Multi-path auxiliary Bluetooth AOA indoor positioning method based on crowdsourcing mechanism

The invention relates to a multipath auxiliary Bluetooth AOA indoor positioning method based on a crowdsourcing mechanism, a Bluetooth base station is arranged in an indoor environment, and the position of a user terminal is changed along with the change of a user motion path. The user terminal sends a signal to the Bluetooth base station, and the Bluetooth base station uploads data information to the cloud server after receiving the signal sent by the user terminal. The cloud server processes messages uploaded by the Bluetooth base stations, Bluetooth AOA estimation is carried out on different user terminals and the corresponding Bluetooth base stations on the cloud server, measurement values are extracted, multi-path information and geometric structures are utilized, and virtual anchor point state information generated by multi-path components is calculated, so that multi-path AOA estimation is carried out on the different user terminals and the Bluetooth base stations corresponding to the different user te