Bluetooth key distance measuring method and device, Bluetooth key positioning method and device, equipment and storage medium

Abstract

The embodiment of the invention discloses a Bluetooth key distance measuring method, a positioning method, a device, equipment and a storage medium, the Bluetooth key distance measuring method is used for a Bluetooth anchor point module, and comprises the following steps: establishing a Bluetooth connection with a Bluetooth key under the condition of confirming that the Bluetooth anchor point module is in a first connection state, bluetooth signal detection is carried out on the Bluetooth connection through Bluetooth channel detection; performing calculation processing according to the detected Bluetooth signal to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key; the distance value and the multipath effect index are sent to a data processing module, so that the data processing module carries out Bluetooth key positioning according to the distance value and the multipath effect index; and exiting the first connection state and sending a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction, the problem of inaccurate distance measurement and positioning of the Bluetooth key can be solved, and the accuracy of distance measurement and positioning of the Bluetooth key is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of vehicle positioning technology, and in particular to a Bluetooth key ranging method, positioning method, device, equipment and storage medium. Background Art

[0002] Keyless entry technology has been widely used in modern cars. This technology allows car owners to easily unlock and start the vehicle without using traditional mechanical keys through radio frequency identification or Bluetooth identification. Keyless entry not only improves user convenience, but also enhances vehicle safety. With the development of technology, keyless entry systems are becoming more and more intelligent and popular, becoming an important standard feature of modern cars.

[0003] At present, most Bluetooth positioning methods use the Bluetooth received signal strength indication (Received Signal Strength Indication, RSSI) for positioning, that is, positioning is performed through the relationship between the strength of the Bluetooth transmitted signal and the distance between the transmitting point and the receiving point. The positioning accuracy of Bluetooth RSSI is generally 2-5 meters, and in actual applications, factors such as the anchor point position and the environment affect the Bluetooth signal during the propagation process, resulting in volatility, singular values ​​and other problems in the Bluetooth signal value. As a result, the correlation between the signal attenuation model and the distance will be weakened, resulting in further expansion of the positioning error, causing positioning position drift and area judgment errors, affecting the user experience of the Bluetooth key. Summary of the invention

[0004] The embodiments of the present application provide a Bluetooth key ranging method, positioning method, device, equipment and storage medium, which can solve the technical problem of inaccurate Bluetooth key ranging and positioning, and improve the accuracy of Bluetooth key ranging and positioning.

[0005] In a first aspect, an embodiment of the present application provides a Bluetooth key distance measurement method for a Bluetooth anchor point module, the Bluetooth key distance measurement method comprising:

[0006] When confirming that the device is in the first connection state, establishing a Bluetooth connection with the Bluetooth key, and performing Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection;

[0007] Calculate and process the detected Bluetooth signal to obtain the distance value and multipath effect index between the Bluetooth anchor module and the Bluetooth key;

[0008] Sending the distance value and the multipath effect index to the data processing module, so that the data processing module can locate the Bluetooth key according to the distance value and the multipath effect index;

[0009] Exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

[0010] In one embodiment, the distance value and the multipath effect index between the Bluetooth anchor point module and the Bluetooth key are obtained by performing calculation processing according to the detected Bluetooth signal, including:

[0011] Perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection to obtain the carrier signal phase;

[0012] Performing orthogonal decomposition processing and Hanning windowing processing on the phase of the carrier signal to obtain I component value and Q component value;

[0013] Performing Fourier transform processing and normalization processing on the I component value and the Q component value to obtain the time domain distribution data of the carrier signal phase and the multipath effect index;

[0014] The distance value between the Bluetooth anchor point module and the Bluetooth key is obtained by performing calculation and processing based on the time domain distribution data of the carrier signal phase.

[0015] In one embodiment, performing Bluetooth signal detection on a Bluetooth connection according to Bluetooth channel detection to obtain a carrier signal phase includes:

[0016] Sampling the detected Bluetooth signal to obtain first IQ data;

[0017] receiving a data packet sent by the Bluetooth key, where the data packet includes second IQ data measured by the Bluetooth key;

[0018] Calculation is performed based on the first IQ data and the second IQ data to obtain a carrier signal phase.

[0019] In one embodiment, performing calculation processing according to the first IQ data and the second IQ data to obtain the carrier signal phase includes:

[0020] Performing an inverse tangent operation on the first IQ data to obtain a first phase;

[0021] Performing an inverse tangent operation on the second IQ data to obtain a second phase;

[0022] The first phase and the second phase are added to obtain the carrier signal phase.

[0023] In one embodiment, the distance value between the Bluetooth anchor point module and the Bluetooth key is obtained by performing calculation processing based on the time domain distribution data of the carrier signal phase, including:

[0024] Determine the reflection time value according to the first peak value of the time domain distribution data;

[0025] The distance between the Bluetooth anchor module and the Bluetooth key is obtained by calculating and processing the reflection time value and the speed of light value.

[0026] In a second aspect, an embodiment of the present application provides a Bluetooth key positioning method, which is used in a data processing module, comprising:

[0027] receiving distance values ​​and multipath effect indexes sent by at least three Bluetooth anchor point modules, where the distance values ​​are distance values ​​between the corresponding Bluetooth anchor point modules and the Bluetooth key, and the distance values ​​and multipath effect indexes are obtained by the corresponding Bluetooth anchor point modules detecting Bluetooth signals of the Bluetooth connection with the Bluetooth key through Bluetooth channel detection, and calculating and processing the detected Bluetooth signals;

[0028] The average value of the distance sent by all Bluetooth anchor modules is calculated to obtain the average distance value;

[0029] When the distance mean is less than the first preset threshold, geometric calculation processing is performed according to the preset position information of all Bluetooth anchor point modules and the corresponding distance values ​​to determine the positioning information of the Bluetooth key.

[0030] In one embodiment, after the average value is obtained according to the distance values ​​sent by all Bluetooth anchor point modules, the following steps are performed:

[0031] When the distance mean is greater than or equal to the first preset threshold, according to the multipath effect indexes sent by all Bluetooth anchor point modules, the distance value sent by the Bluetooth anchor point module whose multipath effect index is less than the second preset threshold is determined as the target distance value;

[0032] The positioning information of the Bluetooth key is determined by performing geometric calculation based on the target distance value and the preset position information of the corresponding Bluetooth anchor module.

[0033] In a third aspect, an embodiment of the present application provides a Bluetooth key distance measuring device for a Bluetooth anchor point module, the Bluetooth key distance measuring device comprising:

[0034] a connection establishing unit, configured to establish a Bluetooth connection with the Bluetooth key when confirming that the Bluetooth key is in the first connection state, and perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection;

[0035] The carrier calculation unit is used to calculate and process the detected Bluetooth signal to obtain the distance value and multipath effect index between the Bluetooth anchor point module and the Bluetooth key;

[0036] A data sending unit, used to send the distance value and the multipath effect index to the data processing module, so that the data processing module can locate the Bluetooth key according to the distance value and the multipath effect index;

[0037] The link transfer unit is used to exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

[0038] In one embodiment, the carrier calculation unit includes: a phase calculation subunit, a component value determination subunit, a distribution data determination subunit and a distance determination subunit;

[0039] The phase calculation subunit is used to detect the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection to obtain the carrier signal phase;

[0040] The component value determination subunit is used to perform orthogonal decomposition processing and Hanning windowing processing on the phase of the carrier signal to obtain an I component value and a Q component value;

[0041] The distribution data determination subunit is used to perform Fourier transform processing and normalization processing on the I component value and the Q component value to obtain the time domain distribution data of the carrier signal phase and the multipath effect index;

[0042] The distance determination subunit is used to perform calculations based on the time domain distribution data of the carrier signal phase to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key.

[0043] In one embodiment, the phase calculation subunit is further used to sample the detected Bluetooth signal to obtain first IQ data;

[0044] receiving a data packet sent by the Bluetooth key, where the data packet includes second IQ data measured by the Bluetooth key;

[0045] Calculation is performed based on the first IQ data and the second IQ data to obtain a carrier signal phase.

[0046] In one embodiment, the phase calculation subunit is further used to perform an inverse tangent operation on the first IQ data to obtain a first phase;

[0047] Performing an inverse tangent operation on the second IQ data to obtain a second phase;

[0048] The first phase and the second phase are added to obtain the carrier signal phase.

[0049] In one embodiment, the distance calculation unit includes: a time determination subunit and a distance determination subunit;

[0050] A time determination subunit, used for determining a reflection time value according to a first peak value of the time domain distribution data;

[0051] The distance determination subunit is used to perform calculations based on the reflection time value and the light speed value to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key.

[0052] In a fourth aspect, an embodiment of the present application provides a Bluetooth key ranging device, including:

[0053] memory and one or more processors;

[0054] The memory is used to store one or more programs;

[0055] When the one or more programs are executed by the one or more processors, the one or more processors implement the Bluetooth key ranging method described in the first aspect or the Bluetooth key positioning method described in the second aspect.

[0056] In a fifth aspect, an embodiment of the present application provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to execute the Bluetooth key ranging method described in the first aspect or the Bluetooth key positioning method described in the second aspect.

[0057] The embodiment of the present application establishes a Bluetooth connection with a Bluetooth key through the corresponding Bluetooth anchor module after confirming that it is in the first connection state, and detects Bluetooth signals on the Bluetooth connection through Bluetooth channel detection, determines the distance value and multipath effect index based on the detected Bluetooth signal, reports the measured distance value and multipath effect index to the data processing module, exits the first connection state and sends a link transfer instruction to the next Bluetooth anchor module, so that the Bluetooth anchor module enters the first connection state according to the link transfer instruction. By adopting the above technical means, ranging can be performed through Bluetooth channel detection with better stability, stronger anti-interference ability and wider ranging range, thereby avoiding the technical problem of inaccurate positioning caused by RSSI ranging, and performing ranging and positioning of the Bluetooth key based on Bluetooth channel detection, thereby improving the accuracy and reliability of Bluetooth key ranging and positioning. In addition, the link transfer instruction performs Bluetooth link transfer, so that each Bluetooth anchor point module can determine the distance value and multipath effect index based on the Bluetooth connection, and report it to the data processing module, so that the data processing module can comprehensively measure the distance values ​​and multipath effect indexes of all Bluetooth anchor point modules to locate the Bluetooth key, so as to improve the accuracy and reliability of the final positioning of the Bluetooth key.

[0058] The beneficial effects of the Bluetooth key distance measuring device, Bluetooth key distance measuring equipment and storage medium provided above can refer to the beneficial effects of the Bluetooth key distance measuring method. BRIEF DESCRIPTION OF THE DRAWINGS

[0059] Figure 1 is a flow chart of a Bluetooth key distance measurement method provided by an embodiment of the present application;

[0060] Figure 2 is a connection diagram of a Bluetooth anchor point module provided in an embodiment of the present application;

[0061] Figure 3 This is a flow chart of a Bluetooth key positioning method provided by an embodiment of the present application;

[0062] Figure 4 is a schematic diagram of a Bluetooth anchor point module position setting provided in an embodiment of the present application;

[0063] Figure 5 It is a schematic diagram of geometric processing provided by an embodiment of the present application;

[0064] Figure 6 It is a structural schematic diagram of a Bluetooth key distance measuring device provided in an embodiment of the present application;

[0065] Figure 7 It is a structural schematic diagram of a Bluetooth key ranging device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0066] In order to make the purpose, technical scheme and advantages of the present application clearer, the specific embodiments of the present application are further described in detail below in conjunction with the accompanying drawings. It is understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for the convenience of description, only the part related to the present application but not all the contents are shown in the accompanying drawings. Before discussing the exemplary embodiments in more detail, it should be mentioned that some exemplary embodiments are described as processes or methods depicted as flow charts. Although the flow chart describes each operation (or step) as a sequential process, many of the operations therein can be implemented in parallel, concurrently or simultaneously. In addition, the order of each operation can be rearranged. The process can be terminated when its operation is completed, but it can also have additional steps not included in the accompanying drawings. The process can correspond to a method, a function, a procedure, a subroutine, a subprogram, etc.

[0067] At present, most Bluetooth positioning methods use the Bluetooth received signal strength indication (RSSI) for positioning, that is, positioning is performed through the relationship between the strength of the Bluetooth transmitted signal and the distance between the transmitting point and the receiving point. The positioning accuracy of Bluetooth RSSI is generally 2-5 meters, and in actual applications, factors such as the anchor point position and the environment affect the Bluetooth signal during the propagation process, resulting in volatility and singular values ​​in the Bluetooth signal value. As a result, the correlation between the signal attenuation model and the distance will be weakened, resulting in further expansion of the positioning error, causing positioning position drift and area judgment errors, affecting the user experience of the Bluetooth key.

[0068] Based on this, the Bluetooth key distance measurement method, positioning method, device, equipment and storage medium of the embodiment of the present application are provided, aiming at that when the Bluetooth key is measuring distance, the distance can be measured through Bluetooth channel detection with better stability, stronger anti-interference ability and wider ranging range, so as to avoid the technical problem of inaccurate positioning caused by RSSI ranging, and the distance measurement and positioning of the Bluetooth key are performed based on Bluetooth channel detection, thereby improving the accuracy and reliability of Bluetooth key ranging and positioning. In addition, the link transfer instruction performs Bluetooth link transfer, so that each Bluetooth anchor point module can determine the distance value and multipath effect index based on the Bluetooth connection, and report it to the data processing module, so that the data processing module can comprehensively measure the distance value and multipath effect index measured by all Bluetooth anchor point modules to locate the Bluetooth key, so as to improve the accuracy and reliability of the final positioning of the Bluetooth key.

[0069] Figure 1 A flowchart of a Bluetooth key distance measurement method provided in an embodiment of the present application is given. The Bluetooth key distance measurement method provided in this embodiment can be executed by a Bluetooth key distance measurement device, and the Bluetooth key distance measurement device can be implemented by software and / or hardware. The Bluetooth key distance measurement device can be composed of two or more physical entities, or can be composed of one physical entity. Generally speaking, the Bluetooth key distance measurement device can be a vehicle-mounted device, such as a Bluetooth anchor module or a control module in a vehicle.

[0070] The following description is made by taking the Bluetooth anchor point module or the data processing module in the vehicle as the main body for executing the Bluetooth key ranging method as an example. The Bluetooth key ranging method is used for the Bluetooth anchor point module. The vehicle is provided with a data processing module and multiple Bluetooth anchor point modules. The multiple Bluetooth anchor point modules are all connected to the data processing module. Figure 2 is a connection diagram of a Bluetooth anchor point module provided in an embodiment of the present application, referring to Figure 2 In this embodiment, five Bluetooth anchor point modules 10 are used as an example for explanation. The vehicle includes five Bluetooth anchor point modules 10, namely Bluetooth anchor point module 11, Bluetooth anchor point module 12, Bluetooth anchor point module 13, Bluetooth anchor point module 14 and Bluetooth anchor point module 15. The Bluetooth anchor point modules 11-15 all have the function of establishing a Bluetooth connection with the Bluetooth key 20. The Bluetooth anchor point modules 11-15 are connected to each other through a bus (CAN bus or LIN bus), and the Bluetooth anchor point modules 11-15 are connected to the data processing module 30 through a bus (CAN bus or LIN bus).

[0071] It should be noted that the five Bluetooth anchor point modules in this embodiment are only for illustration. In practical applications, the specific number of Bluetooth anchor point modules can be set according to actual conditions.

[0072] Reference Figure 1 The Bluetooth key distance measurement method is used for the Bluetooth anchor module, specifically including:

[0073] S101. When confirming that the device is in the first connection state, establish a Bluetooth connection with the Bluetooth key, and perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection.

[0074] The first connection state can be understood as a state in which a Bluetooth connection is about to be made. When the distance measurement starts, the preset first Bluetooth anchor point module can be controlled to enter the first connection state by receiving a distance measurement start instruction or a broadcast signal of the Bluetooth key. Other Bluetooth anchor point modules except the preset first Bluetooth anchor point module need to receive a link transfer instruction to enter the first connection state. This embodiment starts to execute the Bluetooth key distance measurement method of this embodiment from the preset first Bluetooth anchor point module. For example, Figure 2 The Bluetooth anchor point module 10 in the embodiment starts to execute the Bluetooth key distance measurement method of this embodiment from the Bluetooth anchor point module 11.

[0075] When the preset first Bluetooth anchor point module receives a ranging start instruction or a broadcast signal from a Bluetooth key, it enters the first connection state; or when other Bluetooth anchor point modules other than the preset first Bluetooth anchor point module receive a link transfer instruction, they enter the first connection state. When the corresponding Bluetooth anchor point module determines that it is in the first connection state, it establishes a Bluetooth connection with the Bluetooth key, and sends and receives Bluetooth signals based on the Bluetooth connection. The corresponding Bluetooth anchor point module can perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection (Channel Sounding technology), and subsequently can perform corresponding signal quality and distance detection based on the Bluetooth signal detected by the Bluetooth channel. For example, Figure 2 The Bluetooth anchor point module 11 in the Bluetooth key establishes a Bluetooth connection with the Bluetooth key when confirming that it is in the first connection state, and performs Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection. At this time, the Bluetooth anchor point modules 12-15 do not perform other actions and wait for receiving the link transfer instruction.

[0076] S102: Perform calculations based on the detected Bluetooth signal to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key.

[0077] After receiving and sending Bluetooth signals based on the Bluetooth connection, the corresponding Bluetooth anchor point module can detect Bluetooth signals on the Bluetooth connection through Bluetooth channel detection, sample the detected Bluetooth signals to obtain first IQ data, perform an inverse tangent operation on the first IQ data to obtain a first phase. Receive a data packet sent by the Bluetooth key, the data packet includes second IQ data measured by the Bluetooth key, perform an inverse tangent operation on the second IQ data to obtain a second phase, and add the first phase and the second phase to obtain a carrier signal phase.

[0078] For example, the first IQ data is represented by Q 1 / I1, then the first phase is represented by phase1=tan -1 (Q 1 / I1); the second IQ data is expressed as Q 2 / I2, then the first phase is represented by phase2=tan -1 (Q 2 / I2). Therefore, the phase of the carrier signal is phase=phase1+phase2.

[0079] Exemplarily, the Bluetooth anchor point module continuously sends unmodulated Bluetooth signals within the Bluetooth frequency band range (e.g., 2402MHz to 2480MHz) with a preset bandwidth (e.g., 1MHz bandwidth) and a preset number of communication channels (e.g., 79 channels). The Bluetooth key detects the corresponding communication channel, and after receiving the unmodulated Bluetooth signal sent by the main Bluetooth anchor point unit, it collects the phase of the Bluetooth signal to obtain the first carrier signal phase, i.e., the second IQ data; the reflection signal is started, and the Bluetooth key sends the first carrier signal phase (i.e., the second IQ data) to the Bluetooth anchor point module through a response instruction. After receiving the reflection signal, the Bluetooth anchor point module collects the second carrier signal phase in the reflection signal, i.e., the first IQ data. Calculation and processing are performed based on the first IQ data and the second IQ data to obtain the carrier signal phase.

[0080] After determining the phase of the carrier signal, the phase of the carrier signal is reconstructed. The phase of the carrier signal can be orthogonally decomposed to obtain the I value of the carrier signal phase and the Q value of the carrier signal phase. The I value of the carrier signal phase and the Q value of the carrier signal phase are respectively processed by Hanning windowing to obtain the I component value and the Q component value. For example, the I component value is expressed as I = cos (phase), and the Q component value is expressed as Q = sin (phase). The Hanning windowing process is expressed as w(n) = 0.5 × (1-cos (2πn / (N-1))), where w(n) represents the value of the window function at the nth sampling point, and N represents the length of the window function. Among them, n belongs to Afterwards, the I component value and the Q component value are subjected to Fourier transform processing, the time domain distribution data of the carrier signal phase is calculated, and the Fourier transform processing result (ie, the time domain distribution data) is normalized to obtain the multipath effect index.

[0081] The distance value between the Bluetooth anchor point module and the Bluetooth key is obtained by performing calculations based on the time domain distribution data of the carrier signal phase. For example, the reflection time value is determined based on the first peak value of the time domain distribution data; the distance value between the Bluetooth anchor point module and the Bluetooth key is obtained by performing calculations based on the reflection time value and the speed of light value.

[0082] The multipath effect refers to the reflection, refraction, scattering and other effects of electromagnetic waves during propagation due to different obstacles (such as buildings, hills, trees, etc.), which leads to the existence of multiple different paths when the same signal reaches the receiving end. When the signal components of these different paths reach the receiving end, due to the differences in path length and propagation time, phase differences and amplitude differences will occur, which will be superimposed on each other to cause interference, causing the original signal to be distorted or errors to occur. Therefore, the signal quality of the Bluetooth signal can be determined based on the multipath effect index corresponding to the Bluetooth signal. The multipath effect index determined by the Bluetooth anchor module can be compared with a preset threshold. When the multipath effect index is less than the preset threshold, it is determined that the signal quality is relatively high. When the multipath effect index is greater than or equal to the preset threshold, it is determined that the signal quality is relatively low.

[0083] S103: Send the distance value and the multipath effect index to the data processing module, so that the data processing module can perform Bluetooth key positioning according to the distance value and the multipath effect index.

[0084] The distance value and multipath effect index obtained above are sent to the data processing module. The distance value and multipath effect index can be sent to the data processing module via the CAN bus or the LIN bus, so that the data processing module can locate the Bluetooth key according to the distance value and the multipath effect index.

[0085] S104: exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

[0086] After sending the distance value and the multipath effect index to the data processing module, the current Bluetooth anchor point module exits the first connection state and sends a link transfer instruction to the next Bluetooth anchor point module, so that the (next) Bluetooth anchor point module enters the first connection state according to the link transfer instruction. Therefore, the next Bluetooth anchor point module executes S101-S104 based on entering the first connection state until all Bluetooth anchor point modules have completed S101-S104.

[0087] For example, Figure 2 After the Bluetooth anchor point module 11 sends the distance value and multipath effect index determined by itself to the data processing module, the Bluetooth anchor point module 11 exits the first connection state and sends a link transfer instruction to the next Bluetooth anchor point module. It is assumed that the next Bluetooth anchor point module is the Bluetooth anchor point module 12, so that the Bluetooth anchor point module 12 enters the first connection state according to the link transfer instruction.

[0088] It should be noted that the next Bluetooth anchor point module is determined according to a preset order. Figure 2 , assuming that the preset order is the order of Bluetooth anchor point modules 11-15.

[0089] As mentioned above, the current Bluetooth anchor point module exits the first connection state and sends a link transfer instruction to the next Bluetooth anchor point module, so that the (next) Bluetooth anchor point module enters the first connection state according to the link transfer instruction, thereby realizing the Bluetooth connection and ranging of all Bluetooth anchor point modules. Subsequently, the distance values ​​and multipath effect index measured by all Bluetooth anchor point modules can be combined to locate the Bluetooth key, thereby improving the accuracy and reliability of Bluetooth key positioning based on Bluetooth signal ranging.

[0090] As described above, after confirming that it is in the first connection state, the corresponding Bluetooth anchor point module establishes a Bluetooth connection with the Bluetooth key, and detects Bluetooth signals on the Bluetooth connection through Bluetooth channel detection, determines the distance value and multipath effect index based on the detected Bluetooth signal, reports the measured distance value and multipath effect index to the data processing module, exits the first connection state, and sends a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction. By adopting the above technical means, ranging can be performed through Bluetooth channel detection with better stability, stronger anti-interference ability and wider ranging range, thereby avoiding the technical problem of inaccurate positioning caused by RSSI ranging, and performing ranging and positioning of the Bluetooth key based on Bluetooth channel detection, thereby improving the accuracy and reliability of Bluetooth key ranging and positioning. In addition, the link transfer instruction performs Bluetooth link transfer, so that each Bluetooth anchor point module can determine the distance value and multipath effect index based on the Bluetooth connection, and report it to the data processing module, so that the data processing module can comprehensively measure the distance values ​​and multipath effect indexes of all Bluetooth anchor point modules to locate the Bluetooth key, so as to improve the accuracy and reliability of the final positioning of the Bluetooth key.

[0091] Based on the above embodiments, Figure 3 This is a flowchart of a Bluetooth key positioning provided by an embodiment of the present application, referring to Figure 3 The Bluetooth key positioning method is used in a data processing module, and specifically includes:

[0092] S201. Receive distance values ​​and multipath effect indexes sent by at least three Bluetooth anchor point modules, where the distance value is the distance value between the corresponding Bluetooth anchor point module and the Bluetooth key. The distance value and the multipath effect index are obtained by the corresponding Bluetooth anchor point module performing Bluetooth signal detection on the Bluetooth connection with the Bluetooth key through Bluetooth channel detection, and performing calculations based on the detected Bluetooth signals.

[0093] After each Bluetooth anchor point module measures the corresponding distance value and multipath effect index through the aforementioned S101-S104, they are sent to the data processing module. The data processing module receives the distance values ​​and multipath effect indexes sent by all Bluetooth anchor point modules. It should be noted that each distance value corresponds to a multipath effect index and a location information (location information of the Bluetooth anchor point module).

[0094] S202: Perform an average processing on the distance values ​​sent by all Bluetooth anchor point modules to obtain a distance mean.

[0095] Since the distance values ​​detected by all Bluetooth anchor point modules are roughly similar, the distance values ​​reported by all Bluetooth anchor point modules in the corresponding ranging period can be averaged to obtain the distance mean. Determine whether it belongs to a long-distance scene or a short-distance scene based on the distance mean. When it belongs to a long-distance scene, for example, the distance mean is greater than or equal to 10 meters, it is necessary to determine which Bluetooth anchor point modules have higher signal quality corresponding to the Bluetooth signals based on the multipath effect index, and locate the Bluetooth key based on the distance value corresponding to the higher signal quality to improve the positioning accuracy. When it belongs to a short-distance scene, for example, when the distance mean is less than 10 meters, based on the short distance of the Bluetooth key, the signal quality of all Bluetooth anchor point modules is high, so the distance values ​​reported by all Bluetooth anchor point modules can be directly used to locate the Bluetooth key to obtain more accurate location information of the Bluetooth key.

[0096] S203: When the distance mean is less than a first preset threshold, geometric calculation processing is performed according to preset position information of all Bluetooth anchor point modules and corresponding distance values ​​to determine the positioning information of the Bluetooth key.

[0097] When the average distance is less than the first preset threshold, that is, when it is judged to be a close distance scene, for example, when the average distance is less than 10 meters, based on the fact that the Bluetooth key is close, the signal quality of all Bluetooth anchor point modules is high, so the distance values ​​reported by all Bluetooth anchor point modules can be directly used to locate the Bluetooth key to obtain more accurate location information of the Bluetooth key. Therefore, when the average distance is less than the first preset threshold, the data processor performs geometric calculation processing based on the preset location information of all Bluetooth anchor point modules and the corresponding distance values ​​to determine the location information of the Bluetooth key.

[0098] The data processing module performs geometric calculations based on the preset position information and corresponding distance values ​​of all Bluetooth anchor point modules to determine the positioning information of the Bluetooth key. The data processing module draws a circle with the preset position of the corresponding Bluetooth anchor point module as the center and the corresponding distance value as the radius to determine the area range to which the Bluetooth key determined by each Bluetooth anchor point module belongs. Determine the intersection area of ​​the area ranges (circles drawn) corresponding to all Bluetooth anchor point modules, and determine the intersection area as the final positioning location area (i.e., positioning information) of the Bluetooth key.

[0099] Figure 4 is a schematic diagram of a Bluetooth anchor point module location setting provided in an embodiment of the present application, referring to Figure 4, this embodiment is explained by taking the example that five Bluetooth anchor point modules all report corresponding distance values ​​to the data processing module. The Bluetooth anchor point module 11 is set at a position inside the vehicle, and the position inside the vehicle is located at a preset position of the driving control area of ​​the vehicle. The Bluetooth anchor point module 12 is set at a first vertex corner position of the vehicle. The Bluetooth anchor point module 13 is set at a second vertex corner position of the vehicle. The Bluetooth anchor point module 14 is set at a third vertex corner position of the vehicle. The Bluetooth anchor point module 15 is set at a fourth vertex corner position of the vehicle. The first vertex corner position, the second vertex corner position, the third vertex corner position and the fourth vertex corner position are the preset positions of the four vertex corners around the vehicle. Figure 5 This is a schematic diagram of geometric processing provided by an embodiment of the present application, referring to Figure 4-5 , respectively, with the preset positions of the Bluetooth anchor point modules 11-15 as the center and the corresponding distance values ​​as the radius to draw circles, so that the Bluetooth anchor point modules 11-15 can determine the area to which the Bluetooth key belongs, that is, Figure 5 The area corresponding to the five dotted circles in the figure is determined as the intersection area of ​​the five dotted circles, which is the final positioning area (i.e., positioning information) of the Bluetooth key. For example, Figure 5 Point A in the figure is the location of the Bluetooth key.

[0100] S204: When the distance mean is greater than or equal to the first preset threshold, according to the multipath effect indexes sent by all Bluetooth anchor point modules, determine the distance value sent by the Bluetooth anchor point module whose multipath effect index is less than the second preset threshold as the target distance value.

[0101] When the distance mean is greater than or equal to the first preset threshold, that is, when it is judged to belong to a long-distance scenario, for example, the distance mean is greater than or equal to 10 meters, it is necessary to determine which Bluetooth anchor modules correspond to Bluetooth signals with higher signal quality based on the multipath effect index, and perform Bluetooth key positioning based on the distance value corresponding to the higher signal quality to improve positioning accuracy. Therefore, when the distance mean is greater than or equal to the first preset threshold, the data processing module compares the multipath effect index sent by all Bluetooth anchor modules with the second preset threshold, and determines the distance value sent by the Bluetooth anchor module whose multipath effect index is less than the second preset threshold as the target distance value. When the multipath effect index is less than the second preset threshold, it is determined that the signal quality is relatively high, and the Bluetooth signal can be used as a Bluetooth signal that can be used for ranging, that is, the corresponding distance value has a higher credibility.

[0102] As mentioned above, in long-distance scenarios, the corresponding Bluetooth anchor point module uses the multi-effect index to determine the distance value with higher signal quality as the target distance value. Subsequently, the Bluetooth key can be positioned based on the target distance value with higher signal quality, thereby improving the accuracy and reliability of the final positioning of the Bluetooth key.

[0103] S205: Perform geometric calculation processing according to the target distance value and the preset position information of the corresponding Bluetooth anchor point module to determine the positioning information of the Bluetooth key.

[0104] The data processing module performs geometric calculations based on the target distance value and the preset position information of the corresponding Bluetooth anchor module to determine the positioning information of the Bluetooth key. The data processing module draws a circle with the preset position of the corresponding Bluetooth anchor module as the center and the corresponding target distance value as the radius to determine the area to which the Bluetooth key determined by each Bluetooth anchor module belongs. The intersection area of ​​the area range (the drawn circle) corresponding to the corresponding Bluetooth anchor module (i.e., the Bluetooth anchor module corresponding to the target distance value) is determined, and the intersection area is determined as the final positioning area of ​​the Bluetooth key (i.e., the positioning information).

[0105] As mentioned above, in long-distance scenarios, the distance values ​​corresponding to the Bluetooth anchor modules with lower signal quality determined based on the multi-effect index are removed, and the distance values ​​of the Bluetooth anchor modules with higher signal quality are retained. The retained distance values ​​are used as the target distance values ​​for positioning the Bluetooth key, thereby improving the accuracy and reliability of the final positioning of the Bluetooth key. In close-range scenarios, the Bluetooth key is positioned based on the distance values ​​of all Bluetooth anchor modules to obtain more accurate location information of the Bluetooth key.

[0106] Based on the above embodiments, Figure 6 This is a schematic diagram of the structure of a Bluetooth key distance measuring device provided in an embodiment of the present application. Figure 6 The Bluetooth key distance measuring device provided in this embodiment is used for a Bluetooth anchor point module. The Bluetooth key distance measuring device specifically includes: a connection establishing unit 21, a carrier calculating unit 22, a distance calculating unit 23 and a link transfer unit 24.

[0107] The connection establishing unit 21 is used to establish a Bluetooth connection with the Bluetooth key when confirming that the Bluetooth key is in the first connection state, and perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection;

[0108] The carrier calculation unit 22 is used to perform calculations based on the detected Bluetooth signal to obtain the distance value and multipath effect index between the Bluetooth anchor point module and the Bluetooth key;

[0109] A data sending unit 23, used to send the distance value and the multipath effect index to the data processing module, so that the data processing module can perform Bluetooth key positioning according to the distance value and the multipath effect index;

[0110] The link transfer unit 24 is used to exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

[0111] In one embodiment, the carrier calculation unit 22 includes: a phase calculation subunit, a component value determination subunit, a distribution data determination subunit and a distance determination subunit;

[0112] The phase calculation subunit is used to detect the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection to obtain the carrier signal phase;

[0113] The component value determination subunit is used to perform orthogonal decomposition processing and Hanning windowing processing on the phase of the carrier signal to obtain an I component value and a Q component value;

[0114] The distribution data determination subunit is used to perform Fourier transform processing and normalization processing on the I component value and the Q component value to obtain the time domain distribution data of the carrier signal phase and the multipath effect index;

[0115] The distance determination subunit is used to perform calculations based on the time domain distribution data of the carrier signal phase to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key.

[0116] In one embodiment, the phase calculation subunit is further used to sample the detected Bluetooth signal to obtain first IQ data;

[0117] receiving a data packet sent by the Bluetooth key, where the data packet includes second IQ data measured by the Bluetooth key;

[0118] Calculation is performed based on the first IQ data and the second IQ data to obtain a carrier signal phase.

[0119] In one embodiment, the phase calculation subunit is further used to perform an inverse tangent operation on the first IQ data to obtain a first phase;

[0120] Performing an inverse tangent operation on the second IQ data to obtain a second phase;

[0121] The first phase and the second phase are added to obtain the carrier signal phase.

[0122] In one embodiment, the distance calculation unit includes: a time determination subunit and a distance determination subunit;

[0123] A time determination subunit, used for determining a reflection time value according to a first peak value of the time domain distribution data;

[0124] The distance determination subunit is used to perform calculations based on the reflection time value and the light speed value to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key.

[0125] The Bluetooth key distance measuring device provided in the embodiment of the present application can be used to execute the Bluetooth key distance measuring method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0126] The present application embodiment provides a Bluetooth key distance measuring device, referring to Figure 7 The Bluetooth key distance measuring device includes: a processor 31, a memory 32, a communication module 33, an input device 34 and an output device 35. The number of processors in the Bluetooth key distance measuring device can be one or more, and the number of memories in the Bluetooth key distance measuring device can be one or more. The processor, memory, communication module, input device and output device of the Bluetooth key distance measuring device can be connected through a bus or other methods.

[0127] The memory 32, as a computer-readable storage medium, can be used to store software programs, computer executable programs and modules, such as the program instructions / modules corresponding to the Bluetooth key ranging method of any embodiment of the present application (for example, the connection establishment unit, carrier calculation unit, distance calculation unit and link transfer unit in the Bluetooth key ranging device). The memory may mainly include a program storage area and a data storage area, wherein the program storage area may store an operating system and at least one application required for a function; the data storage area may store data created according to the use of the device, etc. In addition, the memory may include a high-speed random access memory, and may also include a non-volatile memory, such as at least one disk storage device, a flash memory device or other non-volatile solid-state storage device. In some instances, the memory may further include a memory remotely arranged relative to the processor, and these remote memories may be connected to the device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0128] The communication module 33 is used for data transmission.

[0129] The processor 31 executes various functional applications and data processing of the device by running the software programs, instructions and modules stored in the memory, that is, realizes the above-mentioned Bluetooth key distance measurement method.

[0130] The input device 34 may be used to receive input digital or character information and generate key signal input related to user settings and function control of the device. The output device 35 may include a display device such as a display screen.

[0131] The Bluetooth key distance measuring device provided above can be used to execute the Bluetooth key distance measuring method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0132] The embodiment of the present application also provides a storage medium storing computer executable instructions, which are used to execute a Bluetooth key ranging method when executed by a computer processor. The Bluetooth key ranging method includes: establishing a Bluetooth connection with a Bluetooth key when confirming that the Bluetooth key is in a first connection state, and detecting Bluetooth signals on the Bluetooth connection through Bluetooth channel detection; performing calculations and processing based on the detected Bluetooth signals to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key; sending the distance value and the multipath effect index to a data processing module so that the data processing module can locate the Bluetooth key based on the distance value and the multipath effect index; exiting the first connection state and sending a link transfer instruction to the next Bluetooth anchor point module so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

[0133] Storage medium - any of various types of memory devices or storage devices. The term "storage medium" is intended to include: installation media, such as CD-ROM, floppy disk or tape device; computer system memory or random access memory, such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; non-volatile memory, such as flash memory, magnetic media (such as hard disk or optical storage); registers or other similar types of memory elements, etc. Storage media may also include other types of memory or combinations thereof. In addition, the storage medium may be located in the first computer system in which the program is executed, or may be located in a different second computer system, which is connected to the first computer system via a network (such as the Internet). The second computer system can provide program instructions to the first computer for execution. The term "storage medium" may include two or more storage media residing in different locations (for example, in different computer systems connected by a network). The storage medium may store program instructions (for example, embodied as a computer program) that can be executed by one or more processors.

[0134] Of course, the computer executable instructions of a storage medium storing computer executable instructions provided in an embodiment of the present application are not limited to the Bluetooth key ranging method described above, and can also execute related operations in the Bluetooth key ranging method provided in any embodiment of the present application.

[0135] The Bluetooth key ranging device, storage medium and Bluetooth key ranging equipment provided in the above embodiments can execute the Bluetooth key ranging method provided in any embodiment of the present application. For technical details not described in detail in the above embodiments, please refer to the Bluetooth key ranging method provided in any embodiment of the present application.

[0136] The above are only preferred embodiments of the present application and the technical principles used. The present application is not limited to the specific embodiments described herein, and various obvious changes, readjustments and substitutions that can be made by those skilled in the art will not deviate from the scope of protection of the present application. Therefore, although the present application is described in more detail through the above embodiments, the present application is not limited to the above embodiments, and may include more other equivalent embodiments without departing from the concept of the present application, and the scope of the present application is determined by the scope of the claims.

Claims

1. A Bluetooth key distance measurement method, characterized in that: For a Bluetooth anchor module, the method comprises: When confirming that the device is in the first connection state, establishing a Bluetooth connection with the Bluetooth key, and performing Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection; Calculating and processing the detected Bluetooth signal to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key; Sending the distance value and the multipath effect index to a data processing module, so that the data processing module can perform Bluetooth key positioning according to the distance value and the multipath effect index; Exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

2. The method according to claim 1, characterized in that The calculating and processing according to the detected Bluetooth signal to obtain the distance value and the multipath effect index between the Bluetooth anchor point module and the Bluetooth key includes: Performing Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection to obtain a carrier signal phase; Performing orthogonal decomposition processing and Hanning windowing processing on the phase of the carrier signal to obtain an I component value and a Q component value; Performing Fourier transform processing and normalization processing on the I component value and the Q component value to obtain time domain distribution data of the carrier signal phase and a multipath effect index; Calculation and processing are performed based on the time domain distribution data of the carrier signal phase to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key.

3. The method according to claim 2, characterized in that The performing Bluetooth signal detection on the Bluetooth connection according to the Bluetooth channel detection to obtain the carrier signal phase includes: Sampling the detected Bluetooth signal to obtain first IQ data; receiving a data packet sent by the Bluetooth key, wherein the data packet includes second IQ data measured by the Bluetooth key; Calculation is performed based on the first IQ data and the second IQ data to obtain a carrier signal phase.

4. The method according to claim 3, characterized in that The performing calculation processing according to the first IQ data and the second IQ data to obtain a carrier signal phase includes: Performing an inverse tangent operation on the first IQ data to obtain a first phase; Performing an inverse tangent operation on the second IQ data to obtain a second phase; The carrier signal phase is obtained by adding the first phase and the second phase.

5. The method according to claim 2, characterized in that: The calculating and processing according to the time domain distribution data of the carrier signal phase to obtain the distance value between the Bluetooth anchor point module and the Bluetooth key includes: Determining a reflection time value according to a first peak value of the time domain distribution data; Calculation is performed based on the reflection time value and the light speed value to obtain a distance value between the Bluetooth anchor point module and the Bluetooth key.

6. A Bluetooth key positioning method, characterized in that: For data processing modules, including: receiving distance values ​​and multipath effect indexes sent by at least three Bluetooth anchor point modules, wherein the distance values ​​are distance values ​​between the corresponding Bluetooth anchor point modules and the Bluetooth key, and the distance values ​​and the multipath effect indexes are obtained by the corresponding Bluetooth anchor point modules detecting Bluetooth signals of the Bluetooth connection with the Bluetooth key through Bluetooth channel detection, and calculating and processing the detected Bluetooth signals; The average value is calculated based on the distance values ​​sent by all Bluetooth anchor modules to obtain the average distance value; When the distance mean is less than a first preset threshold, geometric calculation processing is performed according to the preset position information of all Bluetooth anchor point modules and the corresponding distance values ​​to determine the positioning information of the Bluetooth key.

7. The method according to claim 6, characterized in that After the distance values ​​sent by all Bluetooth anchor point modules are averaged to obtain the average distance value, the method includes: When the distance mean is greater than or equal to the first preset threshold, according to the multipath effect indexes sent by all Bluetooth anchor point modules, the distance value sent by the Bluetooth anchor point module whose multipath effect index is less than the second preset threshold is determined as the target distance value; A geometric calculation process is performed based on the target distance value and the preset position information of the corresponding Bluetooth anchor point module to determine the positioning information of the Bluetooth key.

8. A Bluetooth key distance measuring device, characterized in that: For a Bluetooth anchor module, the device comprises: a connection establishing unit, configured to establish a Bluetooth connection with the Bluetooth key when confirming that the Bluetooth key is in the first connection state, and perform Bluetooth signal detection on the Bluetooth connection through Bluetooth channel detection; A carrier calculation unit, used to perform calculations based on the detected Bluetooth signal to obtain a distance value and a multipath effect index between the Bluetooth anchor point module and the Bluetooth key; A data sending unit, used for sending the distance value and the multipath effect index to a data processing module, so that the data processing module can perform Bluetooth key positioning according to the distance value and the multipath effect index; The link transfer unit is used to exit the first connection state and send a link transfer instruction to the next Bluetooth anchor point module, so that the Bluetooth anchor point module enters the first connection state according to the link transfer instruction.

9. A Bluetooth key distance measuring device, characterized in that: include: memory and one or more processors; The memory is used to store one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

10. A storage medium storing computer executable instructions, characterized in that: The computer executable instructions are used to perform the method according to any one of claims 1 to 7 when executed by a processor.

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