for:

Determine to obtain first test sensor data based on a plurality of test sensor data associated with the first test location;

The test sensing data associated with the first test location is replaced with the first test sensing data.

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

The first test WIFI information is determined to be obtained based on a plurality of test WIFI information associated with the first test location; and/or the first test IMU information is determined to be obtained based on a plurality of test IMU information associated with the first test location;

The first test WIFI information and/or the first test IMU information is used as the first test sensing data.

Optionally, the test WIFI information includes the identification of at least one access point (Access Point, AP) and the signal strength of each AP in the at least one AP; In terms of determining the test WIFI information to obtain the first test WIFI information, the server 100 is specifically used for:

Based on a plurality of test WIFI information associated with the first test location, the identifiers of K APs and at least one signal strength of each of the K APs are obtained, and the identifiers of the K APs are different from each other , the K is a positive integer;

M APs are selected from the K APs, at least one signal strength of each AP of the M APs has a signal strength greater than or equal to a first threshold, the M is less than or equal to the K, and The M is a positive integer;

The identifiers of the M APs and at least one signal strength of each AP in the M APs are used as the first test WIFI information.

Optionally, the test IMU information includes magnetic field strength components in three directions and the total magnetic field strength; in terms of determining and obtaining the first test IMU information based on a plurality of test IMU information associated with the first test position, the server 100 specifically uses At:

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

The average value of the magnetic field intensity components and the average value of the total magnetic field intensity are used as the first test IMU information.

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

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

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

B1: Determine the first position of the electronic device based on the indoor positioning map and the first sensing data;

B2: Receive second sensing data sent by the electronic device 200, where the second sensing data includes second WIFI information and/or second IMU information;

B3: Determine the second position of the electronic device 200 based on the indoor positioning map, the sensor data sent at least once before by the electronic device, and the second sensor data;

B4: Repeat steps B2-B3 to obtain at least one second position;

B5: Determine the positioning track of the electronic device 200 based on the first position and the at least one second position.

Optionally, the server 100 is also used for:

If the first target position is outside the positioning track, a second test position is determined based on the positioning track, and the first target position is at least one of the first position and the at least one second position, The plurality of calibration positions include the second test position, and the second test position is on the positioning track;

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

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

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

In an implementation manner of the present application, after step A2, the server 100 is further configured to:

determining a plurality of untested locations on the indoor map, the plurality of calibrated locations including the plurality of untested locations;

If the distance between the untested position and the test position i is less than or equal to the fourth threshold, then associate the untested position with the test WIFI information associated with the test position i; and/or if the untested position and the test If the distance of the position j is less than or equal to the fifth threshold, then associate the untested position with the test IMU information associated with the test position j;

Wherein, in step A2, the test positions demarcated on the indoor map include the test position i and the test position j.

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

Replace the WIFI information associated with the plurality of first untested locations with the updated WIFI information associated with the second test location; and/or replace the IMU information associated with the plurality of second untested locations with the second test location The updated associated IMU information;

Wherein, the plurality of untested positions include the plurality of first untested positions and the plurality of second tested positions, and the distance between the first untested position and the second tested position is less than or equal to all the fourth threshold, the distance between the second untested position and the second test position is less than or equal to the fifth threshold.

It should be noted that, for the specific implementation process of this embodiment, reference may be made to the specific implementation process described in the following method embodiments, which will not be described herein again.

Please refer to FIG. 2. FIG. 2 is a schematic flowchart of an indoor positioning method provided by an embodiment of the present application, which is applied to the server 100 in an indoor positioning system. The indoor positioning system further includes an electronic device 200. As shown in the figure, this The indoor positioning method includes the following operations.

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

The first WIFI information is obtained by the WIFI module of the electronic device 200, and the first WIFI information includes at least one of the following: the identifier (such as MAC address, name, etc.) of at least one AP currently searched by the electronic device 200, the searched Signal strength, channel information, timestamp of each AP.

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

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

Wherein, there are multiple calibration positions on the indoor positioning map, each of the calibration positions is associated with a piece of sensing data, and the sensing data includes a piece of WIFI information and/or one piece of IMU information.

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

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

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

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

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

A1: The server 100 receives test data sent by the test equipment, the test data includes a test position and a test sensor data, the test sensor data includes a test WIFI information and/or a test IMU information, the test position is obtained by the test equipment through UWB positioning;

A2: The server 100 calibrates the test location on an indoor map, and associates the test sensor data with the test location, and the multiple calibrated locations include the test location;

A3: The server 100 repeats steps A1-A2 until the data collection is completed;

A4: The server 100 processes the indoor map after location calibration to obtain the indoor positioning map.

Wherein, the indoor map is the indoor map of the current indoor place. For example, if the current indoor place is shopping mall A, then the indoor map is the indoor map of shopping mall A. For another example, assuming that the current indoor place is the museum B, the indoor map is the indoor map of the museum B. For another example, assuming that the current indoor place is Theater C, the indoor map is the indoor map of Theater C.

The test WIFI information is obtained by the WIFI module of the test device, and the test WIFI information includes at least one of the following: the identifier of at least one AP currently searched by the test device, the signal strength of each AP searched for, channel information, timestamp .

The test IMU information is obtained by the IMU of the test equipment, and the test IMU information includes at least one of the following: the magnetic field strength components in the three directions of x, y, and z currently detected by the test equipment (northeast space coordinate system), the total magnetic field strength.

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

Among them, the distribution of test positions is shown in FIG. 4 . As shown in FIG. 4 , the selection of test positions is random, and the entire test area is uniformly covered. The WIFI positioning result can be calculated by the signal strength of the AP, and the coordinate distance of the test position can be calibrated, and the histogram is drawn as shown in Figure 5. The result of WIFI positioning should control 90% of the positioning error within 5 meters, and then by limiting the WIFI positioning error to 0-2m, the location where the geomagnetism improves the WIFI positioning accuracy will also be slightly improved to 1-1.8m, such as shown in Figure 6.

Optionally, the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; the server 100 processes the indoor map after the position calibration, include:

The server 100 determines to obtain the first test sensor data based on a plurality of test sensor data associated with the first test location;

The server 100 replaces the test sensing data associated with the first test location with the first test sensing data.

Wherein, the first test position may be one or more.

Optionally, the server 100 determines to obtain the first test sensing data based on a plurality of test sensing data associated with the first test location, including:

The server 100 determines to obtain first test WIFI information based on multiple pieces of test WIFI information associated with the first test location; and/or determines to obtain first test IMU information based on multiple pieces of test IMU information associated with the first test location;

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

Optionally, the test WIFI information includes the identifier of at least one AP and the signal strength of each AP in the at least one AP; the server 100 determines and obtains the test WIFI information based on a plurality of test WIFI information associated with the first test location. The first test WIFI information, including:

The server 100 obtains the identifiers of K APs and at least one signal strength of each of the K APs based on a plurality of test WIFI information associated with the first test location, and the identifiers of the K APs are mutually are not the same, the K is a positive integer;

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

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

For example, suppose that the first test location is associated with two test WIFI information, one test WIFI information includes the ID of AP1, the ID of AP2, the signal strength 1 of AP1, and the signal strength 2 of AP2, and the other test WIFI information includes the ID of AP2 , AP3 ID, AP2 signal strength 3, AP3 signal strength 4, then through these 2 test WIFI information, 3 AP IDs (such as AP1 ID, AP2 ID and AP3 ID), AP1 signal strength are obtained. 1. Signal strength 2 and signal strength 3 of AP2, and signal strength 4 of AP3, if signal strength 1 is greater than the first threshold, signal strength 2 is less than the first threshold, signal strength 3 is greater than the first threshold, and signal strength 4 is less than the first threshold , then 2 APs (such as AP1 and AP2) are selected from the 3 APs, so the finally obtained first test WIFI information includes the identification of AP1, the identification of AP2, the signal strength of AP1, the signal strength of AP2, and the signal strength of AP2. Intensity 3.

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

The server 100 determines the average value of the magnetic field strength component and the average value of the total magnetic field strength in each of the three directions based on the multiple test IMU information associated with the first test position;

The server 100 uses the mean value of the magnetic field strength components and the mean value of the total strength of the magnetic field as the first test IMU information.

For example, it is assumed that the first test position is associated with two test IMU information, and one test IMU information includes the magnetic field strength component 1 in the x direction, the magnetic field strength component 2 in the y direction, the magnetic field strength component 3 in the z direction, and the total magnetic field strength 1. Another test IMU information includes the magnetic field strength component 4 in the x direction, the magnetic field strength component 5 in the y direction, the magnetic field strength component 6 in the z direction, and the total magnetic field strength 2, then the finally obtained first test IMU information includes the (magnetic field strength) Intensity component 1 + magnetic field intensity component 2)/2, in y direction (magnetic field intensity component 3 + magnetic field intensity component 4)/2, in z direction (magnetic field intensity component 5 + magnetic field intensity component 6)/2, (total magnetic field intensity 1 + total magnetic field strength 2)/2.

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

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

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

Wherein, the first WIFI information includes the identifiers of the T first APs and the signal strength of each of the first APs, and the WIFI information associated with the first target calibration location includes the identifiers of the P second APs and the signal strength of each of the first APs. The signal strength of the second AP, the P is greater than or equal to the T, the T and the P are both positive integers; if the identifiers of the t first APs in the T first APs are the same as the P The identifiers of the t second APs in the second APs match, and the signal strengths of the t first APs match the signal strengths of the t second APs, then it is determined that the first WIFI information matches the first WIFI information. The WIFI information associated with the target calibration position matches, otherwise it is determined that the first WIFI information does not match the WIFI information associated with the first target calibration position, and the quotient of t and P is greater than or equal to a sixth threshold.

For example, it is assumed that the first WIFI information includes three AP identifiers (such as the identifier of AP1, the identifier of AP2, and the identifier of AP3), and the WIFI information associated with the first target calibration location includes four AP identifiers (for example, the identifier of AP1, the identifier of AP2 It can be seen that the 3 AP identities included in the first WIFI information match the 3 AP identities included in the WIFI information associated with the first target calibration location; it is also assumed that the first WIFI information includes AP1 The signal strength 1 of AP2, the signal strength of AP3 3, the WIFI information associated with the first target calibration location includes the signal strength of AP1 4, the signal strength of AP2 5, the signal strength of AP3 6, the signal strength of AP4 7 , if signal strength 1 is in the range [signal strength 4-k, signal strength 4+k], signal strength 2 is in the range [signal strength 5-k, signal strength 5+k], and signal strength 3 is in the range [signal strength 5+k] 6-k, the signal strength is within 6+k], it means that the signal strengths of the three APs included in the first WIFI information match the signal strengths of the three APs included in the WIFI information associated with the first target calibration location; and Assuming that the sixth threshold is 70%, since 3/4=75%, it can be determined that the first WIFI information matches the WIFI information associated with the first target calibration position.

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

B1: The server 100 determines the first position of the electronic device 200 based on the indoor positioning map and the first sensing data;

B2: The server 100 receives the second sensing data sent by the electronic device 200, where the second sensing data includes second WIFI information and/or second IMU information;

B3: The server 100 determines the second position of the electronic device 200 based on the indoor positioning map, the sensing data sent by the electronic device 200 at least once before, and the second sensing data;

B4: The server 100 repeats steps B2-B3 to obtain at least one second position;

B5: The server 100 determines a positioning trajectory of the electronic device 200 based on the first position and the at least one second position.

The server 100 connects the first position and at least one second position and performs smoothing processing to obtain the positioning trajectory. For example, assuming that the positions of the electronic device 200 determined by the server 100 are the first position, the second position 1, the second position 2 and the second position 3 respectively, the server 100 sequentially assigns the first position, the second position 1, the second position The two positions 2 and the second position 3 are connected and smoothed to obtain the positioning trajectory of the electronic device 200 , as shown in FIG. 8 .

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

The server 100 determines the second position of the electronic device 200 based on the indoor positioning map, the sensor data sent at least once before by the electronic device 200, and the second sensor data, including:

The server 100 determines the first position of the electronic device 200 based on the indoor positioning map, the sensor data sent by the electronic device 200 at least once before, the step length of the user, and the second sensor data. Second position.

Wherein, the sensing data sent by the electronic device 200 at least once before includes L sensing data, and the L is a positive integer; the server 100 based on the indoor positioning map, the electronic device 200 sent at least once The sensing data, the second sensing data, and the step size of the user determine the second position of the electronic device 200, including:

The server 100 determines to obtain L first position sets based on the indoor positioning map and the L pieces of sensing data. The L first position sets are in one-to-one correspondence with the L pieces of sensing data. The first position set includes at least one position a; the server 100 determines to obtain a second position set based on the indoor positioning map and the second sensor data, and the second position set includes at least one position b;

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

The server 100 selects a target trajectory from the R trajectories, the distance between any two adjacent positions included in the target trajectory is in a first distance range, and the middle value of the first distance range is the use is the product of the user's step size and the target time interval, and the target time interval is the receiving time interval of two adjacent sensing data;

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

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

Optionally, the method further includes:

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

The server 100 updates the test sensing data associated with the second test position based on the sensing data associated with the second target position, where the second target position is at least one of the first position and the at least one second position .

In one embodiment, the second target position includes the first target position; the server 100 updates the test sensing data associated with the second test position based on the sensing data associated with the second target position, including:

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

In another embodiment, the server 100 updates the test sensing data associated with the second test position based on the sensing data associated with the second target position, including:

The server 100 determines average sensing data based on the sensing data associated with the second target position, and updates the sensing data associated with the second target position to the average sensing data.

For example, as shown in FIG. 9 , the second position 2 is not on the positioning track, but the test position 1 is on the positioning track, which indicates that the second position 2 is not accurately determined, which in turn reflects the test data associated with the test position 1. The sensor data is not accurate. At this time, in order to obtain a more accurate indoor positioning map, the test sensor data associated with the test location 1 needs to be updated. For example, the test sensor data associated with the test location 1 can be updated to the sensor data associated with the second location 2. , for another example, the average sensing data may be determined based on the sensing data associated with the second position 2 and the sensing data associated with the second position 3, and then the test sensing data associated with the testing position 1 may be updated to the average sensing data.

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

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

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

In an implementation manner of the present application, after step A2, the method further includes:

the service device determines a plurality of untested positions on the indoor map, the plurality of calibrated positions include the plurality of untested positions;

If the distance between the untested position and the test position i is less than or equal to the fourth threshold, the service device associates the test WIFI information associated with the untested position with the test position i; and/or if the untested position If the distance from the test position j is less than or equal to the fifth threshold, then associate the untested position with the test IMU information associated with the test position j;

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

Specifically, since the test location is random, in order to enrich the data of the indoor positioning map, the untested location also needs to correlate sensor data. For example, as shown in Figure 8, the indoor map is divided into small areas of 1 decimeter x 1 decimeter. As shown in Figure 10, the small areas without test points in the small area are all untested locations. The sensor data that needs to be associated with the location depends on the surrounding test location. For example, suppose the fourth threshold is 5 decimeters and the fifth threshold is 2 decimeters. If the test point in the upper left corner of Figure 10 is associated with test WIFI information 1 and test IMU information 1, then the WIFI information associated with the untested location within 5 decimeters from the test point is the test WIFI information 1, and the IMU information associated with the untested location within 2 decimeters from the test point is the test IMU information 1.

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

The server 100 replaces the WIFI information associated with the multiple first untested locations with the updated WIFI information associated with the second testing location; and/or replaces the IMU information associated with the multiple second untested locations with the second Test the IMU information associated with the location update;

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

Please refer to FIG. 11. FIG. 11 is a schematic structural diagram of a server provided by an embodiment of the present application. The server is the server 100 in the above indoor positioning system. The above indoor positioning system further includes an electronic device 200. As shown in the figure, the server Comprising a processor, a memory, a transceiver, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes instructions for performing the following steps:

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

The positioning information of the electronic device 200 is determined based on the indoor positioning map and the first sensing data. There are multiple calibration positions on the indoor positioning map, and each calibration position is associated with a piece of sensing data. Data includes a WIFI information and/or an IMU information;

The positioning information of the electronic device 200 is sent to the electronic device 200 .

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

A3: Repeat steps A1-A2 until data collection is completed;

Optionally, the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; in terms of processing the indoor map after position calibration, the above procedure Includes instructions specifically for performing the following steps:

Optionally, in terms of determining to obtain the first test sensor data based on a plurality of test sensor data associated with the first test location, the above-mentioned program includes instructions specifically for performing the following steps:

Optionally, the test WIFI information includes the identification of at least one access node AP and the signal strength of each AP in the at least one AP; determined based on a plurality of test WIFI information associated with the first test location In the aspect of the first test of WIFI information, the above program includes instructions specifically for executing the following steps:

Optionally, the test IMU information includes magnetic field strength components in three directions and the total magnetic field strength; in terms of determining and obtaining the first test IMU information based on a plurality of test IMU information associated with the first test position, the above-mentioned program includes specific steps. Instructions to perform the following steps:

In an implementation manner of the present application, in terms of determining the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data, the above program includes instructions specifically for executing the following steps:

B1: Determine the first position of the electronic device 200 based on the indoor positioning map and the first sensing data;

B3: Determine the second position of the electronic device 200 based on the indoor positioning map, the sensor data sent by the electronic device 200 at least once before, and the second sensor data;

B4: Repeat steps B2-B3 to obtain at least one second position;

Optionally, the above-mentioned program includes instructions for performing the following steps:

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

In an implementation of the present application, after step A2, the above-mentioned program includes an instruction that is also used to perform the following steps:

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

It should be noted that, for the specific implementation process of this embodiment, reference may be made to the specific implementation process described in the foregoing method embodiment, which is not described herein again.

Please refer to FIG. 12. FIG. 12 is a schematic structural diagram of an electronic device provided by an embodiment of the present application. The electronic device is an electronic device 200 in the above-mentioned indoor positioning system. The above-mentioned indoor positioning system further includes a server 100. As shown in the figure, The electronic device includes a processor, a memory, a transceiver, and one or more programs, wherein the one or more programs are stored in the memory and configured to be executed by the processor, and the program includes steps for performing the following steps command:

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

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

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

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

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

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

Please refer to FIG. 13 . FIG. 13 is a schematic diagram of an indoor positioning device provided by an embodiment of the present application, which is applied to the server 100 in an indoor positioning system. The indoor positioning system further includes an electronic device 200 , and the device includes:

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

The determining unit 1302 is configured to determine the positioning information of the electronic device 200 based on the indoor positioning map and the first sensing data. There are multiple calibration positions on the indoor positioning map, and each calibration position is associated with a sensor. data, the sensor data includes a WIFI information and/or an IMU information;

The sending unit 1303 is configured to send the positioning information of the electronic device 200 to the electronic device 200 .

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

A3: Repeat steps A1-A2 until data collection is completed;

Optionally, the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; in terms of processing the indoor map after position calibration, the above-mentioned determination Unit 1302 is specifically used for:

Optionally, in terms of determining to obtain the first test sensor data based on a plurality of test sensor data associated with the first test location, the above determining unit 1302 is specifically configured to:

Optionally, the test WIFI information includes the identification of at least one access node AP and the signal strength of each AP in the at least one AP; determined based on a plurality of test WIFI information associated with the first test location In the aspect of the first test WIFI information, the above determining unit 1302 is specifically used for:

Optionally, the test IMU information includes magnetic field strength components in three directions and the total magnetic field strength; in terms of determining and obtaining the first test IMU information based on a plurality of test IMU information associated with the first test position, the above determining unit 1302 Specifically for:

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

B4: Repeat steps B2-B3 to obtain at least one second position;

Optionally, the apparatus further includes a first update unit 1304, and the first update unit 1304 is configured to:

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

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

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

Please refer to FIG. 14. FIG. 14 is a schematic diagram of an indoor positioning apparatus provided by an embodiment of the present application, which is applied to an electronic device 200 in an indoor positioning system. The indoor positioning system further includes a server 100, and the apparatus includes:

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

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

It should be noted that the sending unit 1401 and the receiving unit 1402 may be implemented by the transceiver in FIG. 12 .

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

Embodiments of the present application further provide a computer program product, where the computer program product includes a non-transitory computer-readable storage medium storing a computer program, and the computer program is operable to cause a computer to execute any one of the method embodiments described above. some or all of the steps of the method. The computer program product may be a software installation package, and the above-mentioned computer includes an electronic device or a server.

It should be noted that, for the sake of simple description, the foregoing method embodiments are all expressed as a series of action combinations, but those skilled in the art should know that the present application is not limited by the described action sequence. Because in accordance with the present application, certain steps may be performed in other orders or concurrently. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

In the above-mentioned embodiments, the description of each embodiment has its own emphasis. For parts that are not described in detail in a certain embodiment, reference may be made to the relevant descriptions of other embodiments.

In the several embodiments provided in this application, it should be understood that the disclosed apparatus may be implemented in other manners. For example, the apparatus embodiments described above are only illustrative, for example, the division of the above-mentioned units is only a logical function division, and other division methods may be used in actual implementation, for example, multiple units or components may be combined or integrated. to another system, or some features can be ignored, or not implemented. On the other hand, the shown or discussed mutual coupling or direct coupling or communication connection may be through some interfaces, indirect coupling or communication connection of devices or units, and may be in electrical or other forms.

The above-mentioned units described as separate components may or may not be physically separated, and components displayed as units may or may not be physical units, that is, may be located in one place, or may be distributed to multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution in this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically alone, or two or more units may be integrated into one unit. The above-mentioned integrated units may be implemented in the form of hardware, or may be implemented in the form of software functional units.

The above-mentioned integrated units, if implemented in the form of software functional units and sold or used as independent products, may be stored in a computer-readable memory. Based on this understanding, the technical solution of the present application can be embodied in the form of a software product in essence, or the part that contributes to the prior art, or all or part of the technical solution, and the computer software product is stored in a memory, Several instructions are included to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the above-mentioned methods in the various embodiments of the present application. The aforementioned memory includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

Those of ordinary skill in the art can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing relevant hardware through a program, and the program can be stored in a computer-readable memory, and the memory can include: a flash disk , Read-only memory (English: Read-Only Memory, referred to as: ROM), random access device (English: Random Access Memory, referred to as: RAM), magnetic disk or optical disk, etc.

The embodiments of the present application are described in detail above, and specific examples are used in this paper to illustrate the principles and implementations of the present application. The descriptions of the above embodiments are only used to help understand the methods and core ideas of the present application; at the same time, for Persons of ordinary skill in the art, based on the idea of the present application, will have changes in the specific implementation manner and application scope. In summary, the contents of this specification should not be construed as limitations on the present application.

Claims

An indoor positioning method, which is applied to a server in an indoor positioning system, the indoor positioning system further includes electronic equipment, and the method includes:

receiving first sensing data sent by the electronic device, where the first sensing data includes first WIFI information and/or first inertial measurement unit IMU information;

The positioning information of the electronic device is determined based on the indoor positioning map and the first sensing data. There are multiple calibration positions on the indoor positioning map, and each calibration position is associated with a piece of sensing data. The sensing data Include a WIFI information and/or an IMU information;

Sending positioning information of the electronic device to the electronic device.
The method according to claim 1, wherein before the receiving the first sensing data sent by the electronic device, the method further comprises:

A1: Receive test data sent by the test equipment, the test data includes a test location and a test sensor data, the test sensor data includes a test WIFI information and/or a test IMU information, and the test location is all The test equipment is obtained through ultra-wideband UWB positioning;

A2: demarcate the test position on an indoor map, and associate the test sensor data with the test position, the plurality of calibration positions include the test position;

A3: Repeat steps A1-A2 until data collection is completed;

A4: Process the indoor map after location calibration to obtain the indoor positioning map.
The method according to claim 2, wherein the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; Indoor maps are processed, including:

Determine to obtain first test sensor data based on a plurality of test sensor data associated with the first test location;

The test sensing data associated with the first test location is replaced with the first test sensing data.
The method according to claim 3, wherein the determining to obtain the first test sensor data based on a plurality of test sensor data associated with the first test position comprises:

The first test WIFI information is determined to be obtained based on a plurality of test WIFI information associated with the first test location; and/or the first test IMU information is determined to be obtained based on a plurality of test IMU information associated with the first test location;

The first test WIFI information and/or the first test IMU information is used as the first test sensing data.
The method according to claim 4, wherein the test WIFI information includes an identification of at least one access node AP and a signal strength of each AP in the at least one AP; the association based on the first test location The multiple test WIFI information is determined to obtain the first test WIFI information, including:

Based on a plurality of test WIFI information associated with the first test location, the identifiers of K APs and at least one signal strength of each of the K APs are obtained, and the identifiers of the K APs are different from each other , the K is a positive integer;

M APs are selected from the K APs, at least one signal strength of each AP of the M APs has a signal strength greater than or equal to a first threshold, the M is less than or equal to the K, and The M is a positive integer;

The identifiers of the M APs and at least one signal strength of each AP in the M APs are used as the first test WIFI information.
The method according to claim 4, wherein the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; the first test is determined based on a plurality of test IMU information associated with the first test position IMU information, including:

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

The average value of the magnetic field intensity components and the average value of the total magnetic field intensity are used as the first test IMU information.
The method according to any one of claims 1-6, wherein the determining the positioning information of the electronic device based on the indoor positioning map and the first sensing data comprises:

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

If the first WIFI information matches the WIFI information associated with the first target calibration position on the indoor positioning map, and/or the first IMU information matches the IMU information associated with the first target calibration position , the first target calibration position is used as the position of the electronic device.
The method according to any one of claims 1-6, wherein the determining the positioning information of the electronic device based on the indoor positioning map and the first sensing data comprises:

B1: Determine the first position of the electronic device based on the indoor positioning map and the first sensing data;

B2: Receive second sensing data sent by the electronic device, where the second sensing data includes second WIFI information and/or second IMU information;

B3: Determine the second position of the electronic device based on the indoor positioning map, the sensing data sent by the electronic device at least once before, and the second sensing data;

B4: Repeat steps B2-B3 to obtain at least one second position;

B5: Determine a positioning trajectory of the electronic device based on the first position and the at least one second position.
The method of claim 8, wherein the method further comprises:

If the first target position is outside the positioning track, a second test position is determined based on the positioning track, and the first target position is at least one of the first position and the at least one second position, The plurality of calibration positions include the second test position, and the second test position is on the positioning track;

The test sensory data associated with the second test location is updated based on sensory data associated with a second target location, the second target location being at least one of the first location and the at least one second location.
The method of claim 9, wherein the second target position is outside the positioning trajectory, and a distance between the second target position and the second test position is less than or equal to a second threshold;

Alternatively, the second target position is on the positioning track, and the distance between the second target position and the second test position is less than or equal to a third threshold.
The method according to any one of claims 2-10, wherein, after step A2, the method further comprises:

determining a plurality of untested locations on the indoor map, the plurality of calibrated locations including the plurality of untested locations;

If the distance between the untested position and the test position i is less than or equal to the fourth threshold, then associate the untested position with the test WIFI information associated with the test position i; and/or if the untested position and the test If the distance of the position j is less than or equal to the fifth threshold, then associate the untested position with the test IMU information associated with the test position j;

Wherein, in step A2, the test positions demarcated on the indoor map include the test position i and the test position j.
The method according to claim 11, wherein after the test sensing data associated with the second test position is updated based on the sensing data associated with the second target position, the method further comprises:

Replace the WIFI information associated with the plurality of first untested locations with the updated WIFI information associated with the second test location; and/or replace the IMU information associated with the plurality of second untested locations with the second test location The updated associated IMU information;

Wherein, the plurality of untested positions include the plurality of first untested positions and the plurality of second tested positions, and the distance between the first untested position and the second tested position is less than or equal to all the fourth threshold, the distance between the second untested position and the second test position is less than or equal to the fifth threshold.
An indoor positioning method, which is applied to an electronic device in an indoor positioning system, the indoor positioning system further includes a server, and the method includes:

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

Receive the positioning information of the electronic device sent by the server, where the positioning information of the electronic device is determined by the server based on an indoor positioning map and the first sensing data, and there are multiple calibrations on the indoor positioning map position, each of the calibrated positions is associated with a piece of sensory data, and the sensory data includes a piece of WIFI information and/or a piece of IMU information.
The method of claim 13, wherein the location information of the electronic device includes a location of the electronic device;

The position of the electronic device is the first target calibration position on the indoor positioning map, the WIFI information associated with the first target calibration position matches the first WIFI information, and/or the first target calibration The IMU information associated with the location matches the first IMU information.
The method according to claim 13, wherein the positioning information of the electronic device comprises a positioning track of the electronic device;

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

The electronic device is configured to send first sensing data to the server, where the first sensing data includes first WIFI information and/or first inertial measurement unit IMU information;

The server is configured to receive the first sensing data; determine the positioning information of the electronic device based on the indoor positioning map and the first sensing data, there are multiple calibration positions on the indoor positioning map, each The calibration position is associated with a sensory data, and the sensory data includes a WIFI information and/or an IMU information; send the positioning information of the electronic device to the electronic device;

The electronic device is further configured to receive positioning information of the electronic device.
The system of claim 16, wherein, prior to receiving the first sensory data, the server is further configured to:

A1: Receive test data sent by the test equipment, the test data includes a test location and a test sensor data, the test sensor data includes a test WIFI information and/or a test IMU information, and the test location is all The test equipment is obtained through ultra-wideband UWB positioning;

A2: demarcate the test position on an indoor map, and associate the test sensor data with the test position, the plurality of calibration positions include the test position;

A3: Repeat steps A1-A2 until data collection is completed;

A4: Process the indoor map after location calibration to obtain the indoor positioning map.
The system according to claim 17, wherein the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; In terms of map processing, the server is specifically used for:

Determine to obtain first test sensor data based on a plurality of test sensor data associated with the first test location;

The test sensing data associated with the first test location is replaced with the first test sensing data.
The system according to claim 18, wherein, in terms of determining to obtain the first test sensor data based on a plurality of test sensor data associated with the first test location, the server is specifically configured to:

The first test WIFI information is determined to be obtained based on a plurality of test WIFI information associated with the first test location; and/or the first test IMU information is determined to be obtained based on a plurality of test IMU information associated with the first test location;

The first test WIFI information and/or the first test IMU information is used as the first test sensing data.
The system of claim 19, wherein the test WIFI information includes an identity of at least one access node AP and a signal strength of each of the at least one AP; In terms of determining to obtain the first test WIFI information from multiple test WIFI information, the server is specifically used for:

Based on a plurality of test WIFI information associated with the first test location, the identifiers of K APs and at least one signal strength of each of the K APs are obtained, and the identifiers of the K APs are different from each other , the K is a positive integer;

M APs are selected from the K APs, at least one signal strength of each AP of the M APs has a signal strength greater than or equal to a first threshold, the M is less than or equal to the K, and The M is a positive integer;

The identifiers of the M APs and at least one signal strength of each AP in the M APs are used as the first test WIFI information.
The system according to claim 19, wherein the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; and the first test IMU is determined based on a plurality of test IMU information associated with the first test position to obtain the first test IMU In terms of information, the server is specifically used for:

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

The average value of the magnetic field intensity components and the average value of the total magnetic field intensity are used as the first test IMU information.
The system according to any one of claims 16-21, wherein, in terms of determining the positioning information of the electronic device based on an indoor positioning map and the first sensing data, the server is specifically configured to:

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

If the first WIFI information matches the WIFI information associated with the first target calibration position on the indoor positioning map, and/or the first IMU information matches the IMU information associated with the first target calibration position , the first target calibration position is used as the position of the electronic device.
The system according to any one of claims 16-21, wherein, in terms of determining the positioning information of the electronic device based on an indoor positioning map and the first sensing data, the server is specifically configured to:

B1: Determine the first position of the electronic device based on the indoor positioning map and the first sensing data;

B2: Receive second sensing data sent by the electronic device, where the second sensing data includes second WIFI information and/or second IMU information;

B3: Determine the second position of the electronic device based on the indoor positioning map, the sensing data sent by the electronic device at least once before, and the second sensing data;

B4: Repeat steps B2-B3 to obtain at least one second position;

B5: Determine a positioning trajectory of the electronic device based on the first position and the at least one second position.
The system of claim 23, wherein the server is further configured to:

If the first target position is outside the positioning track, a second test position is determined based on the positioning track, and the first target position is at least one of the first position and the at least one second position, The plurality of calibration positions include the second test position, and the second test position is on the positioning track;

The test sensory data associated with the second test location is updated based on sensory data associated with a second target location, the second target location being at least one of the first location and the at least one second location.
25. The system of claim 24, wherein the second target position is outside the positioning trajectory and the distance between the second target position and the second test position is less than or equal to a second threshold,

Alternatively, the second target position is on the positioning track, and the distance between the second target position and the second test position is less than or equal to a third threshold.
The system according to any one of claims 17-25, wherein, after step A2, the server is further used for:

determining a plurality of untested locations on the indoor map, the plurality of calibrated locations including the plurality of untested locations;

If the distance between the untested position and the test position i is less than or equal to the fourth threshold, then associate the untested position with the test WIFI information associated with the test position i; and/or if the untested position and the test If the distance of the position j is less than or equal to the fifth threshold, then associate the untested position with the test IMU information associated with the test position j;

Wherein, in step A2, the test positions demarcated on the indoor map include the test position i and the test position j.
27. The system of claim 26, wherein, after updating the test sensory data associated with the second test location based on the sensory data associated with the second target location, the server is further configured to:

Replace the WIFI information associated with the plurality of first untested locations with the updated WIFI information associated with the second test location; and/or replace the IMU information associated with the plurality of second untested locations with the second test location The updated associated IMU information;

Wherein, the plurality of untested positions include the plurality of first untested positions and the plurality of second tested positions, and the distance between the first untested position and the second tested position is less than or equal to all the fourth threshold, the distance between the second untested position and the second test position is less than or equal to the fifth threshold.
An indoor positioning device, which is applied to a server in an indoor positioning system, the indoor positioning system further includes electronic equipment, and the device includes:

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

a determining unit, configured to determine the positioning information of the electronic device based on the indoor positioning map and the first sensing data, there are multiple calibration positions on the indoor positioning map, and each of the calibration positions is associated with one sensing data, The sensing data includes a WIFI information and/or an IMU information;

A sending unit, configured to send the positioning information of the electronic device to the electronic device.
The apparatus according to claim 28, wherein before the receiving the first sensing data sent by the electronic device, the determining unit is further configured to:

A1: Receive test data sent by the test equipment, the test data includes a test location and a test sensor data, the test sensor data includes a test WIFI information and/or a test IMU information, and the test location is all The test equipment is obtained through ultra-wideband UWB positioning;

A2: demarcate the test position on an indoor map, and associate the test sensor data with the test position, the plurality of calibration positions include the test position;

A3: Repeat steps A1-A2 until data collection is completed;

A4: Process the indoor map after location calibration to obtain the indoor positioning map.
The device according to claim 29, wherein the test positions demarcated on the indoor map include a first test position, and the first test position is associated with a plurality of test sensor data; In terms of processing the indoor map, the determining unit is specifically used for:

Determine to obtain first test sensor data based on a plurality of test sensor data associated with the first test location;

The test sensing data associated with the first test location is replaced with the first test sensing data.
The apparatus according to claim 30, wherein, in the aspect of determining to obtain the first test sensor data based on the plurality of test sensor data associated with the first test position, the determining unit is specifically configured to:

The first test WIFI information is determined to be obtained based on a plurality of test WIFI information associated with the first test location; and/or the first test IMU information is determined to be obtained based on a plurality of test IMU information associated with the first test location;

The first test WIFI information and/or the first test IMU information is used as the first test sensing data.
The apparatus of claim 31, wherein the test WIFI information includes an identity of at least one access node AP and a signal strength of each of the at least one AP; In terms of determining to obtain the first test WIFI information from a plurality of associated test WIFI information, the determining unit is specifically used for:

Based on a plurality of test WIFI information associated with the first test location, the identifiers of K APs and at least one signal strength of each of the K APs are obtained, and the identifiers of the K APs are different from each other , the K is a positive integer;

M APs are selected from the K APs, at least one signal strength of each AP of the M APs has a signal strength greater than or equal to a first threshold, the M is less than or equal to the K, and The M is a positive integer;

The identifiers of the M APs and at least one signal strength of each AP in the M APs are used as the first test WIFI information.
The apparatus according to claim 31, wherein the test IMU information includes magnetic field strength components in three directions and a total magnetic field strength; In terms of testing IMU information, the determining unit is specifically used for:

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

The average value of the magnetic field intensity components and the average value of the total magnetic field intensity are used as the first test IMU information.
The apparatus according to any one of claims 28-33, wherein, in the aspect of determining the positioning information of the electronic device based on the indoor positioning map and the first sensing data, the determining unit is specifically configured to:

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

If the first WIFI information matches the WIFI information associated with the first target calibration position on the indoor positioning map, and/or the first IMU information matches the IMU information associated with the first target calibration position , the first target calibration position is used as the position of the electronic device.
The apparatus according to any one of claims 28-33, wherein, in the aspect of determining the positioning information of the electronic device based on the indoor positioning map and the first sensing data, the determining unit is specifically configured to:

B1: Determine the first position of the electronic device based on the indoor positioning map and the first sensing data;

B2: Receive second sensing data sent by the electronic device, where the second sensing data includes second WIFI information and/or second IMU information;

B3: Determine the second position of the electronic device based on the indoor positioning map, the sensing data sent by the electronic device at least once before, and the second sensing data;

B4: Repeat steps B2-B3 to obtain at least one second position;

B5: Determine a positioning trajectory of the electronic device based on the first position and the at least one second position.
The apparatus of claim 35, wherein the apparatus further comprises a first update unit for:

If the first target position is outside the positioning track, a second test position is determined based on the positioning track, and the first target position is at least one of the first position and the at least one second position, The plurality of calibration positions include the second test position, and the second test position is on the positioning track;

The test sensory data associated with the second test location is updated based on sensory data associated with a second target location, the second target location being at least one of the first location and the at least one second location.
The apparatus of claim 36, wherein the second target position is outside the positioning trajectory, and a distance between the second target position and the second test position is less than or equal to a second threshold;

Alternatively, the second target position is on the positioning track, and the distance between the second target position and the second test position is less than or equal to a third threshold.
The device according to any one of claims 29-37, wherein, after step A2, the determining unit is further configured to:

determining a plurality of untested locations on the indoor map, the plurality of calibrated locations including the plurality of untested locations;

If the distance between the untested position and the test position i is less than or equal to the fourth threshold, then associate the untested position with the test WIFI information associated with the test position i; and/or if the untested position and the test If the distance of the position j is less than or equal to the fifth threshold, then associate the untested position with the test IMU information associated with the test position j;

Wherein, in step A2, the test positions demarcated on the indoor map include the test position i and the test position j.
The apparatus according to claim 38, wherein after the test sensing data associated with the second test position is updated based on the sensing data associated with the second target position, the apparatus further comprises a second updating unit, the The second update unit is used to:

Replace the WIFI information associated with the plurality of first untested locations with the updated WIFI information associated with the second test location; and/or replace the IMU information associated with the plurality of second untested locations with the second test location The updated associated IMU information;

Wherein, the plurality of untested positions include the plurality of first untested positions and the plurality of second tested positions, and the distance between the first untested position and the second tested position is less than or equal to all the fourth threshold, the distance between the second untested position and the second test position is less than or equal to the fifth threshold.
A kind of indoor positioning device, wherein, is applied to the electronic equipment in the indoor positioning system, and described indoor positioning system also comprises server, and described device comprises:

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

a receiving unit, configured to receive the positioning information of the electronic device sent by the server, where the positioning information of the electronic device is determined by the server based on an indoor positioning map and the first sensing data, the indoor positioning map There are multiple calibration positions on the device, and each of the calibration positions is associated with a piece of sensing data, and the sensing data includes a piece of WIFI information and/or one piece of IMU information.
The apparatus of claim 40, wherein the location information of the electronic device includes a location of the electronic device;

The position of the electronic device is the first target calibration position on the indoor positioning map, the WIFI information associated with the first target calibration position matches the first WIFI information, and/or the first target calibration The IMU information associated with the location matches the first IMU information.
The apparatus according to claim 40, wherein the positioning information of the electronic device comprises a positioning track of the electronic device;

The positioning trajectory of the electronic device is determined based on a first position and at least one second position, the first position is determined by the server based on an indoor positioning map and the first sensor data, and the at least one first position is determined by the server based on the indoor positioning map and the first sensing data. The second position is obtained by the server by repeating steps B2-B3, and the step B2 is to receive the second sensing data sent by the electronic device, and the second sensing data includes the second WIFI information and/or the second IMU information , the step B3 is to determine the second position of the electronic device based on the indoor positioning map, the sensor data sent at least once before by the electronic device, and the second sensor data.
A server comprising a processor, a memory, a transceiver, and one or more programs stored in the memory and configured to be executed by the processor, the programs comprising instructions for performing steps in the method of any of claims 1-12.
An electronic device comprising a processor, a memory, a transceiver, and one or more programs stored in the memory and configured to be executed by the processor, the The program includes instructions for performing the steps in the method of any of claims 13-15.
A computer-readable storage medium in which a computer program for electronic data exchange is stored, wherein the computer program causes a computer to perform the method according to any one of claims 1-12, or the computer program causes a computer A method as claimed in any of claims 13-15 is performed.