A Bluetooth RSSI-based positioning method, device, equipment and medium

Abstract

The application relates to a Bluetooth RSSI-based positioning method, device, equipment and medium, which comprises the following steps: acquiring the signal strength RSSI value of a Bluetooth mobile terminal through a plurality of Bluetooth anchor points arranged on a carrier; determining a target area where the Bluetooth mobile terminal is located based on the signal strength RSSI value of each Bluetooth anchor point and the first calibration RSSI range of each Bluetooth anchor point corresponding to each first area, wherein the target area is one of the first areas; and each first area is obtained by dividing the internal and peripheral space areas of the carrier with the Bluetooth anchor points as the base points. The application does not calculate the distance between the Bluetooth anchor points and the Bluetooth mobile terminal, and can avoid the interference of the PCB board antenna directionality on the RSSI absolute value and the environmental attenuation factor parameter calibration when the distance between the mobile terminal and the Bluetooth anchor point is 1 m in the three-edge positioning algorithm of the path loss model.

Description

Technical Field

[0001] This application relates to the field of digital key technology, and in particular to a positioning method, apparatus, device and medium based on Bluetooth RSSI. Background Technology

[0002] Bluetooth is a short-range wireless communication technology that enables data exchange between fixed and mobile devices.

[0003] Bluetooth Low Energy (BLE) is a low-cost, short-range, interoperable, robust wireless technology under the Bluetooth V4.0 specification. The RSSI (Received Signal Strength Indication) value of a BLE chip is calculated by measuring the strength of the received wireless signal. The RSSI signal attenuation and the distance between Bluetooth anchor points exhibit the following characteristics: the RSSI value is high when two BLE modules are close together, and low when they are far apart.

[0004] With the rapid development of technology, vehicles are gradually becoming more intelligent and automated. More diverse control methods have emerged for vehicles; for example, users can control the vehicle to complete specified operations using smartphones, remote keys, or other smart keys. The automotive industry has proposed utilizing the characteristics of RSSI signals for vehicle control.

[0005] Current Bluetooth positioning methods primarily employ trilateration algorithms based on the path loss model. These algorithms calculate the mobile terminal's coordinates using the distance between the transmitting and receiving ends. The distance calculation formula is generally as follows: Where A is the absolute value of RSSI when the distance to the mobile terminal is 1 meter, and n is the environmental attenuation factor. However, in actual projects, the antenna at the anchor point is usually a PCB-mounted antenna, which has a directional problem. It is difficult to calibrate the values ​​of A and n using the trilateration algorithm. Summary of the Invention

[0006] This application provides a positioning method, apparatus, device, and medium based on Bluetooth RSSI. This application does not calculate the distance between the Bluetooth anchor point and the Bluetooth mobile terminal, which can avoid the interference of the PCB onboard antenna directivity on the absolute value of RSSI and the environmental attenuation factor parameter calibration when the distance to the mobile terminal is 1 meter in the trilateration algorithm of the path loss model.

[0007] In a first aspect, embodiments of this application provide a positioning method based on Bluetooth RSSI, which includes:

[0008] The signal strength RSSI value of the Bluetooth mobile terminal is obtained by using multiple Bluetooth anchor points deployed on the carrier.

[0009] Based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first region, the target region where the Bluetooth mobile terminal is located is determined, and the target region is one of the first regions;

[0010] Each of the first regions is obtained by dividing the internal and surrounding space of the carrier based on the Bluetooth anchor point.

[0011] In conjunction with the first aspect, in one implementation, determining the target area where the Bluetooth mobile terminal is located includes:

[0012] Traverse each of the first regions and determine whether the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the corresponding Bluetooth anchor point in the first region.

[0013] If the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point in the first region, then the first region is determined as a target candidate region, and the target region where the Bluetooth mobile terminal is located is one of the target candidate regions.

[0014] In conjunction with the first aspect, in one implementation, the final number of the target candidate regions is determined;

[0015] If the final number is 1, then the unique target candidate region is determined as the target region;

[0016] If the final number is greater than 1, arbitration will be conducted to obtain the target area.

[0017] In conjunction with the first aspect, in one implementation, arbitration includes:

[0018] Compare the RSSI values ​​of the Bluetooth anchor points corresponding to each target candidate region;

[0019] The target candidate region corresponding to the Bluetooth anchor point with the highest RSSI signal strength value is determined as the target region.

[0020] In conjunction with the first aspect, in one embodiment, the first region includes a first sub-region and a second sub-region arranged from near to far from the carrier.

[0021] The positioning method further includes:

[0022] Based on the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area, and the second calibrated RSSI range of the first sub-region of the target area corresponding to the Bluetooth anchor point, the target sub-region is determined to be either the first sub-region or the second sub-region.

[0023] In conjunction with the first aspect, in one implementation, if the signal strength RSSI value is within the range of the second calibrated RSSI, then the first sub-region is determined to be the target sub-region;

[0024] Otherwise, the second sub-region is determined as the target sub-region.

[0025] In conjunction with the first aspect, in one embodiment, the positioning method further includes:

[0026] The signal strength RSSI value of the Bluetooth anchor point corresponding to the target area is periodically acquired;

[0027] After determining the target sub-region where the Bluetooth mobile terminal is located, count the number of consecutive identical target sub-regions;

[0028] If the count exceeds the preset number, the target sub-region will be used as the final location result.

[0029] In conjunction with the first aspect, in one implementation, the first sub-region is an unlocked region, and the second sub-region is a region to be unlocked / locked.

[0030] In conjunction with the first aspect, in one embodiment, the carrier is a car, and there are four Bluetooth anchor points, which are respectively located at the center console position of the car's cabin, the middle position of the right door B-pillar, the middle position of the trunk, and the middle position of the left door B-pillar.

[0031] The multiple different first areas are: the inner circular calibration area of ​​the cabin corresponding to the Bluetooth anchor point in the center console position; the outer semi-circular calibration area of ​​the right door corresponding to the Bluetooth anchor point in the middle of the right B-pillar position; the outer semi-circular calibration area of ​​the trunk corresponding to the Bluetooth anchor point in the middle position; and the outer semi-circular calibration area of ​​the left door corresponding to the Bluetooth anchor point in the middle of the left B-pillar position.

[0032] In conjunction with the first aspect, in one embodiment, the method further includes:

[0033] In response to the Bluetooth mobile terminal scanning broadcast, Bluetooth pairing is performed to obtain the signal strength RSSI value.

[0034] In conjunction with the first aspect, in one implementation, in response to the Bluetooth mobile terminal scanning broadcast, performing Bluetooth pairing to obtain the signal strength RSSI value includes:

[0035] The primary Bluetooth anchor responds to the Bluetooth mobile terminal's scan broadcast to pair, and sends the signal strength RSSI value and the Bluetooth mobile terminal's location broadcast packet to the controller;

[0036] Pairing is initiated from the Bluetooth anchor point in response to a positioning broadcast packet sent by the controller, and the signal strength RSSI value is sent to the controller.

[0037] Among the multiple Bluetooth anchor points, one is the master Bluetooth anchor point, and the rest are slave Bluetooth anchor points.

[0038] Secondly, embodiments of this application provide a positioning device based on Bluetooth RSSI, the device comprising:

[0039] Bluetooth anchors are used to be placed on a carrier and to acquire the RSSI value of the Bluetooth mobile terminal signal strength.

[0040] The controller is used to determine the target area where the Bluetooth mobile terminal is located based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first area. The target area is one of the first areas. Each first area is obtained by dividing the internal and surrounding space of the carrier with the Bluetooth anchor point as the base point.

[0041] Thirdly, embodiments of this application provide a Bluetooth RSSI-based positioning device, which includes a processor, a memory, and a Bluetooth RSSI-based positioning program stored in the memory and executable by the processor. When the Bluetooth RSSI-based positioning program is executed by the processor, it implements the steps of the Bluetooth RSSI-based positioning method as described in any of the preceding claims.

[0042] Fourthly, embodiments of this application provide a computer-readable storage medium storing a Bluetooth RSSI-based positioning program, wherein when the Bluetooth RSSI-based positioning program is executed by a processor, it implements the steps of the Bluetooth RSSI-based positioning method as described in any of the preceding claims.

[0043] The beneficial effects of the technical solution provided in this application include:

[0044] This application does not calculate the distance between the Bluetooth anchor point and the Bluetooth mobile terminal. Instead, it qualitatively determines the first calibrated RSSI range for each first region. By comparing the measured RSSI values ​​of each Bluetooth anchor point with the calibrated RSSI range of each first region, the location of the Bluetooth mobile terminal can be obtained. Therefore, this application can avoid the interference of the PCB-onboard antenna directivity on the absolute value of RSSI and the environmental attenuation factor parameter calibration at a distance of 1 meter from the mobile terminal in the trilateration algorithm of the path loss model. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a schematic diagram illustrating the principle of the superposition of the circular rings in this application;

[0047] Figure 2 This is the calibration schematic diagram for this application;

[0048] Figure 3 This is a schematic diagram of the positioning principle of this application;

[0049] Figure 4 This is a flowchart illustrating an embodiment of the Bluetooth RSSI-based positioning method of this application;

[0050] Figure 5 A schematic diagram showing further division of the first region of this application;

[0051] Figure 6 This is a schematic diagram illustrating the dejitter principle of this application.

[0052] Figure 7 This is a schematic diagram of the functional modules of an embodiment of the Bluetooth RSSI-based positioning device of this application;

[0053] Figure 8 This is a schematic diagram of the hardware structure of the Bluetooth RSSI-based positioning device of this application. Detailed Implementation

[0054] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0055] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0056] To facilitate understanding of this application, the following uses an automobile as an example to illustrate its principles.

[0057] This application is based on the path loss model, but it does not calculate the distance between the signal transmitter and receiver according to the path loss model. Instead, it utilizes the characteristic that "the farther the signal transmission distance, the less energy reaches the receiver, and the shorter the transmission distance, the more energy reaches the receiver." See also Figure 1 As shown, master Bluetooth, anchor1 Bluetooth, anchor2 Bluetooth, and anchor3 Bluetooth are installed in the center console of the cockpit, the middle of the B-pillar of the right door, the middle of the trunk, and the middle of the B-pillar of the left door, respectively. During the installation process, it should be ensured that there are no metal objects near the antenna, the four Bluetooths are arranged in a diamond shape, and the direction with the best antenna reception performance is facing outwards from the vehicle. Then, the four Bluetooths are connected via the LIN bus.

[0058] In automotive design, the interior and surrounding spaces can be divided into zones based on actual needs. For example, a preliminary calibration zone could be created for the right door, trunk, left door, and center console. Taking the right door calibration zone as an example, when a Bluetooth mobile terminal moves within this zone, it can obtain:

[0059] Anchor1 Bluetooth has a minimum and a maximum RSSI value. The minimum RSSI value appears at the point in the initial calibration area on the right side where the Bluetooth mobile terminal is furthest from anchor1 Bluetooth, and the maximum RSSI value appears at the point in the initial calibration area on the right side where the Bluetooth mobile terminal is closest to anchor1 Bluetooth. Similarly, for anchor2 Bluetooth, anchor3 Bluetooth, and master Bluetooth, each Bluetooth anchor point can also obtain a minimum and a maximum RSSI value. For anchor1 Bluetooth, the distance between its minimum RSSI value and anchor1 Bluetooth is used as the inner radius (actually, the radius is 0), and the distance between its maximum RSSI value and anchor1 Bluetooth is used as the outer radius. Drawing a circle with anchor1 Bluetooth's location as the center yields an annulus. Similarly, for anchor2 Bluetooth, the distance between its minimum RSSI value and anchor2 Bluetooth is used as the inner radius, and the distance between its maximum RSSI value and anchor2 Bluetooth is used as the outer radius. Drawing a circle with anchor2 Bluetooth's location as the center yields an annulus. Figure 1 Similarly, for anchor3 Bluetooth, a ring can be obtained (the inner and outer green circles). Figure 1 Similarly, for the master Bluetooth, a ring can be obtained (the inner and outer red circles). Figure 1 The four rings (inner and outer black circles) are superimposed to obtain the semi-circular calibration area outside the right door of the car corresponding to anchor1 Bluetooth.

[0060] Using the same circular superposition method, when the Bluetooth mobile terminal moves in the initial calibration area of ​​the trunk, it can obtain the semi-circular calibration area outside the trunk corresponding to anchor2 Bluetooth; when the Bluetooth mobile terminal moves in the initial calibration area of ​​the left door, it can obtain the semi-circular calibration area outside the left door corresponding to anchor3 Bluetooth; and when the Bluetooth mobile terminal moves in the initial calibration area of ​​the central control, it can obtain the circular calibration area inside the cabin corresponding to master Bluetooth.

[0061] After obtaining the semi-circular calibration areas outside the right door, the trunk, the left door, and the cabin, refer to... Figure 2 As shown, by moving the Bluetooth mobile terminal around the semi-circular calibration area outside the right door of the car, the following four calibration results can be obtained:

[0062] (1) The first calibration RSSI range of anchor1 Bluetooth corresponding to the semi-circular calibration area outside the right door of the vehicle includes the first minimum calibration signal strength RSSI value (denoted as the calibration anchor1 Bluetooth min RSSI) and the first maximum calibration signal strength RSSI value (denoted as the calibration anchor1 Bluetooth max RSSI).

[0063] (2) The first calibration RSSI range of anchor2 Bluetooth corresponding to the semi-circular calibration area outside the right door of the vehicle includes the first minimum calibration signal strength RSSI value (denoted as the calibrated anchor2 Bluetooth min RSSI) and the first maximum calibration signal strength RSSI value (denoted as the calibrated anchor2 Bluetooth max RSSI).

[0064] (3) The first calibration RSSI range of anchor3 Bluetooth corresponding to the semi-circular calibration area outside the right door of the vehicle includes the first minimum calibration signal strength RSSI value (denoted as the calibrated anchor3 Bluetooth min RSSI) and the first maximum calibration signal strength RSSI value (denoted as the calibrated anchor3 Bluetooth max RSSI).

[0065] (4) The first calibration RSSI range of the master Bluetooth corresponding to the semi-circular calibration area outside the right door of the vehicle includes the first minimum calibration signal strength RSSI value (denoted as the calibrated master Bluetooth min RSSI) and the first maximum calibration signal strength RSSI value (denoted as the calibrated master Bluetooth max RSSI).

[0066] Similarly, by moving the Bluetooth mobile terminal around the other three calibration areas, the first calibration RSSI range of the four Bluetooth devices corresponding to each calibration area can be obtained.

[0067] See Figure 3 As shown, when four Bluetooth devices receive RSSI values ​​(e.g., the RSSI of the current master Bluetooth, the RSSI of the current anchor1 Bluetooth, the RSSI of the current anchor2 Bluetooth, and the RSSI of the current anchor3 Bluetooth), they are compared one by one with the first calibrated RSSI range of the four Bluetooth devices corresponding to each calibration area. For example, first, the RSSI range of the four Bluetooth devices corresponding to the semi-circular calibration area outside the right door of the car is compared, and the following four conditions are determined:

[0068] (1) The calibrated master Bluetooth min RSSI ≤ the current master Bluetooth RSSI ≤ the calibrated master Bluetooth max RSSI;

[0069] (2) The calibrated anchor1 Bluetooth min RSSI ≤ the current anchor1 Bluetooth RSSI ≤ the calibrated anchor1 Bluetooth max RSSI;

[0070] (3) The calibrated anchor2 Bluetooth min RSSI ≤ the current anchor2 Bluetooth RSSI ≤ the calibrated anchor2 Bluetooth max RSSI;

[0071] (4) The calibrated anchor3 Bluetooth min RSSI ≤ the current anchor3 Bluetooth RSSI ≤ the calibrated anchor3 Bluetooth max RSSI.

[0072] If all four conditions are met, it indicates that the area is in the semi-circular calibration area outside the right door of the vehicle. Otherwise, compare it with the first calibration RSSI range of the four Bluetooth devices corresponding to the next semi-circular calibration area outside the left door of the vehicle.

[0073] The principle described above in this application does not specifically calculate the distance between the Bluetooth anchor point and the Bluetooth mobile terminal. Instead, it takes a qualitative approach. Each calibration area has a calibration RSSI range for each Bluetooth anchor point. This calibration RSSI range includes a minimum signal strength RSSI value and a maximum signal strength RSSI value. By comparing the measured signal strength RSSI value of each Bluetooth anchor point with the calibration RSSI range of the Bluetooth anchor points in each calibration area, the location of the Bluetooth mobile terminal can be obtained.

[0074] Based on the above principles, in a first aspect, embodiments of this application provide a positioning method based on Bluetooth RSSI.

[0075] In one embodiment, reference is made to Figure 4 , Figure 4 This is a flowchart illustrating the first embodiment of the Bluetooth RSSI-based positioning method of this application. Figure 4 As shown, the positioning method based on Bluetooth RSSI includes:

[0076] 101: Obtain the signal strength RSSI value of the Bluetooth mobile terminal by using multiple Bluetooth anchor points deployed on the carrier.

[0077] The aforementioned carrier can be a car, etc., and the Bluetooth mobile terminal can be a mobile phone or a Bluetooth key, etc.

[0078] The number of Bluetooth anchor points mentioned above can be selected according to actual needs, and they can be distributed in different locations on the carrier.

[0079] 102: Based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first region, determine the target region where the Bluetooth mobile terminal is located, wherein the target region is one of the first regions.

[0080] In step 102, each of the first regions is obtained by dividing the internal and surrounding space of the carrier based on the Bluetooth anchor point, for example, see Figure 1 and Figure 2 As shown, each of the first regions is a semi-circular calibration area outside the right door of the vehicle, a semi-circular calibration area outside the trunk of the vehicle, a semi-circular calibration area outside the left door of the vehicle, and a circular calibration area inside the cabin.

[0081] The method provided in this application does not calculate the distance between the Bluetooth anchor point and the Bluetooth mobile terminal. Instead, it qualitatively determines the first calibrated RSSI range for each first region. By comparing the measured RSSI values ​​of each Bluetooth anchor point with the calibrated RSSI range of each first region, the location of the Bluetooth mobile terminal can be obtained. Therefore, this application can avoid the interference of the PCB-onboard antenna directivity on the calibration of the absolute RSSI value and environmental attenuation factor parameters at a distance of 1 meter from the mobile terminal in the trilateration algorithm of the path loss model.

[0082] Furthermore, in one embodiment, determining the target area where the Bluetooth mobile terminal is located includes:

[0083] 201: Traverse each of the first regions and determine whether the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the corresponding Bluetooth anchor point in the first region.

[0084] 202: If the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point in the first region, then the first region is determined as a target candidate region, and the target region where the Bluetooth mobile terminal is located is one of the target candidate regions.

[0085] The judgment logic of steps 201 and 202 in this embodiment can be referred to the four condition judgments of the four Bluetooth devices mentioned above, and will not be repeated here.

[0086] This embodiment abandons distance calculation and directly uses RSSI range comparison to achieve area positioning. During the calibration phase, only the extreme values ​​of RSSI at the area boundary need to be measured, eliminating the need for theoretical parameter calibration and avoiding directional interference from the PCB antenna. During the positioning phase, the measured RSSI values ​​are used for verification and judgment, significantly improving response speed. The hardware deployment is compatible with low-cost Bluetooth modules, greatly simplifying the calibration workload and effectively solving the core problems of difficult path loss calibration, high cost, and slow response in the background technology.

[0087] It is understandable that when performing the above steps 201 and 202, there may be one, multiple, or none of the target candidate regions.

[0088] The conclusions will differ depending on the situation, so step 202 also includes a step of counting the number of target candidate regions.

[0089] Furthermore, in one embodiment, the final number of the target candidate regions is determined;

[0090] If the final count is 0, it means that the Bluetooth mobile terminal has not entered any of the first zones.

[0091] If the final number is 1, then the unique target candidate region is determined as the target region.

[0092] If the final number is greater than 1, arbitration will be conducted to obtain the target area.

[0093] This counting and arbitration mechanism can distinguish the positioning status: a count of 0 indicates that the area has not been entered; a count of 1 immediately locks the target; and a count greater than 1 avoids conflict through arbitration, eliminates false triggers, and ensures accurate and reliable positioning with no response delay.

[0094] Furthermore, in one embodiment, arbitration includes:

[0095] 301: Compare the signal strength RSSI values ​​of the Bluetooth anchor points corresponding to each target candidate region.

[0096] 302: The target candidate region corresponding to the Bluetooth anchor point with the largest signal strength RSSI value is determined as the target region.

[0097] For example, if the target candidate region includes a semi-circular calibration area outside the right door and a semi-circular calibration area outside the left door, then the size of the current anchor1 Bluetooth RSSI and the current anchor3 Bluetooth RSSI is determined.

[0098] If the current anchor1 Bluetooth RSSI is greater than the current anchor3 Bluetooth RSSI, then the arbitration result is the semi-circular calibration area outside the right door of the vehicle, that is, the target area is the semi-circular calibration area outside the right door of the vehicle.

[0099] If the current anchor1 Bluetooth RSSI is less than the current anchor3 Bluetooth RSSI, then the arbitration result is the semi-circular calibration area outside the left door of the vehicle, that is, the target area is the semi-circular calibration area outside the left door of the vehicle.

[0100] Since RSSI values ​​are easily affected by the environment, such as obstacles, interference sources, signal reflection, and multipath effects, these factors can cause RSSI values ​​to be unstable, which may lead to frequent unlocking / locking phenomena. In order to deal with this kind of problem, the first region can be further divided.

[0101] For example, see Figure 5 As shown, the first region includes a first sub-region and a second sub-region arranged from near to far from the carrier; as an example, the first sub-region is an unlocking region, and the second sub-region is a region to be unlocked / locked. When the Bluetooth mobile terminal approaches and enters the region to be unlocked / locked, it is in an unlocking state; when it continues to approach and enters the unlocking region, it is unlocked; when it exits and re-enters the region to be unlocked / locked, it is in a locked state.

[0102] Since the target area has been located, it is necessary to further determine whether the Bluetooth mobile terminal is in the first sub-region or the second sub-region in order to execute the corresponding control commands (such as unlocking or locking). To prevent frequent unlocking / locking due to unstable RSSI values, it is only necessary to determine the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area and the second calibrated RSSI range of the Bluetooth anchor point corresponding to the first sub-region.

[0103] Specifically, if the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area is within the range of the second calibrated RSSI of the Bluetooth anchor point corresponding to the first sub-region of the target area, then the first sub-region is determined to be the target sub-region; otherwise, the second sub-region is determined to be the target sub-region.

[0104] In this context, each Bluetooth anchor point corresponding to the first region can pre-calibrate a second calibrated RSSI range for the first sub-region. For example, the anchor1 Bluetooth corresponding to the semi-circular calibration region outside the right door of the vehicle can calibrate a second calibrated RSSI range for its first sub-region. Similarly, the anchor3 Bluetooth corresponding to the semi-circular calibration region outside the left door of the vehicle can calibrate a second calibrated RSSI range for its first sub-region. The second calibrated RSSI range includes a second minimum calibrated signal strength RSSI value and a second maximum calibrated signal strength RSSI value.

[0105] For example, if the arbitration result is that the target area is the semi-circular calibration area outside the right door of the vehicle, then the current anchor1 Bluetooth RSSI is compared with the second calibration RSSI range of the first sub-region of the semi-circular calibration area outside the right door of the vehicle, and the following judgment is made:

[0106] If the condition is met that the second minimum calibration signal strength RSSI value < the current anchor1 Bluetooth RSSI value < the second maximum calibration signal strength RSSI value, then the first sub-region is determined to be the target sub-region, and the positioning result is updated to the first sub-region of the semi-circular calibration area outside the right door of the vehicle; otherwise, the second sub-region is determined to be the target sub-region, and the positioning result is updated to the second sub-region of the semi-circular calibration area outside the right door of the vehicle.

[0107] For example, if the arbitration result is that the target area is the semi-circular calibration area outside the left door of the vehicle, then the current anchor3 Bluetooth RSSI is compared with the second calibration RSSI range of the first sub-region of the semi-circular calibration area outside the left door of the vehicle, and the following judgment is made:

[0108] If the condition is met that the second minimum calibration signal strength RSSI value < the current anchor3 Bluetooth RSSI value < the second maximum calibration signal strength RSSI value, then the first sub-region is determined to be the target sub-region, and the positioning result is updated to the first sub-region of the semi-circular calibration area outside the left door of the vehicle; otherwise, the second sub-region is determined to be the target sub-region, and the positioning result is updated to the second sub-region of the semi-circular calibration area outside the left door of the vehicle.

[0109] Furthermore, this application will also perform a de-jittering operation on the positioning results. Only positioning results that remain unchanged for multiple consecutive times are considered as the final positioning results. The de-jittering is mainly to provide the application layer software with a stable positioning result.

[0110] Specifically, see Figure 6 As shown, the positioning method further includes:

[0111] 401: Periodically acquire the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area.

[0112] 402: After determining the target sub-region where the Bluetooth mobile terminal is located, count the number of consecutive identical target sub-regions.

[0113] 403: If the count exceeds the preset number of times, the target sub-region will be used as the final location result.

[0114] This application implements a continuous counting de-jitter mechanism, which outputs the final result only when the target sub-region is consistent multiple times in a row. This effectively filters RSSI fluctuations caused by environmental interference, eliminates the risk of instantaneous false triggering, significantly improves positioning stability and unlocking response accuracy, and solves the delay problem caused by signal jitter.

[0115] Furthermore, the method further includes: performing Bluetooth pairing in response to the Bluetooth mobile terminal scanning broadcast to obtain the signal strength RSSI value.

[0116] Specifically, the primary Bluetooth anchor point responds to the Bluetooth mobile terminal's scan broadcast to pair and sends a signal strength RSSI value and a location broadcast packet of the Bluetooth mobile terminal to the controller; the secondary Bluetooth anchor point responds to the location broadcast packet sent by the controller to pair and sends a signal strength RSSI value to the controller; wherein, among the plurality of Bluetooth anchor points, one is the primary Bluetooth anchor point, and the rest are secondary Bluetooth anchor points.

[0117] As an example, see Figure 1 As shown, the primary Bluetooth anchor is master Bluetooth, and the secondary Bluetooth anchors are anchor1 Bluetooth, anchor2 Bluetooth, and anchor3 Bluetooth. Master Bluetooth sends a broadcast, and the Bluetooth mobile terminal scans for the broadcast while simultaneously sending a location broadcast packet. This location broadcast packet includes the MAC address type, MAC address, and IRK information. After the Bluetooth mobile terminal scans and finds master Bluetooth, it initiates a connection. Once the connection is established, a pairing process is executed. After pairing is complete, master Bluetooth immediately sends the Bluetooth mobile terminal's MAC address type, MAC address, and IRK information to the MCU via the UART bus. The MCU then sends this data to anchor1 Bluetooth, anchor2 Bluetooth, and anchor3 Bluetooth via the LIN bus. Simultaneously, master Bluetooth also sends the RSSI signal strength value to the MCU via the UART bus at a preset period T1. The MCU then passes the RSSI value to a Kalman filter for filtering, and the filtered data is temporarily stored in RAM.

[0118] After receiving the MAC address type, MAC address, and IRK information of the Bluetooth mobile terminal, anchor1, anchor2, and anchor3 Bluetooth devices execute the "active scanning with privacy" procedure. This procedure only receives broadcasts from Bluetooth devices with the corresponding MAC address. Then, anchor1, anchor2, and anchor3 Bluetooth devices actively send their RSSI (Signal Strength Index) values ​​to the MCU via the LIN bus at a preset period T2. The MCU then passes the RSSI values ​​to a Kalman filter for filtering, and the filtered data is temporarily stored in RAM.

[0119] The MCU will read the four RSSI values ​​temporarily stored in RAM according to the preset period T3 and compare them with the first calibrated RSSI range of each Bluetooth anchor point corresponding to the first region to determine the final positioning result.

[0120] Secondly, embodiments of this application also provide a positioning device based on Bluetooth RSSI.

[0121] In one embodiment, reference is made to Figure 7 , Figure 7 This is a functional module diagram of an embodiment of the Bluetooth RSSI-based positioning device of this application. Figure 7 As shown, the Bluetooth RSSI-based positioning device includes:

[0122] Bluetooth anchors are used to be placed on a carrier and to acquire the RSSI value of the Bluetooth mobile terminal signal strength.

[0123] The controller is used to determine the target area where the Bluetooth mobile terminal is located based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first area. The target area is one of the first areas. Each first area is obtained by dividing the internal and surrounding space of the carrier with the Bluetooth anchor point as the base point.

[0124] Corresponding to the Bluetooth RSSI-based positioning method, the positioning device in this embodiment does not calculate the distance between the Bluetooth anchor point and the Bluetooth mobile terminal, which can avoid the interference of the PCB onboard antenna directivity on the absolute value of RSSI and the environmental attenuation factor parameter calibration when the distance to the mobile terminal is 1 meter in the trilateration algorithm of the path loss model.

[0125] Understandably, the controller described above can be an MCU.

[0126] Furthermore, in one embodiment, the Bluetooth RSSI-based positioning device further includes a storage module for storing the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first region.

[0127] It is understandable that the aforementioned storage module can use RAM.

[0128] Further, in one embodiment, the controller determines the target area where the Bluetooth mobile terminal is located by: traversing each of the first areas and determining whether the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point corresponding to the first area; if the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point corresponding to the first area, then the first area is determined as a target candidate area, and the target area where the Bluetooth mobile terminal is located is one of the target candidate areas.

[0129] Furthermore, in one embodiment, the Bluetooth RSSI-based positioning device further includes a counter, which is used to count the final number of target candidate regions and the number of consecutive identical target sub-regions. The storage module is also used to store the counter count. The controller determines the final number of target candidate regions; if the final number is 1, then the unique target candidate region is determined as the target region; if the final number is greater than 1, arbitration is performed to obtain the target region.

[0130] Furthermore, in one embodiment, the arbitration by the controller includes: comparing the signal strength RSSI values ​​of the Bluetooth anchors corresponding to each target candidate region; and determining the target candidate region corresponding to the Bluetooth anchor with the largest signal strength RSSI value as the target region.

[0131] Furthermore, in one embodiment, the controller determines the target sub-region where the Bluetooth mobile terminal is located based on the signal strength RSSI value of the Bluetooth anchor point corresponding to the target region and the second calibrated RSSI range of the first sub-region of the target region corresponding to the Bluetooth anchor point. The target sub-region is either the first sub-region or the second sub-region.

[0132] If the signal strength RSSI value is within the range of the second calibrated RSSI, the controller determines the first sub-region as the target sub-region; otherwise, the controller determines the second sub-region as the target sub-region.

[0133] Furthermore, in one embodiment, the controller periodically acquires the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area; after determining the target sub-area where the Bluetooth mobile terminal is located, it counts the number of consecutive identical target sub-areas; if the count is greater than a preset number, the target sub-area is taken as the final positioning result.

[0134] The functions of each module in the Bluetooth RSSI positioning device correspond to the steps in the Bluetooth RSSI positioning method embodiment, and their functions and implementation processes will not be described in detail here.

[0135] Thirdly, embodiments of this application provide a Bluetooth RSSI-based positioning device, which can be a personal computer (PC), laptop computer, server, or other device with data processing capabilities.

[0136] Reference Figure 8 , Figure 8 This is a schematic diagram of the hardware structure of a Bluetooth RSSI-based positioning device involved in an embodiment of this application. In this embodiment, the Bluetooth RSSI-based positioning device may include a processor, a memory, a communication interface, and a communication bus.

[0137] The communication bus can be of any type and is used to interconnect the processor, memory, and communication interface.

[0138] The communication interface includes input / output (I / O) interfaces, physical interfaces, and logical interfaces used for interconnecting internal components of the Bluetooth RSSI-based positioning device, as well as interfaces for interconnecting the Bluetooth RSSI-based positioning device with other devices (such as other computing devices or user equipment). Physical interfaces can be Ethernet interfaces, fiber optic interfaces, ATM interfaces, etc.; user equipment can be displays, keyboards, etc.

[0139] Memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0140] The processor can be a general-purpose processor, which can call a Bluetooth RSSI-based positioning program stored in memory and execute the Bluetooth RSSI-based positioning method provided in the embodiments of this application. For example, the general-purpose processor can be a central processing unit (CPU). The method executed when the Bluetooth RSSI-based positioning program is called can be referred to in the various embodiments of the Bluetooth RSSI-based positioning method of this application, and will not be repeated here.

[0141] Those skilled in the art will understand that Figure 8 The hardware structure shown does not constitute a limitation of this application and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0142] Fourthly, embodiments of this application also provide a computer-readable storage medium.

[0143] The present application provides a computer-readable storage medium storing a Bluetooth RSSI-based positioning program, wherein when the Bluetooth RSSI-based positioning program is executed by a processor, it implements the steps of the Bluetooth RSSI-based positioning method described above.

[0144] The method implemented when the Bluetooth RSSI-based positioning program is executed can be referred to in the various embodiments of the Bluetooth RSSI-based positioning method of this application, and will not be repeated here.

[0145] It should be noted that the sequence numbers of the embodiments in this application are for descriptive purposes only and do not represent the superiority or inferiority of the embodiments.

[0146] The terms "comprising" and "having," and any variations thereof, in the specification, claims, and accompanying drawings of this application are intended to cover non-exclusive inclusion. For example, a process, method, system, product, or apparatus that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to such process, method, product, or apparatus. The terms "first," "second," and "third," etc., are used to distinguish different objects, etc., and do not indicate a sequence, nor do they limit "first," "second," and "third" to different types.

[0147] In the description of the embodiments of this application, terms such as "exemplary," "for example," or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "exemplary," "for example," or "for instance" in the embodiments of this application should not be construed as being more preferred or advantageous than other embodiments or designs. Specifically, the use of terms such as "exemplary," "for example," or "for instance" is intended to present the relevant concepts in a concrete manner.

[0148] In the description of the embodiments of this application, unless otherwise stated, " / " means "or". For example, A / B can mean A or B. The "and / or" in the text is merely a description of the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can mean: A exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of this application, "multiple" means two or more.

[0149] In some processes described in the embodiments of this application, multiple operations or steps are included in a specific order. However, it should be understood that these operations or steps may not be executed in the order they appear in the embodiments of this application, or they may be executed in parallel. The sequence number of the operation is only used to distinguish different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed sequentially or in parallel, and these operations or steps may be combined.

[0150] Through the above description of the embodiments, those skilled in the art can clearly understand that the methods of the above embodiments can be implemented by means of software plus necessary general-purpose hardware platforms. Of course, they can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes several instructions to cause a terminal device to execute the methods described in the various embodiments of this application.

[0151] The above are merely preferred embodiments of this application and do not limit the patent scope of this application. Any equivalent structural or procedural transformations made using the content of this application's specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the patent protection scope of this application.

Claims

1. A positioning method based on Bluetooth RSSI, characterized in that, It includes: The signal strength RSSI value of the Bluetooth mobile terminal is obtained by using multiple Bluetooth anchor points deployed on the carrier. Based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first region, the target region where the Bluetooth mobile terminal is located is determined, and the target region is one of the first regions; Each of the first regions is obtained by dividing the interior and surrounding space of the carrier based on the Bluetooth anchor point; Determining the target area where the Bluetooth mobile terminal is located includes: Traverse each of the first regions and determine whether the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the corresponding Bluetooth anchor point in the first region. If the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point in the first region, then the first region is determined as a target candidate region, and the target region where the Bluetooth mobile terminal is located is one of the target candidate regions; The first region includes a first sub-region and a second sub-region arranged from near to far from the carrier; The positioning method further includes: determining the target sub-region where the Bluetooth mobile terminal is located based on the signal strength RSSI value of the Bluetooth anchor point corresponding to the target region and the second calibrated RSSI range of the first sub-region of the target region corresponding to the Bluetooth anchor point, wherein the target sub-region is either the first sub-region or the second sub-region; The positioning method further includes: periodically acquiring the signal strength RSSI value of the Bluetooth anchor point corresponding to the target area; after determining the target sub-area where the Bluetooth mobile terminal is located, counting the number of consecutive identical target sub-areas; if the count is greater than a preset number, the target sub-area is taken as the final positioning result.

2. The positioning method based on Bluetooth RSSI as described in claim 1, characterized in that: Determine the final number of the target candidate regions; If the final number is 1, then the unique target candidate region is determined as the target region; If the final number is greater than 1, arbitration will be conducted to obtain the target area.

3. The positioning method based on Bluetooth RSSI as described in claim 2, characterized in that, Arbitration includes: Compare the RSSI values ​​of the Bluetooth anchor points corresponding to each target candidate region; The target candidate region corresponding to the Bluetooth anchor point with the highest RSSI signal strength value is determined as the target region.

4. The positioning method based on Bluetooth RSSI as described in claim 1, characterized in that: If the signal strength RSSI value is within the range of the second calibrated RSSI, then the first sub-region is determined to be the target sub-region; Otherwise, the second sub-region is determined as the target sub-region.

5. The positioning method based on Bluetooth RSSI as described in claim 1, characterized in that: The first sub-area is the unlocking area, and the second sub-area is the area to be unlocked / locked.

6. The positioning method based on Bluetooth RSSI as described in claim 1, characterized in that: The carrier is a car, and there are four Bluetooth anchor points, which are located in the center console of the car's cabin, the middle of the right door B-pillar, the middle of the trunk, and the middle of the left door B-pillar, respectively. The multiple different first areas are: the inner circular calibration area of ​​the cabin corresponding to the Bluetooth anchor point in the center console position; the outer semi-circular calibration area of ​​the right door corresponding to the Bluetooth anchor point in the middle of the right B-pillar position; the outer semi-circular calibration area of ​​the trunk corresponding to the Bluetooth anchor point in the middle position; and the outer semi-circular calibration area of ​​the left door corresponding to the Bluetooth anchor point in the middle of the left B-pillar position.

7. The positioning method based on Bluetooth RSSI as described in claim 1, characterized in that, The method further includes: In response to the Bluetooth mobile terminal scanning broadcast, Bluetooth pairing is performed to obtain the signal strength RSSI value.

8. The positioning method based on Bluetooth RSSI as described in claim 7, characterized in that, In response to the Bluetooth mobile terminal scanning broadcast, Bluetooth pairing is performed to obtain the signal strength RSSI value, including: The primary Bluetooth anchor responds to the Bluetooth mobile terminal's scan broadcast to pair, and sends the signal strength RSSI value and the Bluetooth mobile terminal's location broadcast packet to the controller; Pairing is initiated from the Bluetooth anchor point in response to a positioning broadcast packet sent by the controller, and the signal strength RSSI value is sent to the controller. Among the multiple Bluetooth anchor points, one is the master Bluetooth anchor point, and the rest are slave Bluetooth anchor points.

9. A positioning device based on Bluetooth RSSI, characterized in that, The device includes: Bluetooth anchors are used to be placed on a carrier and to acquire the RSSI value of the Bluetooth mobile terminal signal strength. The controller is used to determine the target area where the Bluetooth mobile terminal is located based on the signal strength RSSI value of each Bluetooth anchor point and the first calibrated RSSI range of each Bluetooth anchor point corresponding to each first area. The target area is one of the first areas. Each first area is obtained by dividing the internal and surrounding space of the carrier with the Bluetooth anchor point as the base point. Determining the target area where the Bluetooth mobile terminal is located includes: traversing each of the first areas and determining whether the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point corresponding to the first area; if the signal strength RSSI value of each Bluetooth anchor point is within the first calibrated RSSI range of the Bluetooth anchor point corresponding to the first area, then the first area is determined as a target candidate area, and the target area where the Bluetooth mobile terminal is located is one of the target candidate areas; The first region includes a first sub-region and a second sub-region arranged from near to far from the carrier; the target sub-region where the Bluetooth mobile terminal is located is determined based on the signal strength RSSI value of the Bluetooth anchor point corresponding to the target region and the second calibrated RSSI range of the first sub-region of the target region corresponding to the Bluetooth anchor point, wherein the target sub-region is either the first sub-region or the second sub-region. The signal strength RSSI value of the Bluetooth anchor point corresponding to the target area is periodically acquired; after determining the target sub-region where the Bluetooth mobile terminal is located, the number of consecutive identical target sub-regions is counted; if the count is greater than a preset number, the target sub-region is taken as the final positioning result.

10. A positioning device based on Bluetooth RSSI, characterized in that, The Bluetooth RSSI-based positioning device includes a processor, a memory, and a Bluetooth RSSI-based positioning program stored in the memory and executable by the processor, wherein when the Bluetooth RSSI-based positioning program is executed by the processor, it implements the steps of the Bluetooth RSSI-based positioning method as described in any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a Bluetooth RSSI-based positioning program, wherein when the Bluetooth RSSI-based positioning program is executed by a processor, it implements the steps of the Bluetooth RSSI-based positioning method as described in any one of claims 1 to 8.

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