Bluetooth positioning method and system, storage medium and electronic equipment

Abstract

The invention provides a Bluetooth positioning method and system, a storage medium and electronic equipment, and relates to the technical field of communication. The Bluetooth positioning method comprises the following steps: acquiring first Bluetooth information, wherein the first Bluetooth information at least comprises PBR data and RSSI data; acquiring at least two pieces of second Bluetooth information, wherein each piece of second Bluetooth information comprises RSSI (Received Signal Strength Indicator) data; calculating a first target distance and a first predicted distance based on the first Bluetooth information, and calculating at least two second predicted distances based on each piece of second Bluetooth information; and determining the position of the electronic equipment based on the first target distance, the first predicted distance and the at least two second predicted distances. According to the Bluetooth positioning method provided by the embodiment of the invention, the design of combining the CS technology and the RSSI technology is used, the disadvantages of the CS technology and the RSSI technology are made up, a better positioning effect is generated compared with a positioning effect obtained by independently adopting the CS technology, high-precision positioning can be realized only by one anchor device supporting the CS technology, and the overhead of Bluetooth communication is reduced.

Description

Technical Field

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

[0002] With the continuous development of new energy vehicles, the digital car key system provides great convenience to users. Users only need to carry electronic devices to unlock and control the car. However, traditional Bluetooth positioning services are mainly based on the received signal strength indication (RSSI) technology. Among them, RSSI technology determines the distance between the Bluetooth transmitter and the receiver by judging the strength of the received signal. This technology is susceptible to communication interference caused by factors such as signal strength, noise, and multipath effects, which makes the positioning accuracy of RSSI poor. Due to some drawbacks of the above ranging schemes, in order to better adapt to the ranging needs, the Bluetooth-based channel sounding (CS) technology came into being. Through channel sounding technology, the ranging can be more accurately achieved and the identity and location of the mobile terminal as the vehicle digital key can be confirmed.

[0003] However, the existing CS technical protocol only specifies the distance measurement technical specifications between Bluetooth devices one-to-one, and does not take into account the actual distance measurement scenario, where multiple Bluetooth beacons are often required to measure the distance of the mobile terminal. For example, in the distance measurement scenario of vehicle unlocking mentioned above, multiple Bluetooth beacons are often required to measure the distance of the vehicle digital key.

[0004] In the related technology, multiple Bluetooth beacons are used to establish Bluetooth connections with mobile terminals for CS ranging, which will greatly increase the Bluetooth communication overhead; and if only CS technology is used, the existing CS solution in the multi-Bluetooth beacon system requires serial operation and there is a more complicated data processing process, which makes the process from Bluetooth beacon positioning to electronic equipment have a large delay deviation. Summary of the invention

[0005] The embodiments of the present application provide a Bluetooth positioning method, system, storage medium and electronic device for solving the problems of poor positioning accuracy and high cost in a multi-Bluetooth beacon system.

[0006] In some embodiments, a Bluetooth positioning method is provided, the steps of the Bluetooth positioning method comprising:

[0007] Exchanging information with a first anchor device through an electronic device to obtain first Bluetooth information, where the first anchor device supports a first version of the Bluetooth protocol, and the first Bluetooth information includes at least PBR data and RSSI data;

[0008] Exchanging information between the electronic device and at least two second anchor devices to obtain at least two second Bluetooth information, each of the second anchor devices supports a second version of the Bluetooth protocol, the first version is higher than the second version, and each of the second Bluetooth information includes RSSI data;

[0009] Calculate a first target distance and a first predicted distance based on the first Bluetooth information, and calculate at least two second predicted distances based on each of the second Bluetooth information;

[0010] Calculate a first target distance and a first predicted distance based on the first Bluetooth information, and calculate at least two second predicted distances based on each of the second Bluetooth information;

[0011] The position of the electronic device is determined based on the first target distance, the first predicted distance, and at least two of the second predicted distances.

[0012] In some embodiments, the step of determining the position of the electronic device based on the first target distance, the first predicted distance, and at least two of the second predicted distances comprises:

[0013] Calculating a distance compensation function based on the first target distance and the first predicted distance;

[0014] Calculating at least two second target distances based on the distance compensation function and at least two predicted distances;

[0015] The position of the electronic device is determined based on the first target distance and at least two second target distances.

[0016] In some embodiments, the step of calculating the distance compensation function based on the first target distance and the first predicted distance includes calculating the distance compensation function according to the following formula:

[0017] K=S target1 / S pre1

[0018] Wherein, K is the distance compensation function, S target1 is the first target distance, S pre1 is the distance from the first prediction.

[0019] In some embodiments, calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0020] Calculate the first target distance according to the PBR data in the first Bluetooth information;

[0021] A first predicted distance is calculated according to RSSI data in the first Bluetooth information.

[0022] In some embodiments, the first Bluetooth information further includes RTT data, and the calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0023] Calculate the first target distance according to the PBR data and the RTT data in the first Bluetooth information;

[0024] The second predicted distance is calculated according to the RSSI data in the first Bluetooth information.

[0025] In some embodiments, a Bluetooth positioning system is provided, including a Bluetooth positioning device, a first anchor device and at least two second anchor devices, wherein the first anchor device supports a first version of the Bluetooth protocol, and the first anchor device interacts with the electronic device through CS signals and RSSI signals based on a Bluetooth connection; the second anchor device supports a second version of the Bluetooth protocol, the first version is higher than the second version, and the second anchor device interacts with the electronic device through RSSI signals based on a Bluetooth connection; the Bluetooth positioning device locates the electronic device according to the above-mentioned Bluetooth positioning method.

[0026] In some embodiments, the Bluetooth positioning device includes an acquisition module, a calculation module and a positioning module, wherein the acquisition module is used to acquire first Bluetooth information and second Bluetooth information, the first Bluetooth information at least includes PBR data and RSSI data generated by the interaction between the first anchor device and the electronic device, and the second Bluetooth information at least includes two RSSI data generated by the interaction between the second anchor device and the electronic device; the calculation module is used to calculate the first target distance and the first predicted distance based on the first Bluetooth information; the calculation module is also used to calculate the second predicted distance based on the second Bluetooth information; the positioning module is used to determine the position of the electronic device based on the first target distance, the first predicted distance and at least two second predicted distances.

[0027] In some embodiments, at least two of the second anchor devices are connected to and communicate with the first anchor device via a CAN FD bus, the first anchor device is connected to and communicates with the vehicle via the CAN FD bus, and the first anchor device communicates with the electronic device via a Bluetooth protocol.

[0028] In some embodiments, antennas of the first anchor device and the second anchor device are arranged vertically.

[0029] In some embodiments, the electronic device is a mobile phone, a bracelet or a watch bound to the first anchor device.

[0030] In some embodiments, four second anchor devices are provided and arranged at four corners of the vehicle, and one first anchor device is provided and arranged in the middle of the four second anchor devices.

[0031] In some embodiments, a computer-readable storage medium is provided, on which a computer program is stored, and when the program is executed by a processor, the steps of the above-mentioned Bluetooth positioning method are implemented.

[0032] In some embodiments, an electronic device is provided, including a memory and a processor, wherein the memory stores a computer program; the processor is used to execute the computer program in the memory to implement the steps of the above-mentioned Bluetooth positioning method.

[0033] The Bluetooth positioning method provided in the embodiment of the present application uses a design that combines CS technology and RSSI technology. CS technology brings a high-precision positioning and ranging algorithm through phase ranging, which makes up for the shortcomings of RSSI technology such as signal strength being easily affected by environmental interference; RSSI technology is mature in application, the algorithm is relatively simple, and the signal strength data of each beacon can be received in parallel, which can make up for the delay deviation caused by serial data transmission of CS technology and achieve higher-precision positioning. At the same time, only one anchor device that supports CS technology is needed to achieve high-precision positioning, reducing the overhead of Bluetooth communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0035] Figure 1 is a flowchart of a Bluetooth positioning method in some embodiments of the present application;

[0036] Figure 2 yes Figure 1 An optional sub-step flow chart of step S300 in the embodiment;

[0037] Figure 3 yes Figure 1 An optional sub-step flow chart of step S400 in the embodiment;

[0038] Figure 4 yes Figure 1 Another optional sub-step flow chart of step S300 in the embodiment;

[0039] Figure 5 is a schematic diagram of the structure of a Bluetooth positioning system in some embodiments of the present application;

[0040] Figure 6 yes Figure 5 A schematic diagram of the structure of a Bluetooth positioning device in an embodiment;

[0041] Figure 7 Yes Figure 1 A schematic diagram of a vehicle unlocking application scenario of the Bluetooth positioning method in the embodiment;

[0042] Figure 8 yes Figure 5 A schematic diagram of the structure of an electronic device in an embodiment.

[0043] In the above drawings:

[0044] 10. Bluetooth positioning system;

[0045] 11. Electronic device; 111. Memory; 112. Processor; 113. Multimedia component; 114. I / O interface; 115. Communication component;

[0046] 12. First anchor device; 13. Second anchor device;

[0047] 14. Bluetooth positioning device; 141. Acquisition module; 142. Calculation module; 143. Positioning module. DETAILED DESCRIPTION

[0048] The present application is further described in detail below in conjunction with the accompanying drawings and examples. It is particularly noted that the following examples are only used to illustrate the present application, but are not intended to limit the scope of the present application. Similarly, the following examples are only some embodiments of the present application rather than all embodiments, and all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0049] Ranging and positioning technology has penetrated into every corner of our lives. For example, when using a mobile device as a digital key for a vehicle, the system must accurately measure the distance between the key and the vehicle in order to safely unlock the door. At present, our common ranging and positioning solutions mainly rely on Bluetooth signal strength indication (RSSI) technology. Although RSSI technology has been widely supported, especially on mobile terminals such as mobile phones, its ranging accuracy is limited, which affects the user experience. In order to better meet the ranging needs, the Bluetooth Technology Alliance has introduced a technology called Channel Sounding (CS for short). By analyzing the channel transmission characteristics, CS technology can more accurately locate the signal path, identify its characteristics, and use it for distance estimation and attack detection.

[0050] However, the current CS technical protocol is limited to the technical specifications of one-to-one distance measurement between electronic devices, and has not yet taken into account the actual situation that multiple Bluetooth beacons are usually required to measure the distance of mobile terminals in vehicle unlocking scenarios. In practical applications, using multiple Bluetooth beacons to establish connections with mobile terminals for CS distance measurement will significantly increase the overhead of Bluetooth communication. In addition, if only CS technology is used, the existing CS solution in the multi-beacon system requires serial operation, that is, after the master beacon completes data interaction with the key, it is the turn of the first slave beacon to interact with the mobile terminal, and then the second slave beacon, the third slave beacon, and other beacons take turns to interact with data in turn. Such serial data transmission not only makes the latter interacting beacon have a delay of several hundred milliseconds more than the previous beacon that has completed the interaction, but also has a more complex data processing process, which makes the distance from the beacon to the key have a large delay deviation, causing the mobile terminal to consume too much Bluetooth spectrum resources and time slot resources, thereby increasing the risk of communication failure with other electronic devices.

[0051] See also Figure 1 , Figure 1 It is a flowchart of the Bluetooth positioning method in some embodiments of the present application.

[0052] Based on this, an embodiment of the present application provides a Bluetooth positioning method, and the steps of the Bluetooth positioning method include:

[0053] S100, exchanging information with a first anchor device through an electronic device to obtain first Bluetooth information, where the first anchor device supports a first version of the Bluetooth protocol, and the first Bluetooth information includes at least PBR data and RSSI data;

[0054] In CS technology, PBR ranging uses the phase difference between the transmitted signal and the received signal to calculate the distance between the initiator and the reflector. This technology can provide more accurate positioning information and communication quality, has a safer protection mechanism, and can effectively prevent relay attacks.

[0055] S200, acquiring at least two second Bluetooth information by exchanging information with at least two second anchor devices through the electronic device, each of the second anchor devices supports a second version of the Bluetooth protocol, the first version is higher than the second version, and each of the second Bluetooth information includes RSSI data;

[0056] S300, calculating a first target distance and a first predicted distance based on the first Bluetooth information, and calculating at least two second predicted distances based on each second Bluetooth information;

[0057] S400: Determine a location of the electronic device based on a first target distance, a first predicted distance, and at least two second predicted distances.

[0058] The first version of the Bluetooth protocol supports phase ranging and signal strength ranging, and the second version of the Bluetooth protocol may only support signal strength ranging. The first version of the Bluetooth protocol may be a higher version than the second version of the Bluetooth protocol. For example, the first version of the Bluetooth protocol may be the latest Bluetooth 6.0 version protocol, and the second version of the Bluetooth protocol may be Bluetooth 5.1, Bluetooth 4.0, etc., which are lower than the Bluetooth 6.0 version protocol.

[0059] See also Figure 2 , Figure 2 yes Figure 1 An optional sub-step flow chart of step S300 in the embodiment. Optionally, in step 300, calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0060] S301, calculating a first target distance according to PBR data in a first Bluetooth message;

[0061] S302: Calculate a first predicted distance according to RSSI data in the first Bluetooth information.

[0062] The latest Bluetooth 6.0 version protocol adds a Bluetooth channel detection function. If the electronic device also supports the Bluetooth 6.0 version protocol, CS signal interaction can be performed between the electronic device and the first anchor device. It can estimate the distance by using the phase offset between the receiving and sending signals of different channels to achieve high-precision distance measurement, based on which the first target distance can be obtained.

[0063] It should be noted that the RSSI signal interaction can also be performed through the Bluetooth 6.0 version protocol to estimate the distance between the first anchor device and the electronic device, that is, to obtain the first predicted distance. At the same time, the second anchor device can adopt a low-power Bluetooth protocol that supports other versions below Bluetooth 6.0, which can save costs and reduce the overhead of Bluetooth communication. The second anchor device can estimate the distance between the second anchor device and the electronic device by performing RSSI interaction with the electronic device, that is, to obtain the second predicted distance. The first predicted distance and the second predicted distance are both obtained based on RSSI ranging. RSSI ranging is based on the principle that radio waves or sound waves are transmitted in a medium, and the signal power attenuates with the propagation distance. According to the transmission power of the known signal of the beacon node and the signal power received by the node, the distance between the nodes can be calculated through the attenuation model between the signal and the distance. Due to the influence of distance and obstacles during signal propagation, the power intensity of the signal decays accordingly, which indirectly affects the accuracy. For example, in a parking lot, there are walls or many other vehicles blocking the signal strength, and the signal strength is weak. The Bluetooth of the electronic device cannot control the vehicle in advance to unlock, welcome guests, and other operations. In an open space, the signal strength may be high, causing the user to be far away from the car to trigger the automatic locking of the vehicle. At this time, the user needs to manually operate the electronic device to lock it. Therefore, in different scenarios, the first predicted distance has different degrees of deviation compared to the actual distance between the first anchor device and the electronic device; similarly, in different scenarios, the second predicted distance has different degrees of deviation compared to the actual distance between the second anchor device and the electronic device. The accuracy of the first target distance is higher than that of the first predicted distance. The first predicted distance can be corrected by the first target distance, and then each second predicted distance can be corrected, so as to obtain multiple corrected ranging results to locate the electronic device.

[0064] The embodiment of the present application uses a design that combines CS technology and RSSI technology. CS technology brings a high-precision positioning and ranging algorithm through phase ranging, which makes up for the shortcomings of RSSI technology such as signal strength being easily affected by environmental interference. RSSI technology is mature in application, the algorithm is relatively simple, and the signal strength data of each beacon can be received in parallel, which can make up for the delay deviation caused by serial data transmission of CS technology and achieve higher-precision ranging and positioning. At the same time, only one anchor device that supports CS technology is needed to achieve high-precision positioning, reducing the overhead of Bluetooth communication.

[0065] See also Figure 3 , Figure 3 yes Figure 1 An optional sub-step flow chart of step S400 in the embodiment. Specifically, in some embodiments, the step of determining the position of the electronic device based on the first target distance, the first predicted distance, and at least two second predicted distances includes:

[0066] S401, calculating a distance compensation function based on a first target distance and a first predicted distance;

[0067] S402, calculating and obtaining at least two second target distances based on the distance compensation function and at least two predicted distances;

[0068] S403: Determine the position of the electronic device based on the first target distance and at least two second target distances.

[0069] Optionally, two second anchor devices are provided, the two second anchor devices are located at the rear end of the vehicle, the first anchor device is located at the front end of the vehicle, and the first anchor device is located on the perpendicular bisector of the two second anchor devices. Then, this embodiment can calculate a first target distance and two second target distances, a total of three ranging results. The coordinate system and the coordinate center can be preset in advance to establish a coordinate system. The coordinate center can be preset on the vehicle. For example, the first anchor device can be preset as the coordinate center. Furthermore, according to the three ranging results, the coordinate information of the electronic device relative to the coordinate center in the coordinate system is determined based on the three-sided positioning algorithm, so that the terminal device can be positioned.

[0070] This embodiment uses the three-side positioning algorithm to realize the positioning of the electronic device, thereby obtaining the positioning result of the electronic device. It should be understood that the three-side positioning algorithm is only an optional embodiment, and other algorithms can also be used to realize positioning, which is not limited in this embodiment of the present application.

[0071] Optionally, four second anchor devices are provided and arranged at four corners of the vehicle, and one first anchor device is provided and arranged in the middle of the four second anchor devices. Then, this embodiment can calculate a first target distance and four second target distances, and the coordinate system and coordinate center can be preset in advance. The coordinate system can be a three-dimensional coordinate system, and the electronic device is positioned based on the polygon positioning algorithm.

[0072] In step S401, the distance compensation function is calculated according to the following formula:

[0073] K=S target1 / S pre1

[0074] Among them, K is the distance compensation function, S target1 is the first target distance, S pre1 is the distance from the first prediction.

[0075] It can be understood that the first anchor device and the second anchor device are in the same scene. During the RSSI signal interaction, the first predicted distance and the second predicted distance are affected in the same way. Therefore, the distance compensation function calculated based on the first target distance and the first predicted distance can also correct each second distance to obtain multiple second target distances. Specifically, the calculated distance compensation function can be substituted into the following formula:

[0076] S target2 =KS pre2

[0077] Among them, S target2 is the distance to the second target, S pre2 is the distance to the second prediction.

[0078] See also Figure 4 , Figure 4 yes Figure 1 Another optional sub-step flow chart of step S300 in the embodiment. In some embodiments, the first Bluetooth information also includes RTT data, and calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0079] S311, calculating a first target distance according to the PBR data and the RTT data in the first Bluetooth information;

[0080] S312: Calculate a second predicted distance according to RSSI data in the first Bluetooth information.

[0081] RTT ranging uses the flight time in CS technology to estimate the distance between the initiator and the reflector. The arrival time and departure time of the two devices are recorded, and the distance is accurately calculated by the difference between them. In this embodiment, RTT ranging and PBR ranging are mutually corrected to obtain a more accurate first target distance, thereby obtaining a more accurate distance compensation function.

[0082] See also Figure 5 , Figure 5 It is a schematic diagram of the structure of the Bluetooth positioning system in some embodiments of the present application. In some embodiments, a Bluetooth positioning system 10 is provided, which includes a Bluetooth positioning device 14, a first anchor device 12 and at least two second anchor devices 13, wherein the first anchor device 12 supports the first version of the Bluetooth protocol, and the first anchor device 12 and the electronic device 11 perform CS signal interaction and RSSI signal interaction based on the Bluetooth connection; the second anchor device 13 supports the second version of the Bluetooth protocol, the first version is higher than the second version, and the second anchor device 13 and the electronic device 11 perform RSSI signal interaction based on the Bluetooth connection. The Bluetooth positioning device 14 locates the electronic device 11 according to the aforementioned Bluetooth positioning method.

[0083] See also Figure 6 , Figure 6 yes Figure 5 Structural diagram of the Bluetooth positioning device in the embodiment. Specifically, the Bluetooth positioning device 14 includes an acquisition module 141, a calculation module 142 and a positioning module 143, wherein the acquisition module 141 is used to acquire the first Bluetooth information and the second Bluetooth information, the first Bluetooth information at least includes the PBR data and RSSI data generated by the interaction between the first anchor device 12 and the electronic device 11, and the second Bluetooth information at least includes the RSSI data generated by the interaction between the two second anchor devices 13 and the electronic device 11; the calculation module 142 is used to calculate the first target distance and the first predicted distance according to the first Bluetooth information; the calculation module 142 is also used to calculate the second predicted distance according to the second Bluetooth information; the positioning module 143 is used to determine the position of the electronic device 11 according to the first target distance, the first predicted distance and at least two second predicted distances.

[0084] It should be noted that when the first anchor device 12 supports the first version of the Bluetooth protocol, phase ranging and signal strength ranging can be used simultaneously. Since a vehicle is bound to multiple electronic devices 11 at the same time, and some electronic devices 11 may not support the first version of the protocol and do not have the phase ranging function, in this case, the Bluetooth positioning system 10 can still use RSSI technology alone to measure the distance and locate the vehicle. This ensures that users of electronic devices 11 that do not support the first version of the Bluetooth protocol can still use RSSI technology to perform keyless entry and keyless start of the vehicle.

[0085] See also Figure 7 , Figure 7 Yes Figure 1 Schematic diagram of a vehicle unlocking application scenario of the Bluetooth positioning method in the embodiment. Whether the vehicle can be unlocked is determined based on the positioning result, and the vehicle unlocking action can be controlled. For example, if the positioning result indicates that the electronic device is within the predetermined unlocking area, it is determined that the vehicle can be unlocked and the vehicle can be controlled to be unlocked; if the positioning result indicates that the terminal device is not within the predetermined unlocking area, it is determined that the vehicle cannot be unlocked, and the vehicle is controlled to remain locked.

[0086] For example, the Bluetooth positioning method can determine the position of the electronic device relative to the vehicle, and perform corresponding intelligent operations according to the position, and define the electronic device and the vehicle position as five areas:

[0087] R1 area: The area with a radius of r1 and the center of the vehicle as the circle point. The electronic equipment is located in the R1 area as a necessary condition for starting the vehicle. At this time, the vehicle can be started by simply pressing the start button;

[0088] R2 area: a circular area with the center of the car as the circle, an outer radius of r2 and an inner radius of r1. The electronic equipment is located in the R2 area as a necessary condition for initiating passive entry;

[0089] R3 area: a circular area with the center of the car as the circle, an outer radius of r3 and an inner radius of r2. The electronic device is located in the R3 area as a necessary condition for starting the near-car unlocking, and can be actively unlocked;

[0090] R4 area: a circular area with the center of the car as the circle, an outer radius of r4 and an inner radius of r3. The electronic equipment is located in the R4 area and can actively lock and retract (fold) the rearview mirror;

[0091] R5 area: a circular area with the center of the car as the dot, an outer radius of r5 and an inner radius of r4. Electronic devices are located in the R5 area as a necessary condition for activating the welcome function, such as lighting up the roof and opening the rearview mirror;

[0092] Among them, r1, r2, r3, r4, and r5 can be configured by the user according to the vehicle model. For example, r1 can be 0.8-1.2m, r2 can be 1.2-2m, r3 can be 2-4m, r4 can be 4-7m, and r5 can be 7-10m.

[0093] The above-mentioned control of the vehicle unlocking action based on the positioning result is only an example and does not limit the embodiments of the present application.

[0094] Furthermore, the first anchor device 12 supplies power to the second anchor device 13. When the electronic device 11 moves out of the range of 10 meters, the connection between the electronic device 11 and the Bluetooth positioning system 10 will be interrupted. At this time, the first anchor device 12 will enter an unconnected state, and if this state lasts for more than a preset time threshold, such as 30 seconds, the system will automatically switch to an energy-saving sleep mode. In this mode, the first anchor device 12 will stop supplying power to the second anchor device 13, thereby effectively improving the efficiency of the vehicle battery. Conversely, once the electronic device 11 re-enters the range of 10 meters, the system will activate the first anchor device 12, causing it to start providing Bluetooth power to the second anchor device 13 and perform the authentication process of the electronic device 11.

[0095] Please continue reading Figure 7Optionally, the second anchor device 13 is connected to and communicates with the first anchor device 12 via a CAN FD (CAN with Flexible Datarate) bus, the first anchor device 12 is connected to and communicates with the vehicle via the CAN FD bus, and the first anchor device 12 communicates with the electronic device 11 via the Bluetooth 6.0 protocol. The electronic device 11 may be any electronic device 11, such as a mobile terminal, and the electronic device 11 may be used as a vehicle digital key, and may include but is not limited to a mobile phone, a bracelet, a watch, and the like.

[0096] In some embodiments, the antennas of the first anchor device 12 and the second anchor device 13 are arranged vertically to resolve signal deviation caused by multipath effects and the like.

[0097] In some embodiments, at least two second anchor devices 13 are provided, and at least two second anchor devices 13 respectively perform signal interaction with the electronic device 11 based on Bluetooth connection. There is one first anchor device 12, and the first anchor device 12 is placed inside the TBOX of the vehicle. While combining CS technology and RSSI technology to achieve high-precision ranging, it can be reused as a cockpit vehicle Bluetooth to achieve functions such as car control, audio and video entertainment, etc.

[0098] Please continue reading Figure 6 In some embodiments, four second anchor devices 13 are provided and arranged at the four corners of the vehicle, and one first anchor device 12 is provided and arranged in the middle of the four second anchor devices 13. It can be adapted to various vehicle models, such as compact SUVs, MPVs, etc., and can achieve better positioning effects while controlling costs.

[0099] See also Figure 8 , Figure 8 yes Figure 5 Schematic diagram of the structure of the electronic device in the embodiment. In some embodiments, the electronic device 11 may include: a processor 112, a memory 111. The processor 112 plays a core role in the electronic device 11, and is responsible for controlling the overall operation process to implement all or part of the steps of the above-mentioned Bluetooth positioning method. The memory 111 is used to store various data to support the daily operation of the electronic device 11. These data may include instructions required to execute any application or method, as well as data related to the application, such as the first Bluetooth information, the second Bluetooth information, the coordinates of the electronic device 11, etc. The memory 111 can adopt a volatile or non-volatile storage device, or a combination thereof, such as a magnetic memory 111, a flash memory 111, a disk or an optical disk.

[0100] The electronic device 11 may also include a multimedia component 113, an input / output (I / O) interface, and one or more of a communication component 115. The multimedia component 113 includes a screen and an audio component. The screen may be a touch screen, and the audio component is responsible for the output and / or input of audio signals. The audio component may include a microphone for capturing external audio signals. These audio signals may be stored in the memory 111 or transmitted through the communication component 115. The I / O interface 114 provides a connection between the processor 112 and other interface modules, which may include a keyboard, a mouse, buttons, etc. The communication component 115 is responsible for wired or wireless communication between the electronic device 11 and other devices. Wireless communication technologies such as Wi-Fi, Bluetooth, 2G, 3G, 4G, NB-IoT, eMTC, 5G, etc., or any combination thereof, can be used for this purpose. Therefore, the communication component 115 may include multiple modules such as a Wi-Fi module, a Bluetooth module, and an NFC module.

[0101] In some embodiments, a computer-readable storage medium is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned Bluetooth positioning method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory including the program instructions, and the above-mentioned program instructions can be executed by a processor of an electronic device to complete the above-mentioned Bluetooth positioning method.

[0102] The terms "first", "second", and "third" in the embodiments of the present application are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first", "second", and "third" can expressly or implicitly include at least one of the features. In the description of the present application, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined. In the embodiments of the present application, all directional indications (such as up, down, left, right, front, back...) are only used to explain the relative position relationship, movement, etc. between the components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication also changes accordingly. The terms "including" and "having" in the embodiments of the present application and any of their variations are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but optionally also includes steps or units that are not listed, or optionally also includes other steps or components inherent to these processes, methods, products, or devices.

[0103] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0104] The above descriptions are only some embodiments of the present application, and do not limit the protection scope of the present application. Any equivalent device or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A Bluetooth positioning method, characterized in that: The Bluetooth positioning method comprises the following steps: Exchanging information with a first anchor device through an electronic device to obtain first Bluetooth information, where the first anchor device supports a first version of the Bluetooth protocol, and the first Bluetooth information includes at least PBR data and RSSI data; Exchanging information between the electronic device and at least two second anchor devices to obtain at least two second Bluetooth information, each of the second anchor devices supports a second version of the Bluetooth protocol, the first version is higher than the second version, and each of the second Bluetooth information includes RSSI data; Calculate a first target distance and a first predicted distance based on the first Bluetooth information, and calculate at least two second predicted distances based on each of the second Bluetooth information; The position of the electronic device is determined based on the first target distance, the first predicted distance, and at least two of the second predicted distances.

2. The Bluetooth positioning method according to claim 1, characterized in that: The step of determining the position of the electronic device based on the first target distance, the first predicted distance and at least two of the second predicted distances comprises: Calculating a distance compensation function based on the first target distance and the first predicted distance; Calculating at least two second target distances based on the distance compensation function and at least two predicted distances; The position of the electronic device is determined based on the first target distance and at least two second target distances.

3. The Bluetooth positioning method according to claim 2, characterized in that: The step of calculating the distance compensation function based on the first target distance and the first predicted distance includes calculating the distance compensation function according to the following formula: K=S target1 / S pre1 Wherein, K is the distance compensation function, S target1 is the first target distance, S pre1 is the distance from the first prediction.

4. The Bluetooth positioning method according to claim 1, characterized in that: The calculating the first target distance and the first predicted distance based on the first Bluetooth information includes: Calculate the first target distance according to the PBR data in the first Bluetooth information; A first predicted distance is calculated according to RSSI data in the first Bluetooth information.

5. The Bluetooth positioning method according to claim 1, characterized in that: The first Bluetooth information further includes RTT data, and the calculating the first target distance and the first predicted distance based on the first Bluetooth information includes: Calculate the first target distance according to the PBR data and the RTT data in the first Bluetooth information; The second predicted distance is calculated according to the RSSI data in the first Bluetooth information.

6. A Bluetooth positioning system, characterized in that: include: A first anchor device, the first anchor device supports a first version of the Bluetooth protocol, and the first anchor device performs CS signal interaction and RSSI signal interaction with the electronic device based on a Bluetooth connection; at least two second anchor devices, the second anchor devices support a second version of the Bluetooth protocol, the first version is higher than the second version, and the second anchor devices interact with the electronic device through RSSI signals based on a Bluetooth connection; and A Bluetooth positioning device, wherein the Bluetooth positioning device positions an electronic device according to the Bluetooth positioning method according to any one of claims 1 to 5.

7. The Bluetooth positioning system according to claim 6, characterized in that: The Bluetooth positioning device comprises: an acquisition module, the acquisition module being used to acquire first Bluetooth information and second Bluetooth information, the first Bluetooth information at least including PBR data and RSSI data generated by the interaction between the first anchor device and the electronic device, and the second Bluetooth information at least including two RSSI data generated by the interaction between the second anchor device and the electronic device; a calculation module, the calculation module being used to calculate a first target distance and a first predicted distance according to the first Bluetooth information; the calculation module being also used to calculate a second predicted distance according to the second Bluetooth information; A positioning module is used to determine the position of the electronic device according to the first target distance, the first predicted distance and at least two second predicted distances.

8. The Bluetooth positioning system according to claim 6, characterized in that: At least two of the second anchor devices are connected to and communicate with the first anchor device via a CAN FD bus, the first anchor device is connected to and communicates with the vehicle via the CAN FD bus, and the first anchor device communicates with the electronic device via a Bluetooth protocol.

9. The Bluetooth positioning system according to claim 6, characterized in that: The antennas of the first anchor device and the second anchor device are arranged vertically.

10. The Bluetooth positioning system according to claim 6, characterized in that: The electronic device is a mobile phone, a bracelet or a watch bound to the first anchor device.

11. The Bluetooth positioning system according to claim 6, characterized in that: The second anchor devices are provided in four pieces and are arranged at four corners of the vehicle, and the first anchor device is provided in one piece and is arranged in the middle of the four second anchor devices.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the program is executed by a processor, the steps of the Bluetooth positioning method described in any one of claims 1 to 5 are implemented.

13. An electronic device, characterized in that: include: A memory having a computer program stored therein; A processor, wherein the processor is used to execute the computer program in the memory to implement the steps of the Bluetooth positioning method according to any one of claims 1 to 5.

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