Tire positioning method based on Bluetooth

Abstract

The invention relates to the technical field of vehicle detection, and discloses a Bluetooth-based tire positioning method, which is based on a positioning system consisting of a central node and four positioning anchor points, and comprises the following steps: selecting an anchor point as a target positioning anchor point to send a broadcast frame, scanning the broadcast frame by the central node, and completing BLE connection; the central node initiates a phase ranging request instruction, sends and receives a single-tone signal at a predetermined frequency point in a frequency hopping mode, and calculates a distance value between the central node and the target positioning anchor point according to channel response of the single-tone signal; calculating the position of a target positioning anchor point according to the distance value and the position of the central node; other anchor points are selected as target positioning anchor points, positioning is completed according to the steps, and tire positioning is completed by combining the position of the center node. According to the invention, the positioning of the wheel is completed based on the positioning system composed of the central node and the four positioning anchor points, and high positioning precision and a more convenient and automatic positioning mode can be provided on Bluetooth equipment with low power consumption and low cost.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle detection, and particularly relates to a tire positioning method based on Bluetooth. Background Art

[0002] With the improvement of living standards, vehicles have become the main means of transportation for people. Traffic accidents caused by flat tires have attracted people's attention. The tire pressure monitoring system based on Bluetooth signals is becoming more and more popular because of its small size, power saving, long transmission distance, and good anti-interference performance.

[0003] In the prior art, the Bluetooth transmission control method mainly adopts a tire positioning and pairing system based on Bluetooth communication. This system consists of a Bluetooth tire pressure sensor and a Bluetooth positioning module. The data monitored by the Bluetooth tire pressure sensor completes the information interaction with the main control through the Bluetooth communication module. The Bluetooth positioning module scans the RSSI of the Bluetooth tire pressure sensor and determines the position of the tire according to its own position. This technical method requires installing a Bluetooth positioning module at a fixed position on the vehicle body for tire position positioning. The Bluetooth positioning module and the Bluetooth tire pressure monitoring module use RSSI for positioning, and the accuracy of this technology is poor. In addition, another method adopts a positioning method based on Bluetooth AOD technology. AOD (angle of departure) positioning is performed by a device with an array antenna to transmit signals to a single-antenna terminal. When the antenna array at the transmitting end emits signals, due to the different distances and angles between the antenna and the receiving-end antenna, the signals arriving at the receiving end will have different phase differences and time differences and other characteristics. The receiving terminal uses the received signals and uses this information such as phase differences and time differences to calculate the direction of the incoming wave, and then determines the position or direction of the transmitting end to achieve positioning.

[0004] However, the technical problems still existing in the prior art include: For the tire positioning and pairing system based on traditional Bluetooth technology, it is necessary to determine the installation and pairing situation of the positioning system during initial installation or when the vehicle is moving. The degree of automation is poor, the system structure is relatively complex, and the later maintenance and repair will also be more complicated. For the positioning method based on Bluetooth RSSI ranging, the positioning accuracy is very poor due to large ranging errors. Bluetooth AOD technology requires both the transmitting end and the receiving end to have hardware supporting angle measurement. This means that the receiving device must be equipped with multiple antennas or an array antenna capable of accurately measuring angles. This technology has high requirements for hardware, and the measurement of angles is easily interfered by various factors in the environment. Summary of the Invention

[0005] The present invention provides a tire positioning method based on Bluetooth. The positioning of the wheel is completed by a positioning system composed of a BLE central node and four BLE positioning anchors, which can provide higher positioning accuracy and a more convenient and automated positioning method on low-power and low-cost Bluetooth devices.

[0006] The present invention provides a tire positioning method based on Bluetooth. A positioning system is composed of a BLE central node and four BLE positioning anchors. The BLE central node is installed at a fixed position of the vehicle, and the four BLE positioning anchors are respectively installed on the four tires of the vehicle. The method specifically includes:

[0007] S1. Select one of the four BLE positioning anchors as the target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein, the broadcast frame includes a Mac address and monitoring information.

[0008] S2. The BLE central node scans the broadcast frame of the target positioning anchor to complete the BLE connection between the BLE central node and the target positioning anchor.

[0009] S3. The BLE central node initiates a phase ranging request instruction, and the BLE central node and the target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point.

[0010] S4. The BLE central node calculates the distance value between the BLE central node and the target positioning anchor according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor respectively.

[0011] S5. Select other anchors among the four BLE positioning anchors as the target positioning anchor, and complete ranging in the manner of steps S1 - S4 to obtain the distance values from the four BLE positioning anchors to the central node, and complete tire positioning in combination with the position of the BLE central node.

[0012] Further, in step S3, the predetermined frequency point is the working frequency band of BLE, that is, 2.4 GHz.

[0013] The steps of the BLE central node and the target positioning anchor sending and receiving single-tone signals in a frequency hopping manner include:

[0014] S301. The BLE central node transmits a single-tone signal on the selected target channel, and the target positioning anchor receives the single-tone signal of the BLE central node on this channel; wherein, within the BLE communication frequency band range, the bandwidth of each channel is 1 MHz.

[0015] S302. The target positioning anchor immediately transmits a single-tone signal on the target channel, and the BLE central node receives the single-tone signal on this channel.

[0016] S303. After the BLE central node and the target positioning anchor complete the single-tone signal transmission and reception on this channel, they randomly jump to other channels for single-tone signal transmission and reception until the single-tone signal transmission and reception on all set channels are completed.

[0017] Further, in the step S4, the calculation formula for the distance value between the BLE central node and the target positioning anchor is:

[0018]

[0019] where c is the speed of light, dθ is the phase change of the single-tone transmission between the BLE central node and the target positioning anchor, df is the single-tone channel interval, which is 1 MHz.

[0020] Further, in the step S5, the steps of completing the tire positioning by combining the distance values from the four BLE positioning anchors to the central node with the position of the BLE central node include:

[0021] S601. Establish a rectangular coordinate system and place the position of the BLE central node at the origin, that is, (0, 0);

[0022] S602. Obtain the distances from the BLE central node to the first line segment, the second line segment, the third line segment, and the fourth line segment in the initial state, and use them as d1, d2, d3, and d4 respectively; where the four BLE positioning anchors form a rectangle as vertices, and the first line segment, the second line segment, the third line segment, and the fourth line segment are the four sides of the rectangle;

[0023] S603. Calculate the initial distance values from the four BLE positioning anchors to the central node according to d1, d2, d3, and d4 using the Pythagorean theorem;

[0024] S604. Compare the distance values from the four BLE positioning anchors to the central node calculated in step S4 with their corresponding initial distance values respectively to complete the tire positioning.

[0025] Further, after the step S6, it also includes:

[0026] S7. Select two of the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor respectively. The first target positioning anchor scans the broadcast frame of the second target positioning anchor to complete the BLE connection between the first target positioning anchor and the second target positioning anchor;

[0027] S8. The first target positioning anchor initiates a phase ranging request command, and the first target positioning anchor and the second target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0028] S9. The first target positioning anchor calculates the distance value between the first target positioning anchor and the second target positioning anchor according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the first target positioning anchor and the second target positioning anchor respectively;

[0029] S10. Report the distance value between the first target positioning anchor and the second target positioning anchor to the BLE central node;

[0030] S11. Select the other two anchors among the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor, and calculate the distance values between every two of the four BLE positioning anchors in the manner of steps S7 - S10, and upload the calculation results to the BLE central node for tire positioning calibration.

[0031] Further, in step S11, it further includes:

[0032] Calculate the lengths of the four sides and the diagonals of the rectangle formed by the first line segment, the second line segment, the third line segment, and the fourth line segment according to d1, d2, d3, and d4, and compare the lengths of the four sides and the diagonals with the distance values between every two of the four BLE positioning anchors to complete tire positioning calibration.

[0033] The present invention also provides a tire positioning device based on Bluetooth, a positioning system composed of a BLE central node and four BLE positioning anchors, the BLE central node is installed at a fixed position of the vehicle, and the four BLE positioning anchors are respectively installed on the four tires of the vehicle. The device specifically includes:

[0034] A selection module, configured to select one of the four BLE positioning anchors as the target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein, the broadcast frame includes a mac address and monitoring information;

[0035] A scanning module, configured to scan the broadcast frame of the target positioning anchor by the BLE central node to complete the BLE connection between the BLE central node and the target positioning anchor;

[0036] A transceiver module, configured to initiate a phase ranging request instruction by the BLE central node, and the BLE central node and the target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0037] A calculation module, configured to calculate the distance value between the BLE central node and the target positioning anchor by the BLE central node according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor respectively;

[0038] A loop module is used to select other anchor points among four BLE positioning anchor points as target positioning anchor points, complete ranging in the above manner, obtain the distance values from the four BLE positioning anchor points to the central node, and complete tire positioning in combination with the position of the BLE central node.

[0039] The present invention also provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the steps of the above method are implemented.

[0040] The present invention also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the above method are implemented.

[0041] The beneficial effects of the present invention are as follows:

[0042] 1. The positioning system based on the BLE central node and BLE positioning anchor points of the present invention adopts the latest Bluetooth 6.0 technology, which can accurately measure the distance between the BLE central node and the BLE positioning anchor points and the distance between each BLE positioning anchor point. According to the distance between the BLE central node and the BLE positioning anchor points and the position of the BLE central node, the position of the BLE positioning anchor points can be accurately obtained, with high positioning accuracy and the low-power consumption characteristics of BLE.

[0043] 2. When the positioning system in the present invention is initially installed, it can automatically complete tire positioning through wireless communication and can perform positioning calibration and anomaly monitoring during subsequent use, providing a more convenient method for the initial installation, repair, and maintenance of vehicles.

[0044] 3. The present invention uses wireless communication for positioning, can freely control the positioning and calibration of the tires, and at the same time, this positioning method uses Bluetooth 6.0 communication during operation, with the characteristics of low power consumption and high precision. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a schematic structural diagram of the positioning system in the present invention.

[0046] Figure 2 It is a schematic diagram of the ranging process between the BLE central node and the BLE positioning anchor points in the present invention.

[0047] Figure 3 It is a schematic diagram of the ranging process between two BLE positioning anchor points in the present invention.

[0048] Figure 4 It is a schematic structural diagram of the device according to an embodiment of the present invention.

[0049] Figure 5 It is a schematic internal structural diagram of the computer device according to an embodiment of the present invention.

[0050] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0051] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0052] The Bluetooth system has the characteristics of low cost and low power consumption. The present invention completes the wheel positioning based on the low-power Bluetooth 6.0 (hereinafter referred to as BLE) system, which can provide higher positioning accuracy and more convenient and automated positioning method on low-power and low-cost Bluetooth devices.

[0053] The present invention provides a tire positioning method based on Bluetooth, a positioning system composed of a BLE central node and four BLE positioning anchor points, such as Figure 1 As shown, the BLE central node is installed at a fixed position on the vehicle according to the vehicle model, and the four BLE positioning anchor points are installed on the four tires of the vehicle respectively. Figure 1 In the figure, the distances d1, d2, d3, and d4 are known in the positioning system.

[0054] like Figure 2 As shown, the ranging process of the BLE central node and four BLE positioning anchor points includes the following steps:

[0055] S1. Select one of the four BLE positioning anchor points as the target positioning anchor point, and the target positioning anchor point sends a broadcast frame; wherein the broadcast frame includes a Mac address and monitoring information, the Mac address is used for BLE connection, and the monitoring information is some status information of the tire, etc.

[0056] S2. The BLE central node scans the broadcast frame of the target positioning anchor point to complete the BLE connection between the BLE central node and the target positioning anchor point.

[0057] S3, the BLE central node initiates a phase ranging request instruction, and the BLE central node and the target positioning anchor point send and receive single-tone signals in a frequency hopping manner at a predetermined frequency (the frequency band of BLE operation, i.e. 2.4 GHz).

[0058] The steps of sending and receiving a single tone signal in a frequency hopping manner include:

[0059] S301, the BLE central node transmits a single-tone signal on the selected target channel (such as 2402MHz), and the target positioning anchor point receives the single-tone signal of the BLE central node on the channel (such as 2402MHz); wherein, within the BLE communication frequency band, each channel has a bandwidth of 1MHz, and a frequency hopping method is used to send and receive single-tone signals.

[0060] S302. The target positioning anchor immediately transmits a single-tone signal on the target channel (such as 2402 MHz), and the BLE central node receives the single-tone signal on this channel (such as 2402 MHz).

[0061] S303. After the BLE central node and the target positioning anchor complete the single-tone transceiver on this channel, they randomly jump to other channels for single-tone transceiver until the single-tone transceiver on all set channels is completed.

[0062] S4. The BLE central node calculates the distance value between the BLE central node and the target positioning anchor according to the channel responses of the single-tone signals received by the two devices (the BLE central node and the target positioning anchor). The calculation formula is:

[0063]

[0064] where c is the speed of light, dθ is the phase change of the single-tone transmission between the BLE central node and the target positioning anchor, df is the single-tone channel interval, 1 MHz.

[0065] S5. Select other anchors among the four BLE positioning anchors as the target positioning anchor, and complete the ranging in the manner of steps S1 - S4 to obtain the distance values from the four BLE positioning anchors to the central node, and complete the tire positioning in combination with the position of the BLE central node.

[0066] The steps of completing the tire positioning by combining the distance values from the four BLE positioning anchors to the central node with the position of the BLE central node include:

[0067] S501. Establish a rectangular coordinate system and place the position of the BLE central node at the origin, that is, (0, 0), as Figure 1 in which the coordinates of the left front positioning anchor (BLE positioning anchor 1) are represented as (-d4, d1), and the coordinates of the right front positioning anchor (BLE positioning anchor 2) are represented as (d2, d1).

[0068] S502. Obtain the distances from the BLE central node to the first line segment, the second line segment, the third line segment, and the fourth line segment in the initial state, and use them as d1, d2, d3, and d4 respectively; among them, the four BLE positioning anchors form a rectangle as vertices, and the first line segment, the second line segment, the third line segment, and the fourth line segment are the four sides of the rectangle; as Figure 1As shown in the figure, the distance between BLE positioning anchor point 1 and BLE positioning anchor point 2 is the first line segment, the distance between BLE positioning anchor point 2 and BLE positioning anchor point 4 is the second line segment, the distance between BLE positioning anchor point 4 and BLE positioning anchor point 3 is the third line segment, the distance between BLE positioning anchor point 3 and BLE positioning anchor point 1 is the fourth line segment, and the distances from the BLE central node to them are d1, d2, d3, and d4 respectively.

[0069] S503. Calculate the initial positions of the four BLE positioning anchor points according to d1, d2, d3, and d4 using the Pythagorean theorem and represent them in coordinates.

[0070] S504. Compare the actual distances from the four BLE positioning anchor points calculated in step S4 to the central node with their corresponding initial distances respectively to complete the tire positioning.

[0071] Specifically, as described above Figure 1 the relative positions of the BLE central node and the four BLE positioning anchor points are described, and d1, d2, d3, and d4 are described. According to the Pythagorean theorem, the distance from the left front positioning anchor point (BLE positioning anchor point 1) to the central node can be calculated as the distance from the right front positioning anchor point (BLE positioning anchor point 2) to the central node is the distance from the left front positioning anchor point (BLE positioning anchor point 1) to the right front positioning anchor point (BLE positioning anchor point 2) is d4 + d2.

[0072] The left front positioning anchor point (BLE positioning anchor point 1) measures the distance to the central node through the above steps and the measured distance is close to then it can be determined as the left front positioning anchor point. The right front positioning anchor point (BLE positioning anchor point 2) measures the distance to the central node through the steps and the measured distance is close to then it can be determined as the right front positioning anchor point. After the initial positioning of all four anchor points is completed, start the phase distance measurement between the positioning anchor points. For example, if the measured distance between BLE positioning anchor point 1 and BLE positioning anchor point 2 is about d4 + d2, the positions of positioning anchor point 1 and positioning anchor point 2 can be further confirmed.

[0073] Such as Figure 3 As shown in the figure, after completing the ranging and positioning between the central node and the positioning anchor points, continue to calculate the distances between the BLE positioning anchor points (steps S7 - S11), which can be used for initial position calibration and can also be used for subsequent tire positioning calibration. Specifically, it includes the following steps:

[0074] S7. Select two of the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor respectively. The second positioning anchor sends a broadcast frame (including the MAC address, monitoring information, etc.). The first target positioning anchor scans the broadcast frame of the second target positioning anchor to complete the BLE connection between the first target positioning anchor and the second target positioning anchor.

[0075] S8. The first target positioning anchor initiates a phase ranging request command. The first target positioning anchor and the second target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point.

[0076] S9. The first target positioning anchor calculates the distance value between the first target positioning anchor and the second target positioning anchor according to the channel responses of the single-tone signals received by the two devices (the first target positioning anchor and the second target positioning anchor). The calculation method is the same as that in step S4.

[0077] S10. Report the distance value between the first target positioning anchor and the second target positioning anchor to the BLE central node to further determine the positions of each anchor and prevent misjudgment.

[0078] S11. Select the other two of the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor, and calculate the distance values between every two of the four BLE positioning anchors in the manner of steps S7 - S10, and upload the calculation results to the BLE central node for the calibration of the initial position of the tire and the subsequent tire positioning calibration.

[0079] Specifically, calculate the lengths of the four sides and the diagonal of the rectangle formed by the first line segment, the second line segment, the third line segment, and the fourth line segment according to d1, d2, d3, and d4, and compare the lengths of the four sides and the diagonal with the distance values between every two of the four BLE positioning anchors to complete the tire positioning calibration. During the use of the vehicle, the positions of the four tires can be obtained in real time. During maintenance, fine adjustment of the tire positions can be performed.

[0080] The positioning system of the present invention, which is composed of a BLE central node and BLE positioning anchors, adopts the latest Bluetooth 6.0 technology and can accurately measure the distance between the BLE central node and the BLE positioning anchors as well as the distances between the BLE positioning anchors. According to the distance between the BLE central node and the BLE positioning anchors and the position of the BLE central node, the position of the BLE positioning anchors can be accurately obtained, with high positioning accuracy and the low-power consumption characteristics of BLE. During the initial installation, the tire positioning can be automatically completed through wireless communication, and positioning calibration and anomaly monitoring can be carried out during subsequent use, providing a more convenient method for the initial installation, repair, and maintenance of vehicles. The present invention uses wireless communication for positioning, can freely control the positioning and calibration of the tires, and at the same time, this positioning method uses Bluetooth 6.0 communication during operation, with the characteristics of low power consumption and high accuracy.

[0081] As Figure 4 shown, the present invention also provides a tire positioning device based on Bluetooth, a positioning system composed of a BLE central node and four BLE positioning anchors. The BLE central node is installed at a fixed position of the vehicle, and the four BLE positioning anchors are respectively installed on the four tires of the vehicle. The device specifically includes:

[0082] Selection module 1, which is used to select one of the four BLE positioning anchors as the target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein, the broadcast frame includes the mac address and monitoring information;

[0083] Scanning module 2, which is used for the BLE central node to scan the broadcast frame of the target positioning anchor to complete the BLE connection between the BLE central node and the target positioning anchor;

[0084] Transceiving module 3, which is used for the BLE central node to initiate a phase ranging request instruction, and the BLE central node and the target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0085] Calculation module 4, which is used for the BLE central node to calculate the distance value between the BLE central node and the target positioning anchor according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor respectively;

[0086] Loop module 5, which is used to select other anchors among the four BLE positioning anchors as the target positioning anchor to complete ranging in the above manner, obtain the distance values from the four BLE positioning anchors to the central node, and complete the tire positioning in combination with the position of the BLE central node.

[0087] In one embodiment, in the transceiving module 3, the predetermined frequency point is the working frequency band of BLE, that is, 2.4 GHz;

[0088] The BLE central node and the target positioning anchor point send and receive single-tone signals in a frequency-hopping manner, including:

[0089] A target channel selection unit, configured to enable the BLE central node to transmit a single-tone signal on a selected target channel, and the target positioning anchor point to receive the single-tone signal of the BLE central node on this channel; wherein, within the BLE communication frequency band range, the bandwidth of each channel is 1 MHz;

[0090] A target channel transceiver unit, configured to enable the target positioning anchor point to immediately transmit a single-tone signal on the target channel, and the BLE central node to receive the single-tone signal on this channel;

[0091] A jump unit, configured to enable the BLE central node and the target positioning anchor point to randomly jump to other channels for single-tone signal transmission and reception after completing the single-tone signal transmission and reception on this channel, until the single-tone signal transmission and reception on all set channels are completed.

[0092] In one embodiment, in calculation module 4, the calculation formula for calculating the distance value between the BLE central node and the target positioning anchor point is:

[0093]

[0094] Wherein, c is the speed of light, dθ is the phase change of the single-tone signal transmission between the BLE central node and the target positioning anchor point, df is the single-tone channel interval, 1 MHz.

[0095] In one embodiment, the loop module 5 includes:

[0096] An establishment unit, configured to establish a rectangular coordinate system and place the position of the BLE central node at the origin, i.e., (0, 0);

[0097] An acquisition unit, configured to acquire the distances from the BLE central node to the first line segment, the second line segment, the third line segment, and the fourth line segment in the initial state, and respectively use them as d1, d2, d3, and d4; wherein, four BLE positioning anchor points form a rectangle as vertices, and the first line segment, the second line segment, the third line segment, and the fourth line segment are the four sides of the rectangle;

[0098] An initial position calculation unit, configured to calculate the initial distance values of the four BLE positioning anchor points to the central node according to d1, d2, d3, and d4 using the Pythagorean theorem;

[0099] A comparison unit, configured to compare the distance values of the four BLE positioning anchor points to the central node calculated by the calculation module 4 with their corresponding initial distances respectively to complete the tire positioning.

[0100] In one embodiment, it further includes:

[0101] A positioning anchor point selection module, configured to select two of the four BLE positioning anchor points as the first target positioning anchor point and the second target positioning anchor point respectively. The first target positioning anchor point scans the broadcast frame of the second target positioning anchor point to complete the BLE connection between the first target positioning anchor point and the second target positioning anchor point;

[0102] A positioning anchor point transceiver module, configured to initiate a phase ranging request instruction by the first target positioning anchor point. The first target positioning anchor point and the second target positioning anchor point send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0103] A positioning anchor point distance calculation module, configured to calculate the distance value between the first target positioning anchor point and the second target positioning anchor point by the first target positioning anchor point according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the first target positioning anchor point and the second target positioning anchor point respectively;

[0104] A reporting module, configured to report the distance value between the first target positioning anchor point and the second target positioning anchor point to the BLE central node;

[0105] A positioning anchor point loop calculation module, configured to select the other two of the four BLE positioning anchor points as the first target positioning anchor point and the second target positioning anchor point, so as to complete the calculation of the distance values between every two of the four BLE positioning anchor points according to the above steps, and upload the calculation results to the BLE central node for tire positioning calibration.

[0106] In one embodiment, the positioning anchor point loop calculation module further includes:

[0107] Calculate the lengths of the four sides and the diagonals of the rectangle formed by the first line segment, the second line segment, the third line segment, and the fourth line segment according to d1, d2, d3, and d4, and compare the lengths of the four sides and the diagonals with the distance values between every two of the four BLE positioning anchor points to complete the tire positioning calibration.

[0108] The above-mentioned modules and units are all used to correspondingly execute each step in the above-mentioned tire positioning method based on Bluetooth, and the specific implementation manners thereof refer to the method embodiments described above, and will not be elaborated herein.

[0109] As Figure 5 shown, the present invention further provides a computer device, which may be a server, and its internal structure may be as Figure 5As shown in the figure. The computer device includes a processor, a memory, a network interface, and a database connected via a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store all the data required for the process of the Bluetooth-based tire positioning method. The network interface of the computer device is used to communicate with an external terminal via a network connection. When the computer program is executed by the processor, it implements the Bluetooth-based tire positioning method.

[0110] Those skilled in the art can understand that Figure 5 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied.

[0111] An embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, it implements any one of the above Bluetooth-based tire positioning methods.

[0112] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, storage, database, or other medium provided in the present application and used in the embodiments can include non-volatile and / or volatile memories. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory can include random access memory (RAM) or an external cache. By way of illustration and not limitation, RAM is available in various forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0113] It should be noted that in this text, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article or method comprising a series of elements not only includes those elements but also other elements not expressly listed, or further includes elements inherent to such process, apparatus, article or method. Without further limitation, an element defined by the statement "comprising an..." does not exclude the presence of additional identical elements in the process, apparatus, article or method comprising such element.

[0114] The above are only the preferred embodiments of the present invention, and do not limit the patent scope of the present invention accordingly. Any equivalent structure or equivalent process transformation made by using the content of the specification and drawings of the present invention, or directly or indirectly applied in other related technical fields, shall be similarly included in the patent protection scope of the present invention.

Claims

1. A Bluetooth-based tire positioning method, characterized in that, A positioning system composed of a BLE central node and four BLE positioning anchors, where the BLE central node is installed at a fixed position of the vehicle, and the four BLE positioning anchors are respectively installed on the four tires of the vehicle. The method specifically includes: S1. Select one of the four BLE positioning anchors as the target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein, the broadcast frame includes a Mac address and monitoring information; S2. The BLE central node scans the broadcast frame of the target positioning anchor to complete the BLE connection between the BLE central node and the target positioning anchor; S3. The BLE central node initiates a phase ranging request instruction, and the BLE central node and the target positioning anchor send and receive single-tone signals in a hopping manner at a predetermined frequency band; S4. The BLE central node calculates the distance value between the BLE central node and the target positioning anchor according to the channel responses of the single-tone signals received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor respectively; S5. Select other anchors among the four BLE positioning anchors as the target positioning anchor, and complete the ranging in the manner of steps S1 - S4 to obtain the distance values from the four BLE positioning anchors to the central node and complete the tire positioning in combination with the position of the BLE central node.

2. The Bluetooth-based tire positioning method according to claim 1, wherein In step S3, the predetermined frequency band is the working frequency band of BLE, that is, 2.4 GHz; The step of the BLE central node and the target positioning anchor sending and receiving single-tone signals in a hopping manner includes: S301. The BLE central node transmits a single-tone signal on the selected target channel, and the target positioning anchor receives the single-tone signal of the BLE central node on this channel; wherein, within the BLE communication frequency band range, the bandwidth of each channel is 1 MHz; S302. The target positioning anchor immediately transmits a single-tone signal on the target channel, and the BLE central node receives the single-tone signal on this channel; S303. After the BLE central node and the target positioning anchor complete the single-tone signal transmission and reception on this channel, they randomly jump to other channels for single-tone signal transmission and reception until the single-tone signal transmission and reception on all set channels are completed.

3. The tire positioning method based on Bluetooth according to claim 1, wherein In step S4, the calculation formula for calculating the distance value between the BLE central node and the target positioning anchor is: wherein, is the speed of light, is the phase change of the single-tone transmission between the BLE central node and the target positioning anchor point, is the single-tone channel interval, 1 MHz.

4. The method for positioning a tire based on Bluetooth according to claim 1, wherein In step S5, the step of completing the tire positioning by combining the distance values from the four BLE positioning anchors to the central node with the position of the BLE central node includes: S601. Establish a rectangular coordinate system and place the position of the BLE central node at the origin, that is, (0, 0); S602. Obtain the distances from the BLE central node to the first line segment, the second line segment, the third line segment, and the fourth line segment in the initial state, and use them as d1, d2, d3, and d4 respectively; wherein, the four BLE positioning anchors form a rectangle as vertices, and the first line segment, the second line segment, the third line segment, and the fourth line segment are the four sides of the rectangle; S603. Calculate the initial distances from the four BLE positioning anchors to the central node according to d1, d2, d3, and d4 using the Pythagorean theorem; S604. Compare the true distances from the four BLE positioning anchors calculated in step S4 to the central node with their corresponding initial distances respectively to complete tire positioning.

5. The method for positioning a tire based on Bluetooth according to claim 1, wherein, After the said step S6, it further includes: S7. Select two of the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor respectively. The first target positioning anchor scans the broadcast frame of the second target positioning anchor to complete the BLE connection between the first target positioning anchor and the second target positioning anchor. S8. The first target positioning anchor initiates a phase ranging request instruction. The first target positioning anchor and the second target positioning anchor send and receive single - tone signals in a frequency - hopping manner at a predetermined frequency. S9. The first target positioning anchor calculates the distance value between the first target positioning anchor and the second target positioning anchor according to the channel responses of the single - tone signals received by the two devices. Here, the two devices are the first target positioning anchor and the second target positioning anchor respectively. S10. Report the distance value between the first target positioning anchor and the second target positioning anchor to the BLE central node. S11. Select the other two of the four BLE positioning anchors as the first target positioning anchor and the second target positioning anchor, and calculate the distance values between every two of the four BLE positioning anchors in the manner of steps S7 - S10, and upload the calculation results to the BLE central node for tire positioning calibration.

6. The Bluetooth-based tire positioning method according to claim 5, wherein In the said step S11, it further includes: Calculate the lengths of the four sides and the diagonal of the rectangle formed by the first line segment, the second line segment, the third line segment, and the fourth line segment according to d1, d2, d3, d4, and compare the lengths of the four sides and the diagonal with the distance values between every two of the four BLE positioning anchors to complete tire positioning calibration.

7. A tire positioning device based on Bluetooth, characterized in that, Based on a positioning system composed of a BLE central node and four BLE positioning anchors, the BLE central node is installed at a fixed position of the vehicle, and the four BLE positioning anchors are respectively installed on the four tires of the vehicle. The device specifically includes: A selection module, which is used to select one of the four BLE positioning anchors as the target positioning anchor, and the target positioning anchor sends a broadcast frame. Here, the broadcast frame includes the mac address and monitoring information. A scanning module, which is used for the BLE central node to scan the broadcast frame of the target positioning anchor to complete the BLE connection between the BLE central node and the target positioning anchor. A transceiver module, which is used for the BLE central node to initiate a phase ranging request instruction, and the BLE central node and the target positioning anchor send and receive single - tone signals in a frequency - hopping manner at a predetermined frequency. A calculation module, which is used for the BLE central node to calculate the distance value between the BLE central node and the target positioning anchor according to the channel responses of the single - tone signals received by the two devices. Here, the two devices are the BLE central node and the target positioning anchor respectively. A loop module, configured to select other anchors among the four BLE positioning anchors as target positioning anchors, so as to complete ranging in the above-mentioned manner, obtain the distance values from the four BLE positioning anchors to the central node, and complete tire positioning in combination with the position of the BLE central node.

8. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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