US 12,253,362 B2
Indoor positioning method and system, computer device and storage medium
Shanchi Lin, Guangzhou (CN); Yang Liu, Guangzhou (CN); Xiangguo Li, Guangzhou (CN); Shuangan Ding, Guangzhou (CN); Huangbo Cai, Guangzhou (CN); and Guitao Hu, Guangzhou (CN)
Assigned to GLORYVIEW TECH INC., Guangzhou (CN)
Filed by GLORYVIEW TECH INC., Guangzhou (CN)
Filed on Jun. 14, 2022, as Appl. No. 17/840,292.
Application 17/840,292 is a continuation of application No. PCT/CN2022/092516, filed on May 12, 2022.
Claims priority of application No. 202111038878.0 (CN), filed on Sep. 6, 2021.
Prior Publication US 2023/0075684 A1, Mar. 9, 2023
Int. Cl. G01C 21/20 (2006.01); G01S 5/02 (2010.01); H04W 4/029 (2018.01)
CPC G01C 21/206 (2013.01) [G01S 5/02685 (2020.05); H04W 4/029 (2018.02)] 12 Claims
OG exemplary drawing
 
1. An indoor positioning method, comprising:
judging whether a positioning terminal enters a coverage range of a virtual beacon,
if yes, judging whether a distance between the positioning terminal and the virtual beacon decreases to obtain a judgement result;
adjusting a step size of a Pedestrian Dead Reckoning (PDR) positioning algorithm, according to the judgement result, when the distance decreases, decreasing the step size of the PDR positioning algorithm, and when the distance increases, increasing the step size of the PDR positioning algorithm; and
positioning the positioning terminal by the PDR positioning algorithm with the step size adjusted to obtain a positioning result, and
if not, positioning the positioning terminal using the PDR positioning algorithm with the step size not adjusted to obtain a positioning result,
acquiring a pre-established constraint road network which includes at least two position information, and
determining one position information closest to the positioning result according to the constraint road network, and taking the determined position information as a final positioning result of the positioning terminal.