Indoor positioning method and system, computer device and storage medium

An indoor positioning system, comprises:

• a range judging module, which is configured for judging whether a positioning terminal enters a coverage range of a virtual beacon,
• a walking trend judging module, which is configured for judging whether a distance between the positioning terminal and the virtual beacon decreases to obtain a judgement result,
• a step size adjusting module, which is configured for according to the judgement result, adjusting the step size of a Pedestrian Dead Reckoning (PDR) positioning algorithm, when the distance decreases, the step size of the PDR positioning algorithm is decreased, and when the distance increases, the step size of the PDR positioning algorithm increased, and
• a positioning module, which is configured for when the range judging module judges that the positioning terminal enters the coverage range of the virtual beacon, positioning the positioning terminal using the PDR positioning algorithm with the step size adjusted to obtain a positioning result;
• and/or, when the range judging module judges that the positioning terminal does not enter the coverage range of the virtual beacon, positioning the positioning terminal using the PDR positioning algorithm with the step size not adjusted to obtain a positioning result,
• wherein the indoor positioning system further comprises a data acquiring module, which is configured for acquiring a pre-established constraint road network which includes at least two position information, and
• wherein the positioning module is further configured for 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.