Calibration method, positioning method, medium, equipment and vehicle

Abstract

The invention relates to a calibration method, a positioning method, a medium, equipment and a vehicle. The method comprises the following steps: acquiring an adjustment value of a dynamic calibration parameter; according to the adjustment value, result data of each RSSI sampling point is determined, and the result data is used for indicating the position relation of an RSSI signal source relative to an RSSI signal receiving end; and if the result data meets a preset condition, taking the adjustment value as a target value of the dynamic calibration parameter. According to the calibration method, the calibration workload can be reduced. Moreover, the calibration parameters obtained by the calibration method are used for positioning, so that the accuracy of a positioning result can be improved.

Description

Technical Field

[0001] The present application relates to the field of communication technology, and more specifically, to a calibration method, a positioning method, a storage medium, an electronic device and a vehicle. Background Art

[0002] With the development of technology, car Bluetooth key systems have begun to provide users with functions such as remote control driving, sensorless entry, and automatic key search. The quality of these functions is based on the accurate positioning of the distance between the key and the vehicle. This requires that the positioning results can be reported in real time and evenly distributed within the supported remote control distance range. Traditional calibration methods based on RSSI values ​​are limited to static calibration. In the remote control driving positioning scenario, the distance between the key and the vehicle is in dynamic change, and the positioning result is not accurate enough using the static calibration method.

[0003] In the related technology, it is usually necessary to manually input the RSSI value adjustment amount. Each adjustment requires sending the adjusted RSSI value to the vehicle, and then verifying whether it is the optimal adjustment amount by collecting the difference between the actual measured distance and the calibrated distance. The calibration workload is very large. Summary of the invention

[0004] The embodiments of the present application provide a calibration method, a positioning method, a storage medium, an electronic device, and a vehicle. The calibration method of the present application can reduce the calibration workload. Moreover, positioning using the calibration parameters obtained by the calibration method can improve the accuracy of the positioning result.

[0005] In a first aspect, this embodiment provides a calibration method, including:

[0006] Get the adjustment value of the dynamic calibration parameter;

[0007] Determine the result data of each RSSI sampling point according to the adjustment value; wherein the result data is used to indicate the positional relationship of the RSSI signal source relative to the RSSI signal receiving end;

[0008] If the result data meets the preset conditions, the adjustment value is used as the target value of the dynamic calibration parameter.

[0009] Optionally, the method further comprises:

[0010] Obtain a first boundary line and a second boundary line;

[0011] The first boundary line and the second boundary line are used to determine the result data corresponding to the calibration area.

[0012] Optionally, obtaining the first boundary line and the second boundary line includes:

[0013] Obtaining a target value of a static calibration parameter, wherein the static calibration parameter includes a first calibration distance and a second calibration distance;

[0014] Obtain an index value of a first RSSI sampling point and an index value of a second RSSI sampling point, wherein the index value of the first RSSI sampling point is an index value of the RSSI sampling point when the RSSI signal source moves to a first position corresponding to the first calibration distance, and the index value of the second RSSI sampling point is an index value of the RSSI sampling point when the RSSI signal source moves to a second position corresponding to the second calibration distance;

[0015] The first boundary line and the second boundary line are determined based on the index value of the first RSSI sampling point and the index value of the second RSSI sampling point.

[0016] Optionally, obtaining the index value of the first RSSI sampling point and the index value of the second RSSI sampling point includes:

[0017] Obtain a first measured distance and a second measured distance, wherein the first measured distance is an actual distance obtained when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the first calibrated distance, and the second measured distance is an actual distance obtained when the estimated distance is equal to the second calibrated distance, and the estimated distance is determined based on the RSSI static calibration result;

[0018] Respectively obtain an index value of a third RSSI sampling point when the RSSI signal source moves to a third position corresponding to the first measured distance and an index value of a fourth RSSI sampling point when the RSSI signal source moves to a fourth position corresponding to the second measured distance;

[0019] The index value of the first RSSI sampling point and the index value of the second RSSI sampling point are determined according to the index value of the third RSSI sampling point and the index value of the fourth RSSI sampling point.

[0020] Optionally, the method further comprises:

[0021] Displaying a calibration area diagram and a signal source icon of a signal receiving end; wherein, when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the first calibration distance, the signal source icon moves to the first position of the calibration area diagram; when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the second calibration distance, the signal source icon moves to the second position of the calibration area diagram; and / or,

[0022] displaying the resulting data; and / or,

[0023] The result data is displayed, and a first boundary line and a second boundary line are displayed in the result data, where the first boundary line and the second boundary line are used to determine the result data corresponding to the calibration area.

[0024] Optionally, the result data includes first RSSI data, the dynamic calibration parameter includes positioning sensitivity, and the positioning sensitivity includes the size of a filtering window;

[0025] Determining result data of each RSSI sampling point according to the adjustment value includes:

[0026] For each RSSI sampling point, the original RSSI data is filtered according to the adjustment value of the positioning sensitivity to obtain the first RSSI data.

[0027] Optionally, filtering the original RSSI data according to the adjustment value of the positioning sensitivity to obtain the first RSSI data includes:

[0028] According to the adjustment value of the positioning sensitivity, based on a sliding average filtering algorithm, the original RSSI data is filtered to obtain the first RSSI data.

[0029] Optionally, the result data includes moving direction data of the RSSI signal source, and the dynamic calibration parameter further includes direction sensitivity, and the direction sensitivity includes a data set size of RSSI data for determining the moving direction data;

[0030] Determining result data of each RSSI sampling point according to the adjustment value includes:

[0031] Acquire second RSSI data obtained by filtering the original RSSI data;

[0032] For each RSSI sampling point, determining third RSSI data from the second RSSI data according to the adjustment value of the directional sensitivity;

[0033] The moving direction data is determined according to the third RSSI data.

[0034] Optionally, determining the moving direction data according to the third RSSI data includes:

[0035] When the third RSSI data gradually increases in a sampling order, determining that the moving direction is a direction approaching a signal receiver;

[0036] When the third RSSI data gradually decreases according to the sampling order, it is determined that the moving direction is a direction away from the signal receiver.

[0037] Optionally, the result data includes area data representing an area where a RSSI signal source is located; and determining the result data of each RSSI sampling point according to the adjustment value includes:

[0038] Get the target value of the static calibration parameter;

[0039] Determining the area data of each RSSI sampling point according to the target value of the static calibration parameter and the adjustment value;

[0040] The static calibration parameter includes an RSSI static calibration threshold value, and the dynamic calibration parameter includes a compensation amount for compensating the RSSI static calibration threshold value.

[0041] Optionally, the compensation amount includes a first compensation amount and / or a second compensation amount, the first compensation amount is a compensation amount required for calibration when the RSSI signal source moves in a direction close to the signal receiver, and the second compensation amount is a compensation amount required for calibration when the RSSI signal source moves in a direction away from the signal receiver;

[0042] The determining the area data of each RSSI sampling point according to the target value of the static calibration parameter and the adjustment value includes:

[0043] The area data of each RSSI sampling point is determined according to one of the first compensation amount and the second compensation amount, and the RSSI static calibration threshold value.

[0044] Optionally, the RSSI static calibration threshold value is a threshold value determined based on a sliding average filtering algorithm.

[0045] After obtaining the adjustment value of the dynamic calibration parameter, the embodiment of the present application determines the result data of each RSSI sampling point according to the adjustment value, so as to determine whether to use the adjustment value as the target value of the dynamic calibration parameter by whether the result data meets the preset conditions. In this way, each time the value of the dynamic calibration parameter is adjusted, new result data determined according to the adjustment value will be displayed without the need for actual testing, which greatly reduces the calibration workload.

[0046] In a second aspect, this embodiment provides a positioning method, including:

[0047] Obtain the target value of the dynamic calibration parameter and the RSSI data of the RSSI signal source communicating with the signal receiving end during the movement;

[0048] Determining the location of the RSSI signal source based on the RSSI data and the target value of the dynamic calibration parameter;

[0049] Wherein, the target value of the dynamic calibration parameter is a target value obtained according to the calibration method described in any one of the first aspects.

[0050] Optionally, the method further comprises:

[0051] Get the calibration rate factor;

[0052] The calibration rate factor represents the rate of change of RSSI data in the calibration and tuning phase, and the calibration rate factor is used to correct the target value of the dynamic calibration parameter in the positioning phase.

[0053] Optionally, the calibration rate factor is determined according to the index value of the first RSSI sampling point, the index value of the second RSSI sampling point, fourth RSSI data corresponding to the index value of the first RSSI sampling point, and fifth RSSI data corresponding to the index value of the second RSSI sampling point;

[0054] Among them, the index value of the first RSSI sampling point is the RSSI sampling point index value when the RSSI signal source moves to the first position corresponding to the first calibration distance of the static calibration parameter, and the index value of the second RSSI sampling point is the RSSI sampling point index value when the RSSI signal source moves to the second position corresponding to the second calibration distance of the static calibration parameter.

[0055] Optionally, the dynamic calibration parameter includes a compensation amount for compensating an RSSI static calibration threshold value, and the determining the position of the RSSI signal source based on the RSSI data and a target value of the dynamic calibration parameter includes:

[0056] Determining a rate compensation factor based on the real-time rate factor and the calibrated rate factor;

[0057] Based on the rate compensation factor, modifying the target value of the compensation amount;

[0058] Determine the location of the RSSI signal source based on the RSSI data, the RSSI static calibration threshold value and the target value of the corrected compensation amount;

[0059] The real-time rate factor is a rate factor of change of RSSI data during the movement of the RSSI signal source determined in the positioning stage.

[0060] The embodiment of the present application utilizes the target value of the dynamic calibration parameter obtained by the calibration method of the first aspect, and performs positioning based on the RSSI data communicated with the signal receiving end during the real-time movement of the RSSI signal source and the target value of the dynamic calibration parameter, which can improve the accuracy of the positioning result.

[0061] In a third aspect, this embodiment provides a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the method as described in any one of the first aspect or the second aspect.

[0062] In a fourth aspect, this embodiment provides an electronic device, including a memory and a processor,

[0063] The memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the calibration method as described in any one of the first aspects or the positioning method as described in any one of the second aspects.

[0064] In a fifth aspect, this embodiment provides a vehicle, comprising the electronic device as described in the fourth aspect.

[0065] Other features and advantages of the present application will become apparent from the following detailed description of exemplary embodiments of the present application with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the application and, together with the description, serve to explain the principles of the application.

[0067] Figure 1 A schematic flow chart of the calibration method provided in an embodiment of the present application is shown.

[0068] Figure 2 A schematic diagram of a calibration parameter input interface provided in an embodiment of the present application is shown.

[0069] Figure 3 A schematic diagram of the vehicle calibration area division provided in an embodiment of the present application is shown.

[0070] Figure 4 A schematic diagram showing regional data distribution provided by an embodiment of the present application is shown.

[0071] Figure 5 A schematic diagram showing the distribution of filtered data provided by an embodiment of the present application is shown.

[0072] Figure 6 A schematic diagram showing the distribution of moving direction data provided by an embodiment of the present application is shown.

[0073] Figure 7 A schematic flow chart of a positioning method provided in an embodiment of the present application is shown.

[0074] Figure 8 A block diagram of an electronic device provided by an embodiment of the present application is shown. DETAILED DESCRIPTION

[0075] Various exemplary embodiments of the present application will now be described in detail with reference to the accompanying drawings. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present application.

[0076] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0077] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered as part of the specification.

[0078] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0079] It should be noted that like reference numerals and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it need not be further discussed in subsequent figures.

[0080] With the development of technology, car Bluetooth key systems have begun to provide users with functions such as remote control driving, sensorless entry, and automatic key search. The quality of these functions is based on the accurate positioning of the distance between the key and the vehicle. This requires that the distance measurement results can be reported in real time and evenly within the supported remote control distance range.

[0081] Usually, the ranging system is calibrated in advance to make its output consistent with the actual result. In order to obtain more accurate and stable calibration parameter values, the calibration parameters of the ranging system are tuned to obtain the optimal calibration parameter values. In the actual positioning stage, the actual ranging can be performed based on the optimal calibration parameter values ​​obtained in the calibration and tuning process, thereby improving the accuracy of the output results of the ranging system.

[0082] In the traditional calibration method based on RSSI (Received Signal Strength Indication) value, the calibration parameter values ​​are all determined by static calibration method in the calibration and tuning stage. The static calibration method is to fix the RSSI signal source at a set distance, obtain the RSSI data of the key and vehicle communication, and use the RSSI data to determine the value of the static calibration RSSI parameter. After obtaining the static calibration parameter value, in the actual positioning stage (such as actual remote control driving and other scenarios), the RSSI data obtained in the actual positioning stage is located by the value of the static calibration RSSI parameter to determine the position of the key (RSSI signal source). For the static calibration method, since the position of the signal source is fixed during the calibration process, the RSSI data of the communication between the signal source and the signal receiving end is relatively stable.

[0083] In the remote driving distance measurement scenario, when the user walks towards the vehicle with the key, the distance between the key and the vehicle is changing dynamically, and the RSSI data generated by the communication between the key and the vehicle is constantly changing. Due to the movement of the signal source, the RSSI data received by the vehicle has a delay. At this time, the RSSI static calibration threshold value obtained by the static calibration method is directly used to calibrate the RSSI data with a delay, and the positioning result is not accurate enough.

[0084] In the related technology, it is usually necessary to manually input the RSSI value adjustment amount. Each adjustment needs to send the adjustment value to the vehicle, and the adjusted RSSI threshold value is determined by the adjustment value and the RSSI static calibration threshold value. The adjusted RSSI threshold value is used as the target value of the calibration parameter to measure the actual distance between the signal source and the signal receiver. Then, the difference between the measured distance and the calibration distance (that is, the target distance that needs to be calibrated) is used to verify whether it is the optimal adjustment amount. The calibration workload is very large.

[0085] Based on this, the present application embodiment provides a calibration method. Figure 1 As shown, the method may include steps S110 to S130. The method may be applied to a calibration device. The calibration device may be a device deployed on a vehicle or a mobile intelligent terminal device.

[0086] Step S110, obtaining the adjustment value of the dynamic calibration parameter.

[0087] In this embodiment, the dynamic calibration parameters are parameters that need to be adjusted during the calibration and tuning process. As an example, the dynamic calibration parameters may include a compensation amount for compensating the RSSI static calibration threshold value, and may also include positioning sensitivity and direction sensitivity. Among them, the positioning sensitivity includes the size of the filter window used to filter the original RSSI data. The original RSSI data is the RSSI data corresponding to all sampling points obtained by sampling at a set frequency during the movement of the signal source to the signal receiver. The direction sensitivity includes the amount of RSSI data used to determine the signal source movement direction data.

[0088] The adjusted value of the dynamic calibration parameter may be the initial value of the dynamic calibration parameter, or may be a value after the initial value is adjusted.

[0089] In this embodiment, the calibration application in the calibration device may have a display interface, in which an input interface for dynamic calibration parameters may be displayed.

[0090] Step S120, determining result data of each RSSI sampling point according to the adjustment value of the dynamic calibration parameter.

[0091] In this embodiment, the result data of each RSSI sampling point can be understood as the result data corresponding to each sampling moment. The result data is used to indicate the positional relationship of the RSSI signal source relative to the RSSI signal receiving end. For example, it is used to indicate the moving direction of the RSSI signal source relative to the RSSI signal receiving end. For another example, it is used to indicate the distance of the RSSI signal source relative to the RSSI signal receiving end.

[0092] In this embodiment, after the signal source end is connected to the signal receiving end (such as a vehicle) by communication, the original RSSI data when the signal source end moves toward the signal receiving end at a uniform speed can be obtained. The target value of the static calibration parameter determined by the static calibration parameter method is obtained, and the original RSSI data is processed according to the target value of the static calibration parameter to determine the initial result data corresponding to each RSSI sampling point, and the initial result data is displayed.

[0093] In this embodiment, the specific entity form of the RSSI signal source is not specifically limited. As an example, the RSSI signal source may be a car key, and the original RSSI data may be RSSI data when the user carries the car key to or leaves the vehicle. The car key may be, for example, a Bluetooth key. The car key may communicate with the vehicle via Bluetooth, or other wireless communication modules, to obtain RSSI data.

[0094] The above process of determining the initial result data may be performed by the signal receiving end, or may be performed after the signal source end receives the original RSSI data sent by the signal receiving end.

[0095] When the initial result data does not meet the preset condition, step S120 is executed.

[0096] The result data may include first RSSI data, and the first RSSI data is RSSI filtering result data. The RSSI filtering result data may include the RSSI strength value corresponding to the RSSI sampling point index in the original RSSI data, and the RSSI strength value corresponding to the RSSI sampling point obtained by filtering the original RSSI data. The filtering result data can reflect the difference between the original RSSI data and the filtered RSSI data, reflecting the quality of the filtering effect. The positional relationship of the RSSI signal source relative to the RSSI signal receiving end can be further obtained through the filtering result data.

[0097] The result data may also include RSSI signal source moving direction data, that is, the signal source moving direction corresponding to the RSSI sampling point index. The moving direction of the signal source may include a direction approaching the signal receiver and a direction away from the signal receiver. Different numbers may be used to represent the direction approaching the signal receiver and the direction away from the signal receiver.

[0098] The result data may also include the area data of the area where the signal source is located or the location data of the location where the signal source is located. Taking the vehicle Bluetooth key calibration scenario as an example, the remote control area of ​​the Bluetooth key can be divided into multiple calibration areas. For example, Figure 2 As shown, there is a welcoming area A relatively far from the vehicle, a starting area C adjacent to the vehicle, and an unlocking area B between the welcoming area A and the starting area C adjacent to the vehicle. In the result data, different numbers can be used to represent different areas where the signal source is located.

[0099] Step S130: If the result data meets the preset conditions, the adjustment value is used as the target value of the dynamic calibration parameter.

[0100] In this embodiment, the target value is the optimal parameter value that meets the preset conditions determined during the calibration and tuning process.

[0101] In this embodiment, the result data corresponding to all RSSI sampling point indexes obtained according to the adjustment value of the dynamic calibration parameter can be displayed in the display interface of the calibration application in the calibration device. Figures 4 to 7 As shown in FIG. 1 , the horizontal axis can be the index value of each RSSI sampling point, that is, the nth sampling point. For example, the horizontal axis of 100 represents the 100th sampling point. The vertical axis can be the area where the signal source is located (such as Figure 4 ), or it can be the RSSI strength value (as shown Figure 5 ), and can also be the direction of signal source movement (such as Figure 7 shown).

[0102] By judging whether the result data meets the preset conditions, it can be determined whether the current adjustment value can be used as the target value of the dynamic calibration parameter. If the result data does not meet the preset conditions, it is only necessary to continue to obtain the adjustment value of the dynamic calibration parameter, and a set of adjusted result data can be directly displayed on the calibration device.

[0103] The process of determining whether the adjustment value can be used as the target value of the dynamic calibration parameter can be performed by the calibration user or can be automatically performed.

[0104] In this embodiment, the preset condition may include that the degree of agreement between the filtered RSSI data and the original RSSI data is greater than or equal to a first preset threshold. The preset condition may also include that the accuracy of the signal source moving direction data is greater than or equal to a second preset threshold. The preset condition may also include that the accuracy of the area data of the area where the signal source is located is greater than or equal to a third preset threshold.

[0105] As an example, when the degree of agreement between the filtered RSSI data and the original RSSI data is greater than or equal to the first preset threshold, the adjustment value of the positioning sensitivity at this time is used as the target value of the positioning sensitivity. The degree of agreement may include, for example, the similarity of the change trend of the RSSI data, the matching degree of the RSSI data value, the smoothness of the RSSI data distribution, etc.

[0106] As another example, when the accuracy of the signal source moving direction data is greater than or equal to the second preset threshold, the adjustment value of the direction sensitivity at this time is used as the target value of the direction sensitivity.

[0107] As another example, when the accuracy of the area data of the area where the signal source is located is greater than or equal to the third preset threshold, the adjustment value of the compensation amount at this time is used as the target value of the compensation amount.

[0108] It can be understood that when there are multiple dynamic calibration parameters, the adjustment of each dynamic calibration parameter will affect the result data. For example, the adjustment of positioning sensitivity will not only affect the filtering result data, but also have a certain impact on the area data and the moving direction data. Therefore, in this example, when the filtering result data, the area data, and the moving direction data all meet the preset conditions, the adjustment value of the current dynamic calibration parameter can be used as the target value of the dynamic calibration parameter.

[0109] After obtaining the adjustment value of the dynamic calibration parameter, the embodiment of the present application determines the result data of each RSSI sampling point according to the adjustment value of the dynamic calibration parameter, and displays the result data to determine whether to use the adjustment value as the target value of the dynamic calibration parameter through the distribution of the result data. In this way, each time the value of the dynamic calibration parameter is adjusted, new result data determined according to the adjustment value will be displayed without the need for actual testing, which greatly reduces the calibration workload.

[0110] During the calibration and tuning process (i.e., the process of determining the target value of the dynamic calibration parameter), multiple calibration areas need to be calibrated and tuned. The calibration area is a pre-set target area that needs to be calibrated. Taking the vehicle Bluetooth key calibration scenario as an example, the remote control area of ​​the Bluetooth key can be divided into multiple calibration areas according to actual needs. For example, Figure 2 As shown, the remote control area of ​​the Bluetooth key can be divided into a welcome area A that is relatively far from the vehicle, a start area C that is adjacent to the vehicle, and an unlocking area B between the welcome area A and the start area C that is adjacent to the vehicle. In this scenario, when calibrating and tuning the calibration areas such as the vehicle's welcome area A, unlocking area B, and start area C, the calibration user usually carries the calibration equipment through multiple calibration areas in sequence, and obtains the RSSI data corresponding to multiple calibration areas in real time at one time. In this way, the initial result data displayed on the calibration device will include the initial result data of multiple calibration areas. The calibration user needs to be able to correspond the calibration area with the initial result data of the calibration area in order to determine whether the current calibration parameter value meets the set requirements through the distribution of the initial result data.

[0111] In order to facilitate determination of the correspondence between the result data and the calibration area, the calibration method of the embodiment of the present application may further include step S140.

[0112] Step S140, obtaining a first boundary line and a second boundary line.

[0113] In this embodiment, the first boundary line and the second boundary line are used to determine the result data corresponding to the calibration area. First, the first boundary line information and the second boundary line information can be obtained. Among them, the first boundary line information is used to determine the result data corresponding to the first boundary of the calibration area in the displayed result data, and the second boundary information is used to determine the result data corresponding to the second boundary of the calibration area in the displayed result data. According to the first boundary line information and the second boundary line information, the first boundary line and the second boundary line can be drawn, so as to intuitively determine the result data corresponding to the calibration area.

[0114] As an example, the first boundary information may be the horizontal coordinate corresponding to the first boundary line. The second boundary information may be the horizontal coordinate corresponding to the second boundary line. The first boundary line and the second boundary line are lines drawn at the corresponding horizontal coordinates and perpendicular to the horizontal coordinates.

[0115] In this embodiment, the first boundary line and the second boundary line may be displayed in the result data. The result data at the first boundary line, the result data between the first boundary line and the second boundary line, and the result data at the second boundary line together constitute the result data corresponding to the calibration area.

[0116] The result data corresponding to the calibration area can be intuitively determined by the first boundary line and the second boundary line, so that calibration optimization can be performed according to the distribution of the result data corresponding to the calibration area. In this way, the manpower cost and time cost required for determining the correspondence between the result data and the calibration area can be reduced.

[0117] In some embodiments, the correspondence between the result data and the calibration area can be determined by determining at which RSSI sampling moments the result data collected is the result data of the calibration area. In this embodiment, during the RSSI data sampling process, the index value of the first RSSI sampling point corresponding to when the RSSI signal source enters the first boundary of the calibration area can be first determined. Then, the index value of the second RSSI sampling point corresponding to when the RSSI signal source exits the second boundary of the calibration area is determined. In this way, the result data corresponding to the index value of the first RSSI sampling point, the index value of the second RSSI sampling point, and the index value between the index value of the first RSSI sampling point and the index value of the second RSSI sampling point are the result data of the calibration area.

[0118] Based on this, step S140 may include steps S141 to S143.

[0119] Step S141, obtaining a target value of a static calibration parameter, wherein the static calibration parameter includes a first calibration distance and a second calibration distance.

[0120] In this embodiment, the static calibration parameter is a calibration parameter used to determine the position of the signal source obtained by using a static calibration method when the signal source is stationary. The target value of the static calibration parameter is the optimal parameter value obtained by using the static calibration method.

[0121] The calibration distance is the target distance between the signal source and the signal receiving end that needs to be calibrated. The first calibration distance can be the distance between the first position of the calibration area and the signal receiving end, and the second calibration distance is the distance between the second position of the calibration area and the signal receiving end.

[0122] The calibration distance can be determined according to actual functional requirements. As an example, for the function of the Bluetooth key, the calibration distance corresponding to the two boundaries of the welcome area can be set, the calibration distance corresponding to the two boundaries of the unlocking area can be set, and the calibration distance corresponding to the two boundaries of the starting area can also be set.

[0123] The target value of the static calibration parameter may be pre-stored at the signal source end and / or the signal receiving end, or may be input by the calibration user in the parameter input interface.

[0124] In this embodiment, the calibration application in the calibration device may have a display interface. The display interface may display the input interface of the dynamic calibration parameters, but not the input interface of the static calibration parameters. In this case, the static calibration parameters may be built into the calibration application and may not be changed. Figure 3 As shown, the input interface of static calibration parameters and dynamic calibration parameters is displayed at the same time. At this time, the values ​​of static calibration parameters and dynamic calibration parameters are allowed to be adjusted.

[0125] Step S142: Obtain an index value of the first RSSI sampling point and an index value of the second RSSI sampling point.

[0126] The index value of the first RSSI sampling point is the index value of the RSSI sampling point corresponding to when the RSSI signal source enters the first boundary of the calibration area. The distance between the first boundary of the calibration area and the signal receiver is the first calibration distance.

[0127] The index value of the second RSSI sampling point is the index value of the RSSI sampling point corresponding to when the RSSI signal source exits the second boundary of the calibration area. The distance between the second boundary of the calibration area and the signal receiver is the second calibration distance.

[0128] As an example, Figure 2 As shown, each calibration area can be an annular area. The annular area includes two boundaries, namely a first boundary for entering the annular area and a second boundary for exiting the annular area. In this example, the first position can be the first boundary of the calibration area. The second position can be the second boundary of the calibration area.

[0129] That is, the index value of the first RSSI sampling point is the index value of the RSSI sampling point when the RSSI signal source moves to the first position corresponding to the first calibration distance. The index value of the second RSSI sampling point is the index value of the RSSI sampling point when the RSSI signal source moves to the second position corresponding to the second calibration distance.

[0130] Step S143: determining a first boundary line and a second boundary line based on the index value of the first RSSI sampling point and the index value of the second RSSI sampling point.

[0131] In this embodiment, a first boundary line perpendicular to the horizontal axis may be drawn at a position corresponding to the index value of the first RSSI sampling point, and a second boundary line perpendicular to the horizontal axis may be drawn at a position corresponding to the index value of the second RSSI sampling point.

[0132] As an example, Figure 4A schematic diagram of the first boundary line and the second boundary line is given. The first boundary line a is a boundary line perpendicular to the horizontal axis drawn at the position corresponding to the sampling point index value of 100 (i.e., the 100th sampling point). The second boundary line b is a boundary line perpendicular to the horizontal axis drawn at the position corresponding to the sampling point index value of 190 (i.e., the 190th sampling point).

[0133] The result data corresponding to the calibration area can be intuitively determined through the first boundary line a and the second boundary line b.

[0134] Since the static calibration method is not accurate enough when used in dynamic positioning scenarios, the first boundary line information and the second boundary line information determined are not accurate enough. That is to say, when the static calibration method is used to locate the current position of the signal source at the calibration position, the actual position of the signal source is not the calibration position. In order to accurately obtain the first boundary line information and the second boundary line information, the applicant has learned through analysis that when the static calibration method is used to locate the current position of the signal source at the calibration position, the RSSI sampling point index value at this time can be obtained, and the distance between the signal source and the signal receiver at this time can be actually measured. In this way, the measured distance between the signal source and the signal receiver accurately corresponds to the index value of the RSSI sampling point. Based on this, in some embodiments, step 142 may include steps S142A to S142C.

[0135] Step S142A, obtaining the first measured distance and the second measured distance.

[0136] In this embodiment, the first measured distance is the actual distance obtained when the estimated distance between the RSSI signal source and the signal receiving end during the movement is equal to the first calibrated distance. The second measured distance is the actual distance obtained when the estimated distance between the RSSI signal source and the signal receiving end during the movement is equal to the second calibrated distance. The estimated distance is determined based on the RSSI static calibration result.

[0137] The estimated distance can be determined based on the RSSI static calibration result obtained by the existing static calibration method, or it can be determined by the RSSI static calibration result obtained by the static calibration method provided in the embodiment of the present application. As an example, the RSSI signal source can be fixed at a set distance in advance, RSSI data of the communication between the RSSI signal source and the signal receiving end can be obtained, RSSI data can be obtained based on the sliding average filtering algorithm, and the RSSI static calibration parameter value can be determined using the RSSI data. Then, the RSSI static calibration parameter value and the RSSI data obtained during the movement of the RSSI signal source to the signal receiving end are used to obtain the RSSI static calibration result.

[0138] Step S142B, respectively obtaining the index value of the third RSSI sampling point when the RSSI signal source moves to the third position corresponding to the first measured distance and the index value of the fourth RSSI sampling point when the RSSI signal source moves to the fourth position corresponding to the second measured distance.

[0139] It can be understood that when the RSSI signal source moves to the third position corresponding to the first measured distance, the estimated distance between the signal source and the signal receiving end is the first calibration distance. When the RSSI signal source moves to the fourth position corresponding to the first measured distance, the estimated distance between the signal source and the signal receiving end is the second calibration distance.

[0140] Step S142C: Determine the index value of the first RSSI sampling point and the index value of the second RSSI sampling point according to the index value of the third RSSI sampling point and the index value of the fourth RSSI sampling point.

[0141] As an example, the calculation formula of the index value of the first RSSI sampling point and the index value of the second RSSI sampling point is as follows:

[0142] Index value of the first RSSI sampling point: Ic1 = (Ir2 - Ir1) * k1;

[0143] The index value of the second RSSI sampling point: Ic2 = (Ir2 - Ir1)*k2.

[0144] Wherein, Ir1 is the index value of the third RSSI sampling point, Ir2 is the index value of the fourth RSSI sampling point, k1 is the first distance coefficient, and k2 is the second distance coefficient.

[0145] Optionally, the index value of the first RSSI sampling point and the index value of the second RSSI sampling point may be determined based on the uniform speed model. Step S142C may include: determining the index value of the first RSSI sampling point according to the index value of the third RSSI sampling point, the index value of the fourth RSSI sampling point, the first measured distance, the second measured distance, and the first calibrated distance; determining the index value of the second RSSI sampling point according to the index value of the third RSSI sampling point, the index value of the fourth RSSI sampling point, the first measured distance, the second measured distance, and the second calibrated distance.

[0146] As an example, the calculation formulas for the index value of the first RSSI sampling point and the index value of the second RSSI sampling point are as follows: It can be understood that the division operation in the following formula is a rounding operation to obtain an integer index value.

[0147] Index value of the first RSSI sampling point: Ic1 = (Ir2 - Ir1) / (Dr1 - Dr2) * Dc1;

[0148] Index value of the second RSSI sampling point: Ic2 = (Ir2-Ir1) / (Dr1-Dr2)*Dc2 。

[0149] Among them, Ir1 is the index value of the third RSSI sampling point, Ir2 is the index value of the fourth RSSI sampling point, Dr1 is the first measured distance, Dr2 is the second measured distance, Dc1 is the first calibrated distance, and Dc2 is the second calibrated distance.

[0150] The embodiment of the present application can accurately determine the RSSI sampling point index value corresponding to the calibration distance through the RSSI sampling point index value corresponding to the measured distance, and then accurately determine the first boundary line and the second boundary line, so as to accurately determine the result data corresponding to the calibration area from the result data of all RSSI sampling points.

[0151] In this embodiment, Figure 4 As shown, the calibration device may also display a third boundary line c and a fourth boundary line d. The third boundary line c and the fourth boundary line d are used to determine the distribution range of the result data corresponding to the first measured distance and the second measured distance.

[0152] In some calibration scenarios, the calibration user needs to carry the signal source to the signal receiving end to obtain the original RSSI data and the measured distance corresponding to the signal source moving to the calibration distance. Therefore, the calibration user needs to know the timing of recording the measured distance. Based on this, in some embodiments, the calibration method of the embodiment of the present application may also include step S160.

[0153] Step S160, displaying the calibration area map and signal source icon of the signal receiving end.

[0154] As an example, Figure 2 As shown, a schematic diagram of the welcoming area A, unlocking area B, and starting area C which are relatively far from the vehicle, and a signal source icon ( Figure 2 The arrow is used as the signal source icon in the figure). The position of the signal source icon is used to represent the position of the signal source determined based on the estimated distance. The direction of the signal source icon is used to represent the moving direction of the signal source. When the signal source moves, the signal source icon will also move.

[0155] When the estimated distance between the RSSI signal source and the signal receiving end during the movement is equal to the first calibration distance, the signal source icon moves to the first position of the calibration area. When the estimated distance between the RSSI signal source and the signal receiving end during the movement is equal to the second calibration distance, the signal source icon moves to the second position of the calibration area.

[0156] The embodiment of the present application displays a calibration area map and a signal source icon on the device where the signal source is located, so that the calibration user can intuitively determine whether the estimated distance is equal to the calibration distance, thereby recording the measured distance, and after recording the measured distance, the measured distance can be input into the calibration parameter table to determine the first boundary line and the second boundary line. In this way, the accuracy of the measured distance obtained in the manual calibration scenario can be improved.

[0157] In order to eliminate noise and interference in the original RSSI data, the original RSSI data needs to be filtered first. Considering the impact of filtering performance on calibration results and ranging results, in some embodiments, the dynamic calibration parameters may also include positioning sensitivity. The positioning sensitivity includes the size of the filtering window.

[0158] In this embodiment, step S120 may include: for each RSSI sampling point, filtering the original RSSI data according to the adjustment value of the positioning sensitivity to obtain the first RSSI data.

[0159] In this embodiment, the original RSSI data is the RSSI data generated when the RSSI signal source communicates with the signal receiving end when it moves, that is, the RSSI data without filtering. These data reflect the change of the signal strength between the signal source and the signal receiving end.

[0160] In this embodiment, after the positioning sensitivity parameter value is adjusted, the filtering result data is displayed on the calibration device. Figure 5 As shown, the filtering result data may include the original RSSI data F of the RSSI sampling and the first RSSI data G after filtering. In this way, the calibration user can analyze the filtering performance intuitively.

[0161] In this embodiment, the higher the positioning sensitivity, the smaller the size of the sliding window. By adjusting the direction sensitivity, the filtering performance of the first RSSI data can be adjusted. In addition, the filtering performance and the response speed can be balanced.

[0162] The embodiment of the present application obtains filtering result data by adjusting the value of positioning sensitivity and displays the filtering result data, so that the calibration user can intuitively analyze the filtering performance through the distribution of the filtering result data, thereby determining the target value of positioning sensitivity.

[0163] In order to further improve the filtering performance, the applicant studied the filtering performance of various filtering algorithms in the scenario of drastic changes in RSSI. The research and testing found that the traditional Gaussian + Kalman filtering algorithm has large hysteresis and large ranging error. The sliding average filtering algorithm has better filtering performance for RSSI data in the scenario of drastic changes in RSSI.

[0164] Figure 5This is a simulation diagram of the first RSSI data obtained by filtering the original RSSI data using the sliding average filtering algorithm. It can be seen that in the interval corresponding to the 300th sampling point (index value 300) to the 500th sampling point (index value 500) on the horizontal axis, the data F before filtering and the data G after filtering are basically consistent. This shows that the filtering performance of the sliding average filtering algorithm is significantly better than that of the Gaussian + Kalman filtering algorithm.

[0165] Therefore, in some embodiments, the calibration method of the present application may further include: filtering the original RSSI data based on a sliding average filtering algorithm according to the adjustment value of the positioning sensitivity to obtain the first RSSI data.

[0166] In this embodiment, the original RSSI data can be placed in the sliding window corresponding to the adjustment value in the order of sampling time, and the average value of the original RSSI data in the window is calculated as the first RSSI data after filtering. In the scenario where the original RSSI changes dramatically, the embodiment of the present application filters the original RSSI data through a sliding average filtering algorithm, which can achieve a better filtering effect, thereby improving the accuracy of the calibration results and positioning results.

[0167] After filtering the original RSSI data, it is also necessary to consider the delay problem of RSSI data when the signal source moves. In the vehicle Bluetooth key remote control driving scenario, there are two usage scenarios. One is that the user carries the key and moves from a distance to the direction close to the vehicle, and the other is that the user carries the key from inside the car to the direction away from the vehicle. Affected by the delay, in the case of approaching the direction of the vehicle, the RSSI obtained by the vehicle-mounted terminal in real time is smaller than the RSSI actually generated by the signal source at this time. In the case of being far away from the direction of the vehicle, the RSSI obtained by the vehicle-mounted terminal in real time is larger than the RSSI actually generated by the signal source at this time. In other words, the actual value of the RSSI data at the current sampling point of the signal source is related to the direction of movement of the signal source. Therefore, before calibrating and adjusting the RSSI threshold value, it is first necessary to determine the moving direction of the signal source.

[0168] In this embodiment, the result data may also include moving direction data of the RSSI signal source. The dynamic calibration parameters may also include direction sensitivity. The direction sensitivity may include the data set size of the RSSI data used to determine the moving direction data.

[0169] In this embodiment, step S120 may further include steps S121 to S123.

[0170] Step S121, obtaining second RSSI data obtained by filtering the original RSSI data.

[0171] In this embodiment, the second RSSI data is a collection of the first RSSI data corresponding to all RSSI sampling points. The first RSSI data corresponding to each RSSI sampling point can be stored in the buffer in sequence.

[0172] Step S122: for each RSSI sampling point, determine third RSSI data from the second RSSI data according to the adjustment value of the directional sensitivity.

[0173] In this embodiment, for each RSSI sampling point, the amount of RSSI data for calculating the moving direction data is determined according to the adjustment value of the direction sensitivity. That is, for each RSSI sampling point, a sliding window is determined, and the RSSI data in the sliding window is the third data.

[0174] Step S123, determining moving direction data according to the third RSSI data.

[0175] In some embodiments, step S123 may include: when the third RSSI data gradually increases in the sampling order, determining the moving direction is close to the signal receiver; when the third RSSI data gradually decreases in the sampling order, determining the moving direction is away from the signal receiver.

[0176] This embodiment does not specifically limit the method for determining whether the third RSSI data gradually increases or gradually decreases in the sampling time sequence. As an example, the third RSSI data can be traversed based on the RSSI sampling point index value. In each traversal process, the RSSI data of the current sampling point index value is compared with the RSSI data of the previous sampling point index value. When the RSSI data of the current sampling point index value is greater than the RSSI data of the previous sampling point index value, the value of the counter is increased by 1 until the traversal ends. Then, according to the relationship between the amount of the third RSSI data and the value of the counter, it can be determined whether the third RSSI data gradually increases or gradually decreases in the sampling order.

[0177] The embodiment of the present application obtains the moving direction data of each RSSI sampling point by adjusting the value of the direction sensitivity. Figure 6 As shown, the distribution of the moving direction data can be displayed on the calibration device. The calibration user can intuitively determine whether the current direction sensitivity value can be used as the target value through the distribution of the moving direction data.

[0178] In some embodiments, the result data may also include regional data representing the region where the RSSI signal source is located. The regional data may be embodied in digital form. As an example, Figure 4As shown, number 1 indicates that the area where the signal source is located is the start area. Number 2 indicates that the area where the signal source is located is the unlocking area, and number 3 indicates that the area where the signal source is located is the welcoming area. Of course, the area data can also be embodied in other forms, which are not specifically limited here.

[0179] In this embodiment, step S120 may further include: obtaining a target value of a static calibration parameter; and determining the area data of each RSSI sampling point according to the static calibration parameter value and the adjustment value of the dynamic calibration parameter.

[0180] In this embodiment, the static calibration parameter may include an RSSI static calibration threshold value. The RSSI static calibration threshold value is an RSSI threshold value corresponding to the calibration position determined when the RSSI signal source is stationary at the calibration position. The calibration position is the position where the target value of the calibration parameter needs to be determined.

[0181] When using the target value of the static calibration parameter to locate the signal source, when the strength of the RSSI signal received by the signal receiver is higher than the RSSI static calibration threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is less than the distance between the calibration position and the signal receiver. When the strength of the RSSI signal received by the signal receiver is lower than the RSSI static calibration threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is greater than the distance between the calibration position and the signal receiver. When the strength of the RSSI signal received by the signal receiver is equal to the RSSI static calibration threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is equal to the distance between the calibration position and the signal receiver.

[0182] In the remote control driving ranging scenario, the area between the signal source and the signal receiver is usually divided into multiple sub-areas. As an example, the area between the signal source and the signal receiver may include sub-area 1 and sub-area 2, wherein one boundary of sub-area 1 is adjacent to the signal receiver and the other boundary is adjacent to sub-area 2. In this example, the boundary point between sub-area 1 and sub-area 2 can be used as the calibration position. Static calibration is performed at the calibration position in advance to obtain an RSSI static calibration threshold value. In this way, when the RSSI static calibration threshold value is used to locate the signal source, when the strength of the RSSI signal received by the signal receiver is higher than the RSSI static calibration threshold value, it can be determined that the current area where the signal source is located is sub-area 1; when the strength of the RSSI signal received by the signal receiver is lower than the RSSI static calibration threshold value, it is determined that the current area where the signal source is located is sub-area 2.

[0183] The determination of the calibration position and the number of the calibration positions can be set according to actual needs and are not specifically limited here.

[0184] The RSSI static calibration threshold value can be determined according to an existing static calibration method. Preferably, the RSSI static calibration threshold value can also be determined based on a sliding average filter algorithm. In this way, the time for subsequent calibration and tuning can be saved.

[0185] As an example, after the signal source and the signal receiving end are connected in communication, the original RSSI data at a calibrated distance (such as 2m, 4m) from the signal receiving end within a period of time (such as 60s) can be collected and filtered by sliding average. The mean of the filtered RSSI data within this period of time is then used as the target value of the RSSI static calibration threshold value at the calibration distance.

[0186] In this example, the above method can be used to determine the target value of the RSSI static calibration threshold value at each calibration distance.

[0187] The dynamic calibration parameter may also include a compensation amount for compensating the RSSI static calibration threshold value. The sum of the compensation amount and the RSSI static calibration threshold value is the adjusted RSSI threshold value.

[0188] When the strength of the RSSI signal received by the signal receiver is higher than the adjusted RSSI threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is less than the distance between the calibrated position and the signal receiver. When the strength of the RSSI signal received by the signal receiver is lower than the adjusted RSSI threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is greater than the distance between the calibrated position and the signal receiver. When the strength of the RSSI signal received by the signal receiver is equal to the adjusted RSSI threshold value, it is determined that the distance between the current position of the signal source and the signal receiver is equal to the distance between the calibrated position and the signal receiver.

[0189] The compensation amount may include a first compensation amount and / or a second compensation amount. The first compensation amount and the second compensation amount are compensation amounts corresponding to different moving directions, respectively. The first compensation amount is the compensation amount required for calibration when the RSSI signal source moves in a direction close to the signal receiver. The second compensation amount is the compensation amount required for calibration when the RSSI signal source moves in a direction away from the signal receiver.

[0190] In this embodiment, the step of determining the regional data of each RSSI sampling point based on the static calibration parameter value and the adjustment value of the dynamic calibration parameter may include: determining the regional data of each RSSI sampling point based on one of the first compensation amount and the second compensation amount, and the RSSI static calibration threshold value.

[0191] In this embodiment, the compensation amount may be tuned after the directional sensitivity calibration and tuning is completed.

[0192] In this example, the calibration distance and RSSI static calibration threshold corresponding to the first boundary and the second boundary of each calibration area can be sent to the signal receiving end. The signal receiving end compares the RSSI data with the RSSI static calibration threshold to determine the area where the signal source is located and obtain the initial area data. If the initial area data distribution does not meet the set requirements, the area data is updated according to the received adjustment value, and then according to the distribution of the updated area data, it is determined whether to use the current adjustment value as the target value.

[0193] The embodiment of the present application obtains the regional data of each RSSI sampling point by adjusting the value of the compensation amount. Through the distribution of the regional data displayed on the calibration device, the calibration user can intuitively determine whether the current compensation amount value can be used as the target value.

[0194] Taking into account the uncertainty of the environment in which the signal source is located during the actual positioning process, the acquired RSSI data may not be stable enough. Therefore, in some embodiments, the calibration method may further include: determining a calibration rate factor.

[0195] In this embodiment, the calibration rate factor is a change rate factor of the RSSI data in the calibration tuning phase. The calibration rate factor is used to correct the target value of the dynamic calibration parameter in the positioning phase. In some embodiments, in the positioning phase, a rate compensation factor can be determined based on the real-time rate factor and the calibration rate factor, so as to correct the target value of the dynamic calibration parameter by the rate compensation factor.

[0196] The size of the calibration rate factor can be set in advance based on an empirical value obtained from multiple tests, or can be calculated. In some embodiments, the step of determining the calibration rate factor may include: respectively obtaining the fourth RSSI data corresponding to the index value of the first RSSI sampling point and the second RSSI data corresponding to the index value of the fifth RSSI sampling point; determining the calibration rate factor based on the fourth RSSI data, the fifth RSSI data, the index value of the first RSSI sampling point, and the index value of the first RSSI sampling point.

[0197] In this embodiment, the index value of the first RSSI sampling point may be the index value of the RSSI sampling point when the RSSI signal source moves to the first position corresponding to the first calibration distance. The index value of the second RSSI sampling point may be the index value of the RSSI sampling point when the RSSI signal source moves to the second position corresponding to the second calibration distance.

[0198] As an example, the calibration rate factor Sc=(RSSI2-RSSI1) / (Ir2-Ir1), wherein RSSI2 is the fifth RSSI data, RSSI1 is the fourth RSSI data, Ir2 is the index value of the second RSSI sampling point, and Ir1 is the index value of the first RSSI sampling point.

[0199] The calibration rate factor determined in the embodiment of the present application can be used to determine the rate compensation factor, so as to correct the target value of the dynamic calibration parameter through the rate compensation factor, thereby reducing the positioning error introduced by the uncertainty of the environment in which the signal source is located in the actual positioning process, and further improving the positioning accuracy.

[0200] The present application also provides a positioning method. Figure 7 As shown, the method may include steps S210 to S220.

[0201] Step S210, obtaining the target value of the dynamic calibration parameter and the RSSI data of the RSSI signal source communicating with the signal receiving end during the movement.

[0202] In this embodiment, the target value of the dynamic calibration parameter is a target value obtained according to the calibration method described in any one of the above embodiments. The RSSI data can be original RSSI data or RSSI data obtained after filtering. The target value of the dynamic calibration parameter corresponding to each calibration area can be obtained.

[0203] Step S210, determining the location of the RSSI signal source based on the RSSI data and the target value of the dynamic calibration parameter.

[0204] In this embodiment, the dynamic calibration parameters may include a compensation amount for compensating the RSSI static calibration threshold value, positioning sensitivity, and direction sensitivity.

[0205] In the embodiment where the RSSI data is raw data, the filtered RSSI data can be first obtained based on the positioning sensitivity. Then, based on the target value of the directional sensitivity, the moving direction of the signal source is determined using the filtered RSSI data. Finally, based on the RSSI data and the target value of the dynamic calibration parameter, the position of the RSSI signal source is determined.

[0206] In the embodiment where the RSSI data is filtered data, the moving direction of the signal source can be determined based on the target value of the directional sensitivity using the filtered RSSI data. Finally, the location of the RSSI signal source is determined based on the RSSI data and the target value of the dynamic calibration parameter.

[0207] In this embodiment, the target value of the static calibration parameter corresponding to each calibration area may also be obtained. Step S210 may include determining the location of the RSSI signal source based on the RSSI data, the target value of the dynamic calibration parameter and the target value of the static calibration parameter.

[0208] As an example, based on the target value of the compensation amount corresponding to the moving direction and the target value of the RSSI static calibration threshold value, the target value of the final RSSI calibration threshold value is obtained. The filtered RSSI data obtained in real time is compared with the target value of the final RSSI calibration threshold value corresponding to each area to determine which two threshold values ​​the RSSI data obtained in real time falls within, thereby determining the area where the RSSI signal source is located.

[0209] The embodiment of the present application obtains the target value of the calibration parameter based on the above calibration method for positioning, and the positioning accuracy is high. In addition, the embodiment of the present application can automatically identify the moving direction of the signal source, and automatically switch different compensation amounts to compensate the RSSI static calibration threshold value for different moving directions of the signal source.

[0210] In some embodiments, the positioning method may further include: obtaining a calibration rate factor.

[0211] The calibration rate factor represents the rate of change of RSSI data in the calibration and tuning phase, and the calibration rate factor is used to correct the target value of the dynamic calibration parameter in the positioning phase.

[0212] The calibration rate factor is determined according to the index value of the first RSSI sampling point, the index value of the second RSSI sampling point, the fourth RSSI data corresponding to the index value of the first RSSI sampling point, and the fifth RSSI data corresponding to the index value of the second RSSI sampling point. The index value of the first RSSI sampling point is the index value of the RSSI sampling point when the RSSI signal source moves to the first position corresponding to the first calibration distance of the static calibration parameter, and the index value of the second RSSI sampling point is the index value of the RSSI sampling point when the RSSI signal source moves to the second position corresponding to the second calibration distance of the static calibration parameter.

[0213] In some embodiments, step S210 may include: determining a rate compensation factor based on a real-time rate factor and a calibrated rate factor; correcting a target value of the compensation amount based on the rate compensation factor; and determining the location of the RSSI signal source based on RSSI data, the RSSI static calibration threshold value, and the corrected target value of the compensation amount.

[0214] Among them, the real-time rate factor is the change rate factor of the RSSI data during the movement of the RSSI signal source determined in the positioning stage, and the calibration rate factor is the change rate factor of the RSSI data determined in the calibration and tuning stage. The calculation of the calibration rate factor can refer to the introduction in the calibration method, which will not be repeated here.

[0215] As an example, the rate compensation factor may be a ratio of a real-time rate factor of RSSI data to a calibrated rate factor during movement of the RSSI signal source.

[0216] The target value of the corrected compensation amount, for example, may be the product of the target value of the compensation amount obtained during the calibration and tuning process and the rate compensation factor.

[0217] In this embodiment, the final RSSI calibration threshold value is the sum of the target value of the corrected compensation amount and the RSSI static calibration threshold value. By calibrating the RSSI data through the final RSSI calibration threshold value, the location of the RSSI signal source can be determined.

[0218] The embodiment of the present application takes into account the influence of environmental factors in the actual positioning process, introduces a rate compensation factor, and further compensates the target value obtained in the calibration and tuning process. In this way, not only can the accuracy of the calibration result be improved, but also the calibration parameter value can be dynamically adjusted to adapt to signal changes under different environmental conditions, thereby ensuring that the system can maintain stable performance in different application scenarios.

[0219] The specific implementation of each step of the positioning method of this embodiment can refer to the introduction in the calibration method embodiment, which will not be repeated here.

[0220] An embodiment of the present application further provides a storage medium on which a computer program is stored. When the computer program is executed by a processor, the method described in any one of the above method embodiments is implemented.

[0221] The present application also provides an electronic device, such as Figure 8 As shown, the electronic device 2000 includes a memory 2100 and a processor 2200, the memory 2100 is used to store computer instructions, and the processor 2200 is used to call the computer instructions from the memory 2100 to execute a method as described in any one of the above-mentioned calibration method embodiments, or to execute a method as described in any one of the above-mentioned positioning method embodiments.

[0222] An embodiment of the present application also provides a vehicle, comprising the electronic device 2000 as described above.

[0223] Each embodiment in this application is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device and equipment embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiments.

[0224] The above describes specific embodiments of the present application. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recorded in the claims can be performed in an order different from that in the embodiments and still achieve the desired results. In addition, the processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0225] The present application may be a system, a method and / or a computer program product. The computer program product may include a computer-readable storage medium carrying computer-readable program instructions for causing a processor to implement various aspects of the present application.

[0226] A computer-readable storage medium may be a tangible device that can hold and store instructions used by an instruction execution device. A computer-readable storage medium may be, for example, but not limited to, an electrical storage device, a magnetic storage device, an optical storage device, an electromagnetic storage device, a semiconductor storage device, or any suitable combination of the foregoing. More specific examples of computer-readable storage media (a non-exhaustive list) include: a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), a static random access memory (SRAM), a portable compact disk read-only memory (CD-ROM), a digital versatile disk (DVD), a memory stick, a floppy disk, a mechanical encoding device, such as a punch card or a raised structure in a groove on which instructions are stored, and any suitable combination of the foregoing. As used herein, a computer-readable storage medium is not to be interpreted as a transient signal per se, such as a radio wave or other freely propagating electromagnetic wave, an electromagnetic wave propagating through a waveguide or other transmission medium (e.g., a light pulse through a fiber optic cable), or an electrical signal transmitted through a wire.

[0227] The computer-readable program instructions described herein can be downloaded from a computer-readable storage medium to each computing / processing device, or downloaded to an external computer or external storage device via a network, such as the Internet, a local area network, a wide area network, and / or a wireless network. The network can include copper transmission cables, optical fiber transmissions, wireless transmissions, routers, firewalls, switches, gateway computers, and / or edge servers. The network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards the computer-readable program instructions for storage in the computer-readable storage medium in each computing / processing device.

[0228] The computer program instructions for performing the operation of the present application can be assembler instructions, instruction set architecture (ISA) instructions, machine instructions, machine-related instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages, such as Smalltalk, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. Computer-readable program instructions can be executed completely on a user's computer, partially on a user's computer, executed as an independent software package, partially on a user's computer, partially on a remote computer, or completely on a remote computer or server. In the case of a remote computer, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or can be connected to an external computer (for example, using an Internet service provider to connect through the Internet). In some embodiments, by using the state information of a computer-readable program instruction to personalize an electronic circuit, such as a programmable logic circuit, a field programmable gate array (FPGA) or a programmable logic array (PLA), the electronic circuit can execute a computer-readable program instruction, thereby realizing various aspects of the present application.

[0229] Various aspects of the present application are described herein with reference to the flowcharts and / or block diagrams of the methods, devices (systems) and computer program products according to the embodiments of the present application. It should be understood that each box in the flowchart and / or block diagram and the combination of each box in the flowchart and / or block diagram can be implemented by computer-readable program instructions.

[0230] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, thereby producing a machine, so that when these instructions are executed by the processor of the computer or other programmable data processing device, a device that implements the functions / actions specified in one or more boxes in the flowchart and / or block diagram is generated. These computer-readable program instructions can also be stored in a computer-readable storage medium, and these instructions cause the computer, programmable data processing device, and / or other equipment to work in a specific manner, so that the computer-readable medium storing the instructions includes a manufactured product, which includes instructions for implementing various aspects of the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0231] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device so that a series of operating steps are performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to implement the functions / actions specified in one or more boxes in the flowchart and / or block diagram.

[0232] The flowchart and block diagram in the accompanying drawings show the possible architecture, function and operation of the system, method and computer program product according to multiple embodiments of the present application. In this regard, each box in the flowchart or block diagram can represent a part of a module, program segment or instruction, and the part of the module, program segment or instruction contains one or more executable instructions for realizing the specified logical function. In some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two consecutive boxes can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram and / or flowchart, and the combination of the boxes in the block diagram and / or flowchart can be implemented by a dedicated hardware-based system that performs the specified function or action, or can be implemented by a combination of dedicated hardware and computer instructions. It is well known to those skilled in the art that it is equivalent to implement it by hardware, implement it by software, and implement it by combining software and hardware.

[0233] It can be understood that the various embodiments of the present application can be combined arbitrarily to achieve different technical effects.

[0234] The embodiments of the present application have been described above, and the above description is exemplary, not exhaustive, and is not limited to the disclosed embodiments. Many modifications and changes will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments. The selection of terms used herein is intended to best explain the principles of the embodiments, practical applications, or technical improvements to the technology in the market, or to enable other persons of ordinary skill in the art to understand the embodiments disclosed herein. The scope of the present application is defined by the appended claims.

Claims

1. A calibration method, characterized in that: include: Get the adjustment value of the dynamic calibration parameter; Determine the result data of each RSSI sampling point according to the adjustment value; wherein the result data is used to indicate the positional relationship of the RSSI signal source relative to the RSSI signal receiving end; If the result data meets the preset conditions, the adjustment value is used as the target value of the dynamic calibration parameter.

2. The calibration method according to claim 1, characterized in that: The method further comprises: Obtain a first boundary line and a second boundary line; The first boundary line and the second boundary line are used to determine the result data corresponding to the calibration area.

3. The calibration method according to claim 2, characterized in that: The obtaining of the first boundary line and the second boundary line comprises: Obtaining a target value of a static calibration parameter, wherein the static calibration parameter includes a first calibration distance and a second calibration distance; Obtain an index value of a first RSSI sampling point and an index value of a second RSSI sampling point, wherein the index value of the first RSSI sampling point is an index value of the RSSI sampling point when the RSSI signal source moves to a first position corresponding to the first calibration distance, and the index value of the second RSSI sampling point is an index value of the RSSI sampling point when the RSSI signal source moves to a second position corresponding to the second calibration distance; The first boundary line and the second boundary line are determined based on the index value of the first RSSI sampling point and the index value of the second RSSI sampling point.

4. The calibration method according to claim 3, characterized in that: The step of obtaining the index value of the first RSSI sampling point and the index value of the second RSSI sampling point includes: Obtain a first measured distance and a second measured distance, wherein the first measured distance is an actual distance obtained when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the first calibrated distance, and the second measured distance is an actual distance obtained when the estimated distance is equal to the second calibrated distance, and the estimated distance is determined based on the RSSI static calibration result; Respectively obtain an index value of a third RSSI sampling point when the RSSI signal source moves to a third position corresponding to the first measured distance and an index value of a fourth RSSI sampling point when the RSSI signal source moves to a fourth position corresponding to the second measured distance; The index value of the first RSSI sampling point and the index value of the second RSSI sampling point are determined according to the index value of the third RSSI sampling point and the index value of the fourth RSSI sampling point.

5. The calibration method according to claim 1, characterized in that: The method further comprises: Displaying a calibration area diagram and a signal source icon of a signal receiving end; wherein, when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the first calibration distance in the static calibration parameters, the signal source icon moves to the first position of the calibration area diagram; when the estimated distance between the RSSI signal source and the signal receiving end during movement is equal to the second calibration distance in the static calibration parameters, the signal source icon moves to the second position of the calibration area diagram; and / or, displaying the resulting data; and / or, The result data is displayed, and a first boundary line and a second boundary line are displayed in the result data, where the first boundary line and the second boundary line are used to determine the result data corresponding to the calibration area.

6. The calibration method according to claim 1, characterized in that: The result data includes first RSSI data, the dynamic calibration parameter includes positioning sensitivity, and the positioning sensitivity includes the size of the filtering window; Determining result data of each RSSI sampling point according to the adjustment value includes: For each RSSI sampling point, the original RSSI data is filtered according to the adjustment value of the positioning sensitivity to obtain the first RSSI data.

7. The calibration method according to claim 6, characterized in that: The filtering the original RSSI data according to the adjustment value of the positioning sensitivity to obtain the first RSSI data includes: According to the adjustment value of the positioning sensitivity, based on a sliding average filtering algorithm, the original RSSI data is filtered to obtain the first RSSI data.

8. The calibration method according to claim 1, characterized in that: The result data includes moving direction data of the RSSI signal source, and the dynamic calibration parameters also include direction sensitivity, and the direction sensitivity includes a data set size of RSSI data used to determine the moving direction data; Determining result data of each RSSI sampling point according to the adjustment value includes: Acquire second RSSI data obtained by filtering the original RSSI data; For each RSSI sampling point, determining third RSSI data from the second RSSI data according to the adjustment value of the directional sensitivity; The moving direction data is determined according to the third RSSI data.

9. The calibration method according to claim 8, characterized in that: The step of determining the moving direction data according to the third RSSI data comprises: When the third RSSI data gradually increases in a sampling order, determining that the moving direction is a direction approaching a signal receiver; When the third RSSI data gradually decreases according to the sampling order, it is determined that the moving direction is a direction away from the signal receiver.

10. The calibration method according to claim 1, characterized in that: The result data includes regional data representing the region where the RSSI signal source is located; Determining result data of each RSSI sampling point according to the adjustment value includes: Get the target value of the static calibration parameter; Determining the area data of each RSSI sampling point according to the target value of the static calibration parameter and the adjustment value; The static calibration parameter includes an RSSI static calibration threshold value, and the dynamic calibration parameter includes a compensation amount for compensating the RSSI static calibration threshold value.

11. The calibration method according to claim 10, characterized in that: The compensation amount includes a first compensation amount and / or a second compensation amount, wherein the first compensation amount is the compensation amount required for calibration when the RSSI signal source moves in a direction close to the signal receiver, and the second compensation amount is the compensation amount required for calibration when the RSSI signal source moves in a direction away from the signal receiver; The determining the area data of each RSSI sampling point according to the target value of the static calibration parameter and the adjustment value includes: The area data of each RSSI sampling point is determined according to one of the first compensation amount and the second compensation amount, and the RSSI static calibration threshold value.

12. The calibration method according to claim 10, characterized in that: The RSSI static calibration threshold value is a threshold value determined based on a sliding average filtering algorithm.

13. A positioning method, characterized in that: include: Obtain the target value of the dynamic calibration parameter and the RSSI data of the RSSI signal source communicating with the signal receiving end during the movement; Determining the location of the RSSI signal source based on the RSSI data and the target value of the dynamic calibration parameter; Wherein, the target value of the dynamic calibration parameter is a target value obtained according to the calibration method according to any one of claims 1 to 12.

14. The positioning method according to claim 13, characterized in that: The method further comprises: Get the calibration rate factor; The calibration rate factor represents the rate of change of RSSI data in the calibration and tuning phase, and the calibration rate factor is used to correct the target value of the dynamic calibration parameter in the positioning phase.

15. The positioning method according to claim 14, characterized in that: The calibration rate factor is determined according to the index value of the first RSSI sampling point, the index value of the second RSSI sampling point, the fourth RSSI data corresponding to the index value of the first RSSI sampling point, and the fifth RSSI data corresponding to the index value of the second RSSI sampling point; Among them, the index value of the first RSSI sampling point is the RSSI sampling point index value when the RSSI signal source moves to the first position corresponding to the first calibration distance of the static calibration parameter, and the index value of the second RSSI sampling point is the RSSI sampling point index value when the RSSI signal source moves to the second position corresponding to the second calibration distance of the static calibration parameter.

16. The positioning method according to claim 14, characterized in that: The dynamic calibration parameter includes a compensation amount for compensating the RSSI static calibration threshold value, and the determining the position of the RSSI signal source based on the RSSI data and the target value of the dynamic calibration parameter includes: Determining a rate compensation factor based on the real-time rate factor and the calibrated rate factor; Based on the rate compensation factor, modifying the target value of the compensation amount; Determine the location of the RSSI signal source based on the RSSI data, the RSSI static calibration threshold value and the target value of the corrected compensation amount; The real-time rate factor is a rate factor of change of RSSI data during the movement of the RSSI signal source determined in the positioning stage.

17. A storage medium, characterized in that: A computer program is stored thereon, which implements the method according to any one of claims 1 to 16 when executed by a processor.

18. An electronic device, characterized in that: including memory and processor, The memory is used to store computer instructions, and the processor is used to call the computer instructions from the memory to execute the calibration method as described in any one of claims 1 to 12 or the positioning method as described in any one of claims 13 to 16.

19. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 18.

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