Bluetooth positioning methods, systems, storage media, and electronic devices

Abstract

This application provides a Bluetooth positioning method, system, storage medium, and electronic device, relating to the field of communication technology. The Bluetooth positioning method includes the following steps: acquiring first Bluetooth information, which includes at least PBR data and RSSI data; acquiring at least two second Bluetooth information sets, each including RSSI 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 of the second Bluetooth information sets; and determining the location of the electronic device based on the first target distance, the first predicted distance, and the at least two second predicted distances. The Bluetooth positioning method provided in this application combines CS (Cyclic Target) and RSSI technologies to overcome their respective shortcomings, resulting in better positioning performance compared to using CS technology alone. High-precision positioning can be achieved with only one anchor device supporting CS technology, reducing the overhead of Bluetooth communication.

Description

Technical Field

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

[0002] With the continuous development of new energy vehicles, digital car key systems have provided users with great convenience, allowing them to unlock and control their vehicles simply by carrying an electronic device. However, traditional Bluetooth positioning services are mainly based on Received Signal Strength Indication (RSSI) technology. RSSI technology determines the distance between the Bluetooth transmitter and 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, resulting in poor positioning accuracy. Due to the drawbacks of the above ranging schemes, Bluetooth-based Channel Sounding (CS) technology has emerged to better meet ranging needs. Through CS technology, ranging can be measured more accurately, and the identity and location of the mobile terminal acting as the vehicle's digital key can be confirmed.

[0003] However, existing CS (Cross-Side Detection) protocols only specify the ranging technology for one-to-one Bluetooth device communication, without considering the need for multiple Bluetooth beacons to measure distances to mobile terminals in real-world ranging scenarios. For example, in the aforementioned vehicle unlocking ranging scenario, there is often a need for multiple Bluetooth beacons to measure distances to the vehicle's digital key.

[0004] In related technologies, multiple Bluetooth beacons are used to establish Bluetooth connections with mobile terminals separately for CS ranging, which greatly increases Bluetooth communication overhead. Furthermore, if only CS technology is used, the existing CS scheme in a multi-Bluetooth beacon system requires serial operation, which involves a complex data processing process. This results in a large delay deviation in the process of locating the electronic device from the Bluetooth beacon. Summary of the Invention

[0005] This application provides a Bluetooth positioning method, system, storage medium, and electronic device to solve the problems of poor positioning accuracy and high cost in multi-Bluetooth beacon systems.

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

[0007] The first Bluetooth information is obtained by the electronic device interacting with the first anchor device, the first anchor device supporting the first version of Bluetooth protocol, and the first Bluetooth information includes at least PBR data and RSSI data.

[0008] The electronic device interacts with at least two second anchor devices to obtain at least two second Bluetooth messages. Each second anchor device supports a second version of the Bluetooth protocol, where the first version is higher than the second version. Each second Bluetooth message 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] The location of the electronic device is determined based on the first target distance, the first predicted distance, and at least two second predicted distances.

[0011] In some embodiments, the step of determining the location of the electronic device based on the first target distance, the first predicted distance, and at least two second predicted distances includes:

[0012] Calculate the distance compensation function based on the first target distance and the first predicted distance;

[0013] At least two second target distances are calculated based on the distance compensation function and at least two predicted distances.

[0014] The location of the electronic device is determined based on the first target distance and at least two second target distances.

[0015] 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:

[0016] K = S target1 / S pre1

[0017] Where K is the distance compensation function, S target1 S is the distance to the first target. pre1 This is the first predicted distance.

[0018] In some embodiments, calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0019] Calculate the first target distance based on the PBR data in the first Bluetooth information;

[0020] The first predicted distance is calculated based on the RSSI data in the first Bluetooth information.

[0021] In some embodiments, the first Bluetooth information further includes RTT data, and the calculation of the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0022] The first target distance is calculated based on the PBR data and RTT data in the first Bluetooth information;

[0023] The first predicted distance is calculated based on the RSSI data in the first Bluetooth information.

[0024] 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. The first anchor device supports a first version of the Bluetooth protocol and interacts with an electronic device via Bluetooth connection for CS signal interaction and RSSI signal interaction. The second anchor devices support a second version of the Bluetooth protocol, where the first version is higher than the second version, and interact with the electronic device via Bluetooth connection for RSSI signal interaction. The Bluetooth positioning device positions the electronic device according to the Bluetooth positioning method described above.

[0025] In some embodiments, the Bluetooth positioning device includes an acquisition module, a calculation module, and a positioning module. The acquisition module acquires first Bluetooth information and second Bluetooth information. The first Bluetooth information includes at least PBR data and RSSI data generated by the interaction between the first anchor device and the electronic device. The second Bluetooth information includes at least two RSSI data generated by the interaction between the second anchor device and the electronic device. The calculation module calculates a first target distance and a first predicted distance based on the first Bluetooth information. The calculation module also calculates a second predicted distance based on the second Bluetooth information. The positioning module determines the location of the electronic device based on the first target distance, the first predicted distance, and at least two second predicted distances.

[0026] In some embodiments, at least two second anchor devices communicate with the first anchor device via a CAN FD bus, the first anchor device communicates with the vehicle via a CAN FD bus, and the first anchor device communicates with electronic devices via Bluetooth.

[0027] In some embodiments, the antennas of the first anchor device and the second anchor device are arranged perpendicularly.

[0028] In some embodiments, the electronic device is a mobile phone, wristband, or watch that is attached to the first anchor device.

[0029] In some embodiments, four second anchor devices are provided and arranged at the four corners of the vehicle, and one first anchor device is provided and arranged in the middle of the four second anchor devices.

[0030] In some embodiments, a computer-readable storage medium is provided having a computer program stored thereon that, when executed by a processor, implements the steps of the Bluetooth positioning method described above.

[0031] In some embodiments, an electronic device is provided, including a memory and a processor, wherein a computer program is stored on the memory; the processor is configured to execute the computer program in the memory to implement the steps of the Bluetooth positioning method described above.

[0032] The Bluetooth positioning method provided in this application combines CS (Signal Coupling) and RSSI (Resonance Signal Indicator) technologies. CS technology, through phase ranging, provides a high-precision positioning and ranging algorithm, overcoming the shortcomings of RSSI technology, such as the susceptibility of signal strength to environmental interference. RSSI technology is mature, its algorithm is relatively simple, and it can receive signal strength data from various beacons in parallel, compensating for the delay deviation caused by the serial data transmission of CS technology, thus achieving higher positioning accuracy. Furthermore, only one anchor device supporting CS technology is needed to achieve high-precision positioning, reducing the overhead of Bluetooth communication. Attached Figure Description

[0033] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0034] Figure 1 This is a flowchart of a Bluetooth positioning method in some embodiments of this application;

[0035] Figure 2 yes Figure 1 A flowchart of an optional sub-step of step S300 in the embodiment;

[0036] Figure 3 yes Figure 1 A flowchart of an optional sub-step of step S400 in the embodiment;

[0037] Figure 4 yes Figure 1 A flowchart of another optional sub-step of step S300 in the embodiment;

[0038] Figure 5 These are schematic diagrams of the Bluetooth positioning system in some embodiments of this application;

[0039] Figure 6 yes Figure 5 A schematic diagram of the Bluetooth positioning device in the embodiment;

[0040] Figure 7 It is applicable Figure 1 A schematic diagram of a vehicle unlocking application scenario using the Bluetooth positioning method in the embodiments;

[0041] Figure 8 yes Figure 5 A schematic diagram of the electronic device in the embodiment.

[0042] In the above attached figures:

[0043] 10. Bluetooth positioning system;

[0044] 11. Electronic devices; 111. Memory; 112. Processor; 113. Multimedia components; 114. I / O interface; 115. Communication components;

[0045] 12. First anchorage; 13. Second anchorage;

[0046] 14. Bluetooth positioning device; 141. Acquisition module; 142. Calculation module; 143. Positioning module. Detailed Implementation

[0047] The present application will now be described in further detail with reference to the accompanying drawings and embodiments. It should be particularly noted that the following embodiments are for illustrative purposes only and do not limit the scope of the application. Similarly, the following embodiments are only some, not all, embodiments of the present application, and all other embodiments obtained by those skilled in the art without inventive effort are within the scope of protection of the present application.

[0048] Ranging and positioning technology has permeated every aspect 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 to securely unlock the door. Currently, common ranging and positioning solutions primarily rely on Bluetooth Signal Strength Indicator (RSSI) technology. Although RSSI technology is widely supported, especially on mobile devices such as smartphones, its ranging accuracy is limited, affecting the user experience. To better meet ranging needs, the Bluetooth Special Interest Group (SIG) introduced a technology called Channel Sounding (CS). CS technology analyzes channel transmission characteristics to more accurately locate signal paths, identify their features, and is used for distance estimation and attack detection.

[0049] However, current CS (Cross-Signal) technology protocols only specify one-to-one ranging between electronic devices, failing to consider the practical situation in vehicle unlocking scenarios where multiple Bluetooth beacons are typically needed to range the mobile terminal. In real-world applications, using multiple Bluetooth beacons to establish connections with the mobile terminal for CS ranging significantly increases Bluetooth communication overhead. Furthermore, if only CS technology is used, existing CS schemes in multi-beacon systems require serial operation: the master beacon completes data interaction with the key before the first slave beacon interacts with the mobile terminal, followed by the second, third, and so on, in turn. This serial data transmission not only adds hundreds of milliseconds of latency to each subsequent interaction but also involves complex data processing, resulting in significant delay deviations in the distance to the key located by the beacon. This leads to excessive consumption of Bluetooth spectrum and time slot resources by the mobile terminal, increasing the risk of communication failures with other electronic devices.

[0050] Please see Figure 1 , Figure 1 This is a flowchart of a Bluetooth positioning method in some embodiments of this application. Based on this, embodiments of this application provide a Bluetooth positioning method, the steps of which include:

[0051] S100: Interact with the first anchor device through an electronic device to obtain first Bluetooth information. The first anchor device supports the first version of the Bluetooth protocol. The first Bluetooth information includes at least PBR data and RSSI data.

[0052] PBR ranging in CS technology uses the phase difference between the transmitted and received signals to calculate the distance between the initiator and the reflector. This technology can provide more accurate positioning information and communication quality, has a more secure protection mechanism, and can effectively prevent relay attacks.

[0053] S200: Interact with at least two second anchor devices through an electronic device to obtain at least two second Bluetooth messages, each of the second anchor devices supporting a second version of the Bluetooth protocol, where the first version is higher than the second version, and each of the second Bluetooth messages includes RSSI data;

[0054] S300: Calculate the first target distance and the 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;

[0055] S400: Determine the position of the electronic device based on the first target distance, the first predicted distance, and at least two second predicted distances.

[0056] The first version of the Bluetooth protocol supports both phase ranging and signal strength ranging, while the second version may only support signal strength ranging. The first version of the Bluetooth protocol can be a higher version than the second version. For example, the first version of the Bluetooth protocol can be the latest Bluetooth 6.0 protocol, while the second version of the Bluetooth protocol can be a lower version such as Bluetooth 5.1 or Bluetooth 4.0.

[0057] Please see Figure 2 , Figure 2 yes Figure 1 A flowchart of an optional sub-step 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:

[0058] S301. Calculate the first target distance based on the PBR data in the first Bluetooth information;

[0059] S302. Calculate the first predicted distance based on the RSSI data in the first Bluetooth information.

[0060] 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, the electronic device and the first anchor device can interact with CS signals. It can estimate the distance by using the phase offset between the received and transmitted signals of different channels, and achieve high-precision distance measurement. Based on this, the distance to the first target can be obtained.

[0061] It should be noted that RSSI signal interaction can also be performed using the Bluetooth 6.0 protocol to estimate the distance between the first anchor device and the electronic device, thus obtaining the first predicted distance. Meanwhile, the second anchor device can use Bluetooth Low Energy protocols that support versions below Bluetooth 6.0, which saves costs and reduces Bluetooth communication overhead. The second anchor device can estimate the distance between itself and the electronic device through RSSI interaction, thus obtaining the second predicted distance. Both the first and second predicted distances are based on RSSI ranging, which is based on the principle that the signal power of radio waves or sound waves attenuates with propagation distance. Based on the known transmitted signal power of the beacon node and the received signal power of the node, the distance between the nodes can be calculated using the attenuation model between signal and distance. However, due to the influence of distance and obstacles during signal propagation, the signal power intensity attenuates, indirectly affecting the accuracy. For example, in parking lots, walls or other vehicles can obstruct the signal, resulting in weak signal strength. Electronic devices may not be able to control the vehicle's unlocking or greeting functions via Bluetooth in advance. Conversely, in open areas, strong signals may prevent users from triggering automatic locking from a distance, requiring manual operation of the electronic device. Therefore, in different scenarios, the first predicted distance deviates from the actual distance between the first anchor device and the electronic device to varying degrees. Similarly, in different scenarios, the second predicted distance deviates from the actual distance between the second anchor device and the electronic device to varying degrees. The accuracy of the first target distance is higher than that of the first predicted distance. The first predicted distance can be corrected using the first target distance, which in turn corrects each second predicted distance, resulting in multiple corrected ranging results for locating the electronic device.

[0062] This application's embodiments utilize a design combining CS (Signal Targeting) and RSSI (Resonance Signal Indication) technologies. CS technology, through phase ranging, provides a high-precision positioning and ranging algorithm, overcoming the shortcomings of RSSI technology, such as the susceptibility of signal strength to environmental interference. RSSI technology is mature, its algorithm is relatively simple, and it can receive signal strength data from various beacons in parallel, compensating for the delay deviation caused by the serial data transmission of CS technology, thus achieving higher-precision ranging and positioning. Furthermore, only one anchor device supporting CS technology is needed to achieve high-precision positioning, reducing the overhead of Bluetooth communication.

[0063] Please see Figure 3 , Figure 3 yes Figure 1 A flowchart of an optional sub-step of step S400 in the embodiments. 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:

[0064] S401. Calculate the distance compensation function based on the first target distance and the first predicted distance;

[0065] S402. Calculate at least two second target distances based on the distance compensation function and at least two predicted distances;

[0066] S403. Calculate and determine the position of the electronic device based on the first target distance and at least two second target distances.

[0067] Optionally, two second anchor devices are provided, located at the rear of the vehicle, while the first anchor device is located at the front of the vehicle, situated on the perpendicular bisector of the two second anchor devices. In this embodiment, a first target distance and two second target distances can be calculated, resulting in three distance measurement results. A coordinate system and coordinate center can be pre-set, with the coordinate center pre-set on the vehicle, for example, the first anchor device can be pre-set as the coordinate center. Furthermore, based on the three distance measurement results, the coordinate information of the electronic device relative to the coordinate center in the coordinate system is determined using a trilateration algorithm, thereby enabling the positioning of the terminal device.

[0068] This embodiment utilizes a trilateration algorithm to locate an electronic device, thereby obtaining the location result. It should be understood that the trilateration algorithm is only one optional embodiment; other algorithms can also be used for positioning, and this application does not impose any limitations on this embodiment.

[0069] Optionally, four second anchor devices are provided and arranged at the four corners of the vehicle, and one first anchor device is provided and arranged in the middle of the four second anchor devices. In this embodiment, a first target distance and four second target distances can be calculated. A coordinate system and coordinate center can be preset in advance. The coordinate system can be a three-dimensional coordinate system, and the electronic device can be located based on a polygon positioning algorithm.

[0070] In step S401, the distance compensation function is calculated according to the following formula:

[0071] K = S target1 / S pre1

[0072] Where K is the distance compensation function, S target1 S represents the distance to the first target. pre1 This is the first predicted distance.

[0073] It is understandable that when the first anchor device and the second anchor device are in the same scenario and are exchanging RSSI signals, 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 be used to correct each second distance to obtain multiple second target distances. Specifically, the calculated distance compensation function can be substituted into the following formula:

[0074] S target2 =KS pre2

[0075] Among them, S target2 S represents the distance to the second target. pre2 This is the second predicted distance.

[0076] Please see Figure 4 , Figure 4 yes Figure 1 Another optional sub-step flowchart of step S300 in the embodiment. In some embodiments, the first Bluetooth information further includes RTT data, and calculating the first target distance and the first predicted distance based on the first Bluetooth information includes:

[0077] S311. Calculate the first target distance based on the PBR data and RTT data in the first Bluetooth information;

[0078] S312. Calculate the first predicted distance based on the RSSI data in the first Bluetooth information.

[0079] RTT ranging in CS technology uses time-of-flight to estimate the distance between the initiator and the reflector. The arrival and departure times of both devices are recorded, and the distance is precisely calculated using the difference between them. In this embodiment, RTT ranging and PBR ranging are mutually corrected to obtain a more accurate first target distance, thus resulting in a more precise distance compensation function.

[0080] Please see Figure 5 , Figure 5 This is a schematic diagram of the structure of a Bluetooth positioning system in some embodiments of this 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. The first anchor device 12 supports a first version of the Bluetooth protocol and interacts with an electronic device 11 via Bluetooth connection for CS signal and RSSI signal interaction. The second anchor devices 13 support a second version of the Bluetooth protocol, where the first version is higher than the second version. The second anchor devices 13 interact with the electronic device 11 via Bluetooth connection for RSSI signal interaction. The Bluetooth positioning device 14 locates the electronic device 11 according to the aforementioned Bluetooth positioning method.

[0081] Please see Figure 6 , Figure 6 yes Figure 5 A schematic 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. The acquisition module 141 is used to acquire first Bluetooth information and second Bluetooth information. The first Bluetooth information includes at least PBR data and RSSI data generated by the interaction between the first anchor device 12 and the electronic device 11. The second Bluetooth information includes at least RSSI data generated by the interaction between two second anchor devices 13 and the electronic device 11. The calculation module 142 is used to calculate a first target distance and a first predicted distance based on the first Bluetooth information. The calculation module 142 is also used to calculate a second predicted distance based on the second Bluetooth information. The positioning module 143 is used to determine the position of the electronic device 11 based on the first target distance, the first predicted distance, and at least two second predicted distances.

[0082] It should be noted that when the first anchor device 12 supports Bluetooth version 1, it can simultaneously utilize phase ranging and signal strength ranging. Since a vehicle may be bound to multiple electronic devices 11, and some electronic devices 11 may not support version 1 and therefore lack phase ranging functionality, the Bluetooth positioning system 10 can still independently use RSSI technology for vehicle ranging and positioning. This ensures that users of electronic devices 11 that do not support Bluetooth version 1 can still use RSSI technology for keyless entry and keyless start.

[0083] Please see Figure 7 , Figure 7 It is applicable Figure 1 This is a schematic diagram illustrating a vehicle unlocking application scenario using the Bluetooth positioning method in this embodiment. Based on the positioning result, it is determined whether the vehicle can be unlocked, and the vehicle unlocking action can be controlled. For example, if the positioning result indicates that the electronic device is within a predetermined unlocking area, it is determined that the vehicle can be unlocked, and the vehicle can be controlled to unlock; 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 kept locked.

[0084] For example, the Bluetooth positioning method can determine the position of an electronic device relative to a vehicle and perform corresponding intelligent operations based on the position, defining the electronic device and the vehicle's position as five zones:

[0085] R1 area: The area with a radius of r1 centered on the center of the vehicle. Electronic devices must be located within the R1 area to allow the vehicle to start. At this time, simply press the start button to start the vehicle.

[0086] R2 area: A ring-shaped area with the center of the vehicle as the center point, with an outer radius of r2 and an inner radius of r1. Electronic devices are located within the R2 area as a necessary condition for passive entry to start.

[0087] R3 area: A ring-shaped area with the center of the vehicle as the center point, with an outer radius of r3 and an inner radius of r2. Electronic devices must be located within the R3 area as a necessary condition for initiating vehicle proximity unlocking, and can be actively unlocked.

[0088] R4 area: A ring-shaped area with the center of the vehicle as the center point, with an outer radius of r4 and an inner radius of r3. Electronic devices are located within the R4 area and can actively lock the doors and fold (retract) the rearview mirrors.

[0089] R5 area: A ring-shaped area with the center of the car as the center point, with an outer radius of r5 and an inner radius of r4. Electronic devices are located within the R5 area as a necessary condition for activating the welcome function, such as lighting up the roof or opening the rearview mirrors.

[0090] 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.

[0091] The above-described vehicle unlocking action based on positioning results is merely an example and is not intended to limit the embodiments of this application.

[0092] Furthermore, the first anchor device 12 supplies power to the second anchor device 13. When the electronic device 11 moves out of the 10m range, the connection between the electronic device 11 and the Bluetooth positioning system 10 is interrupted. At this time, the first anchor device 12 enters a disconnected state, and if this state continues 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 vehicle battery's efficiency. Conversely, once the electronic device 11 re-enters the 10-meter range, the system will activate the first anchor device 12, causing it to begin providing Bluetooth power to the second anchor device 13 and perform the authentication process for the electronic device 11.

[0093] Please continue reading. Figure 7Optionally, the second anchor device 13 communicates with the first anchor device 12 via a CAN FD (CAN with Flexible Datarate) bus. The first anchor device 12 communicates with the vehicle via a CAN FD bus and with the electronic device 11 via Bluetooth 6.0. The electronic device 11 can be any electronic device, such as a mobile terminal. The electronic device 11 can serve as a vehicle digital key and may include, but is not limited to, mobile phones, wristbands, and watches.

[0094] In some embodiments, the antennas of the first anchor device 12 and the second anchor device 13 are arranged vertically to address signal deviations caused by multipath effects, etc.

[0095] In some embodiments, at least two second anchor devices 13 are provided, and the at least two second anchor devices 13 respectively interact with the electronic device 11 via Bluetooth connection. One first anchor device 12 is provided and placed inside the vehicle's TBOX. While using CS and RSSI technologies to achieve high-precision ranging, it can also be reused as a cabin infotainment Bluetooth device to realize functions such as vehicle control and audio-visual entertainment.

[0096] 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. This design can be adapted to various vehicle models, such as compact SUVs and MPVs, achieving better positioning results while controlling costs.

[0097] Please see Figure 8 , Figure 8 yes Figure 5 A schematic diagram of the electronic device in the embodiment. In some embodiments, the electronic device 11 may include a processor 112 and a memory 111. The processor 112 plays a core role in the electronic device 11, responsible for controlling the overall operation process to implement all or part of the steps of the Bluetooth positioning method described above. The memory 111 is used to store various data to support the daily operation of the electronic device 11. This data may include instructions required to execute any application or method, as well as application-related data, such as first Bluetooth information, second Bluetooth information, coordinates of the electronic device 11, etc. The memory 111 may be a volatile or non-volatile storage device, or a combination thereof, such as magnetic storage 111, flash memory 111, magnetic disk, or optical disk.

[0098] The electronic device 11 may also include one or more of a multimedia component 113, an input / output (I / O) interface, and a communication component 115. The multimedia component 113 includes a screen and an audio component. The screen may be a touchscreen, while 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 memory 111 or transmitted via the communication component 115. The I / O interface 114 provides connectivity between the processor 112 and other interface modules, which may include a keyboard, 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, may be used for this purpose. Therefore, the communication component 115 may include various modules such as a Wi-Fi module, a Bluetooth module, and an NFC module.

[0099] In some embodiments, a computer-readable storage medium is also provided, wherein the program instructions, when executed by a processor, implement the steps of the Bluetooth positioning method described above. For example, the computer-readable storage medium may be the memory including the program instructions, which may be executed by a processor of an electronic device to complete the Bluetooth positioning method described above.

[0100] The terms "first," "second," and "third" used in the embodiments of this application are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Therefore, a feature defined as "first," "second," or "third" may explicitly or implicitly include at least one of that feature. In the description of this application, "multiple" means at least two, such as two, three, etc., unless otherwise explicitly specified. All directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of this application are only used to explain the relative positional relationships and movement of components in a specific posture (as shown in the figures). If the specific posture changes, the directional indication will also change accordingly. The terms "comprising" and "having," and any variations thereof, in the embodiments of this application are intended to cover non-exclusive inclusion. 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 may optionally include steps or units not listed, or may optionally include other steps or components inherent to these processes, methods, products, or devices.

[0101] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0102] The above description is only a part of the embodiments of this application and does not limit the scope of protection of this application. Any equivalent device or equivalent process transformation made based on the content of this application specification and drawings, or direct or indirect application in other related technical fields, are similarly included in the patent protection scope of this application.

Claims

1.A Bluetooth positioning method, characterized in that, the Bluetooth positioning method comprises the following steps: an electronic device interacts with a first anchor device to obtain first Bluetooth information, the first anchor device supports a first version Bluetooth protocol, and the first Bluetooth information at least comprises PBR data and RSSI data; the electronic device interacts with at least two second anchor devices to obtain at least two second Bluetooth information, each of the second anchor devices supports a second version Bluetooth protocol, the first version is higher than the second version, and each of the second Bluetooth information comprises RSSI data; based on the first Bluetooth information, a first target distance and a first predicted distance are calculated, which comprises: a first target distance is calculated according to PBR data in the first Bluetooth information, and a first predicted distance is calculated according to RSSI data in the first Bluetooth information; or the first Bluetooth information further comprises RTT data, a first target distance is calculated according to PBR data and RTT data in the first Bluetooth information, and a first predicted distance is calculated according to RSSI data in the first Bluetooth information; at least two second predicted distances are calculated based on the second Bluetooth information; a position of the electronic device is determined based on the first target distance, the first predicted distance and the at least two second predicted distances, which comprises: a distance compensation function is calculated based on the first target distance and the first predicted distance; at least two second target distances are calculated based on the distance compensation function and the at least two second predicted distances; and the position of the electronic device is determined based on the first target distance and the at least two second target distances; the step of calculating the distance compensation function based on the first target distance and the first predicted distance comprises calculating the distance compensation function according to the following formula: K = S target1 / S pre1 where K is the distance compensation function, S target1 is the first target distance, S pre1 is the first predicted distance. 2.A Bluetooth positioning system, characterized in that, comprises: a first anchor device, the first anchor device supports a first version Bluetooth protocol, and the first anchor device interacts with an electronic device based on Bluetooth connection to perform CS signal interaction and RSSI signal interaction; at least two second anchor devices, the second anchor devices support a second version Bluetooth protocol, the first version is higher than the second version, and the second anchor devices interact with the electronic device based on Bluetooth connection to perform RSSI signal interaction; and a Bluetooth positioning device, the Bluetooth positioning device positions the electronic device according to the Bluetooth positioning method of claim 1. 3.The Bluetooth positioning system of claim 2, characterized in that, the Bluetooth positioning device comprises: an acquisition module, the acquisition module is used to acquire first Bluetooth information and second Bluetooth information, the first Bluetooth information at least comprises PBR data and RSSI data generated by the first anchor device interacting with the electronic device, and the second Bluetooth information at least comprises RSSI data generated by the two second anchor devices interacting with the electronic device; a calculation module, the calculation module is used to calculate a first target distance and a first predicted distance according to the first Bluetooth information, and the calculation module is further used to calculate a second predicted distance according to the second Bluetooth information. A positioning module is configured to determine the position of the electronic device according to the first target distance, the first predicted distance, and the at least two second predicted distances. 4.The Bluetooth positioning system of claim 2, wherein, The at least two second anchor devices are connected to the first anchor device through a CAN FD bus, the first anchor device is connected to a vehicle through a CAN FD bus, and the first anchor device communicates with the electronic device through a Bluetooth protocol. 5.The Bluetooth positioning system of claim 2, wherein, The antennas of the first anchor device and the second anchor devices are arranged vertically. 6.The Bluetooth positioning system of claim 2, wherein, The electronic device is a mobile phone, a bracelet, or a watch that is bound to the first anchor device. 7.The Bluetooth positioning system of claim 2, wherein, The second anchor devices are provided in four and arranged at four corners of the vehicle, and the first anchor device is provided in one and arranged in the middle of the four second anchor devices. 8.A computer readable storage medium having a computer program stored thereon, wherein, The program, when executed by a processor, implements the steps of the Bluetooth positioning method of claim 1. 9.An electronic device, comprising: a memory having a computer program stored thereon; a processor configured to execute the computer program in the memory to implement the steps of the Bluetooth positioning method of claim 1. ​

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