Fingerprinting is a widely used positioning technology for received signal strength (RSS) based wireless local area network (WLAN) positioning system. Though spatial RSS variation is the key factor of the positioning technology, temporal RSS variation needs to be considered for more accuracy. To deal with the spatial and temporal RSS characteristics within a unified framework, this paper proposes an extended signal propagation mode (ESPM) and a fingerprint generation method. The proposed spatiotemporal fingerprint generation method consists of two algorithms running in parallel; Kalman filtering at several measurement-sampling locations and Kriging to generate location fingerprints at dense reference locations. The two different algorithms are connected by the extended signal propagation model which describes the spatial and temporal measurement characteristics in one frame. An experiment demonstrates that the proposed method provides an improved positioning accuracy.