A bluetooth-based tire positioning method

Abstract

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

Description

Technical Field

[0001] This invention relates to the field of vehicle inspection technology, and in particular to a Bluetooth-based tire positioning method. Background Technology

[0002] As living standards improve, vehicles have become the main means of transportation. Traffic accidents caused by tire blowouts have attracted people's attention. Tire pressure monitoring systems based on Bluetooth signals are becoming increasingly popular due to their small size, low power consumption, long transmission distance, and good anti-interference performance.

[0003] Existing Bluetooth transmission control technologies primarily employ Bluetooth-based tire positioning pairing systems. These systems consist of Bluetooth tire pressure sensors and Bluetooth positioning modules. Data monitored by the Bluetooth tire pressure sensors is exchanged with the main controller via the Bluetooth communication module. The Bluetooth positioning module scans the RSSI of the Bluetooth tire pressure sensor and determines the tire's position based on its own location. This method requires a Bluetooth positioning module to be installed at a fixed location on the vehicle body for tire positioning. The Bluetooth positioning module and the Bluetooth tire pressure monitoring module use RSSI for positioning, resulting in relatively poor accuracy. Alternatively, another approach uses Bluetooth AOD (Angle of Departure) technology for positioning. AOD positioning involves a device with an array antenna transmitting a signal to a single antenna terminal. Due to differences in distance and angle between the transmitting and receiving antennas, the signal arriving at the receiving end exhibits different phase and time differences. The receiving terminal uses these phase and time differences to calculate the wave direction and thus determine the transmitter's position or direction, achieving positioning.

[0004] However, existing technologies still have several technical problems: Tire positioning pairing systems based on traditional Bluetooth technology require determining the installation and pairing status during initial installation or when the vehicle is moving, resulting in poor automation, a complex system structure, and complicated maintenance and repair. Bluetooth RSSI-based ranging and positioning methods suffer from poor positioning accuracy due to large ranging errors. Bluetooth AOD technology requires both the transmitting and receiving ends to have hardware that supports angle measurement. This means the receiving device must be equipped with multiple antennas or an array antenna capable of accurately measuring angles. This technology has high hardware requirements, and angle measurements are easily affected by various environmental factors. Summary of the Invention

[0005] This invention provides a Bluetooth-based tire positioning method. The positioning system, consisting of a BLE central node and four BLE positioning anchor points, completes the wheel positioning. It can provide high positioning accuracy and a more convenient and automated positioning method on low-power, low-cost Bluetooth devices.

[0006] This invention provides a Bluetooth-based tire positioning method, which uses a positioning system consisting of a BLE central node and four BLE positioning anchor points. The BLE central node is installed at a fixed position on the vehicle, and the four BLE positioning anchor points are respectively installed on the four tires of the vehicle. The method specifically includes:

[0007] 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;

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

[0009] S3. The BLE central node initiates a phase ranging request command, 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 point.

[0010] S4. The BLE central node calculates the distance between the BLE central node and the target positioning anchor point based on the channel response of the single-tone signal received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor point, respectively.

[0011] S5. Select other anchor points among the four BLE positioning anchor points as target positioning anchor points, and complete the distance measurement in the manner of steps S1-S4 to obtain the distance values ​​from the four BLE positioning anchor points to the center node, and complete the tire positioning by combining the position of the BLE center node.

[0012] Furthermore, in step S3, the predetermined frequency point is the BLE operating frequency band, namely 2.4GHz;

[0013] The steps for the BLE central node and the target positioning anchor point to transmit and receive 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 from the BLE central node on the same channel; wherein, within the BLE communication frequency band, each channel has a bandwidth of 1MHz;

[0015] S302, The target positioning anchor point immediately transmits a single-tone signal in the target channel, and the BLE central node receives the single-tone signal in the channel;

[0016] S303. After completing the single-tone transmission and reception of the channel, the BLE central node and the target positioning anchor point randomly switch to other channels to perform single-tone transmission and reception until the single-tone transmission and reception of all set channels are completed.

[0017] Further, in step S4, the formula for calculating the distance between the BLE center node and the target positioning anchor point is as follows:

[0018] ;

[0019] in, At the speed of light, The phase change of monotone transmission between the BLE central node and the target positioning anchor point. The single-tone channel spacing is 1MHz.

[0020] Furthermore, in step S5, the step of combining the distance values ​​from the four BLE positioning anchor points to the center node with the position of the BLE center node to complete tire positioning includes:

[0021] S501. Establish a rectangular coordinate system and place the position of the BLE center node at the origin, i.e. (0,0);

[0022] S502. Obtain the distances from the BLE center 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 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;

[0023] S503. Calculate the initial distance values ​​from the four BLE positioning anchor points to the center node using the Pythagorean theorem based on d1, d2, d3, and d4.

[0024] S504. The distance values ​​from the four BLE positioning anchor points to the center node calculated according to step S4 are compared with their corresponding initial distance values ​​to complete the tire positioning.

[0025] Furthermore, after step S5, the method further includes:

[0026] S6. 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.

[0027] S7. The first target positioning anchor point initiates a phase ranging request command, and 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.

[0028] S8. The first target positioning anchor point calculates the distance between the first target positioning anchor point and the second target positioning anchor point based on the channel response of the single-tone signal received by the two devices; wherein, the two devices are the first target positioning anchor point and the second target positioning anchor point, respectively.

[0029] S9. Report the distance between the first target positioning anchor point and the second target positioning anchor point to the BLE central node;

[0030] S10. Select the other two anchor points among the four BLE positioning anchor points as the first target positioning anchor point and the second target positioning anchor point, and calculate the distance between each pair of the four BLE positioning anchor points in accordance with the steps S6-S10. Then, upload the calculation results to the BLE central node for tire positioning calibration.

[0031] Furthermore, step S10 also includes:

[0032] Calculate the lengths of the four sides and diagonals of the rectangle formed by the first, second, third, and fourth line segments based on d1, d2, d3, and d4. Then compare the lengths of the four sides and diagonals with the distances between each pair of the four BLE positioning anchor points to complete the tire positioning calibration.

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

[0034] The selection module is used to 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;

[0035] The scanning module is used by the BLE central node to scan the broadcast frames of the target positioning anchor point in order to complete the BLE connection between the BLE central node and the target positioning anchor point.

[0036] The transceiver module is used for the BLE central node to initiate a phase ranging request command, and for the BLE central node and the target positioning anchor point to send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0037] The calculation module is used by the BLE central node to calculate the distance between the BLE central node and the target positioning anchor point based on the channel response of the single-tone signal received by the two devices; wherein the two devices are the BLE central node and the target positioning anchor point, respectively.

[0038] The loop module is used to select other anchor points among the four BLE positioning anchor points as target positioning anchor points, and to complete the distance measurement in the above manner, obtain the distance values ​​from the four BLE positioning anchor points to the center node, and combine them with the position of the BLE center node to complete the tire positioning.

[0039] The present invention also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the steps of the above-described method.

[0040] The present invention also provides a computer-readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of the above-described method.

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

[0042] 1. This invention relates to a positioning system based on a BLE central node and BLE positioning anchors, employing the latest Bluetooth 6.0 technology. This system can accurately measure the distance between the BLE central node and the BLE positioning anchors, as well as the distances between each BLE positioning anchor. Based on the distance between the BLE central node and the BLE positioning anchors, and the position of the BLE central node, the location of the BLE positioning anchors can be accurately determined. This system offers high positioning accuracy and leverages the low power consumption characteristics of BLE.

[0043] 2. The positioning system in this invention can automatically complete tire positioning during initial installation via wireless communication and can perform positioning calibration and anomaly monitoring during subsequent use, providing a more convenient method for the initial installation, maintenance, and upkeep of vehicles.

[0044] 3. This invention uses wireless communication for positioning, which allows for flexible control of tire positioning and calibration. Furthermore, this positioning method utilizes Bluetooth 6.0 communication, offering low power consumption and high precision. Attached Figure Description

[0045] Figure 1 This is a schematic diagram of the positioning system in this invention.

[0046] Figure 2 This is a schematic diagram of the distance measurement process between the BLE center node and the BLE positioning anchor point in this invention.

[0047] Figure 3 This is a schematic diagram of the distance measurement process between two BLE positioning anchor points in this invention.

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

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

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

[0051] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0052] Bluetooth systems are characterized by low cost and low power consumption. This invention uses Bluetooth Low Energy 6.0 (BLE) to locate wheels, providing high positioning accuracy and a more convenient automated positioning method on low-power, low-cost Bluetooth devices.

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

[0054] like Figure 2 As shown, the ranging process for 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 tires, etc.

[0056] S2. The BLE central node scans the broadcast frames 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 command, and the BLE central node and the target positioning anchor point transmit and receive single-tone signals in a frequency hopping manner at a predetermined frequency point (the frequency band where BLE works, i.e., 2.4GHz).

[0058] The steps for transmitting and receiving single-tone signals using frequency hopping include:

[0059] S301, the BLE central node transmits a single-tone signal on a selected target channel (e.g., 2402MHz), and the target positioning anchor receives the single-tone signal from the BLE central node on the same channel (e.g., 2402MHz); wherein, within the BLE communication frequency band, each channel has a bandwidth of 1MHz, and the single-tone signal is transmitted and received using a frequency hopping method.

[0060] S302, The target positioning anchor point immediately transmits a single-tone signal in the target channel (e.g., 2402MHz), and the BLE central node receives the single-tone signal in the same channel (e.g., 2402MHz).

[0061] S303. After completing the single-tone transmission and reception of the channel, the BLE central node and the target positioning anchor point randomly switch to other channels to perform single-tone transmission and reception until the single-tone transmission and reception of all set channels are completed.

[0062] S4. The BLE central node calculates the distance between the BLE central node and the target positioning anchor point based on the channel response of the single-tone signal received by the two devices (BLE central node and target positioning anchor point). The calculation formula is as follows:

[0063] ;

[0064] in, At the speed of light, The phase change of monotone transmission between the BLE central node and the target positioning anchor point. The single-tone channel spacing is 1MHz.

[0065] S5. Select other anchor points among the four BLE positioning anchor points as target positioning anchor points, and complete the distance measurement in the manner of steps S1-S4 to obtain the distance values ​​from the four BLE positioning anchor points to the center node, and complete the tire positioning by combining the position of the BLE center node.

[0066] The steps for completing tire alignment by combining the distances from the four BLE positioning anchor points to the center node with the position of the BLE center node include:

[0067] S501. Establish a rectangular coordinate system and place the position of the BLE center node at the origin, i.e., (0,0), as follows: Figure 1 In the diagram, the coordinates of the left front positioning anchor point (BLE positioning anchor point 1) are represented as (-d4, d1), and the coordinates of the right front positioning anchor point (BLE positioning anchor point 2) are represented as (d2, d1).

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

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

[0070] S504. The actual distances from the four BLE positioning anchor points to the center node calculated in step S4 are compared with their corresponding initial distances to complete tire positioning.

[0071] Specifically, as above Figure 1 The document describes the relative positions of the BLE center node and the four BLE positioning anchor points, and specifies d1, d2, d3, and d4. Using the Pythagorean theorem, the distance from the left front positioning anchor point (BLE positioning anchor point 1) to the center node can be calculated as follows: The distance from the right front positioning anchor point (BLE positioning anchor point 2) to the center 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) was measured using the above steps, and the distance to the center node was found to be close. This can be identified as the left front positioning anchor point. The right front positioning anchor point (BLE positioning anchor point 2) is measured using step-by-step distance measurement, and its distance from the center node is found to be close. This can be identified as the right front positioning anchor point. After all four anchor points have been initially positioned, phase ranging between the positioning anchor points is initiated. If the distance between BLE positioning anchor point 1 and BLE positioning anchor point 2 is measured to be approximately d4+d2, the positions of positioning anchor point 1 and positioning anchor point 2 can be further confirmed.

[0073] like Figure 3 As shown, after completing the distance measurement and positioning between the central node and the positioning anchor point, the distance between each BLE positioning anchor point is calculated (steps S6-S10). This can be used for initial position calibration or subsequent tire alignment calibration, and specifically includes the following steps:

[0074] S6. 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 second positioning anchor point sends a broadcast frame (including MAC address and monitoring information, etc.). 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.

[0075] S7. The first target positioning anchor point initiates a phase ranging request command, and 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.

[0076] S8. The first target positioning anchor point calculates the distance between the first target positioning anchor point and the second target positioning anchor point based on the channel response of the single tone signal received by the two devices (the first target positioning anchor point and the second target positioning anchor point). The calculation method is the same as in step S4.

[0077] S9. The distance between the first target positioning anchor point and the second target positioning anchor point is reported to the BLE central node to further determine the position of each anchor point and prevent misjudgment.

[0078] S10. Select the other two anchor points among the four BLE positioning anchor points as the first target positioning anchor point and the second target positioning anchor point. Calculate the distance between each pair of the four BLE positioning anchor points in accordance with steps S6-S10, and upload the calculation results to the BLE central node for tire initial position calibration and subsequent tire positioning calibration.

[0079] Specifically, the lengths of the four sides and diagonals of the rectangle formed by the first, second, third, and fourth line segments are calculated based on d1, d2, d3, and d4. These lengths are then compared with the pairwise distances between the four BLE positioning anchor points to complete the tire alignment calibration. During vehicle use, the position of the four tires can be acquired in real time. Fine adjustments to the tire position can be made during maintenance and repairs.

[0080] This invention presents a positioning system based on a BLE central node and BLE positioning anchor points, employing the latest Bluetooth 6.0 technology. It can accurately measure the distance between the BLE central node and the BLE positioning anchor points, as well as the distance between each BLE positioning anchor point. Based on 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, exhibiting high positioning accuracy and leveraging the low power consumption characteristics of BLE. During initial installation, tire positioning can be automated via wireless communication, and subsequent positioning calibration and anomaly monitoring can be performed, providing a more convenient method for initial vehicle installation, repair, and maintenance. This invention uses wireless communication for positioning, allowing for flexible control of tire positioning and calibration. Furthermore, this positioning method utilizes Bluetooth 6.0 communication, featuring low power consumption and high accuracy.

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

[0082] Selection module 1 is used to 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;

[0083] Scanning module 2 is used by the BLE central node to scan the broadcast frames of the target positioning anchor point in order to complete the BLE connection between the BLE central node and the target positioning anchor point;

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

[0085] Calculation module 4 is used by the BLE central node to calculate the distance between the BLE central node and the target positioning anchor point based on the channel response of the single-tone signal received by the two devices; wherein, the two devices are the BLE central node and the target positioning anchor point, respectively.

[0086] The loop module 5 is used to select other anchor points among the four BLE positioning anchor points as target positioning anchor points, so as to complete the distance measurement in the above manner, obtain the distance values ​​from the four BLE positioning anchor points to the center node, and combine them with the position of the BLE center node to complete the tire positioning.

[0087] In one embodiment, the predetermined frequency point in transceiver module 3 is the BLE operating frequency band, namely 2.4GHz;

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

[0089] The target channel selection unit is used for the BLE central node to transmit a single-tone signal on the selected target channel, and the target positioning anchor point to receive the single-tone signal from the BLE central node on the selected target channel; wherein, within the BLE communication frequency band, each channel has a bandwidth of 1MHz;

[0090] The target channel transceiver unit is used for the target positioning anchor point to immediately transmit a single-tone signal on the target channel, and for the BLE central node to receive the single-tone signal on the channel.

[0091] The jump unit is used so that after the BLE central node and the target positioning anchor point complete the single-tone transmission and reception of this channel, they can randomly jump to other channels to perform single-tone transmission and reception until the single-tone transmission and reception of all set channels are completed.

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

[0093] ;

[0094] in, At the speed of light, The phase change of monotone transmission between the BLE central node and the target positioning anchor point. The single-tone channel spacing is 1MHz.

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

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

[0097] The acquisition unit is used to acquire the distances from the BLE center 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, the 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] The initial position calculation unit is used to calculate the initial distance values ​​from the four BLE positioning anchor points to the center node based on d1, d2, d3, and d4 using the Pythagorean theorem.

[0099] The comparison unit is used to compare the distance values ​​from the four BLE positioning anchor points to the center node calculated by the calculation module 4 with their corresponding initial distances to complete tire positioning.

[0100] In one embodiment, it also includes:

[0101] The positioning anchor point selection module is used 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] The positioning anchor transceiver module is used for the first target positioning anchor to initiate a phase ranging request command, and the first target positioning anchor and the second target positioning anchor to send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point;

[0103] The positioning anchor point distance calculation module is used to calculate the distance between the first target positioning anchor point and the second target positioning anchor point based on the channel response of the single-tone signal 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] The reporting module is used 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] The positioning anchor point loop calculation module is used to select two other anchor points among 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 each pair 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 anchor point loop calculation module further includes:

[0107] Calculate the lengths of the four sides and diagonals of the rectangle formed by the first, second, third, and fourth line segments based on d1, d2, d3, and d4. Then compare the lengths of the four sides and diagonals with the distances between each pair of the four BLE positioning anchor points to complete the tire positioning calibration.

[0108] Each of the above modules and units is used to perform the corresponding steps in the Bluetooth-based tire positioning method. The specific implementation method is as described in the above method embodiment, and will not be repeated here.

[0109] like Figure 5 As shown, the present invention also provides a computer device, which may be a server, and its internal structure may be as follows: Figure 5As shown, the computer device includes a processor, memory, network interface, and database connected via a system bus. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and database. The internal memory provides the environment for the operation of the operating system and computer programs in the non-volatile storage media. The database stores all data required for the Bluetooth-based tire positioning method. The network interface communicates with external terminals via a network connection. When the processor executes the computer program, it implements the Bluetooth-based tire positioning method.

[0110] Those skilled in the art will understand that Figure 5 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer equipment on which the present application is applied.

[0111] An embodiment of this application also provides a computer-readable storage medium storing a computer program thereon, which, when executed by a processor, implements any of the above-described Bluetooth-based tire positioning methods.

[0112] Those skilled in the art will understand that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments of the above methods. Any references to memory, storage, databases, or other media used in this application and in the embodiments can include non-volatile and / or volatile memory. 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 external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual-speed SDRAM (SSRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0113] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, apparatus, article, or method that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, apparatus, article, or method. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, apparatus, article, or method that includes that element.

[0114] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of the present invention.

Claims

1. A Bluetooth-based tire positioning method, characterized by, The positioning system is composed of a BLE center node and four BLE positioning anchors, the BLE center node is installed in a fixed position of a vehicle, and the four BLE positioning anchors are installed on four tires of the vehicle respectively, and the method specifically comprises the following steps: S1, one of the four BLE positioning anchors is selected as a target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein the broadcast frame comprises a Mac address and monitoring information; S2, the BLE center node scans the broadcast frame of the target positioning anchor to complete the BLE connection between the BLE center node and the target positioning anchor; S3, the BLE center node initiates a phase ranging request instruction, and the BLE center node and the target positioning anchor send and receive single-tone signals in a frequency hopping manner at a predetermined frequency point; S4, the BLE center node calculates the distance value between the BLE center node and the target positioning anchor according to the channel response of the single-tone signals received by the two devices, wherein the two devices are the BLE center node and the target positioning anchor respectively; S5, the other anchors of the four BLE positioning anchors are selected as target positioning anchors to complete the ranging in the manner of steps S1-S4, and the distance values of the four BLE positioning anchors to the center node are obtained to complete the tire positioning combined with the position of the BLE center node; S6, two of the four BLE positioning anchors are selected as a first target positioning anchor and a 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; S7, the first target positioning anchor initiates a phase ranging request instruction, 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; S8, 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 response 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; S9, the distance value between the first target positioning anchor and the second target positioning anchor is reported to the BLE center node; S10, the other two anchors of the four BLE positioning anchors are selected as the first target positioning anchor and the second target positioning anchor to complete the distance value calculation between the four BLE positioning anchors in the manner of steps S7-S10, and the calculation result is uploaded to the BLE center node for tire positioning calibration; wherein the lengths of the four sides and the diagonal of the rectangle composed of the first line segment, the second line segment, the third line segment and the fourth line segment are calculated according to d1, d2, d3 and d4, and the lengths of the four sides and the diagonal are compared with the distance values between the four BLE positioning anchors to complete the tire positioning calibration.

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

3. The Bluetooth based tire location method of claim 1, wherein, In step S4, the calculation formula of the distance value between the BLE center node and the target positioning anchor is: ； wherein, c is the speed of light, is the phase change of the BLE central node and the target positioning anchor point for a single tone transmission, is the single tone channel spacing, 1 MHz.

4. The Bluetooth-based tire location method of claim 1, wherein, In step S5, the distance values of the four BLE positioning anchors to the center node are combined with the position of the BLE center node to complete the tire positioning. S501, a rectangular coordinate system is established, and the position of the BLE center node is set at the origin, i.e. (0, 0); S502, the distances of the BLE center node to the first line segment, the second line segment, the third line segment and the fourth line segment in the initial state are obtained and taken as d1, d2, d3 and d4 respectively; wherein, the four BLE positioning anchors are taken as the vertices to form a rectangle, 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; S503, the initial distances of the four BLE positioning anchors to the center node are calculated according to d1, d2, d3 and d4 by using the Pythagorean theorem; S504, the real distances of the four BLE positioning anchors to the center node calculated according to step S4 are compared with the initial distances corresponding thereto respectively to complete the tire positioning.

5. A Bluetooth-based tire positioner using the Bluetooth-based tire positioning method according to any one of claims 1 to 4, characterized by, Based on the positioning system composed of a BLE center node and four BLE positioning anchors, the BLE center node is installed at a fixed position of a vehicle, and the four BLE positioning anchors are installed on the four tires of the vehicle, and the device specifically comprises: A selection module is configured to select one of the four BLE positioning anchors as a target positioning anchor, and the target positioning anchor sends a broadcast frame; wherein, the broadcast frame comprises a mac address and monitoring information; A scanning module is configured to scan the broadcast frame of the target positioning anchor by the BLE center node to complete the BLE connection between the BLE center node and the target positioning anchor; A transceiver module is configured to initiate a phase ranging request instruction by the BLE center node, and the BLE center node and the target positioning anchor transmit and receive single-tone signals in a frequency hopping manner at a predetermined frequency point; A calculation module is configured to calculate the distance value between the BLE center node and the target positioning anchor according to the channel responses of the single-tone signals received by the two devices, i.e. the BLE center node and the target positioning anchor; A cycle module is configured to select other anchors of the four BLE positioning anchors as target positioning anchors to complete the ranging in the above manner, obtain the distance values of the four BLE positioning anchors to the center node, and complete the tire positioning in combination with the position of the BLE center node. 6.A computer device, comprising a memory and a processor, wherein the memory stores a computer program, and the computer device is configured to perform the method according to any one of claims 1-5 when the computer program is executed by the processor. The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

7. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 4.

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