Bluetooth positioning method and device based on displacement auxiliary verification and vehicle key system

Abstract

The invention relates to the technical field of Bluetooth positioning, and discloses a Bluetooth positioning method and device based on displacement auxiliary verification and a vehicle key system, and the method comprises the steps: generating a distance measurement signal in a current period of channel detection, and obtaining a first echo signal and a second echo signal of a to-be-positioned object in response to the distance measurement signal; determining corresponding initial positioning data of the to-be-positioned object in the current period according to the first echo signal and the second echo signal, and performing displacement auxiliary verification on the initial positioning data in the period to determine current verification positioning data of the to-be-positioned object; and acquiring corresponding historical verification positioning data of the to-be-positioned object in a previous period of the current period, and performing weekly displacement auxiliary verification by using the historical verification positioning data and the current verification positioning data to determine target positioning data of the to-be-positioned object. According to the invention, the number of frequency groups required by CS communication can be obviously reduced, the positioning efficiency is improved, and the positioning accuracy is also improved.

Description

Technical Field

[0001] The present application relates to the field of Bluetooth positioning technology, and in particular to a Bluetooth positioning method, device and car key system based on displacement-assisted verification. Background Art

[0002] With the continuous development of new energy vehicles, digital car keys have become the mainstream of development. Vehicles can locate digital car keys based on the Channel Sounding (CS) technology supported by the Bluetooth 6.0 protocol.

[0003] In related technologies, CS technology uses phase-based ranging (PBR) to estimate positioning distance. However, this positioning method requires at least dozens of channels corresponding to frequency combinations to achieve the desired positioning accuracy, resulting in large channel resource overhead. Summary of the Invention

[0004] The present application provides a Bluetooth positioning method, device and car key system based on displacement-assisted verification, which solves the technical problem that the current PBR technology requires a large number of frequency groups, resulting in large channel resource overhead. Positioning is performed by emitting two echo signals with the same initial phase and fixed delay, and verifying the positioning results based on displacement-assisted verification. This significantly reduces the number of frequency groups required for CS communication, greatly improving not only the positioning efficiency but also the positioning accuracy of the object to be located.

[0005] In order to achieve the above objectives, the main technical solutions adopted in this application include:

[0006] In a first aspect, an embodiment of the present application provides a Bluetooth positioning method based on displacement-assisted verification, the method comprising:

[0007] Generate a ranging signal within a current cycle of channel sounding, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the initial phases of the first echo signal and the second echo signal are the same;

[0008] determining initial positioning data corresponding to the object to be located in the current period according to the first echo signal and the second echo signal, and performing an auxiliary verification of intra-period displacement on the initial positioning data to determine current verification positioning data of the object to be located based on the intra-period verification result;

[0009] Obtain historical verification positioning data corresponding to the previous cycle of the current cycle for the object to be positioned, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be positioned based on the inter-cycle verification result.

[0010] The Bluetooth positioning method proposed in the embodiments of this application utilizes a first echo signal and a second echo signal with the same initial phase and a delayed time in each frequency group. The initial positioning data of the target to be located is calculated based on the phase difference between the two echoes. The accuracy of the initial positioning data is analyzed through intra-cycle auxiliary verification to obtain the current verification positioning data. The accuracy of the current verification positioning data is then analyzed through inter-cycle auxiliary verification to improve the accuracy of the target positioning data. Compared with related technologies, this method not only significantly reduces the number of frequency groups while ensuring the desired positioning accuracy, greatly improving positioning efficiency, but also promptly verifies abnormal positioning data, thereby improving positioning accuracy.

[0011] Optionally, in some embodiments of the present application, determining the initial positioning data corresponding to the object to be located in the current period according to the first echo signal and the second echo signal includes:

[0012] Acquiring a first echo phase corresponding to the first echo signal, and determining first initial coordinate data according to the first echo phase;

[0013] Acquiring a second echo phase corresponding to the second echo signal, and determining second initial coordinate data according to the second echo phase;

[0014] The initial positioning data includes the first initial coordinate data and the second initial coordinate data.

[0015] Optionally, in some embodiments of the present application, performing intra-period displacement auxiliary verification on the initial positioning data includes:

[0016] determining a reference displacement within a current cycle based on a phase difference between the first echo phase and the second echo phase, and obtaining a positioning displacement within the current cycle based on the first initial coordinate data and the second initial coordinate data when the reference displacement within the current cycle is within a preset range;

[0017] If the positioning displacement within the current period and the reference displacement within the current period meet a first preset condition, determining that the verification result within the period is a successful verification;

[0018] The first preset condition is that the error between the positioning displacement in the current cycle and the reference displacement in the current cycle is less than a first preset limit.

[0019] The phase difference between the first echo signal and the second echo signal is used to determine the reference displacement within the current cycle. This allows a phase difference to be obtained using a ranging signal corresponding to a frequency. This doubles the number of phase differences obtained during channel detection compared to related technologies, improving positioning efficiency. Furthermore, the present embodiment first ensures that the reference displacement within the current cycle is within a preset range. Error analysis is then performed on the reference displacement within the current cycle and the positioning displacement within the current cycle. Only when the errors between the two are within a reasonable range is the verification within the cycle considered successful, ensuring the accuracy of subsequent positioning results.

[0020] Optionally, in some embodiments of the present application, determining the current verification positioning data of the object to be located based on the verification result within the period includes:

[0021] If the verification result within the period is successful, the current verification positioning data is determined according to the first initial coordinate data and the second initial coordinate data.

[0022] On the premise of successful verification, the first initial coordinate data and the second initial coordinate data are subjected to fusion processing such as mean or weighted sum calculation to determine the current verification positioning data, thereby ensuring the accurate positioning of the object to be positioned within the current cycle, effectively reducing the situation of positioning misjudgment, and thus facilitating the subsequent inter-cycle displacement auxiliary verification to provide accurate and reliable verification data support.

[0023] Optionally, in some embodiments of the present application, the method further includes:

[0024] If the positioning displacement within the current cycle and the reference displacement within the current cycle do not meet the first preset condition, it is determined that the verification result within the cycle is a verification failure, and if the verification result within the cycle is a verification failure, the corresponding first initial coordinate data and the second initial coordinate data are discarded.

[0025] Optionally, in some embodiments of the present application, there is a delay time between the first echo signal and the second echo signal in the previous cycle, and there is a periodic interval between the previous cycle and the current cycle; and performing inter-cycle displacement auxiliary verification using the historical verification positioning data and the current verification positioning data includes:

[0026] Determining an inter-cycle positioning displacement based on the historical verification positioning data and the current verification positioning data;

[0027] Obtaining the historical intra-cycle reference displacement of the previous cycle, and performing inter-cycle displacement calculation based on the historical intra-cycle reference displacement of the previous cycle, the delay time, and the cycle interval to obtain the inter-cycle reference displacement;

[0028] When the inter-cycle positioning displacement and the inter-cycle reference displacement meet a second preset condition, determining that the inter-cycle verification result is a verification success;

[0029] The second preset condition is that the error between the inter-cycle positioning displacement and the inter-cycle reference displacement is less than a second preset limit.

[0030] The historical intra-cycle reference displacement in the previous cycle and the delay time between the two echo signals are used to determine the historical moving speed of the object to be located in the previous cycle, and the inter-cycle reference displacement is determined based on the historical moving speed and the periodic interval between two adjacent cycles. Then, the error analysis of the inter-cycle positioning displacement and the inter-cycle reference displacement is performed. Only when the errors between the two are within a reasonable range is the inter-cycle verification considered successful, thereby effectively eliminating the obvious anomaly in inter-cycle positioning caused by factors such as multipath effects, so as to ensure the accuracy of the final positioning result.

[0031] Optionally, in some embodiments of the present application, determining the target positioning data of the object to be positioned based on the inter-cycle verification result includes:

[0032] When the inter-cycle verification result is verification success, the target positioning data is determined according to the historical verification positioning data and the current verification positioning data.

[0033] On the premise of successful verification, the historical verification positioning data and the current verification positioning data are fused by averaging or weighted summing calculation to determine the target positioning data, which effectively reduces the possibility of positioning misjudgment and thus improves the positioning accuracy and positioning stability of the positioning object.

[0034] Optionally, in some embodiments of the present application, the method further includes:

[0035] If the inter-cycle positioning displacement and the inter-cycle reference displacement do not meet the second preset condition, the inter-cycle verification result is determined to be a verification failure, and when the inter-cycle verification result is a verification failure, the corresponding current verification positioning data is discarded.

[0036] When the error between the inter-cycle positioning displacement and the inter-cycle reference displacement is large, the current verification positioning data is discarded, thereby effectively avoiding the influence of the positioning data with abnormal positioning on the accuracy of the target positioning data.

[0037] Optionally, in some embodiments of the present application, there are multiple ranging signals, and the multiple ranging signals have different frequencies; and determining the target positioning data of the object to be positioned based on the inter-cycle verification result includes:

[0038] For any ranging signal, determining positioning data corresponding to the any ranging signal based on a result of an inter-cycle check of the any ranging signal;

[0039] The positioning data corresponding to the plurality of ranging signals are fused to locate the object to be located according to the fusion processing result to obtain the target positioning data.

[0040] In each current cycle of channel detection, several ranging signals of different frequencies can be generated corresponding to multiple channels, so that the positioning data corresponding to each frequency can be fused and processed, thereby significantly reducing the number of frequency groups while ensuring the desired positioning accuracy, greatly improving positioning efficiency.

[0041] In a second aspect, an embodiment of the present application provides a Bluetooth positioning device based on displacement-assisted verification, the device comprising:

[0042] a ranging module, configured to generate a ranging signal within a current cycle of channel sounding, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the initial phases of the first echo signal and the second echo signal are the same;

[0043] a first verification module, configured to determine initial positioning data corresponding to the object to be located in the current period based on the first echo signal and the second echo signal, and perform an auxiliary verification of intra-period displacement on the initial positioning data to determine current verification positioning data of the object to be located based on the intra-period verification result;

[0044] The second verification module is used to obtain the historical verification positioning data corresponding to the object to be located in the previous cycle of the current cycle, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be located based on the inter-cycle verification result.

[0045] The Bluetooth positioning device proposed in the embodiment of the present application uses a first echo signal and a second echo signal with the same initial phase and a delay time, thereby calculating the displacement change and positioning data of the object to be located through the phase difference between the two echoes, and verifying the accuracy of the positioning data. Compared with related technologies, it can not only significantly reduce the number of frequency groups while ensuring the desired positioning accuracy, greatly improving positioning efficiency, but also can promptly verify abnormal positioning data, thereby improving positioning accuracy.

[0046] In a third aspect, an embodiment of the present application provides a car key system, which includes the Bluetooth positioning device described in the above embodiment.

[0047] The car key system proposed in the embodiment of the present application uses the above-mentioned Bluetooth positioning device to obtain a first echo signal and a second echo signal with the same initial phase and a delay time, thereby calculating the displacement change and positioning data of the object to be located through the phase difference between the two echoes, and verifying the accuracy of the positioning data. Compared with related technologies, it can not only significantly reduce the number of frequency groups while ensuring the desired positioning accuracy, greatly improving positioning efficiency, but also can promptly verify abnormal positioning data, thereby improving positioning accuracy. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the specific implementation methods of the present application or the technical solutions in the prior art, the following is a brief introduction to the drawings required for use in the specific implementation methods or the description of the prior art. Obviously, the drawings described below are some implementation methods of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0049] Figure 1 Schematic diagram of the CS communication process using PBR technology;

[0050] Figure 2 Schematic diagram of the corresponding relationship between the receiving phase and the ranging signal frequency in PBR technology;

[0051] Figure 3 This is a flow chart of a Bluetooth positioning method based on displacement-assisted verification proposed in this application;

[0052] Figure 4 This is a schematic diagram of the ranging response process of the Bluetooth positioning method proposed in an embodiment of the present application;

[0053] Figure 5 A schematic diagram of a flow chart of a Bluetooth positioning method proposed in this application in one embodiment;

[0054] Figure 6 This is a flow chart of another embodiment of the Bluetooth positioning method proposed in this application;

[0055] Figure 7 Schematic diagram of the relationship between displacement and coordinates in the embodiment of this application;

[0056] Figure 8 This is a flow chart of another embodiment of the Bluetooth positioning method proposed in this application;

[0057] Figure 9 A flowchart of another embodiment of the Bluetooth positioning method proposed in this application

[0058] Figure 10A schematic diagram of the structure of a Bluetooth positioning device based on displacement-assisted verification proposed in an embodiment of the present application;

[0059] Figure 11 A schematic diagram of the structure of a computer device proposed in an embodiment of the present application. DETAILED DESCRIPTION

[0060] To make the purpose, technical solutions, and advantages of the embodiments of the present application more clear, the technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without making creative efforts shall fall within the scope of protection of this application.

[0061] With the continuous development of new energy vehicles, digital car keys have become the mainstream of development. Bluetooth positioning technology is usually used to measure the distance between the vehicle and the digital car key to ensure whether the vehicle responds to the control operation of the digital car key.

[0062] In some application scenarios, positioning is mainly based on Bluetooth signal strength (Received Signal Strength Indicator, RSSI) technology. Bluetooth beacons continuously broadcast signals. After receiving the signal, the receiving device can measure the received signal strength. Signal strength generally weakens with increasing distance. Therefore, based on a specific signal propagation model, a relationship between signal strength and distance can be established to determine the distance between the receiving device and the Bluetooth beacon. However, RSSI technology is susceptible to communication interference from factors such as signal strength, noise, and multipath effects, making RSSI positioning accuracy poor and unstable.

[0063] In other application scenarios, the CS technology supported by the Bluetooth 6.0 protocol is used to measure distance. The PBR ranging method adopted by this technology has significantly improved the positioning accuracy compared with the RSSI technology. Figure 1 As shown, the transmitter (Initiator) set on the vehicle transmits multiple ranging signals of different frequencies. The receiver (Reflector) set on the digital car key receives the ranging signal and sends an echo signal to the transmitter in response to the ranging signal. The transmitter calculates the distance between the vehicle and the digital car key by the phase difference between the received echo signal and the ranging signal. The calculation formula is shown in the following formulas (1) to (3):

[0064]

[0065] Where f1 and f2 represent the different frequencies of the ranging signal, d represents the distance between the transmitter and the receiver, and c represents the speed of light. Indicates the echo phase corresponding to the ranging signal of frequency f1 at the receiving end, Indicates the echo phase corresponding to the ranging signal of frequency f2 at the receiving end, express and The phase difference between them, Δf represents the frequency difference between f1 and f2.

[0066] Figure 2 The corresponding relationship between the receiving phase and the ranging signal frequency is shown. Combined with the above formulas (1) to (3), it can be seen that in PBR technology, a frequency group consisting of two frequencies is usually required to obtain a corresponding phase difference, and the phase difference is used to determine the distance d between the transmitter and the receiver. At least dozens of frequency groups are required to achieve a positioning accuracy of 50 cm.

[0067] It can be seen from this that in order to achieve the desired positioning accuracy, the relevant technology requires a large number of frequency groups and a large amount of channel resources, resulting in large channel resource overhead and low positioning efficiency.

[0068] The Bluetooth positioning method provided in this manual can be applied to digital car key systems and new energy vehicles equipped with digital car key systems. Of course, the Bluetooth positioning method provided in this manual can also be applied to applications running in the above-mentioned new energy vehicles.

[0069] According to an embodiment of the present application, an embodiment of a Bluetooth positioning method based on displacement-assisted verification is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer-executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0070] In this embodiment, a Bluetooth positioning method based on displacement-assisted verification is provided. Figure 3 is a flowchart of a Bluetooth positioning method according to an embodiment of the present application, such as Figure 3 As shown, the process includes the following steps:

[0071] Step S1: Generate a ranging signal in a current cycle of channel detection, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the first echo signal and the second echo signal have the same initial phase.

[0072] Specifically, Figure 4The ranging response process in the above step S1 is shown. The transmitter set in the vehicle generates a ranging signal of a specific frequency based on the CS technology supported by the Bluetooth 6.0 protocol. The digital car key is provided with a receiving end as the object to be located. The receiving end receives the ranging signal and parses the phase information corresponding to the ranging signal. The first echo signal is then returned with the phase information as the initial phase. That is, the initial phase of the first echo signal is the same as the receiving phase parsed when the receiving end receives the ranging signal. After waiting for a certain delay time Δt, the receiving end returns the second echo signal again with the same initial phase, so that the first echo signal and the second echo signal are parsed in subsequent steps to accurately obtain the distance information between the object to be located and the transmitter and the displacement information of the object to be located.

[0073] Step S3: determining the initial positioning data corresponding to the object to be positioned in the current period according to the first echo signal and the second echo signal, and performing an auxiliary verification of the displacement within the period on the initial positioning data to determine the current verification positioning data of the object to be positioned based on the verification result within the period.

[0074] Specifically, the transmitting end determines the two initial positioning data corresponding to the current period based on the first echo signal and the second echo signal respectively. In order to avoid the influence of signal interference, communication abnormality and the like on the positioning accuracy, the two initial positioning data are subjected to auxiliary displacement verification within the period to exclude the initial positioning data with obvious abnormalities and ensure the positioning accuracy within the current period.

[0075] Step S5: Obtain historical verification positioning data corresponding to the previous cycle of the current cycle for the object to be positioned, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be positioned based on the inter-cycle verification result.

[0076] Specifically, the historical verification positioning data corresponding to the previous cycle of the current cycle and the current verification positioning data are used to perform auxiliary verification of the inter-cycle displacement, wherein the determination process of the historical verification positioning data corresponding to the previous cycle is the same as the determination process of the current verification positioning data of the current cycle, so as to eliminate the obvious abnormality of inter-cycle positioning caused by factors such as multipath effect, ensure the positioning accuracy between cycles, and thus ensure the accuracy of the target positioning data.

[0077] The Bluetooth positioning method proposed in the embodiment of the present application generates a ranging signal by the transmitter and obtains the first echo signal and the second echo signal of the object to be located in response to the ranging signal, and then performs an intra-cycle displacement auxiliary check based on the first echo signal and the second echo signal to obtain the current verification positioning data, and performs an inter-cycle displacement auxiliary check based on the current verification positioning data and the historical verification positioning data of the previous cycle, thereby achieving accurate positioning of the object to be located. Therefore, in each frequency group, the first echo signal and the second echo signal with the same initial phase and a delay time are used to calculate the initial positioning data of the object to be located by the phase difference between the two echoes, and the accuracy of the initial positioning data is analyzed by the intra-cycle auxiliary check to obtain the current verification positioning data, and then the accuracy of the current verification positioning data is analyzed by the inter-cycle auxiliary check to improve the accuracy of the target positioning data. Compared with the related art, it can not only significantly reduce the number of frequency groups while ensuring the expected positioning accuracy, greatly improving the positioning efficiency, but also can timely check out abnormal positioning data, thereby improving positioning accuracy.

[0078] Figure 5 A schematic diagram of a process for determining the initial positioning data corresponding to the object to be positioned in the current period in step S3 provided in an embodiment of the present application may include the following steps:

[0079] Step S311, obtaining a first echo phase corresponding to a first echo signal, and determining first initial coordinate data according to the first echo phase;

[0080] Step S313: Acquire a second echo phase corresponding to the second echo signal, and determine second initial coordinate data according to the second echo phase.

[0081] The initial positioning data includes first initial coordinate data and second initial coordinate data.

[0082] Since the user carries the digital car key with him, the transmitter receives the first echo signal and the second echo signal and analyzes the phase difference between them. The initial phases of the first echo signal and the second echo signal are the same to ensure that the phase difference It can accurately represent the displacement of the object to be located relative to the transmitting end.

[0083] Specifically, during the current cycle of channel detection, the transmitter calculates the distance between the vehicle and the digital car key using the phase difference Δφ. The calculation formulas are shown in the following formulas (4) to (5):

[0084]

[0085] Where, Indicates the first echo phase corresponding to the first echo signal, that is, the received phase analyzed when the transmitter receives the first echo signal. represents the second echo phase corresponding to the second echo signal, that is, the received phase resolved when the transmitter receives the second echo signal. f1 represents the frequency of the ranging signal. d1 represents the measured distance corresponding to the first echo phase. d2 represents the measured distance corresponding to the second echo phase. c represents the speed of light.

[0086] It can be seen that the embodiment of the present application is based on the first echo phase The corresponding measured distance d1 is used to determine the distance between the transmitter and the receiver, and the measured distance d1 is superimposed on the known positioning coordinates of the transmitter to determine the first echo phase. The first initial coordinate data O of the corresponding object to be positioned n-1 (X n-1 ,Y n-1 ). Similarly, the embodiment of the present application also uses the second echo phase The corresponding measured distance d2 determines the second echo phase The corresponding second initial coordinate data O of the object to be positioned n (X n ,Y n ).

[0087] Figure 6 A schematic diagram of the process of assisting the intra-cycle displacement check in step S3 provided in an embodiment of the present application is provided. The process may include the following steps:

[0088] Step S321, determine the reference displacement in the current cycle based on the phase difference between the first echo phase and the second echo phase, and obtain the positioning displacement in the current cycle based on the first initial coordinate data and the second initial coordinate data when the reference displacement in the current cycle is within a preset range.

[0089] Specifically, the calculation formula for the reference displacement in the current cycle is shown in the following formula (6). Furthermore, as shown in the following formula (7), based on the reference displacement in the current cycle and the delay time, the moving speed of the object to be located in the current cycle can be determined:

[0090]

[0091] V=Δd / Δt Formula (7)

[0092] Where, express and , Δd represents the reference displacement in the current cycle, that is, the distance difference between displacements d1 and d2, V represents the moving speed of the receiving end, and Δt represents the delay time between the first echo signal and the second echo signal.

[0093] In some examples of the embodiments of the present application, the reference displacement Δd in the current period is first judged to have an abnormal fluctuation. If Δd exceeds the corresponding preset range, for example, Δd is significantly greater than the normal walking distance of the user within the delay time Δt, it is determined that the distance measurement result of the current period is abnormal, and the first initial coordinate data O obtained in the current period is converted to the original value. n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) is eliminated to improve positioning accuracy. In other examples of the embodiments of the present application, abnormal fluctuation judgment can also be performed on the reference displacement Δd in the current cycle and the moving speed V of the object to be positioned in the current cycle. Similarly, if V exceeds the corresponding preset range, for example, V is significantly greater than the normal walking speed of the user, the first initial coordinate data O obtained in the current cycle is discarded. n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) are removed.

[0094] In the current cycle, the reference displacement Δd is filtered based on the first initial coordinate data O n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) Determine the positioning displacement ΔD in the current cycle, Figure 7 shows the ΔD vs. O n-1 (X n-1 ,Y n-1 ), O n (X n ,Y n ), where the positioning displacement ΔD in the current cycle is obtained based on the following formula (8):

[0095]

[0096] Where, X n-1 Indicates the horizontal coordinate in the first initial coordinate data, X n Indicates the horizontal coordinate in the second initial coordinate data, Y n-1 Indicates the vertical coordinate in the first initial coordinate data, Yn Indicates the vertical coordinate in the second initial coordinate data.

[0097] It can be seen that, in the embodiment of the present application, on the basis of the first echo signal sent by the receiving end in response to the ranging signal, a second echo signal with a fixed delay time in the same phase is added. On the one hand, referring to formulas (1) to (3), it can be seen that the related art requires two frequency groups f1 and f2 to obtain a corresponding phase difference. As can be seen from formulas (4) to (6), compared with the related art, the embodiment of the present application can obtain a phase difference by using a frequency group f1. As well as the two distance parameters d1 and d2, the embodiment of the present application can obtain a double phase difference with the same number of frequency groups. In other words, the embodiment of the present application can reduce the number of frequency groups by half while achieving the positioning accuracy achievable by related technologies, thereby reducing the number of communication frequency combinations and greatly improving positioning efficiency. On the other hand, the above-mentioned method of using two echoes corresponding to the ranging signal can calculate the displacement change and speed change at the receiving end through the phase change of the two echoes, thereby providing reference data for subsequent displacement auxiliary verification, which is more conducive to the precise positioning of moving objects to be located, such as car keys.

[0098] Step S323: If the positioning displacement within the current cycle and the reference displacement within the current cycle meet a first preset condition, the intra-cycle verification result is determined to be successful. The first preset condition is that the error between the positioning displacement within the current cycle and the reference displacement within the current cycle is less than a first preset limit.

[0099] Specifically, it can be seen from the above formulas (6) and (8) that the embodiment of the present application obtains the reference displacement Δd in the current cycle and the positioning displacement ΔD in the current cycle respectively by two calculation methods. If the error between Δd and ΔD is small, the first initial coordinate data O obtained by ranging in the current cycle is determined to be n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) is as accurate as expected.

[0100] Therefore, the embodiment of the present application uses the phase difference between the first echo signal and the second echo signal to determine the reference displacement within the current cycle, thereby obtaining a phase difference through a ranging signal corresponding to a frequency. This results in the number of phase differences obtained during channel detection being twice that of related technologies, thereby improving positioning efficiency. Furthermore, the embodiment of the present application first ensures that the reference displacement within the current cycle is within a preset range, and then performs an error analysis on the reference displacement within the current cycle and the positioning displacement within the current cycle. Only when the errors between the two are within a reasonable range is the verification within the cycle determined to be successful, thereby ensuring the accuracy of subsequent positioning results.

[0101] Furthermore, in some embodiments of the present application, the process of the intra-cycle displacement auxiliary verification in step S3 above further includes the following steps:

[0102] Step S325 , when the verification result within the cycle is successful, current verification positioning data is determined according to the first initial coordinate data and the second initial coordinate data, that is, the current verification positioning data represents the positioning result of the object to be positioned corresponding to the current cycle.

[0103] Specifically, in some examples of the embodiments of the present application, the first initial coordinate data O n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) performs mean calculation or weighted sum calculation to obtain the current verification positioning data O CSn , thereby ensuring the accurate positioning of the object to be positioned within the current cycle, effectively reducing the situation of positioning misjudgment, and thus providing accurate and reliable verification data support for subsequent inter-cycle displacement auxiliary verification.

[0104] It should be noted that the above are merely examples of several current methods for verifying positioning data and are not intended to limit this application.

[0105] Furthermore, in some embodiments of the present application, the above step S325 further includes: if the positioning displacement ΔD in the current cycle and the reference displacement Δd in the current cycle do not meet the first preset condition, determining that the verification result in the cycle is a verification failure, and if the verification result in the cycle is a verification failure, the corresponding first initial coordinate data O n-1 (X n-1 ,Y n-1 ) and the second initial coordinate data O n (X n ,Y n ) to avoid abnormal data affecting the current verification positioning data. CSn accuracy.

[0106] Figure 8 This is a schematic diagram of the process of auxiliary verification of inter-cycle displacement in step S5 provided in an embodiment of the present application. The process may include the following steps:

[0107] Step S511 : determining an inter-cycle positioning displacement based on the historical verification positioning data and the current verification positioning data.

[0108] Specifically, the same as the current cycle, there is the same delay time Δt between the first echo signal and the second echo signal in the previous cycle, and the historical verification positioning data O of the previous cycle CSn-1 The determination process is the same as that of the current cycle. Specifically, refer to step S3 to obtain the historical period reference displacement and historical period positioning displacement corresponding to the previous cycle, and then perform auxiliary verification on the historical period reference displacement and historical period positioning displacement. If the verification is successful, the above historical verification positioning data is obtained. CSn-1 .

[0109] Further, based on historical verification positioning data O CSn-1 And the current verification positioning data O CSn Determine the inter-cycle positioning displacement ΔD', specifically based on the following formula (9) to obtain the inter-cycle positioning displacement ΔD':

[0110]

[0111] Where, X CSn-1 Indicates historical verification positioning data O CSn-1 The horizontal axis, X n Indicates the current verification positioning data O CSn The horizontal axis, Y CSn-1 Indicates historical verification positioning data O CSn-1 The vertical coordinate, Y CSn Indicates the current verification positioning data O CSn The vertical coordinate in .

[0112] Step S513 , obtaining the historical intra-cycle reference displacement of the previous cycle, and performing inter-cycle displacement calculation based on the historical intra-cycle reference displacement of the previous cycle, the delay time, and the cycle interval to obtain the inter-cycle reference displacement.

[0113] Specifically, there is a period interval ΔT between the previous cycle and the current cycle. First, the historical movement speed of the object to be located in the previous cycle is determined based on the historical periodic reference displacement and delay time of the previous cycle. Then, the inter-cycle reference displacement Δd' is determined based on the product of the historical movement speed and the period interval ΔT.

[0114] Step S515: If the inter-cycle positioning displacement and the inter-cycle reference displacement meet a second preset condition, the inter-cycle verification result is determined to be successful. The second preset condition is that the error between the inter-cycle positioning displacement and the inter-cycle reference displacement is less than a second preset limit.

[0115] Specifically, the embodiment of the present application also obtains the inter-cycle reference displacement Δd' and the inter-cycle positioning displacement ΔD' by two calculation methods. If the error between Δd' and ΔD' is small, it is determined that the ranging results between two adjacent cycles have a certain accuracy, that is, the historical verification positioning data O CSn-1 And the current verification positioning data O CSn The accuracy is in line with expectations.

[0116] Therefore, the embodiment of the present application uses the historical intra-cycle reference displacement in the previous cycle and the delay time between the two echo signals to determine the historical moving speed of the object to be positioned in the previous cycle, and determines the inter-cycle reference displacement based on the historical moving speed and the periodic interval between two adjacent cycles, and then performs error analysis on the inter-cycle positioning displacement and the inter-cycle reference displacement. Only when the errors between the two are within a reasonable range is the inter-cycle verification determined to be successful, thereby effectively eliminating the situation where obvious abnormalities in inter-cycle positioning are caused by factors such as multipath effects.

[0117] Multipath refers to the phenomenon whereby a signal propagates through multiple different paths from the transmitter to the receiver, causing distortion and fading of the received signal and other anomalies, which in turn affects communication quality and ranging accuracy. Therefore, the present embodiment uses the aforementioned inter-cycle displacement auxiliary verification to compare the positioning results corresponding to two adjacent cycles to accurately identify significant positioning anomalies, ensuring positioning accuracy throughout the entire Bluetooth positioning process and improving the accuracy of target positioning data.

[0118] Furthermore, in some embodiments of the present application, Figure 8 As shown, the process of auxiliary verification of the inter-cycle displacement in step S5 further includes the following steps:

[0119] Step S517: When the inter-cycle verification result is verification success, the target positioning data is determined according to the historical verification positioning data and the current verification positioning data.

[0120] Specifically, in the embodiment of the present application, the historical verification positioning data O CSn-1 And the current verification positioning data O CSn Perform mean calculation to obtain target positioning data, and also perform historical verification positioning data O CSn-1 And the current verification positioning data O CSn Perform weighted sum calculation.

[0121] It should be noted that the above are merely examples of several methods for determining target positioning data and are not intended to limit this application.

[0122] Therefore, the embodiment of the present application performs fusion processing such as mean or weighted sum calculation on the historical verification positioning data and the current verification positioning data on the premise of successful verification to determine the target positioning data, which effectively reduces the situation of positioning misjudgment, thereby improving the positioning accuracy and positioning stability of the object to be positioned.

[0123] Furthermore, in some embodiments of the present application, the above-mentioned step S517 also includes: if the inter-cycle positioning displacement and the inter-cycle reference displacement do not meet the second preset condition, determining that the inter-cycle verification result is a verification failure, and when the inter-cycle verification result is a verification failure, discarding the corresponding current verification positioning data, thereby improving the positioning accuracy while effectively avoiding the influence of the positioning data with abnormal positioning on the accuracy of the target positioning data.

[0124] In addition, the embodiment of the present application uses intra-cycle displacement auxiliary verification and inter-cycle displacement auxiliary verification to accurately locate the object to be located. Compared with the static positioning commonly used in related technologies, it can combine the auxiliary judgment of the displacement and moving speed of the object to be located to verify the accuracy of the positioning result. Therefore, it can significantly improve the positioning accuracy of the dynamic object to be located, and is more suitable for positioning application scenarios when the user carries a digital car key and moves towards the vehicle.

[0125] In some embodiments of the present application, in each current cycle and the cycle before the current cycle, the number of the above-mentioned ranging signals is multiple, and the multiple ranging signals have different frequencies. Figure 9 As shown, the above step S5 also includes a fusion calculation process of the positioning results corresponding to multiple frequencies, which includes the following steps:

[0126] Step S521 : for any ranging signal, determine the positioning data corresponding to any ranging signal based on the inter-cycle check result of any ranging signal.

[0127] Specifically, in an embodiment of the present application, the above-mentioned ranging response, intra-cycle displacement auxiliary verification and inter-cycle displacement auxiliary verification processing flow are performed on the ranging signal of each frequency respectively, and corresponding positioning data is obtained for each frequency respectively, so as to achieve the desired positioning accuracy through repeated ranging of multiple frequencies.

[0128] It should be noted that in related technologies, 72 frequency groups are required for combined ranging to achieve the desired positioning accuracy of 50 cm. However, in the embodiment of the present application, since each frequency group can obtain two ranging data and double the phase difference, only 36 frequency groups are required for combined ranging to achieve the same desired positioning accuracy, reducing the number of communication frequency combinations and making positioning more efficient and accurate.

[0129] Step S523 , performing fusion processing on the positioning data corresponding to the plurality of ranging signals, and positioning the object to be positioned according to the fusion processing result to obtain target positioning data.

[0130] Specifically, in some embodiments of the present application, the above-mentioned multiple positioning data may be averaged or weighted summed to achieve the above-mentioned fusion processing. It should be noted that the above are only examples of several ways to perform fusion processing on positioning data and are not intended to limit the present application.

[0131] Therefore, in each current cycle of channel detection, the embodiment of the present application can generate several ranging signals of different frequencies corresponding to multiple channels, thereby fusing the positioning data corresponding to each frequency, which can significantly reduce the number of frequency groups while ensuring the desired positioning accuracy, thereby greatly improving the positioning efficiency.

[0132] Accordingly, please refer to Figure 10 The present invention provides a Bluetooth positioning device 100 based on displacement-assisted verification, and the device 100 includes:

[0133] The ranging module 110 is used to generate a ranging signal in the current cycle of channel detection, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the initial phases of the first echo signal and the second echo signal are the same. For details, refer to step S1.

[0134] The first verification module 120 is used to determine the initial positioning data corresponding to the object to be located in the current period based on the first echo signal and the second echo signal, and perform auxiliary verification of the displacement within the period on the initial positioning data to determine the current verification positioning data of the object to be located based on the verification result within the period. For details, please refer to step S3.

[0135] The second verification module 130 is used to obtain the historical verification positioning data corresponding to the previous cycle of the current cycle of the object to be located, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be located based on the inter-cycle verification result. For details, refer to step S5.

[0136] The Bluetooth positioning device 100 proposed in the embodiment of the present application generates a ranging signal through the ranging module 110, and obtains a first echo signal and a second echo signal of the object to be located in response to the ranging signal. The first verification module 120 then performs an auxiliary verification of the intra-cycle displacement based on the first echo signal and the second echo signal to obtain current verification positioning data, and the second verification module 130 performs an auxiliary verification of the inter-cycle displacement in combination with the historical verification positioning data of the previous cycle. This not only ensures the desired positioning accuracy while significantly reducing the number of frequency groups, greatly improving positioning efficiency, but also can promptly verify abnormal positioning data, thereby improving positioning accuracy.

[0137] In some embodiments of the present application, the ranging module 110 includes:

[0138] The first acquiring unit 111 is configured to acquire a first echo phase corresponding to a first echo signal, and determine first initial coordinate data according to the first echo phase.

[0139] The second acquiring unit 112 is configured to acquire a second echo phase corresponding to the second echo signal, and determine second initial coordinate data according to the second echo phase.

[0140] The initial positioning data includes first initial coordinate data and second initial coordinate data.

[0141] In some optional implementations, the first verification module 120 includes:

[0142] The intra-cycle displacement determination unit 121 is used to determine the reference displacement in the current cycle based on the phase difference between the first echo phase and the second echo phase, and when the reference displacement in the current cycle is within a preset range, obtain the positioning displacement in the current cycle based on the first initial coordinate data and the second initial coordinate data.

[0143] The intra-cycle verification unit 122 is used to determine that the intra-cycle verification result is a successful verification when the positioning displacement in the current cycle and the reference displacement in the current cycle meet the first preset condition, and to determine the current verification positioning data based on the first initial coordinate data and the second initial coordinate data when the intra-cycle verification result is a successful verification, and to determine that the intra-cycle verification result is a failed verification when the positioning displacement in the current cycle and the reference displacement in the current cycle do not meet the first preset condition, and to discard the corresponding first initial coordinate data and second initial coordinate data when the intra-cycle verification result is a failed verification.

[0144] The first preset condition is that the error between the positioning displacement in the current cycle and the reference displacement in the current cycle is less than a first preset limit.

[0145] The first verification module 120 uses the phase difference between the first echo signal and the second echo signal to determine the reference displacement within the current cycle. This allows a phase difference to be obtained using a ranging signal corresponding to a frequency. This results in twice the number of phase differences obtained during channel detection compared to related technologies, improving positioning efficiency. Furthermore, the present embodiment first ensures that the reference displacement within the current cycle is within a preset range. Error analysis is then performed on the reference displacement within the current cycle and the positioning displacement within the current cycle. Only when the error between the two is within a reasonable range is the verification within the cycle considered successful, thereby ensuring the accuracy of subsequent positioning results.

[0146] In some optional implementations, the second verification module 130 includes:

[0147] The inter-cycle displacement determination unit 131 is used to determine the inter-cycle positioning displacement based on the historical verification positioning data and the current verification positioning data, and to obtain the historical intra-cycle reference displacement of the previous cycle, and to calculate the inter-cycle displacement based on the historical intra-cycle reference displacement, delay time and cycle interval of the previous cycle to obtain the inter-cycle reference displacement.

[0148] The inter-cycle verification unit 132 is configured to determine that the inter-cycle verification result is a verification success when the inter-cycle positioning displacement and the inter-cycle reference displacement meet the second preset condition, and to determine the target positioning data based on the historical verification positioning data and the current verification positioning data when the inter-cycle verification result is a verification success; and to determine that the inter-cycle verification result is a verification failure when the inter-cycle positioning displacement and the inter-cycle reference displacement do not meet the second preset condition, and to discard the corresponding current verification positioning data when the inter-cycle verification result is a verification failure.

[0149] The second verification module 130 uses the historical intra-cycle reference displacement and the delay time between the two echo signals in the previous cycle to determine the historical movement speed of the object to be located in the previous cycle, and determines the inter-cycle reference displacement based on the historical movement speed and the periodic interval between two adjacent cycles, and then performs error analysis on the inter-cycle positioning displacement and the inter-cycle reference displacement. Only when the errors between the two are within a reasonable range is the inter-cycle verification considered successful, thereby effectively eliminating obvious anomalies in inter-cycle positioning caused by factors such as multipath effects, so as to ensure the accuracy of the final positioning result.

[0150] In some optional embodiments, the above-mentioned Bluetooth positioning device 100 also includes a fusion processing module 140, which is used to: for any ranging signal, determine the positioning data corresponding to any ranging signal based on the periodic verification result of any ranging signal, and fuse the positioning data corresponding to each of the multiple ranging signals to locate the object to be located according to the fusion processing result to obtain target positioning data.

[0151] In each current cycle of channel detection, the fusion processing module 140 can fuse the positioning data corresponding to each frequency, thereby significantly reducing the number of frequency groups while ensuring the desired positioning accuracy, greatly improving the positioning efficiency.

[0152] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0153] The Bluetooth positioning device in this embodiment is presented in the form of a functional unit, where the unit refers to an ASIC (Application Specific Integrated Circuit) circuit, a processor and memory that executes one or more software or fixed programs, and / or other devices that can provide the above functions.

[0154] Accordingly, an embodiment of the present application provides a car key system, which includes the Bluetooth positioning device 100 described in the above embodiment.

[0155] The further functional description of each of the above modules and units is the same as that of the above corresponding embodiments and will not be repeated here.

[0156] The car key system proposed in the embodiment of the present application uses the above-mentioned Bluetooth positioning device to obtain a first echo signal and a second echo signal with the same initial phase and a delay time, thereby calculating the displacement change and positioning data of the object to be located through the phase difference between the two echoes, and verifying the accuracy of the positioning data. Compared with related technologies, it can not only significantly reduce the number of frequency groups while ensuring the desired positioning accuracy, greatly improving positioning efficiency, but also can promptly verify abnormal positioning data, thereby improving positioning accuracy.

[0157] See also Figure 11 , Figure 11 This is a schematic diagram of the structure of a computer device provided in an embodiment of the present application. Figure 11As shown, the computer device includes: one or more processors 10, memory 20, and interfaces for connecting various components, including high-speed interfaces and low-speed interfaces. Various components utilize different buses to communicate with each other and can be installed on a common mainboard or installed in other ways as needed. The processor can process the instructions executed in the computer device, including instructions stored in the memory or on the memory to display the graphical information of the GUI on an external input / output device (such as, a display device coupled to the interface). In some optional embodiments, if necessary, multiple processors and / or multiple buses can be used together with multiple memories and multiple memories. Equally, multiple computer devices can be connected, and each device provides part of the necessary operations (for example, as a server array, a group of blade servers, or a multi-processor system). Figure 11 A processor 10 is taken as an example.

[0158] The processor 10 may be a central processing unit, a network processor, or a combination thereof. The processor 10 may further include a hardware chip. The hardware chip may be an application-specific integrated circuit, a programmable logic device, or a combination thereof. The programmable logic device may be a complex programmable logic device, a field programmable gate array, a general purpose array logic, or any combination thereof.

[0159] The memory 20 stores instructions that can be executed by at least one processor 10, so that the at least one processor 10 executes the method shown in the above embodiment.

[0160] The memory 20 may include a program storage area and a data storage area, wherein the program storage area may store an operating system and application programs required for at least one function; the data storage area may store data created based on the use of the computer device, etc. In addition, the memory 20 may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some optional embodiments, the memory 20 may optionally include a memory remotely located relative to the processor 10, and these remote memories may be connected to the computer device via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0161] The memory 20 may include a volatile memory, such as a random access memory; the memory may also include a non-volatile memory, such as a flash memory, a hard disk or a solid-state drive; the memory 20 may also include a combination of the above types of memory.

[0162] The computer device further includes a communication interface 30 for the computer device to communicate with other devices or a communication network.

[0163] The embodiments of the present application also provide a computer-readable storage medium. The above-mentioned method according to the embodiment of the present application can be implemented in hardware, firmware, or implemented as a computer code that can be recorded in a storage medium, or implemented as a computer code that is originally stored in a remote storage medium or a non-temporary machine-readable storage medium and downloaded through a network and will be stored in a local storage medium, so that the method described herein can be stored in such software processing on a storage medium using a general-purpose computer, a dedicated processor, or programmable or dedicated hardware. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only storage memory, a random access memory, a flash memory, a hard disk or a solid-state drive, etc.; further, the storage medium can also include a combination of the above-mentioned types of memory. It can be understood that a computer, a processor, a microprocessor controller or programmable hardware includes a storage component that can store or receive software or computer code. When the software or computer code is accessed and executed by a computer, a processor or hardware, the method shown in the above embodiment is implemented.

[0164] An embodiment of the present application provides a computer program product, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform a method according to any embodiment of the present application.

[0165] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

[0166] The methods, devices, units, and systems described in the above embodiments may be implemented by computer chips or entities, or by products having certain functions. A typical implementation device is a computer. Specifically, the computer may be, for example, a personal computer, a laptop computer, a cellular phone, a camera phone, a smartphone, a personal digital assistant, a media player, a navigation device, an email device, a game console, a tablet computer, a wearable device, or a combination of any of these devices.

[0167] For the convenience of description, the above devices are described as being divided into various units according to their functions. Of course, when implementing this application, the functions of each unit can be implemented in the same or multiple software and / or hardware.

[0168] Those skilled in the art will appreciate that the embodiments of the present application can be provided as methods, devices, units, and systems. Therefore, the present application can adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application can adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0169] The present application is described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, units, and systems according to the embodiments of the present application. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 a process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0170] These computer program instructions may also be stored in a computer readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture comprising an instruction device, which implements the process Figure 1 a process or multiple processes and / or boxes Figure 1 The function specified in one or more boxes.

[0171] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operational steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing the instructions executed on the computer or other programmable device for implementing the process. Figure 1 a process or multiple processes and / or boxes Figure 1 The steps for the function specified in one or more boxes.

[0172] It should also be noted that the terms "comprises," "includes," or any other variations thereof are intended to encompass non-exclusive inclusion, such that a process, method, commodity, or apparatus that includes a series of elements includes not only those elements but also other elements not explicitly listed, or includes elements inherent to such process, method, commodity, or apparatus. In the absence of further limitations, an element defined by the phrase "comprises a ..." does not exclude the presence of other identical elements in the process, method, commodity, or apparatus that includes the element.

[0173] The various embodiments in this specification are described in a progressive manner. Similar portions between the various embodiments can be referenced to each other. Each embodiment focuses on the differences from other embodiments. In particular, the device and system embodiments are generally similar to the method embodiments, so their descriptions are relatively simple. For relevant portions, refer to the descriptions of the method embodiments.

[0174] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various changes and variations. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application should all be included within the scope of the claims of the present application.

[0175] Although the embodiments of the present application have been described with reference to the accompanying drawings, those skilled in the art may make various modifications and variations without departing from the spirit and scope of the present application, and such modifications and variations shall fall within the scope defined by the appended claims.

Claims

1. A Bluetooth positioning method based on displacement-assisted verification, characterized in that: The method comprises: Generate a ranging signal within a current cycle of channel sounding, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the initial phases of the first echo signal and the second echo signal are the same; determining initial positioning data corresponding to the object to be located in the current period according to the first echo signal and the second echo signal, and performing an auxiliary verification of intra-period displacement on the initial positioning data to determine current verification positioning data of the object to be located based on the intra-period verification result; Obtain historical verification positioning data corresponding to the previous cycle of the current cycle for the object to be positioned, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be positioned based on the inter-cycle verification result.

2. The method according to claim 1, characterized in that The determining, according to the first echo signal and the second echo signal, the initial positioning data corresponding to the object to be positioned in the current period includes: Acquiring a first echo phase corresponding to the first echo signal, and determining first initial coordinate data according to the first echo phase; Acquiring a second echo phase corresponding to the second echo signal, and determining second initial coordinate data according to the second echo phase; The initial positioning data includes the first initial coordinate data and the second initial coordinate data.

3. The method according to claim 2, characterized in that The performing auxiliary verification of the displacement within a period on the initial positioning data includes: determining a reference displacement within a current cycle based on a phase difference between the first echo phase and the second echo phase, and obtaining a positioning displacement within the current cycle based on the first initial coordinate data and the second initial coordinate data when the reference displacement within the current cycle is within a preset range; If the positioning displacement within the current period and the reference displacement within the current period meet a first preset condition, determining that the verification result within the period is a successful verification; The first preset condition is that the error between the positioning displacement in the current cycle and the reference displacement in the current cycle is less than a first preset limit.

4. The method according to claim 3, characterized in that The determining of the current verification positioning data of the object to be positioned based on the verification result within the period includes: If the verification result within the period is successful, the current verification positioning data is determined according to the first initial coordinate data and the second initial coordinate data.

5. The method according to claim 3, characterized in that The method further comprises: If the positioning displacement within the current cycle and the reference displacement within the current cycle do not meet the first preset condition, it is determined that the verification result within the cycle is a verification failure, and if the verification result within the cycle is a verification failure, the corresponding first initial coordinate data and the second initial coordinate data are discarded.

6. The method according to claim 1, characterized in that There is a delay time between the first echo signal and the second echo signal in the previous cycle, and there is a periodic interval between the previous cycle and the current cycle; and the inter-cycle displacement auxiliary verification using the historical verification positioning data and the current verification positioning data includes: Determining an inter-cycle positioning displacement based on the historical verification positioning data and the current verification positioning data; Obtaining the historical intra-cycle reference displacement of the previous cycle, and performing inter-cycle displacement calculation based on the historical intra-cycle reference displacement of the previous cycle, the delay time, and the cycle interval to obtain the inter-cycle reference displacement; When the inter-cycle positioning displacement and the inter-cycle reference displacement meet a second preset condition, determining that the inter-cycle verification result is a verification success; The second preset condition is that the error between the inter-cycle positioning displacement and the inter-cycle reference displacement is less than a second preset limit.

7. The method according to claim 6, characterized in that The determining the target positioning data of the object to be positioned based on the inter-cycle verification result includes: When the inter-cycle verification result is verification success, the target positioning data is determined according to the historical verification positioning data and the current verification positioning data.

8. The method according to claim 6, characterized in that The method further comprises: If the inter-cycle positioning displacement and the inter-cycle reference displacement do not meet the second preset condition, the inter-cycle verification result is determined to be a verification failure, and if the inter-cycle verification result is a verification failure, the corresponding current verification positioning data is discarded.

9. The method according to claim 1, characterized in that The number of the ranging signals is multiple, and the multiple ranging signals have different frequencies; the determining the target positioning data of the object to be positioned based on the inter-cycle verification result includes: For any ranging signal, determining positioning data corresponding to the any ranging signal based on a result of an inter-cycle check of the any ranging signal; The positioning data corresponding to the plurality of ranging signals are fused to locate the object to be located according to the fusion processing result to obtain the target positioning data.

10. A Bluetooth positioning device based on displacement-assisted verification, characterized in that: The device comprises: a ranging module, configured to generate a ranging signal within a current cycle of channel sounding, and obtain a first echo signal and a second echo signal of the object to be located in response to the ranging signal, wherein the initial phases of the first echo signal and the second echo signal are the same; a first verification module, configured to determine initial positioning data corresponding to the object to be located in the current period based on the first echo signal and the second echo signal, and perform an auxiliary verification of intra-period displacement on the initial positioning data to determine current verification positioning data of the object to be located based on the intra-period verification result; The second verification module is used to obtain the historical verification positioning data corresponding to the object to be located in the previous cycle of the current cycle, and use the historical verification positioning data and the current verification positioning data to perform inter-cycle displacement auxiliary verification to determine the target positioning data of the object to be located based on the inter-cycle verification result.

11. A car key system, characterized in that: The vehicle key system includes the Bluetooth positioning device according to claim 10.

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