WO2023246895A1

WO2023246895A1 - Indoor positioning method and apparatus, and electronic device and computer-readable medium

Info

Publication number: WO2023246895A1
Application number: PCT/CN2023/101820
Authority: WO
Inventors: 刘为红; 樊万鹏; 张洪党
Original assignee: 中兴通讯股份有限公司
Priority date: 2022-06-23
Filing date: 2023-06-21
Publication date: 2023-12-28
Also published as: CN117319954A

Abstract

Provided in the present application are an indoor positioning method and apparatus, and an electronic device and a computer-readable medium. The indoor positioning method comprises: receiving an indoor positioning request, wherein the indoor positioning request comprises information of a terminal to be positioned; according to the information of the terminal to be positioned, sending a measurement request to first transmission reception points to which the terminal to be positioned accesses; receiving measurement data, which is sent by the first transmission reception points, and according to the measurement data, which is sent by the first transmission reception points and information of a floor on which the first transmission reception points are located, determining information of a floor on which the terminal to be positioned is located; and according to measurement data, which is sent by a second transmission reception point, determining position information of the terminal to be positioned, wherein the second transmission reception point is a transmission reception point, which is located on the same floor as the terminal to be positioned, among the first transmission reception points.

Description

Indoor positioning methods and devices, electronic equipment and computer-readable media

Cross-references to related applications

This application claims priority from Chinese Patent Application No. 202210733652.0 filed on June 23, 2022, the contents of which are incorporated herein by reference in their entirety.

Technical field

Embodiments of the present application relate to the field of communication technology, and in particular to indoor positioning methods and devices, electronic equipment, and computer-readable media.

Background technique

With the promotion of 5th ^Generation Mobile Communication Technology (5G) network technology, there are many 5G-based application scenarios, among which indoor positioning based on 5G technology has gradually begun to be applied. However, current indoor positioning methods There is no way to calculate the exact location, especially in combination with the floor you are on.

Contents of the invention

Embodiments of the present application provide an indoor positioning method, indoor positioning device, electronic equipment, and computer-readable media.

In a first aspect, embodiments of the present application provide a method of receiving an indoor positioning request; wherein the indoor positioning request includes: information of the positioned terminal; and a third party accessed by the positioned terminal according to the information of the positioned terminal. A transmission and reception point sends a measurement request; receives the measurement data sent by the first transmission and reception point, and determines the measured data according to the measurement data sent by the first transmission and reception point and the information of the floor where the first transmission and reception point is located. Information about the floor where the terminal is located; determining the location information of the located terminal according to the measurement data sent by the second transmission receiving point; wherein the second transmission receiving point is the first transmission receiving point that is the same as the located terminal. The positioning terminal is located at the transmission and reception point on the same floor.

In a second aspect, embodiments of the present application provide an electronic device, including: at least one processor; and a memory. At least one program is stored on the memory. When the at least one program is executed by the at least one processor, any of the above is implemented. An indoor positioning method.

In a third aspect, embodiments of the present application provide a computer-readable medium. A computer program is stored on the computer-readable medium. When the computer program is executed by a processor, any one of the above indoor positioning methods is implemented.

In a fourth aspect, embodiments of the present application provide an indoor positioning device. The indoor positioning device includes a communication module and a positioning module, wherein the communication module is configured to: receive an indoor positioning request, wherein the indoor positioning request includes the position being positioned. information of the terminal; sending a measurement request to the first transmission receiving point accessed by the located terminal according to the information of the located terminal; and receiving the measurement data sent by the first transmission receiving point; and the positioning module is configured to: according to the The measurement data sent by the first transmission receiving point and the information of the floor where the first transmission receiving point is located determine the information of the floor where the located terminal is located; and the located terminal is determined based on the measurement data sent by the second transmission receiving point. Location information of the terminal, wherein the second transmission reception point is a transmission reception point located on the same floor as the located terminal among the first transmission reception points.

Description of the drawings

Figure 1 is a flow chart of an indoor positioning method provided by an embodiment of the present application;

Figure 2 is a block diagram of an indoor positioning device provided by another embodiment of the present application.

Detailed ways

In order to enable those skilled in the art to better understand the technical solutions of the present application, the indoor positioning method, electronic equipment, and computer-readable media provided by the present application will be described in detail below in conjunction with the accompanying drawings.

Example embodiments will be described more fully below with reference to the accompanying drawings, which may, however, be embodied in different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully enable those skilled in the art to fully understand the scope of the disclosure.

The embodiments of the present application and the features in the embodiments can be combined with each other unless there is any conflict.

As used herein, the term "and/or" includes any and all combinations of at least one associated listed item.

The terminology used herein is used to describe particular embodiments only and is not intended to be limiting of the application. As used herein, the singular forms "a," "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms "comprising" and/or "made of" are used in this specification, the presence of stated features, integers, steps, operations, elements and/or components is specified but does not exclude the presence or Add at least one other feature, integer, step, operation, element, component and/or group thereof.

Unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be construed to have meanings consistent with their meanings in the context of the relevant art and the present application, and will not be construed as having idealized or excessively formal meanings, Unless expressly so limited herein.

Current indoor positioning scenarios include multi-floor scenarios, especially when transmission and reception points (TRPs, Transmission Reception Points) deployed on multiple floors use super cell networking. If the measurement data returned by one measurement includes the transmission and reception points deployed on multiple floors For the measurement data sent by TRP, it is impossible to distinguish which floor the TRP sending the measurement data belongs to, so it is impossible to calculate accurate floor information and location information. Therefore, the current indoor positioning method mainly considers the situation of a single floor. Floor conditions will not apply.

Figure 1 is a flow chart of an indoor positioning method provided by an embodiment of the present application.

In the first aspect, referring to Figure 1, one embodiment of the present application provides an indoor positioning method. This method can be applied to core network elements or access network elements. The core network element can be an existing core in the current network. The network element may also be a newly added core network element. The method includes the following steps 100 to 103.

In step 100, an indoor positioning request is received; wherein the indoor positioning request includes: information of the terminal being positioned.

In some exemplary embodiments, the indoor positioning request includes: information of the positioned terminal.

In other exemplary embodiments, the indoor positioning request includes: information of the positioning requester and information of the positioned terminal.

In some exemplary embodiments, the positioning requester may be a user of the located terminal, or may not be a user of the located terminal. For example, the positioning requester may be a manager of a company to which the user of the located terminal belongs.

In some exemplary embodiments, the information of the located terminal may be any information that can distinguish the located terminal from other terminals, such as the mobile phone number of the located terminal, etc.

In some exemplary embodiments, the information of the positioning requester may be any information that distinguishes different positioning requesters, such as the name of the positioning requester.

In some exemplary embodiments, after receiving the indoor positioning request, the indoor positioning request may be decoded to obtain the The information of the positioning terminal; or the information of the located terminal and the information of the positioning requester.

In some exemplary embodiments, when the indoor positioning request is a json message, the json decoding component can be called for decoding.

In step 101, a measurement request is sent to the first TRP accessed by the located terminal according to the information of the located terminal.

In some exemplary embodiments, when the indoor positioning request includes: information of the positioning requester and information of the located terminal, before sending the measurement request to the first TRP accessed by the located terminal according to the information of the located terminal , the method also includes: authenticating the positioning requester according to the information of the positioning requester, and continuing to perform the step of sending a measurement request to the first TRP accessed by the located terminal according to the information of the located terminal after the authentication is passed.

The purpose of the above authentication of the positioning requester is to determine whether the positioning requester has the authority to locate the located terminal.

In some exemplary embodiments, the positioning requester can be authenticated according to a preset whitelist. Specifically, if the preset whitelist includes information about the positioning requester, the authentication is passed; in the preset whitelist If the whitelist does not include information about locating the requester, the authentication will fail.

In some exemplary embodiments, if the authentication fails, this process ends.

In some exemplary embodiments, the measurement request includes: information of the located terminal.

In step 102, the measurement data sent by the first TRP is received, and the information of the floor where the located terminal is located is determined based on the measurement data sent by the first TRP and the information of the floor where the first TRP is located.

In some exemplary embodiments, the measurement data may be relative time of arrival (RTOA), such as the relative arrival time of the uplink reference signal of the located terminal arriving at each first TRP.

In some exemplary embodiments, the information of the floor where the first TRP is located may be set in advance.

In some exemplary embodiments, the number of first TRPs that send measurement data is multiple, the multiple first TRPs belong to the same cell, and at least part of the multiple first TRPs may be located in different floor.

In some exemplary embodiments, the floor information includes the floor number of the floor (such as the first floor, the third floor, the underground floor, etc.).

During specific implementation, the first correspondence relationship between the identification of the TRP and the floor can be set in advance, and the identification of the first TRP is carried in the measurement data. After receiving the measurement data sent by the first TRP, the first correspondence relationship is searched for. The floor corresponding to the identification of a TRP is the floor where the first TRP is located.

In some exemplary embodiments, determining the information of the floor where the located terminal is located based on the measurement data sent by the first TRP and the information of the floor where the first TRP is located includes: converting the measurement data sent by the first TRP according to the information of the floor where the first TRP is located. The floor information is grouped so that the measurement data of the same group is sent by the first TRP located on the same floor; the priority of the floor corresponding to the group is determined according to the number of the first TRP corresponding to the group; where, the number of the first TRP corresponding to the group is The number is the number of the first TRP that sends the measurement data in the packet; the information that determines the floor where the located terminal is located is the information of the floor with the highest priority.

In some exemplary embodiments, determining the priority of the floor corresponding to the group based on the number of first TRPs that send the measurement data in the group and the average value of the measurement data in the group includes: sending the first TRP of the measurement data in the group. The greater the number, the higher the priority of determining the floor corresponding to the group.

For example, assume that there are 3 floors in a shopping mall, and 3 TRPs are deployed on each floor. The TRPs deployed on floor 1 are TRP1, TRP2, and TRP3. The TRPs deployed on floor 2 are TRP4, TRP5, and TRP6. The TRPs deployed on floor 3 are TRP4, TRP5, and TRP6. The deployed TRPs are TRP7, TRP8 and TRP9 respectively. If TRP1, TRP2, TRP3, TRP6 and TRP9 all measure the located terminal and send the measurement data, then, since the number of TRPs sending measurement data on floor 1 is 3 , the number of TRPs for floor 2 to send measurement data is 1, and the number of TRPs for floor 3 to send measurement data is 1. Therefore, the advantage of floor 1 is The priority is higher than Floor 2 and Floor 3, and the floor where the located terminal is located is Floor 1.

In some exemplary embodiments, determining the priority of the floor corresponding to the group based on the number of first TRPs corresponding to the group includes: determining the floor corresponding to the group based on the number of first TRPs corresponding to the group and the average value of the measurement data within the group. priority.

In some exemplary embodiments, determining the priority of the floor corresponding to the group based on the number of first TRPs corresponding to the group and the average value of the measurement data within the group includes: the greater the number of first TRPs corresponding to the group, the greater the number of first TRPs corresponding to the group. The higher the priority of the floor; when the number of first TRPs corresponding to at least two groups is the same, the smaller the average value of the measurement data in the group is, the higher the priority of the floor corresponding to the group is determined.

For example, in the above example, the number of TRPs sending measurement data to Floor 2 and Floor 3 is both 1, then the average value of the measurement data sent by the TRP deployed in Floor 2 and the average value of the measurement data sent by the TRP deployed in Floor 3 The value determines the priority of floor 2 and floor 3. The smaller the average value, the higher the priority of the corresponding floor.

In step 103, the location information of the located terminal is determined based on the measurement data sent by the second TRP; wherein the second TRP is the TRP in the first TRP that is located on the same floor as the located terminal.

In some exemplary embodiments, the location information of the located terminal refers to the specific location information of the located terminal on the floor where it is located.

In some exemplary embodiments, determining the location information of the located terminal based on the measurement data sent by the second TRP includes: determining the location information of the located terminal based on the measurement data sent by the second TRP and the location information of the second TRP.

In some exemplary embodiments, the location information of the TRP may be set in advance.

During specific implementation, the second correspondence relationship between the TRP identifier and the TRP location information can be set in advance, or the first correspondence relationship between the TRP identifier, the TRP location information and the floor can be set and carried in the measurement data. The identification of the first TRP, after receiving the measurement data sent by the first TRP, searching for the location information corresponding to the identification of the first TRP in the first correspondence relationship or the second correspondence relationship is the location information of the first TRP.

In some exemplary embodiments, the location information of the TRP refers to the information of the specific location of the TRP on the floor where it is located.

In some exemplary embodiments, determining the location information of the located terminal based on the measurement data sent by the second TRP includes: determining the location information of the located terminal based on the measurement data sent by the second TRP using an indoor positioning algorithm whose accuracy matches the target accuracy. .

In some exemplary embodiments, determining the location information of the positioned terminal based on the measurement data sent by the second TRP using an indoor positioning algorithm whose accuracy matches the target accuracy includes: based on the measurement data sent by the second TRP and the location information of the second TRP. An indoor positioning algorithm whose accuracy matches the target accuracy is used to determine the location information of the positioned terminal.

In some exemplary embodiments, the indoor positioning algorithm may be a least squares method or a fingerprint algorithm.

In some exemplary embodiments, the indoor positioning algorithm whose accuracy matches the target accuracy may be an indoor positioning algorithm whose accuracy is higher than the target accuracy; or, the indoor positioning algorithm with the lowest accuracy among the indoor positioning algorithms whose accuracy is higher than the target accuracy.

In some exemplary embodiments, when the location information of the located terminal cannot be determined according to the measurement data sent by the second TRP, the method further includes: continuing to perform the measurement data sent according to the third TRP and the location where the third TRP is located. The information of the floor determines the information of the floor where the located terminal is located; the step of determining the location information of the located terminal according to the measurement data sent by the fourth TRP, until the location information of the located terminal is determined or no measurement data is available; wherein, the The three TRPs include the TRPs in the first TRP except the second TRP, and the fourth TRP is the TRP in the third TRP that is located on the same floor as the located terminal.

The indoor positioning method provided by the embodiment of the present application is based on the measurement data sent by the first transmission receiving point and the first transmission interface. The information on the floor where the receiving point is located determines the information on the floor where the located terminal is located, and the location information of the located terminal is determined based on the measurement data sent by the second transmission receiving point located on the same floor as the located terminal, which solves the problem that related technologies cannot accurately locate. The problem of the floor where the terminal is located improves the accuracy of positioning.

In a second aspect, another embodiment of the present application provides an electronic device, including: at least one processor; and a memory. At least one program is stored on the memory. When at least one program is executed by at least one processor, any one of the above is implemented. Indoor positioning methods.

Among them, the processor is a device with data processing capabilities, including but not limited to a central processing unit (CPU), etc.; the memory is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically such as SDRAM). , DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory (FLASH).

In some embodiments, the processor and memory are connected to each other through a bus, and then to other components of the computing device.

In a third aspect, another embodiment of the present application provides a computer-readable medium. A computer program is stored on the computer-readable medium. When the computer program is executed by a processor, any one of the above indoor positioning methods is implemented.

In the fourth aspect, referring to FIG. 2 , another embodiment of the present application provides an indoor positioning device, including: a communication module 201 and a positioning module 202 . The communication module 201 is configured to: receive an indoor positioning request, where the indoor positioning request includes: information of the located terminal; send a measurement request to the first transmission receiving point accessed by the located terminal according to the information of the located terminal; and receive a third A transmission receives the measurement data sent by the point. The positioning module 202 is configured to determine the information of the floor where the terminal is located based on the measurement data sent by the first transmission reception point and the information of the floor where the first transmission reception point is located; determine the location of the terminal based on the measurement data sent by the second transmission reception point. location information, wherein the second transmission reception point is a transmission reception point located on the same floor as the located terminal among the first transmission reception points.

In some exemplary embodiments, the indoor positioning device is a core network element or an access network element. The core network element may be an existing core network element in the current network or a new one. Added core network elements.

In some exemplary embodiments, the indoor positioning request also includes: the information of the positioning requester; and the communication module 201 is also configured to: authenticate the positioning requester according to the information of the positioning requester, and continue to perform the execution according to the requester after passing the authentication. The step of positioning the terminal information to send a measurement request to the first transmission receiving point accessed by the positioned terminal.

In some exemplary embodiments, the positioning module 202 is further configured to: if the position information of the positioned terminal cannot be determined according to the measurement data sent by the second transmission reception point, continue to perform the measurement data sent according to the third transmission reception point. and the information on the floor where the third transmission receiving point is located to determine the information on the floor where the located terminal is located; the step of determining the location information of the located terminal based on the measurement data sent by the fourth transmission receiving point until the location information of the located terminal is determined Or there is no measurement data to choose from; wherein, the third transmission reception point includes a transmission reception point among the first transmission reception points except the second transmission reception point, and the fourth transmission reception point is the third transmission reception point that is connected to the located terminal. Transmission and reception points located on the same floor.

In some exemplary embodiments, the positioning module 202 is configured to determine the information of the floor where the positioned terminal is located based on the measurement data sent by the first transmission receiving point and the information of the floor where the first transmission receiving point is located in the following manner: The measurement data sent by a transmission and reception point is grouped according to the information of the floor where the first transmission and reception point is located, so that the measurement data of the same group is sent by the first transmission and reception point located on the same floor; according to the first transmission and reception point corresponding to the group The number determines the priority of the floor corresponding to the group, where the number of first transmission reception points corresponding to the group is the number of first transmission reception points that send the measurement data in the group; it is determined that the information on the floor where the located terminal is located is the priority Information about the highest floor.

In some exemplary embodiments, the positioning module 202 is configured to implement the first transmission corresponding to the group in the following manner: The number of transmission and reception points determines the priority of the floor corresponding to the group: the priority of the floor corresponding to the group is determined based on the number of first transmission and reception points corresponding to the group and the average value of the measurement data within the group.

In some exemplary embodiments, the positioning module 202 is configured to determine the priority of the floor corresponding to the group according to the number of first transmission reception points corresponding to the group and the average value of the measurement data within the group in the following manner: The greater the number of first transmission reception points, the higher the priority of determining the floor corresponding to the group; in the case where the number of first transmission reception points corresponding to at least two groups is the same, the smaller the average value of the measurement data within the group, The higher the priority of the floor corresponding to the determined group.

In some exemplary embodiments, the positioning module 202 is configured to determine the priority of the floor corresponding to the group based on the number of first transmission reception points that send measurement data within the group and the average value of the measurement data within the group in the following manner: The greater the number of first transmission and reception points that send measurement data within a group, the higher the priority of determining the floor corresponding to the group.

In some exemplary embodiments, the positioning module 202 is configured to determine the location information of the positioned terminal according to the measurement data sent by the second transmission receiving point in the following manner: using the accuracy and the target accuracy according to the measurement data sent by the second transmission receiving point. The matching indoor positioning algorithm determines the location information of the positioned terminal.

The specific implementation process of the above indoor positioning device is the same as the specific implementation process of the indoor positioning method in the previous embodiment, and will not be described again here.

Those of ordinary skill in the art can understand that all or some steps, systems, and functional modules/units in the devices disclosed above can be implemented as software, firmware, hardware, and appropriate combinations thereof. In hardware implementations, the division between functional modules/units mentioned in the above description does not necessarily correspond to the division of physical components; for example, one physical component may have multiple functions, or one function or step may consist of several physical components. Components execute cooperatively. Some or all of the physical components may be implemented as software executed by a processor, such as a central processing unit, a digital signal processor, or a microprocessor, or as hardware, or as an integrated circuit, such as an application specific integrated circuit . Such software may be distributed on computer-readable media, which may include computer storage media (or non-transitory media) and communication media (or transitory media). As is known to those of ordinary skill in the art, the term computer storage media includes volatile and nonvolatile media implemented in any method or technology for storage of information such as computer readable instructions, data structures, program modules or other data. removable, removable and non-removable media. Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technology, CD-ROM, Digital Versatile Disk (DVD) or other optical disk storage, magnetic cassettes, tapes, disk storage or other magnetic storage, or may be used Any other medium that stores the desired information and can be accessed by a computer. Additionally, it is known to those of ordinary skill in the art that communication media typically embodies computer readable instructions, data structures, program modules or other data in a modulated data signal such as a carrier wave or other transport mechanism, and may include any information delivery media .

Example embodiments have been disclosed herein, and although specific terms are employed, they are used and should be interpreted in a general illustrative sense only and not for purpose of limitation. In some instances, it will be apparent to those skilled in the art that features, characteristics and/or elements described in connection with a particular embodiment may be used alone, or may be used in conjunction with other embodiments, unless expressly stated otherwise. Features and/or components used in combination. Accordingly, it will be understood by those skilled in the art that various changes in form and details may be made without departing from the scope of the present application as set forth in the appended claims.

Claims

An indoor positioning method, including:

Receive an indoor positioning request, wherein the indoor positioning request includes: information of the terminal being positioned;

Send a measurement request to the first transmission reception point accessed by the located terminal according to the information of the located terminal;

Receive the measurement data sent by the first transmission reception point, and determine the information of the floor where the positioned terminal is located based on the measurement data sent by the first transmission reception point and the information of the floor where the first transmission reception point is located;

The location information of the located terminal is determined according to the measurement data sent by the second transmission receiving point, where the second transmission receiving point is the transmission receiving point located on the same floor as the located terminal in the first transmission receiving point. point.
The indoor positioning method according to claim 1, wherein,

The indoor positioning request also includes: information about the positioning requester;

Before sending a measurement request to the first transmission reception point accessed by the located terminal according to the information of the located terminal, the method further includes:

Authenticate the positioning requester according to the information of the positioning requester, and continue to perform the sending to the first transmission receiving point accessed by the located terminal based on the information of the located terminal after the authentication is passed. Steps to measure the request.
The indoor positioning method according to claim 1 or 2, wherein when the location information of the positioned terminal cannot be determined based on the measurement data sent by the second transmission receiving point, the method further includes:

Continue to determine the information on the floor where the located terminal is located based on the measurement data sent by the third transmission receiving point and the information on the floor where the third transmission receiving point is located; determine the information on the floor where the located terminal is located based on the measurement data sent by the fourth transmission receiving point. The step of position information of the located terminal until the position information of the located terminal is determined or no measurement data is available; wherein the third transmission receiving point includes the first transmission receiving point except the second A transmission reception point other than the transmission reception point, the fourth transmission reception point is a transmission reception point located on the same floor as the located terminal among the third transmission reception points.
The indoor positioning method according to any one of claims 1 to 3, wherein the positioning is determined based on the measurement data sent by the first transmission receiving point and the information of the floor where the first transmission receiving point is located. Information about the floor where the terminal is located includes:

Group the measurement data sent by the first transmission and reception point according to the information of the floor where the first transmission and reception point is located, so that the measurement data of the same group is sent by the first transmission and reception point located on the same floor;

The priority of the floor corresponding to the group is determined according to the number of first transmission reception points corresponding to the group, where the number of first transmission reception points corresponding to the group is the first number of the first transmission reception points that transmit the measurement data in the group. The number of transmission reception points; and

The information of the floor where the located terminal is located is determined to be the information of the floor with the highest priority.
The indoor positioning method according to claim 4, wherein determining the priority of the floor corresponding to the group according to the number of first transmission reception points corresponding to the group includes:

The said number is determined based on the number of first transmission reception points corresponding to said group and the average value of measurement data within said group. The priority of the floor corresponding to the group.
The indoor positioning method according to claim 5, wherein determining the priority of the floor corresponding to the group according to the number of first transmission reception points corresponding to the group and the average value of the measurement data within the group includes :

The greater the number of first transmission reception points corresponding to the group, the higher the priority of the floor corresponding to the group is determined; and

In the case where the number of first transmission reception points corresponding to at least two of the groups is the same, the smaller the average value of the measurement data in the group, the higher the priority of determining the floor corresponding to the group.
The indoor positioning method according to any one of claims 1 to 6, wherein determining the location information of the positioned terminal based on the measurement data sent by the second transmission receiving point includes:

According to the measurement data sent by the second transmission receiving point, an indoor positioning algorithm whose accuracy matches the target accuracy is used to determine the location information of the positioned terminal.
An electronic device including:

at least one processor;

A memory, at least one program is stored on the memory, and when the at least one program is executed by the at least one processor, the indoor positioning method according to any one of claims 1-7 is implemented.
A computer-readable medium. A computer program is stored on the computer-readable medium. When the computer program is executed by a processor, the indoor positioning method described in any one of claims 1-7 is implemented.
An indoor positioning device includes a communication module and a positioning module, wherein,

The communication module is configured to: receive an indoor positioning request, wherein the indoor positioning request includes information of the located terminal; send a measurement request to the first transmission receiving point accessed by the located terminal according to the information of the located terminal; and receive Measurement data sent by the first transmission receiving point; and

The positioning module is configured to: determine the information on the floor where the positioned terminal is located based on the measurement data sent by the first transmission receiving point and the information on the floor where the first transmission receiving point is located; and receive the information on the floor based on the second transmission receiving point. The location information of the located terminal is determined from the measurement data sent by the second transmission receiving point, where the second transmission receiving point is a transmission receiving point located on the same floor as the located terminal among the first transmission receiving points.