A Bluetooth key positioning method, device, equipment and storage medium

Abstract

Embodiments of the application disclose a Bluetooth key positioning method, device and equipment and a storage medium, which are used for a vehicle including a master Bluetooth anchor unit, a slave Bluetooth anchor unit and a data processor, and include the following steps: when the signal quality level of the master Bluetooth anchor unit decreases, determining the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit through polling signal level test; the master Bluetooth anchor unit establishes Bluetooth connection with the Bluetooth key, determines corresponding first RSSI value, first distance value and first signal quality level according to the Bluetooth signals transmitted and received, and reports the values to the data processor; the slave Bluetooth anchor unit listens to the communication channel between the master Bluetooth anchor unit and the Bluetooth key, determines corresponding second RSSI value according to the Bluetooth signals listened to, and reports the value to the data processor; and the data processor determines the target position area where the Bluetooth key is located according to the first RSSI value, the first distance value and the second RSSI value, and solves the problem of inaccurate positioning result.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the field of vehicle positioning technology, and particularly relate to a Bluetooth key positioning method, device, equipment and storage medium. BACKGROUND

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

[0003] Most of the current Bluetooth positioning methods use the Received Signal Strength Indication (RSSI) received by Bluetooth to position, that is, the relationship between the strength of the Bluetooth signal transmitted and the distance between the transmitting point and the receiving point is used to position. The positioning accuracy of Bluetooth RSSI is generally 2-5 meters. In actual application, factors such as anchor point position and environment affect the propagation of Bluetooth signals, resulting in problems such as volatility and outliers of Bluetooth signal values. 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 the positioning position to drift, the area to be misjudged, and affecting the use experience of the Bluetooth key. SUMMARY

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

[0005] In a first aspect, embodiments of the present application provide a Bluetooth key positioning method for a vehicle, the vehicle including a plurality of Bluetooth anchor point units and a data processor, one of the plurality of Bluetooth anchor point units being a master Bluetooth anchor point unit, and the other Bluetooth anchor point units being slave Bluetooth anchor point units. The master Bluetooth anchor point unit is connected to the slave Bluetooth anchor point units, and each Bluetooth anchor point unit is connected to the data processor. The Bluetooth key positioning method includes:

[0006] The master Bluetooth anchor point unit establishes a Bluetooth connection with the Bluetooth key, determines a first signal quality level of the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and sends the first signal quality level to the data processor;

[0007] The data processor controls all the Bluetooth anchor units to perform a polling signal level test when the first signal level is below a target level, the target level being a signal level determined when determining the master Bluetooth anchor unit, the polling signal level test being a test in which all the Bluetooth anchor units successively establish Bluetooth connections with the Bluetooth key and determine signal levels based on the Bluetooth connections;

[0008] The data processor receives signal levels reported by all the Bluetooth anchor units based on the polling signal level test, and determines the Bluetooth anchor unit with the highest signal level as the master Bluetooth anchor unit based on the received signal levels, and determines the signal level corresponding to the master Bluetooth anchor unit as the target level;

[0009] The data processor sends a first control signal to the master Bluetooth anchor unit, the first control signal being used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit;

[0010] The master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key based on the received first control signal, and sends channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor unit;

[0011] The slave Bluetooth anchor unit listens to a communication channel between the master Bluetooth anchor unit and the Bluetooth key based on the received channel parameters;

[0012] The master Bluetooth anchor unit determines a first RSSI value, a first distance value, and a first signal level corresponding to the Bluetooth signal based on the Bluetooth signal, and sends the first RSSI value, the first distance value, and the first signal level to the data processor, the first distance value being obtained by performing Bluetooth channel detection on the Bluetooth signal;

[0013] The slave Bluetooth anchor unit determines a second RSSI value corresponding to the Bluetooth signal based on the Bluetooth signal, and sends the second RSSI value to the data processor;

[0014] The data processor determines a target location area in which the Bluetooth key is located based on the first RSSI value, the first distance value, and the second RSSI value, the target location area including a primary driver unlocking area, a co-driver unlocking area, a trunk unlocking area, and an in-vehicle area.

[0015] In an embodiment, the data processor determines the target location area in which the Bluetooth key is located based on the first RSSI value, the first distance value, and the second RSSI value, including:

[0016] The master Bluetooth anchor unit performs Bluetooth channel detection on the Bluetooth signal, and determines a first carrier signal phase obtained by the detection;

[0017] The master Bluetooth anchor unit determines a first distance value based on the first carrier signal phase, and sends the first distance value to the data processor;

[0018] The data processor performs positioning processing according to the received first distance value, and determines a first position area of the Bluetooth key, the first position area including an invalid area, a welcome area and an unlocking area;

[0019] When the first position area belongs to the unlocking area, the data processor determines a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value.

[0020] In an embodiment, when the first position area belongs to the unlocking area, the data processor determines a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value, including:

[0021] When the first position area belongs to the unlocking area, the data processor determines a preset area matching degree threshold according to the received first signal quality level;

[0022] The data processor determines a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value and the preset area matching degree threshold.

[0023] In an embodiment, the master Bluetooth anchor unit determines the corresponding first RSSI value, first distance value and first signal quality level according to the transceived Bluetooth signal, including:

[0024] The master Bluetooth anchor unit determines the corresponding first RSSI value according to the transceived Bluetooth signal;

[0025] The master Bluetooth anchor unit performs Bluetooth channel detection on the Bluetooth signal, and determines a first carrier signal phase obtained by detection;

[0026] The master Bluetooth anchor unit performs Fourier transform processing on the first carrier signal phase, and obtains time domain distribution data;

[0027] The master Bluetooth anchor unit performs calculation processing according to the time domain distribution data of the first carrier signal phase, and obtains the first distance value between the master Bluetooth anchor unit and the Bluetooth key;

[0028] The master Bluetooth anchor unit performs normalization processing on the time domain distribution data, and obtains a distribution dispersion degree;

[0029] The master Bluetooth anchor unit compares the distribution dispersion degree with a preset level threshold, and determines the corresponding first signal quality level.

[0030] In an embodiment, before the master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, including:

[0031] All Bluetooth anchor units perform polling signal level testing, and the polling signal level testing is a test in which all Bluetooth anchor units successively establish Bluetooth connections with the Bluetooth key, and determine signal quality levels based on the Bluetooth connections;

[0032] Each Bluetooth anchor unit determines its corresponding signal quality level according to the polling signal level test, and feeds back to the data processor;

[0033] The data processor determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit according to the received signal quality levels, and determines the signal quality level corresponding to the master Bluetooth anchor unit as the target quality level;

[0034] The data processor sends a first control signal to the master Bluetooth anchor unit, and the first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit.

[0035] In an embodiment, the data processor determines the preset area matching degree threshold according to the received first signal quality level, comprising:

[0036] The data processor determines the preset area matching degree threshold according to the first signal quality level by querying the preset comparison relationship, wherein the preset comparison relationship is the comparison relationship between the signal quality level and the area matching degree threshold;

[0037] The data processor determines the corresponding target database according to the preset area matching degree threshold, wherein each area matching degree threshold corresponds to a database;

[0038] The data processor compares the first RSSI value and the second RSSI value with the area data in the target database to determine the target position area where the Bluetooth key is located.

[0039] In an embodiment, before the data processor determines the target position area where the Bluetooth key is located according to the first RSSI value and the second RSSI value and the preset area matching degree threshold, comprising:

[0040] The data processor inputs the first RSSI value into the preset dynamic model for correction processing to obtain the corrected first RSSI value;

[0041] The data processor inputs the second RSSI value into the preset dynamic model for correction processing to obtain the corrected second RSSI value;

[0042] The data processor determines the target position area where the Bluetooth key is located according to the first RSSI value and the second RSSI value and the preset area matching degree threshold, comprising:

[0043] The data processor determines the target position area where the Bluetooth key is located according to the corrected first RSSI value and the corrected second RSSI value and the preset area matching degree threshold.

[0044] In a second aspect, the embodiments of the present application provide a Bluetooth key positioning device for a vehicle, the Bluetooth key positioning device comprising a plurality of Bluetooth anchor point units and a data processor, one of the plurality of Bluetooth anchor point units being a master Bluetooth anchor point unit, and the other Bluetooth anchor point units being slave Bluetooth anchor point units, the master Bluetooth anchor point unit being connected to the slave Bluetooth anchor point units, and each of the Bluetooth anchor point units being connected to the data processor; the Bluetooth key positioning device comprising:

[0045] the master Bluetooth anchor point unit being configured to establish a Bluetooth connection with a Bluetooth key, determine a first signal quality level of a Bluetooth signal of the Bluetooth connection through Bluetooth channel sounding, and send the first signal quality level to the data processor; establish a Bluetooth connection with the Bluetooth key according to a received first control signal, and send channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor point units; determine a corresponding first RSSI value, a first distance value, and a first signal quality level according to a Bluetooth signal received and / or transmitted, and send the first RSSI value, the first distance value, and the first signal quality level to the data processor, the first distance value being obtained through Bluetooth channel sounding on the Bluetooth signal;

[0046] the slave Bluetooth anchor point unit being configured to listen to a communication channel between the master Bluetooth anchor point unit and the Bluetooth key according to the received channel parameters; determine a corresponding second RSSI value according to a Bluetooth signal listened to, and send the second RSSI value to the data processor;

[0047] the data processor being configured to, when the first signal quality level is below a target quality level, control all the Bluetooth anchor point units to perform a polling signal level test, the target quality level being a signal quality level determined when the master Bluetooth anchor point unit is determined, and the polling signal level test being a test in which all the Bluetooth anchor point units successively establish Bluetooth connections with the Bluetooth key, and determine signal quality levels based on the Bluetooth connections; receive signal quality levels reported by all the Bluetooth anchor point units based on the polling signal level test, and determine, according to the received signal quality levels, a Bluetooth anchor point unit with the highest signal quality level as the master Bluetooth anchor point unit, and determine a signal quality level corresponding to the master Bluetooth anchor point unit as the target quality level; send a first control signal to the master Bluetooth anchor point unit, the first control signal being used to inform the corresponding Bluetooth anchor point unit to serve as the master Bluetooth anchor point unit; and determine a target position area of the Bluetooth key according to the first RSSI value, the first distance value, and the second RSSI value, the target position area comprising a main driver unlocking area, a co-driver unlocking area, a trunk unlocking area, and an in-vehicle area.

[0048] In an embodiment, on the basis of the foregoing, the master Bluetooth anchor point unit is further configured to perform Bluetooth channel sounding on the Bluetooth signal, and determine a first carrier signal phase obtained through the sounding;

[0049] The main Bluetooth anchor point is also configured to determine a first distance value according to the first carrier signal phase and send the first distance value to the data processor;

[0050] The data processor is also configured to determine a first position area of the Bluetooth key according to the received first distance value, and the first position area includes an invalid area, a welcome area and an unlocking area;

[0051] The data processor is also configured to determine a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value when the first position area belongs to the unlocking area.

[0052] In an embodiment, on the basis of the foregoing implementation, the data processor is also configured to determine a preset area matching degree threshold according to the received first signal quality level when the first position area belongs to the unlocking area.

[0053] The data processor is also configured to determine a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value and the preset area matching degree threshold.

[0054] In an embodiment, on the basis of the foregoing implementation, the main Bluetooth anchor point unit is also configured to determine the corresponding first RSSI value according to the received Bluetooth signal.

[0055] The main Bluetooth anchor point unit is also configured to perform Bluetooth channel detection on the Bluetooth signal to determine the first carrier signal phase obtained by detection.

[0056] The main Bluetooth anchor point unit is also configured to perform Fourier transform processing on the first carrier signal phase to obtain time domain distribution data.

[0057] The main Bluetooth anchor point unit is also configured to perform calculation processing on the time domain distribution data of the first carrier signal phase to obtain the first distance value between the main Bluetooth anchor point unit and the Bluetooth key.

[0058] The main Bluetooth anchor point unit is also configured to perform normalization processing on the time domain distribution data to obtain a distribution dispersion degree.

[0059] The main Bluetooth anchor point unit is also configured to compare the distribution dispersion degree with a preset level threshold to determine the corresponding first signal quality level.

[0060] In an embodiment, the Bluetooth key positioning device further includes a polling test unit and a quality level determination unit.

[0061] The polling test unit is configured to control all Bluetooth anchor point units to perform polling signal level testing, and the polling signal level testing is a test in which all Bluetooth anchor point units successively establish Bluetooth connections with the Bluetooth key and determine signal quality levels based on the Bluetooth connections.

[0062] a quality grade determination unit configured to determine, by each Bluetooth anchor unit, a signal quality grade corresponding to the Bluetooth anchor unit according to the polling signal grade test, and feed back to the data processor;

[0063] On the basis of the foregoing implementation, the data processor is further configured to determine, according to the received signal quality grades, a Bluetooth anchor unit with the highest signal quality grade as a master Bluetooth anchor unit, and determine the signal quality grade corresponding to the master Bluetooth anchor unit as a target quality grade.

[0064] The data processor is further configured to send a first control signal to the master Bluetooth anchor unit, the first control signal being used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit.

[0065] In an embodiment, on the basis of the foregoing implementation, the data processor is further configured to query a preset comparison relationship according to the first signal quality grade, and determine a preset area matching degree threshold, wherein the preset comparison relationship is a comparison relationship between signal quality grades and area matching degree thresholds.

[0066] The data processor is further configured to determine a corresponding target database according to the preset area matching degree threshold, wherein each area matching degree threshold corresponds to a database.

[0067] The data processor is further configured to compare the first RSSI value and the second RSSI value with area data in the target database, and determine a target location area where the Bluetooth key is located.

[0068] In an embodiment, on the basis of the foregoing implementation, the data processor is further configured to input the first RSSI value into a preset dynamic model for correction processing, and obtain a corrected first RSSI value.

[0069] The data processor is further configured to input the second RSSI value into the preset dynamic model for correction processing, and obtain a corrected second RSSI value.

[0070] The data processor is further configured to determine a target location area where the Bluetooth key is located according to the corrected first RSSI value, the corrected second RSSI value, and the preset area matching degree threshold.

[0071] In a third aspect, the embodiments of the present application provide a Bluetooth key positioning device, comprising:

[0072] a memory and one or more processors;

[0073] The memory is configured to store one or more programs.

[0074] When the one or more programs are executed by the one or more processors, the one or more processors are caused to implement the Bluetooth key positioning method according to the first aspect.

[0075] In a fourth aspect, the embodiments of the present application provide a storage medium storing computer-executable instructions that, when executed by a computer processor, are used to perform the Bluetooth key positioning method of the first aspect.

[0076] The embodiments of the present application determine the first signal quality level corresponding to the Bluetooth signal through Bluetooth channel detection by the master Bluetooth anchor unit, and when the first signal quality level of the master Bluetooth anchor unit is below the target quality level, i.e., when the quality of the Bluetooth signal of the master Bluetooth anchor unit decreases, the data processor controls all Bluetooth anchor units to perform polling signal level testing to determine the Bluetooth anchor unit with the highest signal quality level as the new master Bluetooth anchor unit, the new master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, and determines the corresponding first RSSI value, first distance value and first signal quality level according to the Bluetooth signal transmitted and received by the Bluetooth connection, the data processor determines the target position area of the Bluetooth key according to the first RSSI value, first distance value and second RSSI value. By the above technical means, the first signal quality level of the Bluetooth signal between the master Bluetooth anchor unit and the Bluetooth key is determined through Bluetooth channel detection, and when the first signal quality level of the Bluetooth signal of the master Bluetooth anchor unit decreases, the Bluetooth anchor unit with the highest signal quality level is reselected as the master Bluetooth anchor unit through polling signal level testing. Compared with the existing RSSI positioning method that directly uses a fixed threshold regardless of the communication quality of the master Bluetooth anchor unit, the embodiments of the present application can replace the master Bluetooth anchor unit in real time, so that when the position of the Bluetooth key changes and the signal quality of the master Bluetooth anchor unit decreases, the master Bluetooth anchor unit can be updated to the Bluetooth anchor unit with the highest signal quality level, thereby improving the accuracy of the first RSSI value and the first distance value detected by the master Bluetooth anchor unit. In addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor unit based on the communication channel between the master Bluetooth anchor unit and the Bluetooth key can also be improved, and the accuracy of the target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can also be improved.

[0077] The Bluetooth key positioning device, Bluetooth key positioning equipment and storage medium provided above have the beneficial effects of the Bluetooth key positioning method. BRIEF DESCRIPTION OF DRAWINGS

[0078] Figure 1 is a flowchart of a Bluetooth key positioning method provided by the embodiments of the present application;

[0079] Figure 2is a connection schematic diagram of a Bluetooth anchor point unit provided by an embodiment of the present application;

[0080] Figure 3 is a flowchart of a main Bluetooth anchor point unit screening method provided by an embodiment of the present application;

[0081] Figure 4 is a schematic diagram of area division provided by an embodiment of the present application;

[0082] Figure 5 is a structural schematic diagram of a Bluetooth key positioning device provided by an embodiment of the present application;

[0083] Figure 6 is a structural schematic diagram of a Bluetooth key positioning device provided by an embodiment of the present application. DETAILED DESCRIPTION

[0084] In order to make the objects, technical solutions and advantages of the present application clearer, the following further describes specific embodiments of the present application with reference to the drawings. It can be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application. In addition, it should be noted that, for the convenience of description, only parts related to the present application are shown in the drawings, but not all contents. Before discussing the example embodiments in more detail, it should be mentioned that some example embodiments are described as processes or methods depicted by flowcharts. Although the flowcharts describe each operation (or step) as a sequential process, many of the operations can be implemented in parallel, concurrently or simultaneously. In addition, the order of the operations can be rearranged. The process can be terminated when its operations are completed, but can also have additional steps not included in the drawings. The process can correspond to a method, function, procedure, subroutine, subprogram, etc.

[0085] At present, most of the Bluetooth positioning methods are to use the received signal strength indication (RSSI) of Bluetooth to perform positioning, that is, to perform positioning through the relationship between the signal strength of Bluetooth transmission and the distance between the transmission point and the receiving point. The positioning accuracy of Bluetooth RSSI is generally 2-5 meters. In actual application, the anchor point position and the environment and other factors affect the propagation of the Bluetooth signal, resulting in problems such as volatility and singular value of 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 the positioning position to drift, the area judgment to be wrong, and affecting the use experience of the Bluetooth key.

[0086] Based on this, the Bluetooth key positioning method, device, equipment and storage medium provided by the embodiment of the present application are provided, which aims to determine the first signal quality level of the Bluetooth signal between the main Bluetooth anchor unit and the Bluetooth key through Bluetooth channel detection when positioning the Bluetooth key, and when the first signal quality level of the Bluetooth signal of the main Bluetooth anchor unit decreases, the Bluetooth anchor unit with the highest signal quality level is reselected as the main Bluetooth anchor unit through the polling signal level test. Compared with the existing RSSI positioning method which directly uses a fixed threshold regardless of the communication quality of the main Bluetooth anchor unit, the embodiment can replace the main Bluetooth anchor unit in real time, so that when the signal quality of the main Bluetooth anchor unit decreases due to the change of the position of the Bluetooth key, the main Bluetooth anchor unit can be updated to the Bluetooth anchor unit with the highest current signal quality level, thereby improving the accuracy of the first RSSI value and the first distance value detected by the main Bluetooth anchor unit. In addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor unit based on the communication channel between the main Bluetooth anchor unit and the Bluetooth key can also be improved, and the accuracy of the final target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can also be improved.

[0087] Figure 1 A flowchart of a Bluetooth key positioning method provided by the embodiment of the present application is given. The Bluetooth key positioning method provided in the embodiment can be executed by a Bluetooth key positioning device. The Bluetooth key positioning device can be realized by software and / or hardware. The Bluetooth key positioning device can be composed of two or more physical entities, or can be composed of one physical entity. Generally, the Bluetooth key positioning device can be a vehicle.

[0088] The following describes a vehicle as an example of a main body for executing the Bluetooth key positioning method. The Bluetooth key positioning method is used for a vehicle. The vehicle includes a plurality of Bluetooth anchor units and a data processor. One of the plurality of Bluetooth anchor units is a main Bluetooth anchor unit, and the other Bluetooth anchor units are slave Bluetooth anchor units. The main Bluetooth anchor unit is connected to the slave Bluetooth anchor units. Each Bluetooth anchor unit is connected to the data processor. Figure 2 is a connection diagram of a Bluetooth anchor unit provided by the embodiment of the present application. Referring to Figure 2 The embodiment takes five Bluetooth anchor units as an example for explanation and description. The vehicle includes five Bluetooth anchor units, which are Bluetooth anchor unit 1, Bluetooth anchor unit 2, Bluetooth anchor unit 3, Bluetooth anchor unit 4 and Bluetooth anchor unit 5. The Bluetooth anchor units 1-5 all have the function of establishing a Bluetooth connection with the Bluetooth key 20. The Bluetooth anchor units 1-5 are connected to each other through a bus (CAN bus or LAN bus). The Bluetooth anchor units 1-5 are connected to the data processor 30 through the bus (CAN bus or LAN bus).

[0089] It should be noted that the five Bluetooth anchor units defined in this embodiment are only for illustration. In specific actual application, the specific number of Bluetooth anchor units can be set according to actual situation.

[0090] Referring to Figure 1 The Bluetooth key positioning method specifically includes:

[0091] S101, the master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, determines a first signal quality level of the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and sends the first signal quality level to the data processor.

[0092] There are multiple Bluetooth anchor units in the vehicle, one of which is a master anchor unit and executes a slave mode to establish a Bluetooth communication connection with the Bluetooth key. Based on the connection of multiple Bluetooth anchor units with the Bluetooth key, the signal quality of each corresponding signal quality may be different, so it is necessary to select one Bluetooth anchor unit with higher or highest signal quality level of the Bluetooth signal from multiple Bluetooth anchor units as the master Bluetooth anchor unit, so as to ensure the quality of the Bluetooth signal transmitted and received during subsequent Bluetooth key positioning.

[0093] Therefore, the embodiment provides a master Bluetooth anchor unit screening method, Figure 3 is a flowchart of a master Bluetooth anchor unit screening method provided by the embodiment of the present application, referring to Figure 3 The master Bluetooth anchor unit screening method specifically includes:

[0094] S201, all Bluetooth anchor units perform polling signal level testing, which is a test in which all Bluetooth anchor units establish Bluetooth connections with the Bluetooth key in turn, and determine the signal quality level based on the Bluetooth connection.

[0095] All the Bluetooth anchor units can establish Bluetooth communication connection with the Bluetooth key in turn according to a preset order, and transmit and receive Bluetooth test signals based on the Bluetooth connection, and determine the signal quality level of the corresponding Bluetooth signal according to the transmitted and received Bluetooth test signals, to realize the polling signal level test. For example, the Bluetooth signal is detected by Channel Sounding to obtain the phase characteristic parameter of the Bluetooth signal, and the signal quality level of the Bluetooth signal is determined according to the phase characteristic parameter. All the Bluetooth anchor units detect the Bluetooth channel by Channel Sounding based on the Bluetooth connection, and determine the signal quality level of the communication connection between the Bluetooth anchor unit and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel. The signal quality level can be divided into three levels of high, medium and low, or can be divided into specific level values, for example, 0-100%. Through the polling signal level test of all the Bluetooth anchor units, the signal quality level of the Bluetooth signal between each Bluetooth anchor unit and the Bluetooth key can be obtained, to determine the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit, so as to ensure the signal quality in subsequent Bluetooth key positioning, thereby improving the accuracy and reliability of the Bluetooth key positioning.

[0096] For example, each Bluetooth anchor unit can perform Fourier transform processing on the phase of the detected carrier signal (i.e. the Bluetooth signal) to obtain time domain distribution data, perform normalization processing on the time domain distribution data to obtain distribution dispersion degree, and determine the corresponding signal quality level according to the comparison between the distribution dispersion degree and the preset level threshold. The signal quality level can be divided into three levels of high, medium and low, or can be divided into specific level values, for example, 0-100%.

[0097] S202, each Bluetooth anchor unit determines the corresponding signal quality level according to the polling signal level test and feeds back to the data processor.

[0098] All the Bluetooth anchor units detect the Bluetooth channel by Channel Sounding based on the Bluetooth connection according to a preset order, and determine the signal quality level of the communication connection between the Bluetooth anchor unit and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel. The signal quality level can be divided into three levels of high, medium and low, or can be divided into specific level values, for example, 0-100%. All the Bluetooth anchor units send the signal quality level of the Bluetooth anchor unit to the data processor or any Bluetooth anchor unit, so that the data processor or the corresponding Bluetooth anchor unit determines which Bluetooth anchor unit has the highest signal quality level according to the signal quality levels of all the Bluetooth anchor units, and determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit.

[0099] It should be noted that if there are multiple Bluetooth anchor units with the same high signal quality level, one of the multiple Bluetooth anchor units with the highest signal quality level is selected as the master Bluetooth anchor unit.

[0100] For example, assuming that there are five Bluetooth anchor units, each of the Bluetooth anchor units detects the Bluetooth channel based on the Bluetooth connection through Channel Sounding in a preset order, and determines the signal quality level of the communication connection between itself and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel, for example, the signal quality level corresponding to the Bluetooth anchor unit 1 is high, the signal quality level corresponding to the Bluetooth anchor unit 2 is medium, the signal quality level corresponding to the Bluetooth anchor unit 3 is medium, the signal quality level corresponding to the Bluetooth anchor unit 4 is medium, and the signal quality level corresponding to the Bluetooth anchor unit 5 is low. The Bluetooth anchor units 1-5 respectively send their own signal quality levels to the data processor or any Bluetooth anchor unit (for example, the Bluetooth anchor unit 1).

[0101] For example, assuming that there are five Bluetooth anchor units, each of the Bluetooth anchor units detects the Bluetooth channel based on the Bluetooth connection through Channel Sounding in a preset order, and determines the signal quality level of the communication connection between itself and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel, for example, the signal quality level corresponding to the Bluetooth anchor unit 1 is 95%, the signal quality level corresponding to the Bluetooth anchor unit 2 is 85%, the signal quality level corresponding to the Bluetooth anchor unit 3 is 80%, the signal quality level corresponding to the Bluetooth anchor unit 4 is 75%, and the signal quality level corresponding to the Bluetooth anchor unit 5 is 55%. The Bluetooth anchor units 1-5 respectively send their own signal quality levels to the data processor or any Bluetooth anchor unit (for example, the Bluetooth anchor unit 1).

[0102] S203, the data processor determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit according to the received signal quality levels, and determines the signal quality level corresponding to the master Bluetooth anchor unit as the target quality level.

[0103] The data processor receives the signal quality levels sent by all the Bluetooth anchor units, and each signal quality level includes the ID information of the corresponding Bluetooth anchor unit. The data processor compares the signal quality levels of all the Bluetooth anchor units, determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit, and obtains the ID information of the Bluetooth anchor unit with the highest signal quality level. The signal quality level of the Bluetooth anchor unit (i.e., the current highest signal quality level) is determined as the target quality level. For example, if the current highest signal quality level is high, the target quality level is determined as high. If the current highest signal quality level is medium, the target quality level is determined as medium. For another example, if the current highest signal quality level is 90%, the target quality level is determined as 90%.

[0104] For example, when all the Bluetooth anchor units send their signal quality levels to any Bluetooth anchor unit (e.g., Bluetooth anchor unit 1), the corresponding Bluetooth anchor unit (e.g., Bluetooth anchor unit 1) receives the signal quality levels sent by all the Bluetooth anchor units, and each signal quality level includes the ID information of the corresponding Bluetooth anchor unit. The corresponding Bluetooth anchor unit (e.g., Bluetooth anchor unit 1) compares the signal quality levels of all the Bluetooth anchor units, determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit, and obtains the ID information of the Bluetooth anchor unit with the highest signal quality level. The signal quality level of the Bluetooth anchor unit (i.e., the current highest signal quality level) is determined as the target quality level. For example, if the current highest signal quality level is high, the target quality level is determined as high. If the current highest signal quality level is medium, the target quality level is determined as medium. For another example, if the current highest signal quality level is 90%, the target quality level is determined as 90%.

[0105] S204, the data processor sends a first control signal to the master Bluetooth anchor unit, and the first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit.

[0106] After the ID information of the Bluetooth anchor unit with the highest signal quality level is determined, the data processor or the corresponding Bluetooth anchor unit sends a first control signal to the master Bluetooth anchor unit according to the ID information, and the first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit. Therefore, after the corresponding Bluetooth anchor unit receives the first control signal, it serves as the master Bluetooth anchor unit and establishes a Bluetooth connection with the Bluetooth key.

[0107] The polling signal level test method of S201-S204 can determine which of the current Bluetooth anchor units has the highest signal quality level of the Bluetooth connection with the Bluetooth key, so that the Bluetooth anchor unit with the highest signal quality level is determined as the master Bluetooth anchor unit. Subsequently, when the master Bluetooth anchor unit is connected with the Bluetooth key through Bluetooth and positioning processing is performed, the reliability of the Bluetooth signal of the Bluetooth connection can be improved, thereby improving the reliability and accuracy of the positioning of the Bluetooth key.

[0108] In an embodiment, a target quality level can be preset. Assuming that the preset target quality level is high or the preset target quality level is 90%, the Bluetooth anchor unit sequentially connects with the Bluetooth key in a preset order, detects the Bluetooth channel based on the Bluetooth connection through Channel Sounding, and determines the signal quality level of the communication connection between itself and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel. If the current Bluetooth anchor unit determines that the signal quality level of itself is high or greater than or equal to 90%, it is determined as the master Bluetooth anchor unit, and a second control signal is sent to other Bluetooth anchor units to inform other Bluetooth anchor units to be slave Bluetooth anchor units. The second control signal is used to inform other Bluetooth anchor units to be slave Bluetooth anchor units. If the current Bluetooth anchor unit determines that the signal quality level of itself is medium or low, or less than 90%, i.e., below the target quality level, a Bluetooth link transfer instruction is sent to the next Bluetooth anchor unit, which starts to connect with the Bluetooth key as the current Bluetooth anchor unit, and detects the Bluetooth channel based on the Bluetooth connection through Channel Sounding, and determines the signal quality level of the communication connection between itself and the Bluetooth key according to the Bluetooth signal obtained by detecting the Bluetooth channel. Until the current Bluetooth anchor unit determines that the signal quality level of itself is high or greater than or equal to 90%, it is determined as the master Bluetooth anchor unit, and a second control signal is sent to other Bluetooth anchor units to inform other Bluetooth anchor units to be slave Bluetooth anchor units. The polling signal level test method can determine which of the current Bluetooth anchor units has a signal quality level greater than or equal to the preset target quality level of the Bluetooth connection with the Bluetooth key, so that the Bluetooth anchor unit with a signal quality level greater than or equal to the preset target quality level is determined as the master Bluetooth anchor unit. Subsequently, when the master Bluetooth anchor unit is connected with the Bluetooth key through Bluetooth and positioning processing is performed, the reliability of the Bluetooth signal of the Bluetooth connection can be improved, thereby improving the reliability and accuracy of the positioning of the Bluetooth key.

[0109] After the main Bluetooth anchor unit is determined, the main Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key and sends channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor unit, so that the slave Bluetooth anchor unit listens to a communication channel between the main Bluetooth anchor unit and the Bluetooth key according to the signal parameters. At the same time, the main Bluetooth anchor unit continuously sends unmodulated Bluetooth signals in the Bluetooth frequency band range, and the Bluetooth key detects the corresponding communication channel. After receiving the unmodulated Bluetooth signals sent by the main Bluetooth anchor unit, the Bluetooth key collects the phase of the Bluetooth signals to obtain a second carrier signal phase; a reflected signal is started, and the Bluetooth key responds to the main Bluetooth anchor unit with the second carrier signal phase. After the main Bluetooth anchor unit detects the reflected signal through ChannelSounding, the main Bluetooth anchor unit collects a third carrier signal phase in the reflected signal. The main Bluetooth anchor unit combines the second carrier signal phase and the third signal carrier phase to obtain a first carrier signal phase. The main Bluetooth anchor unit performs Fourier transform processing on the first carrier signal phase to obtain time domain distribution data, determines a reflection time value according to a first peak value of the time domain distribution data, and calculates and processes the reflection time value and a light speed value to obtain a first distance value between the main Bluetooth anchor unit and the Bluetooth key. In addition, the main Bluetooth anchor unit also performs normalization processing on the time domain distribution data to obtain a distribution dispersion degree; the main Bluetooth anchor unit compares the distribution dispersion degree with a preset level threshold to determine a corresponding first signal quality level. In addition, the main Bluetooth anchor unit obtains a first RSSI value corresponding to the Bluetooth signal through a Bluetooth protocol stack of the main Bluetooth anchor unit in the process of transmitting and receiving the Bluetooth signal. The main Bluetooth anchor unit sends the first distance value, the first signal quality level and the first RSSI value to the data processor.

[0110] S102, the data processor controls all Bluetooth anchor units to perform a polling signal level test when the first signal quality level is below a target quality level, the target quality level being a signal quality level determined when the main Bluetooth anchor unit is determined, and the polling signal level test being a test in which all Bluetooth anchor units establish Bluetooth connections with the Bluetooth key in turn and determine signal quality levels based on the Bluetooth connections.

[0111] In the process of determining the master Bluetooth anchor unit based on the polling signal level test, the signal quality level corresponding to the master Bluetooth anchor unit is determined as the target quality level and stored in the data processor. For example, the target quality level is high or 90%. After the data processor receives the first signal quality level reported by the master Bluetooth anchor unit, the first signal quality level is compared with the target quality level. When the first signal quality level is greater than or equal to the target quality level, for example, the first signal quality level is high or greater than level 90%, it indicates that the signal quality between the master Bluetooth anchor unit and the Bluetooth key has not decreased, and the master Bluetooth anchor unit does not need to be replaced. The following S105-S109 is directly executed to determine the target position area of the Bluetooth key. When the first signal quality level is lower than the target quality level, it indicates that the signal quality of the Bluetooth signal between the master Bluetooth anchor unit and the Bluetooth key has decreased. In order to ensure the accuracy of subsequent Bluetooth key positioning, the master Bluetooth anchor unit needs to be re-determined. The master Bluetooth anchor unit can be re-determined through the polling signal level test of S201-S204.

[0112] S103, the data processor receives the signal quality levels reported by all Bluetooth anchor units based on the polling signal level test, and determines the Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit according to the received signal quality levels, and determines the signal quality level corresponding to the master Bluetooth anchor unit as the target quality level.

[0113] Through the foregoing polling signal level test, all Bluetooth anchor units perform polling signal level test to obtain the signal quality level of the Bluetooth signal of the Bluetooth connection between themselves and the Bluetooth key, and report it to the data processor. The data processor receives the signal quality levels reported by all Bluetooth anchor units based on the polling signal level test. According to the received signal quality levels, the Bluetooth anchor unit with the highest signal quality level is determined as the master Bluetooth anchor unit, and the signal quality level corresponding to the master Bluetooth anchor unit is determined as the target quality level. This step is the same as S203 described above, and will not be repeated here.

[0114] S104, the data processor sends a first control signal to the master Bluetooth anchor unit, and the first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit.

[0115] The data processor sends a first control signal to the master Bluetooth anchor unit, and the first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit. This step is the same as the S204 step described above, and will not be repeated here.

[0116] An exemplary, Figure 4 is a schematic diagram of the area division provided by the embodiments of the present application, with reference to Figure 4, assuming that there are 5 Bluetooth anchor units, the Bluetooth anchor unit 1 is set in the in-vehicle area, and the Bluetooth anchor units 2-5 are set at the preset positions around the vehicle, assuming that the Bluetooth anchor unit 2 is set at the front left side of the vehicle, the Bluetooth anchor unit 3 is set at the rear left side of the vehicle, the Bluetooth anchor unit 4 is set at the rear right side of the vehicle, and the Bluetooth anchor unit 5 is set at the front right side of the vehicle. Assuming that the current Bluetooth key is located in the vicinity of the front left side of the vehicle, the Bluetooth anchor unit 2 is the master Bluetooth anchor unit, and the Bluetooth key will move, assuming that it moves to the vicinity of the rear left side of the vehicle at this time, so the signal quality level of the Bluetooth signal between the Bluetooth key and the Bluetooth anchor unit 2 decreases as the distance increases, so it is necessary to re-determine the new master Bluetooth anchor unit by polling the signal level test, and the Bluetooth anchor unit 3 is closest to the Bluetooth key at this time, so the signal quality level of the Bluetooth anchor unit 3 based on the polling signal level test should be the highest among the 5 Bluetooth anchor units, so the Bluetooth anchor unit 3 is determined as the new master Bluetooth anchor unit, and the subsequent steps of the Bluetooth key positioning are performed.

[0117] The above, when the first signal quality level of the master Bluetooth anchor unit decreases, the polling signal level test of S201-S204 is re-executed to replace the master Bluetooth anchor unit with a new one with a higher signal quality level in real time, thereby avoiding the Bluetooth key positioning by the low signal quality level Bluetooth anchor unit as the master Bluetooth anchor unit to reduce the positioning accuracy, and replacing the master Bluetooth anchor unit with the Bluetooth anchor unit with the highest current signal quality level in real time, thereby ensuring the signal quality of the Bluetooth signal between the master Bluetooth anchor unit and the Bluetooth key, and further improving the accuracy of the ranging and positioning based on the Bluetooth signal with higher signal quality.

[0118] S105, the master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key according to the received first control signal, and sends the channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor unit.

[0119] After determining the master Bluetooth anchor unit, the master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, and sends the channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor unit, so that the slave Bluetooth anchor unit listens to the communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the signal parameters. Among them, the channel parameters include Bluetooth connection parameters and connection event stamp, etc. In addition, the master Bluetooth anchor unit sets the communication channel and access address of the Bluetooth connection link to be listened to, and calculates the interaction time point of the Bluetooth connection event data packet, so that the slave Bluetooth anchor unit starts to listen to the reception at the corresponding time point, and obtains the Bluetooth signal (i.e. Bluetooth data packet) transmitted between the master Bluetooth anchor unit and the Bluetooth key.

[0120] For example, refer to Figure 2, assuming that there are five Bluetooth anchor units, namely Bluetooth anchor unit 1, Bluetooth anchor unit 2, Bluetooth anchor unit 3, Bluetooth anchor unit 4 and Bluetooth anchor unit 5, assuming that through the foregoing embodiment, it is determined that the Bluetooth anchor unit 1 is the master Bluetooth anchor unit, and the Bluetooth anchor unit 2, the Bluetooth anchor unit 3, the Bluetooth anchor unit 4 and the Bluetooth anchor unit 5 are slave Bluetooth anchor units. The Bluetooth anchor unit 1 establishes a Bluetooth connection with the Bluetooth key and sends the channel parameters corresponding to the Bluetooth connection to the Bluetooth anchor unit 2, the Bluetooth anchor unit 3, the Bluetooth anchor unit 4 and the Bluetooth anchor unit 5 (i.e. slave Bluetooth anchor units) through the bus (CAN bus or LAN bus).

[0121] S106, the slave Bluetooth anchor unit listens to the communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the received channel parameters.

[0122] After each slave Bluetooth anchor unit receives the channel parameters sent by the master Bluetooth anchor unit through the bus (CAN bus or LAN bus), it listens to the communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the channel parameters to listen to and obtain the Bluetooth signals transmitted on the corresponding communication channel. For example, after the Bluetooth anchor unit 2, the Bluetooth anchor unit 3, the Bluetooth anchor unit 4 and the Bluetooth anchor unit 5 (i.e. slave Bluetooth anchor units) receive the channel parameters sent by the master Bluetooth anchor unit through the bus (CAN bus or LAN bus), the Bluetooth anchor unit 2, the Bluetooth anchor unit 3, the Bluetooth anchor unit 4 and the Bluetooth anchor unit 5 each listen to the communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the channel parameters received by themselves to listen to and obtain the Bluetooth signals transmitted on the corresponding communication channel. For example, the Bluetooth anchor unit 2 listens to the communication channel 1, the Bluetooth anchor unit 3 listens to the communication channel 2, the Bluetooth anchor unit 4 listens to the communication channel 3, and the Bluetooth anchor unit 5 listens to the communication channel 4.

[0123] S107, the master Bluetooth anchor unit determines the corresponding first RSSI value, first distance value and first signal quality level according to the received and transmitted Bluetooth signals, and sends the first RSSI value, first distance value and first signal quality level to the data processor. The first distance value is obtained by performing Bluetooth channel detection on the Bluetooth signals.

[0124] After the main Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, the main Bluetooth anchor module transmits and receives Bluetooth signals according to the Bluetooth connection. The main Bluetooth anchor unit continuously transmits unmodulated Bluetooth signals in the Bluetooth frequency band range, and the Bluetooth key detects the corresponding communication channel and receives the unmodulated Bluetooth signals transmitted by the main Bluetooth anchor unit. After receiving the unmodulated Bluetooth signals, the Bluetooth key collects the phase of the Bluetooth signals to obtain a second carrier signal phase; and starts a reflected signal, and the Bluetooth key responds to the main Bluetooth anchor unit with the second carrier signal phase. After the main Bluetooth anchor unit detects the reflected signal through Channel Sounding, the main Bluetooth anchor unit collects the third carrier signal phase in the reflected signal. The main Bluetooth anchor unit combines the second carrier signal phase and the third signal carrier phase to obtain a first carrier signal phase. The main Bluetooth anchor unit performs Fourier transform processing on the first carrier signal phase to obtain time domain distribution data, determines a reflection time value according to a first peak value of the time domain distribution data, and calculates and processes the reflection time value and a light speed value to obtain a first distance value between the main Bluetooth anchor unit and the Bluetooth key. In addition, the main Bluetooth anchor unit also performs normalization processing on the time domain distribution data to obtain a distribution dispersion degree; the main Bluetooth anchor unit compares the distribution dispersion degree with a preset level threshold to determine a corresponding first signal quality level. In addition, the main Bluetooth anchor unit obtains a first RSSI value corresponding to the Bluetooth signal through the Bluetooth protocol stack during the process of transmitting and receiving the Bluetooth signal. The main Bluetooth anchor unit sends the first distance value, the first signal quality level, and the first RSSI value to the data processor.

[0125] It should be noted that after the data processor receives the first signal quality level reported by the main Bluetooth anchor unit, the first signal quality level is compared with a target quality level. When the first signal quality level is greater than or equal to the target quality level, for example, the first signal quality level is high or greater than 90% of the level, it represents that the signal quality between the main Bluetooth anchor unit and the Bluetooth key has not decreased, and the main Bluetooth anchor unit does not need to be replaced, and the following S107-S109 is directly executed. When the first signal quality level is below the target quality level, it represents that the signal quality of the Bluetooth signal between the main Bluetooth anchor unit and the Bluetooth key has decreased, and in order to ensure the accuracy of subsequent Bluetooth key positioning, the main Bluetooth anchor unit needs to be re-determined. The main Bluetooth anchor signal can be re-determined through the polling signal level test of the foregoing S201-S204, and the foregoing S101-S106 is re-executed until the first signal quality level of the corresponding main Bluetooth anchor unit is greater than or equal to the target quality level, and the following S107-S109 is executed.

[0126] S108, the Bluetooth anchor unit determines a corresponding second RSSI value according to the monitored Bluetooth signal, and sends the second RSSI value to the data processor.

[0127] The slave Bluetooth anchor units listen to the communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the received channel parameters, and start to listen to the reception at the corresponding time point. The Bluetooth signals (i.e., Bluetooth data packets) transmitted between the master Bluetooth anchor unit and the Bluetooth key are listened to. Each slave Bluetooth anchor unit determines a corresponding second RSSI value according to the Bluetooth signals listened to by itself, and sends the second RSSI value to the data processor.

[0128] For example, the Bluetooth anchor unit 1 is the master Bluetooth anchor unit. The Bluetooth anchor unit 1 determines a corresponding first RSSI value, a first distance value, and a first signal quality level according to the Bluetooth signals transmitted and received, and sends the first RSSI value, the first distance value, and the first signal quality level to the data processor. The Bluetooth anchor units 2-5 are slave Bluetooth anchor units. The Bluetooth anchor unit 2 listens to the communication channel 1. The Bluetooth anchor unit 2 determines a corresponding second RSSI value according to the Bluetooth signals of the communication channel 1 listened to. The Bluetooth anchor unit 3 listens to the communication channel 2. The Bluetooth anchor unit 3 determines a corresponding second RSSI value according to the Bluetooth signals of the communication channel 2 listened to. The Bluetooth anchor unit 4 listens to the communication channel 3. The Bluetooth anchor unit 4 determines a corresponding second RSSI value according to the Bluetooth signals of the communication channel 3 listened to. The Bluetooth anchor unit 5 listens to the communication channel 4. The Bluetooth anchor unit 5 determines a corresponding second RSSI value according to the Bluetooth signals of the communication channel 4 listened to. The Bluetooth anchor units 2-5 send the respective determined second RSSI values to the data processor.

[0129] S109, the data processor determines a target position area where the Bluetooth key is located according to the first RSSI value, the first distance value, and the second RSSI value. The target position area includes a master driver unlocking area, a co-driver unlocking area, a trunk unlocking area, and an in-vehicle area.

[0130] The data processor receives the first signal quality level reported by the master Bluetooth anchor unit, and queries a preset comparison relationship according to the first signal quality level to determine a preset area matching degree threshold. The preset comparison relationship is a comparison relationship between the signal quality level and the area matching degree threshold. It is assumed that there are three levels of high, medium, and low for the signal quality level. The preset comparison relationship is that the high level corresponds to an area matching degree threshold A, the medium level corresponds to an area matching degree threshold B, and the low level corresponds to an area matching degree threshold C. Therefore, according to the first signal quality level and the preset comparison relationship, the corresponding area matching degree threshold can be determined. It is assumed that the first signal quality level is high, and it is determined that the corresponding area matching degree threshold is B.

[0131] After the data processor receives the first distance value, the first signal quality level and the first RSSI value reported by the master Bluetooth anchor unit, and the second RSSI value reported by the Bluetooth anchor, the data processor can determine the first position area where the Bluetooth key is located according to the first distance value. In this embodiment, the vehicle and its surroundings are divided into an invalid area, a welcome area and an unlocking area. Referring to Figure 4 In this embodiment, the vehicle and its surroundings are divided into an invalid area A0, a welcome area A1 and an unlocking area A2. The data processor can determine the first position area where the Bluetooth key is located based on the position of the master Bluetooth anchor unit according to the first distance value. When the first position area belongs to the unlocking area A2, that is, the Bluetooth key is located within the unlocking area A2, it means that there is a demand for unlocking, and the data processor needs to further determine the more accurate position area of the Bluetooth key based on RSSI positioning. When the first position area belongs to the welcome area A1 or the invalid area A0, it means that the Bluetooth key is located outside the unlocking area A2. At this time, based on the fact that the Bluetooth key is far away from the vehicle, accurate positioning and unlocking cannot be performed, so the subsequent accurate positioning of the RSSI value is not performed, that is, the data processor does not perform positioning processing based on the first RSSI value and the second RSSI value until it is detected that the first position area corresponding to the Bluetooth key belongs to the unlocking area A2, that is, the Bluetooth key is located within the unlocking area A2. The data processor performs positioning processing based on the first RSSI value and the second RSSI value. The above, through Channel Sounding to detect the Bluetooth channel to obtain the corresponding first distance value, and according to the first distance value to preliminarily determine the position area of the Bluetooth key, when the Bluetooth key is close to the vehicle, that is, the Bluetooth key is in the unlocking area A2, only then perform more fine positioning of the RSSI value, avoid the problem that when the Bluetooth key is far away from the vehicle, the RSSI value positioning leads to larger error, thereby improving the reliability and accuracy of the Bluetooth key positioning, and further improving the user's experience.

[0132] When the data processor determines that the first position area where the Bluetooth key is located according to the first distance value belongs to the unlocking area, it determines the corresponding target database according to the preset area matching degree threshold corresponding to the first signal quality level, wherein each area matching degree threshold corresponds to a database. The data processor compares the first RSSI value and the second RSSI value with the area data in the target database to determine the target position area where the Bluetooth key is located. The target position area includes a master driver unlocking area, a co-driver unlocking area, a trunk unlocking area and an in-vehicle area.

[0133] Referring to Figure 4In the embodiment, the unlocking area A2 is further divided into a main driver unlocking area A21, a co-driver unlocking area A22, a trunk unlocking area A23 and an in-vehicle area A24. The main driver unlocking area A21 is located in the preset area range corresponding to the main driver of the vehicle; the co-driver unlocking area A22 is located in the preset area range corresponding to the co-driver of the vehicle; the trunk unlocking area A23 is located in the preset area range corresponding to the trunk of the vehicle; and the in-vehicle area A24 is located in the preset area range corresponding to the driving control of the vehicle. The first RSSI value corresponding to the main Bluetooth anchor unit and the second RSSI value corresponding to the plurality of slave Bluetooth anchor units form an array of a plurality of RSSI values. The data processor compares the array of a plurality of RSSI values with the area data in the target database to determine the target position area where the Bluetooth key is located. For example, the array of a plurality of RSSI values is compared with the area data in the target database to determine that the Bluetooth key is in the main driver unlocking area A21.

[0134] In order to further improve the accuracy of positioning, when performing RSSI positioning, the data processor inputs the first RSSI value into a preset dynamic model for correction processing to obtain a corrected first RSSI value; and inputs the second RSSI value into the preset dynamic model for correction processing to obtain a corrected second RSSI value. The data processor determines the target position area where the Bluetooth key is located according to the corrected first RSSI value, the corrected second RSSI value and a preset area matching degree threshold. In the above, when it is determined that the Bluetooth key is in the unlocking area, the corrected first RSSI value and the corrected second RSSI value are used to determine a more accurate position area where the Bluetooth key is located, thereby improving the accuracy of positioning of the Bluetooth key.

[0135] The above, through the main Bluetooth anchor unit determines the first signal quality level corresponding to the Bluetooth signal through the Bluetooth channel sounding, and the data processor controls all the Bluetooth anchor units to perform the polling signal level test when the first signal quality level of the main Bluetooth anchor unit is below the target quality level, that is, when the quality of the Bluetooth signal of the main Bluetooth anchor unit decreases, to determine the Bluetooth anchor unit with the highest signal quality level as a new main Bluetooth anchor unit, and the new main Bluetooth anchor unit establishes the Bluetooth connection with the Bluetooth key and determines the corresponding first RSSI value, first distance value and first signal quality level according to the Bluetooth signal transmitted and received through the Bluetooth connection, and the data processor determines the target position area of the Bluetooth key according to the first RSSI value, first distance value and second RSSI value. Through the above technical means, the first signal quality level of the Bluetooth signal between the main Bluetooth anchor unit and the Bluetooth key is determined through the Bluetooth channel sounding, and when it is determined that the first signal quality level of the Bluetooth signal of the main Bluetooth anchor unit decreases, the Bluetooth anchor unit with the highest signal quality level is reselected as the main Bluetooth anchor unit through the polling signal level test. Compared with the existing RSSI positioning method directly through the fixed threshold regardless of the communication quality of the main Bluetooth anchor unit, the main Bluetooth anchor unit can be replaced in real time in the embodiment, so that when the position of the Bluetooth key changes and the signal quality of the main Bluetooth anchor unit decreases, the main Bluetooth anchor unit can be updated to the Bluetooth anchor unit with the highest signal quality level at present, so as to improve the accuracy of the first RSSI value and the first distance value detected by the main Bluetooth anchor unit. In addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor unit based on the communication channel between the main Bluetooth anchor unit and the Bluetooth key can be improved, and the accuracy of the target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can be improved.

[0136] The above, by fusing Channel Sounding (Bluetooth channel sounding technology) and RSSI ranging, enhances the positioning ability in complex environment, reduces the misunderstanding and cannot identify the situation, thereby improving the accuracy and reliability of the positioning system, and further improving the user experience and system security, meeting the high standard requirements of modern cars and other keyless entry applications. In addition, the polling signal level test of the plurality of Bluetooth anchor units in the embodiment can dynamically adjust the main Bluetooth anchor unit, which can be used in different scenes and has higher practicability and flexibility.

[0137] On the basis of the above embodiment, Figure 5 A structure diagram of a Bluetooth key positioning device provided by the embodiment of the application is shown in the figure. Figure 5The Bluetooth key positioning device provided by the embodiment specifically comprises: a master Bluetooth anchor unit 21, a slave Bluetooth anchor unit 22 and a data processor 30. The Bluetooth key positioning device is used for a vehicle, and comprises a plurality of Bluetooth anchor units and the data processor 30. One of the plurality of Bluetooth anchor units is the master Bluetooth anchor unit 21, and the other Bluetooth anchor units are the slave Bluetooth anchor units 22. The master Bluetooth anchor unit 21 is connected with the slave Bluetooth anchor units 22, and each Bluetooth anchor unit is connected with the data processor 30.

[0138] The master Bluetooth anchor unit 21 is configured to establish a Bluetooth connection with the Bluetooth key, determine a first signal quality level of a Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and send the first signal quality level to the data processor 30; establish a Bluetooth connection with the Bluetooth key according to the received first control signal, and send channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor units 22; determine a corresponding first RSSI value, a first distance value and a first signal quality level according to the received and transmitted Bluetooth signal, and send the first RSSI value, the first distance value and the first signal quality level to the data processor 30. The first distance value is obtained through Bluetooth channel detection of the Bluetooth signal.

[0139] The slave Bluetooth anchor unit 22 is configured to listen to a communication channel between the master Bluetooth anchor unit 21 and the Bluetooth key according to the received channel parameters; determine a corresponding second RSSI value according to the listened Bluetooth signal, and send the second RSSI value to the data processor 30.

[0140] The data processor 30 is configured to, when the first signal quality level is below a target quality level, control all the Bluetooth anchor units to perform a polling signal level test. The target quality level is a signal quality level determined when the master Bluetooth anchor unit 21 is determined. The polling signal level test is a test in which all the Bluetooth anchor units successively establish Bluetooth connections with the Bluetooth key and determine signal quality levels based on the Bluetooth connections. The data processor 30 receives signal quality levels reported by all the Bluetooth anchor units based on the polling signal level test, and determines, according to the received signal quality levels, that a Bluetooth anchor unit with the highest signal quality level is the master Bluetooth anchor unit 21, and that a signal quality level corresponding to the master Bluetooth anchor unit 21 is the target quality level. The data processor 30 sends a first control signal to the master Bluetooth anchor unit 21. The first control signal is used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit 21. The data processor 30 determines a target position area of the Bluetooth key according to the first RSSI value, the first distance value and the second RSSI value. The target position area comprises a main driver unlocking area, a co-driver unlocking area, a trunk unlocking area and an in-vehicle area.

[0141] In an embodiment, based on the foregoing implementation, the master Bluetooth anchor unit 21 is further configured to perform Bluetooth channel sounding on the Bluetooth signal to determine a first carrier signal phase obtained by the sounding;

[0142] The master Bluetooth anchor is further configured to determine a first distance value according to the first carrier signal phase, and send the first distance value to the data processor 30;

[0143] The data processor 30 is further configured to perform positioning processing according to the received first distance value to determine a first position region of the Bluetooth key, the first position region including an invalid zone, a welcome zone and an unlocking zone;

[0144] The data processor 30 is further configured to determine a target position region of the Bluetooth key according to the first RSSI value and the second RSSI value when the first position region belongs to the unlocking zone.

[0145] In an embodiment, based on the foregoing implementation, the data processor 30 is further configured to determine a preset region matching degree threshold according to the received first signal quality level when the first position region belongs to the unlocking zone;

[0146] The data processor 30 is further configured to determine a target position region of the Bluetooth key according to the first RSSI value and the second RSSI value and the preset region matching degree threshold.

[0147] In an embodiment, based on the foregoing implementation, the master Bluetooth anchor unit 21 is further configured to determine a corresponding first RSSI value according to the transceived Bluetooth signal;

[0148] The master Bluetooth anchor unit 21 is further configured to perform Bluetooth channel sounding on the Bluetooth signal to determine a first carrier signal phase obtained by the sounding;

[0149] The master Bluetooth anchor unit 21 is further configured to perform Fourier transform processing on the first carrier signal phase to obtain time domain distribution data;

[0150] The master Bluetooth anchor unit 21 is further configured to perform calculation processing on the time domain distribution data of the first carrier signal phase to obtain a first distance value between the master Bluetooth anchor unit 21 and the Bluetooth key;

[0151] The master Bluetooth anchor unit 21 is further configured to perform normalization processing on the time domain distribution data to obtain a distribution dispersion degree;

[0152] The master Bluetooth anchor unit 21 is further configured to compare the distribution dispersion degree with a preset level threshold to determine a corresponding first signal quality level.

[0153] In an embodiment, the Bluetooth key positioning device further includes a polling test unit and a quality level determination unit;

[0154] The polling test unit is configured to control all the Bluetooth anchor units to perform a polling signal level test, which is a test in which all the Bluetooth anchor units establish Bluetooth connections with the Bluetooth key in turn and determine signal quality levels based on the Bluetooth connections;

[0155] The quality level determination unit is configured to determine, for each Bluetooth anchor unit, a corresponding signal quality level based on the polling signal level test and feed back to the data processor 30;

[0156] On the basis of the foregoing implementation, the data processor 30 is further configured to determine, based on the received signal quality levels, a Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit 21 and determine a signal quality level corresponding to the master Bluetooth anchor unit 21 as a target quality level.

[0157] The data processor 30 is further configured to send a first control signal to the master Bluetooth anchor unit 21, the first control signal being configured to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit 21.

[0158] In an embodiment, on the basis of the foregoing implementation, the data processor 30 is further configured to query a preset correspondence relationship based on the first signal quality level to determine a preset area matching degree threshold, wherein the preset correspondence relationship is a correspondence relationship between signal quality levels and area matching degree thresholds.

[0159] The data processor 30 is further configured to determine a corresponding target database based on the preset area matching degree threshold, wherein each area matching degree threshold corresponds to a database.

[0160] The data processor 30 is further configured to compare the first RSSI value and the second RSSI value with area data in the target database to determine a target location area in which the Bluetooth key is located.

[0161] In an embodiment, on the basis of the foregoing implementation, the data processor 30 is further configured to input the first RSSI value into a preset dynamic model to perform correction processing to obtain a corrected first RSSI value.

[0162] The data processor 30 is further configured to input the second RSSI value into the preset dynamic model to perform correction processing to obtain a corrected second RSSI value.

[0163] The data processor 30 is further configured to determine a target location area in which the Bluetooth key is located based on the corrected first RSSI value, the corrected second RSSI value, and the preset area matching degree threshold.

[0164] The Bluetooth key positioning apparatus provided by the embodiments of the present application can be used to perform the Bluetooth key positioning method provided by the foregoing embodiments and has the corresponding functions and beneficial effects.

[0165] The embodiment of the present application provides a Bluetooth key positioning device, referring to Figure 6 The Bluetooth key positioning device comprises 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 positioning device can be one or more, and the number of memories in the Bluetooth key positioning device can be one or more. The processor, the memory, the communication module, the input device and the output device of the Bluetooth key positioning device can be connected through a bus or other means.

[0166] The memory 32 serves as a computer readable storage medium and can be used for storing software programs, computer executable programs and modules, such as program instructions / modules of the Bluetooth key positioning method of any embodiment of the present application (for example, the master Bluetooth anchor unit, the slave Bluetooth anchor unit and the data processor in the Bluetooth key positioning device). The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and application programs required by at least one function; and the data storage area can store data created according to the use of the device and the like. In addition, the memory can comprise a high-speed random access memory and can also comprise a non-volatile memory, for example, at least one magnetic disk storage device, a flash memory device or other non-volatile solid-state storage device. In some examples, the memory can further comprise a memory remotely arranged relative to the processor, and the remote memory can be connected to the device through a network. Examples of the network include but are not limited to the Internet, an intranet, a local area network, a mobile communication network and a combination thereof.

[0167] The communication module 33 is used for data transmission.

[0168] The processor 31 executes various function applications and data processing of the device by running the software programs, instructions and modules stored in the memory, that is, the Bluetooth key positioning method described above is realized.

[0169] The input device 34 can be used for receiving input digital or character information and generating key signal input related to user settings and function control of the device. The output device 35 can comprise a display device such as a display screen.

[0170] The Bluetooth key positioning device provided above can be used for executing the Bluetooth key positioning method provided in the above embodiment, and has corresponding functions and beneficial effects.

[0171] The embodiment of the application further provides a storage medium storing computer executable instructions, which, when executed by a computer processor, are used to perform a Bluetooth key positioning method, the Bluetooth key positioning method comprising: a master Bluetooth anchor point unit establishing a Bluetooth connection with a Bluetooth key, determining a first signal quality level of a Bluetooth signal of the Bluetooth connection through Bluetooth channel sounding, and sending the first signal quality level to a data processor; the data processor controlling all Bluetooth anchor point units to perform a polling signal level test when the first signal quality level is below a target quality level, the target quality level being a signal quality level determined when the master Bluetooth anchor point unit is determined, and the polling signal level test being a test in which all Bluetooth anchor point units successively establish Bluetooth connections with the Bluetooth key and determine signal quality levels based on the Bluetooth connections; the data processor receiving signal quality levels reported by all Bluetooth anchor point units based on the polling signal level test, and determining a Bluetooth anchor point unit with the highest signal quality level as the master Bluetooth anchor point unit and determining a signal quality level corresponding to the master Bluetooth anchor point unit as the target quality level; the data processor sending a first control signal to the master Bluetooth anchor point unit, the first control signal being used to inform the corresponding Bluetooth anchor point unit to serve as the master Bluetooth anchor point unit; the master Bluetooth anchor point unit establishing a Bluetooth connection with the Bluetooth key according to the received first control signal, and sending channel parameters corresponding to the Bluetooth connection to a slave Bluetooth anchor point unit; the slave Bluetooth anchor point unit listening to a communication channel between the master Bluetooth anchor point unit and the Bluetooth key according to the received channel parameters; the master Bluetooth anchor point unit determining a corresponding first RSSI value, a first distance value and a first signal quality level according to the Bluetooth signals received and transmitted, and sending the first RSSI value, the first distance value and the first signal quality level to the data processor, the first distance value being obtained by performing Bluetooth channel sounding on the Bluetooth signal; the slave Bluetooth anchor point unit determining a corresponding second RSSI value according to the Bluetooth signals listened to, and sending the second RSSI value to the data processor; and the data processor determining a target position area in which the Bluetooth key is located according to the first RSSI value, the first distance value and the second RSSI value, the target position area comprising a master driver unlocking area, a co-driver unlocking area, a trunk unlocking area and an in-vehicle area.

[0172] Storage medium - any type of memory device or storage device. The term "storage medium" is intended to include an installation medium, e.g., a CD-ROM, floppy disks, or tape apparatus; computer system memory or random access memory such as DRAM, DDR RAM, SRAM, EDO RAM, Rambus RAM, etc.; or a non-volatile memory such as a magnetic medium (e.g., a hard drive or optical storage); registers or other similar types of memory elements, etc. The memory medium can also include other types of storage medium or combinations thereof. In addition, the memory medium can reside in a first computer system's main memory, or in a second different computer system's memory, which second computer system can provide the first computer system with an opportunity to access the memory medium, e.g., by login to the second computer system. The term "storage medium" should be taken to include a single medium or multiple media that store the same or different computer programs, e.g., a centralized or decentralized database, and associated metadata, data files, etc. The term "computer program medium" should be taken to include a single medium or multiple media that store the same or different computer programs, e.g., a centralized or decentralized database, and associated metadata, data files, etc. The memory medium can store the program instructions, e.g., as a computer program, executable by one or more processors.

[0173] Of course, the storage medium storing the computer executable instructions provided by the embodiments of the present application is not limited to the Bluetooth key positioning method as described above, and can also execute the related operations in the Bluetooth key positioning method provided by any of the embodiments of the present application.

[0174] The Bluetooth key positioning apparatus, the storage medium and the Bluetooth key positioning device provided in the above embodiments can execute the Bluetooth key positioning method provided by any of the embodiments of the present application, and the technical details not described in detail in the above embodiments can be referred to the Bluetooth key positioning method provided by any of the embodiments of the present application.

[0175] The above are only the preferred embodiments of the present application and the technical principles applied. The present application is not limited to the specific embodiments described herein, and various obvious changes, re-adjustments and replacements made by those skilled in the art will not deviate from the protection scope of the present application. Therefore, although the present application has been described in more detail through the above embodiments, the present application is not limited to the above embodiments, and can also include more other equivalent embodiments without deviating 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 positioning method, characterized by, A method for a vehicle, the vehicle comprising a plurality of Bluetooth anchor units and a data processor, one of the plurality of Bluetooth anchor units being a master Bluetooth anchor unit, the other Bluetooth anchor units being slave Bluetooth anchor units, the master Bluetooth anchor unit being connected with the slave Bluetooth anchor units, each Bluetooth anchor unit being connected with the data processor; the method comprising: the master Bluetooth anchor unit establishing a Bluetooth connection with a Bluetooth key, and determining a first signal quality level of a Bluetooth signal of the Bluetooth connection through Bluetooth channel sounding, and sending the first signal quality level to the data processor; the data processor controlling all Bluetooth anchor units to perform a polling signal level test when the first signal quality level is below a target quality level, the target quality level being a signal quality level determined when the master Bluetooth anchor unit is determined, the polling signal level test being a test in which all Bluetooth anchor units establish Bluetooth connections with the Bluetooth key in turn, and determine signal quality levels based on the Bluetooth connections; the data processor receiving signal quality levels reported by all Bluetooth anchor units based on the polling signal level test, and determining a Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit according to the received signal quality levels, and determining a signal quality level corresponding to the master Bluetooth anchor unit as the target quality level; the data processor sending a first control signal to the master Bluetooth anchor unit, the first control signal being used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit; the master Bluetooth anchor unit establishing a Bluetooth connection with the Bluetooth key according to the received first control signal, and sending channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor units; the slave Bluetooth anchor units listening to a communication channel between the master Bluetooth anchor unit and the Bluetooth key according to the received channel parameters; the master Bluetooth anchor unit determining a corresponding first RSSI value, a first distance value and a first signal quality level according to the Bluetooth signals received and transmitted, and sending the first RSSI value, the first distance value and the first signal quality level to the data processor, the first distance value being obtained through Bluetooth channel sounding on the Bluetooth signals; the slave Bluetooth anchor units determining a corresponding second RSSI value according to the Bluetooth signals listened to, and sending the second RSSI value to the data processor; the data processor determining a target position area in which the Bluetooth key is located according to the first RSSI value, the first distance value and the second RSSI value, the target position area comprising a main driver unlocking area, a co-driver unlocking area, a trunk unlocking area and an in-vehicle area.

2. The method of claim 1, wherein, The data processor determining a target position area in which the Bluetooth key is located according to the first RSSI value, the first distance value and the second RSSI value, comprising: the master Bluetooth anchor unit performing Bluetooth channel sounding on the Bluetooth signals, and determining a first carrier signal phase obtained through the sounding; the master Bluetooth anchor determining a first distance value according to the first carrier signal phase, and sending the first distance value to the data processor; The data processor determines a first position area of the Bluetooth key according to the received first distance value, the first position area including an invalid area, a welcome area and an unlocking area; When the first position area belongs to the unlocking area, the data processor determines a target position area of the Bluetooth key according to the first RSSI value and the second RSSI value.

3. The method of claim 2, wherein, The method for determining the target position area of the Bluetooth key according to the first RSSI value and the second RSSI value when the first position area belongs to the unlocking area includes: When the first position area belongs to the unlocking area, the data processor determines a preset area matching degree threshold according to the received first signal quality level; The data processor determines the target position area of the Bluetooth key according to the first RSSI value, the second RSSI value and the preset area matching degree threshold.

4. The method of claim 1, wherein, The master Bluetooth anchor unit determines the corresponding first RSSI value, the first distance value and the first signal quality level according to the received Bluetooth signal, and the method includes: The master Bluetooth anchor unit determines the corresponding first RSSI value according to the received Bluetooth signal; The master Bluetooth anchor unit performs Bluetooth channel detection on the Bluetooth signal to determine a first carrier signal phase obtained by detection; The master Bluetooth anchor unit performs Fourier transform processing on the first carrier signal phase to obtain time domain distribution data; The master Bluetooth anchor unit performs calculation processing on the time domain distribution data of the first carrier signal phase to obtain the first distance value between the master Bluetooth anchor unit and the Bluetooth key; The master Bluetooth anchor unit performs normalization processing on the time domain distribution data to obtain a distribution dispersion degree; The master Bluetooth anchor unit compares the distribution dispersion degree with a preset level threshold to determine the corresponding first signal quality level.

5. The method of claim 1, wherein, Before the master Bluetooth anchor unit establishes a Bluetooth connection with the Bluetooth key, the method includes: All Bluetooth anchor units perform polling signal level testing, the polling signal level testing being a test in which all Bluetooth anchor units successively establish Bluetooth connections with the Bluetooth key and determine signal quality levels based on the Bluetooth connections; Each Bluetooth anchor unit determines its own corresponding signal quality level according to the polling signal level testing and feeds back the signal quality level to the data processor; The data processor determines, according to the received signal quality levels, a Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit and determines the signal quality level corresponding to the master Bluetooth anchor unit as a target quality level; The data processor sends a first control signal to the master Bluetooth anchor unit, the first control signal being used to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit.

6. The method of claim 3, wherein, The data processor determines a preset area matching degree threshold according to the received first signal quality level, and the method includes: The data processor determines the preset area matching degree threshold by querying a preset comparison relationship according to the first signal quality level, the preset comparison relationship being a comparison relationship between signal quality levels and area matching degree thresholds; The data processor determines the preset area matching degree threshold by querying a preset comparison relationship according to the first signal quality level, the preset comparison relationship being a comparison relationship between signal quality levels and area matching degree thresholds; The data processor determines a corresponding target database according to the preset area matching degree threshold, wherein each area matching degree threshold corresponds to a database; The data processor compares the first RSSI value and the second RSSI value with area data in the target database to determine a target position area where the Bluetooth key is located.

7. The method of claim 3, wherein, Before the data processor determines the target position area where the Bluetooth key is located according to the first RSSI value and the second RSSI value and the preset area matching degree threshold, the method comprises: The data processor inputs the first RSSI value into a preset dynamic model for correction processing to obtain a corrected first RSSI value; The data processor inputs the second RSSI value into a preset dynamic model for correction processing to obtain a corrected second RSSI value; The data processor determines the target position area where the Bluetooth key is located according to the first RSSI value and the second RSSI value and the preset area matching degree threshold, comprising: The data processor determines the target position area where the Bluetooth key is located according to the corrected first RSSI value and the corrected second RSSI value and the preset area matching degree threshold.

8. A Bluetooth key location device, characterized in that, The Bluetooth key positioning device for a vehicle comprises a plurality of Bluetooth anchor point units and a data processor, one of the plurality of Bluetooth anchor point units is a master Bluetooth anchor point unit, and the other Bluetooth anchor point units are slave Bluetooth anchor point units, the master Bluetooth anchor point unit is connected with the slave Bluetooth anchor point units, and each Bluetooth anchor point unit is connected with the data processor; the device comprises: The master Bluetooth anchor point unit is configured to establish a Bluetooth connection with a Bluetooth key, determine a first signal quality level of a Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and send the first signal quality level to the data processor; establish a Bluetooth connection with the Bluetooth key according to a received first control signal, and send channel parameters corresponding to the Bluetooth connection to the slave Bluetooth anchor point units; determine a corresponding first RSSI value, a first distance value and a first signal quality level according to the Bluetooth signal received and transmitted, and send the first RSSI value, the first distance value and the first signal quality level to the data processor, wherein the first distance value is obtained by performing Bluetooth channel detection on the Bluetooth signal; The slave Bluetooth anchor point unit is configured to listen to a communication channel between the master Bluetooth anchor point unit and the Bluetooth key according to the received channel parameters; determine a corresponding second RSSI value according to the Bluetooth signal listened to, and send the second RSSI value to the data processor; The data processor is configured to: when the first signal quality level is below a target quality level, control all Bluetooth anchor units to perform a polling signal level test, the target quality level being a signal quality level determined when determining the master Bluetooth anchor unit, the polling signal level test being a test in which all Bluetooth anchor units establish Bluetooth connections with the Bluetooth key in turn and determine signal quality levels based on the Bluetooth connections; receive signal quality levels reported by all Bluetooth anchor units based on the polling signal level test, and determine a Bluetooth anchor unit with the highest signal quality level as the master Bluetooth anchor unit and determine a signal quality level corresponding to the master Bluetooth anchor unit as the target quality level; and send a first control signal to the master Bluetooth anchor unit, the first control signal being configured to inform the corresponding Bluetooth anchor unit to serve as the master Bluetooth anchor unit; and determine a target location area in which the Bluetooth key is located based on the first RSSI value, the first distance value, and the second RSSI value, the target location area including a master driver unlocking area, a co-driver unlocking area, a trunk unlocking area, and an in-vehicle area.

9. A Bluetooth key location device, characterized by Comprise: a memory and one or more processors; the memory is configured 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 of any one of claims 1-7.

10. A storage medium storing computer-executable instructions, wherein: The computer executable instructions, when executed by the processor, are configured to perform the method of any one of claims 1-7.

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