What is the principle of indoor positioning of Baidu map?

Baidu map indoor positioning using WiFi location, specifically which kind of WiFi location technology, fingerprint or fixed ap?

At present, indoor positioning is basically based on this principle. Application of fingerprint matching algorithm based on cosine similarity in WiFi indoor location
Baidu in the use of WiFi mode integration of other sensors, such as: electronic compass, gyroscope and so on. can refer to: Secret Baidu indoor positioning technology: machine learning to make positioning more accurate
Shrimp stroll using the ibeacon, reference ibeacon positioning and Wi-Fi positioning compared to the accuracy, construction costs, application development is easy to the extent of the difference? Are there any cases of ibeacon in China? -Indoor positioning

Small Crab Recruit Tide
Links: https://m.zhihu.com/question/20498019/answer/46981709
Source: Know
Copyright belongs to the author. Commercial reprint please contact the author for authorization, non-commercial reprint please specify the source. ================================== Baidu's indoor positioning, with the WiFi fingerprint technology, but with the crowd package method, the general scene, indoor accuracy due to 30 meters, has been calculated. ================================== is a router that is known to be positioned in front of a store, and then based on a fingerprint algorithm.

Fingerprint algorithm is measured in front of each location in the mall, the signal strength of each router, stored in the database, when the user needs to locate the signal strength of the measured routers to the server, the server from the database to find out the corresponding location, report to the user. =================================== Baidu currently uses Wi-Fi fingerprint + geomagnetic common positioning. Indooratlas's geomagnetic location technology is currently referenced by Baidu and uses Wi-Fi fingerprint to determine the user's indoor location. The initial position of geomagnetic localization is poor, but as the movement becomes more and more accurate, this change of utilization trend is a better over-supplement. =====================================

What is the principle of indoor positioning of Baidu map?