Vehicle-mounted fusion positioning method, device, and electronic equipment based on Bluetooth channel detection

Abstract

This invention discloses a vehicle-mounted fusion positioning method, apparatus, and electronic device based on Bluetooth channel detection, comprising: acquiring Bluetooth channel characteristic data of a target device through an in-vehicle Bluetooth module to determine a coarse positioning distance between the target device and the vehicle; keeping the in-vehicle UWB module in a sleep state when the coarse positioning distance is greater than or equal to a first threshold; waking up the in-vehicle UWB module when the coarse positioning distance is less than the first threshold, determining the ranging segment transmission frequency and energy accumulation window size according to the coarse positioning distance, sending a UWB ranging segment to the target device according to the ranging segment transmission frequency, obtaining the returned ranging segment response, accumulating energy on the ranging segment response according to the energy accumulation window size to obtain UWB positioning data; and determining the device location information based on the coarse positioning distance and UWB positioning data. This invention improves the stability and reliability of in-vehicle fusion positioning and reduces the power consumption of in-vehicle fusion positioning, and can be applied to the field of in-vehicle positioning technology.

Description

Technical Field

[0001] This invention relates to the field of vehicle positioning technology, and in particular to a vehicle fusion positioning method, device and electronic device based on Bluetooth channel detection. Background Technology

[0002] Vehicle-mounted fusion positioning leverages the advantages of multiple positioning technologies to overcome the shortcomings of a single technology, thereby achieving high-precision and high-reliability vehicle positioning across all scenarios. Current vehicle-mounted fusion positioning systems suffer from the following drawbacks: traditional UWB+BLE fusion positioning schemes require continuous ranging by the UWB ranging unit, leading to excessive power consumption; some improved schemes either rely solely on sub-millisecond synchronization or only dynamically adjust the BLE broadcast frequency, lacking a two-layer collaborative mechanism; in non-line-of-sight scenarios, ranging is susceptible to occlusion interference, resulting in insufficient stability and difficulty in balancing low power consumption and positioning reliability, thus failing to meet the long-term usage requirements of vehicle-mounted devices.

[0003] The above problems urgently need to be addressed. Summary of the Invention

[0004] The purpose of this invention is to at least partially solve one of the technical problems existing in the prior art.

[0005] Therefore, one objective of this invention is to provide a vehicle-mounted fusion positioning method based on Bluetooth channel detection. This method determines the coarse positioning distance of the target device using Bluetooth channel detection technology. When the coarse positioning distance is less than a preset threshold, the vehicle-mounted UWB module is activated and the ranging segment transmission frequency and energy accumulation window size are dynamically adjusted. The UWB positioning data of the target device is obtained through UWB ranging technology. Then, the device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data. This improves the stability and reliability of vehicle-mounted fusion positioning and reduces the power consumption of vehicle-mounted fusion positioning.

[0006] Another objective of this invention is to provide an in-vehicle fusion positioning device based on Bluetooth channel detection.

[0007] To achieve the above-mentioned technical objectives, the technical solutions adopted in the embodiments of the present invention include: On one hand, embodiments of the present invention provide a vehicle-mounted fusion positioning method based on Bluetooth channel detection, comprising the following steps: The Bluetooth channel feature data of the target device is obtained by the vehicle's in-vehicle Bluetooth module, and the coarse positioning distance between the target device and the vehicle is determined based on the Bluetooth channel feature data. When the coarse positioning distance is greater than or equal to a preset first threshold, the vehicle's onboard UWB module is kept in a dormant state. When the coarse positioning distance is less than the first threshold, the vehicle-mounted UWB module is woken up. Based on the coarse positioning distance, the corresponding ranging segment transmission frequency and energy accumulation window size are determined. The vehicle-mounted UWB module sends a UWB ranging segment to the target device according to the ranging segment transmission frequency and obtains the ranging segment response returned by the target device. Then, the energy of the ranging segment response is accumulated according to the energy accumulation window size to obtain the UWB positioning data of the target device. The device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data.

[0008] Furthermore, in one embodiment of the present invention, the step of obtaining Bluetooth channel feature data of the target device through the vehicle's in-vehicle Bluetooth module and determining the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel feature data specifically includes: The vehicle-mounted Bluetooth module scans for surrounding Bluetooth signals, and after detecting a Bluetooth broadcast packet from the target device, it continuously collects multiple sets of Bluetooth channel characteristic data of the target device based on Bluetooth channel detection technology. The Bluetooth channel characteristic data includes signal strength, channel fading coefficient, and signal propagation delay. The coarse positioning distance between the target device and the vehicle is calculated based on the Bluetooth channel characteristic data and the preset signal propagation loss model.

[0009] Furthermore, in one embodiment of the present invention, determining the corresponding ranging segment transmission frequency and energy accumulation window size based on the coarse positioning distance specifically includes: The distance range interval to which the coarse positioning distance belongs is determined according to the preset distance range division rules; Based on the distance range, the corresponding ranging segment transmission frequency and energy accumulation window size are obtained by matching in the preset UWB ranging parameter library; Wherein, the transmission frequency of the ranging segment corresponding to the high-order interval of the distance range is lower than the transmission frequency of the ranging segment corresponding to the low-order interval of the distance range, and the size of the energy accumulation window corresponding to the high-order interval of the distance range is larger than the size of the energy accumulation window corresponding to the low-order interval of the distance range.

[0010] Furthermore, in one embodiment of the present invention, the step of sending a UWB ranging segment to the target device through the vehicle-mounted UWB module according to the ranging segment transmission frequency, and obtaining the ranging segment response returned by the target device, specifically includes: The vehicle-mounted UWB module generates narrow pulse UWB ranging segments and continuously sends the UWB ranging segments to the target device according to the transmission frequency of the ranging segments. The target device continuously receives the UWB ranging segments, generates a ranging segment response containing a timestamp based on the UWB ranging segments, and returns the ranging segment response to the vehicle-mounted UWB module. The vehicle-mounted UWB module continuously receives the ranging segment response returned by the target device.

[0011] Furthermore, in one embodiment of the present invention, the step of accumulating energy in the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device specifically includes: Based on the energy accumulation window size, the energy of multiple ranging segment responses located within the same ranging time period is accumulated to obtain the ranging response data for the corresponding ranging time period; The UWB positioning distance between the target device and the vehicle is calculated based on the ranging response data and a time-of-flight algorithm. The azimuth angle of the target device relative to the vehicle is calculated based on the ranging response data corresponding to the multiple UWB antennas of the vehicle-mounted UWB module and the angle of arrival ranging algorithm. The UWB positioning data is generated based on the UWB positioning distance and the azimuth angle.

[0012] Furthermore, in one embodiment of the present invention, determining the device location information of the target device based on the coarse positioning distance and the UWB positioning data specifically includes: The corresponding error feature database is determined based on the coarse positioning distance, and the error range of the UWB positioning data is determined based on the error feature database. The UWB positioning data is corrected based on the coarse positioning distance and the error range to obtain the precise positioning data of the target device; The device location information of the target device is determined based on the GPS positioning information of the vehicle and the precise positioning data of the target device.

[0013] Furthermore, in one embodiment of the present invention, the vehicle-mounted fusion positioning method further includes the following steps: The signal propagation loss model is updated based on the device location information and the corresponding Bluetooth channel feature data.

[0014] On the other hand, embodiments of the present invention provide a vehicle-mounted fusion positioning device based on Bluetooth channel detection, comprising: A Bluetooth signal detection unit is used to acquire Bluetooth channel feature data of a target device through the vehicle's in-vehicle Bluetooth module, and determine the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel feature data. A sleep control unit is used to keep the vehicle's onboard UWB module in a sleep state when the coarse positioning distance is greater than or equal to a preset first threshold. The UWB ranging unit is used to wake up the vehicle-mounted UWB module when the coarse positioning distance is less than the first threshold, determine the corresponding ranging segment transmission frequency and energy accumulation window size according to the coarse positioning distance, send UWB ranging segments to the target device through the vehicle-mounted UWB module according to the ranging segment transmission frequency, obtain the ranging segment response returned by the target device, and then accumulate energy on the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device. A fusion positioning unit is used to determine the device location information of the target device based on the coarse positioning distance and the UWB positioning data.

[0015] On the other hand, embodiments of the present invention provide an electronic device, including: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements the above-described vehicle fusion positioning method based on Bluetooth channel detection.

[0016] On the other hand, embodiments of the present invention also provide a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the above-described vehicle fusion positioning method based on Bluetooth channel detection.

[0017] On the other hand, embodiments of the present invention also provide a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle fusion positioning method based on Bluetooth channel detection.

[0018] The advantages and beneficial effects of the present invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention: This invention acquires Bluetooth channel feature data of a target device through the vehicle's in-vehicle Bluetooth module. Based on this data, a coarse positioning distance between the target device and the vehicle is determined. When the coarse positioning distance is greater than or equal to a preset first threshold, the vehicle's in-vehicle UWB module remains in a sleep state. When the coarse positioning distance is less than the first threshold, the in-vehicle UWB module is awakened. The corresponding ranging segment transmission frequency and energy accumulation window size are determined based on the coarse positioning distance. The in-vehicle UWB module sends a UWB ranging segment to the target device according to the ranging segment transmission frequency and obtains the ranging segment response returned by the target device. Then, energy accumulation is performed on the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device. Finally, the device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data. This invention uses Bluetooth channel detection technology to determine the coarse positioning distance of the target device. When the coarse positioning distance is less than a preset threshold, the vehicle-mounted UWB module is activated and the ranging segment transmission frequency and energy accumulation window size are dynamically adjusted. The UWB positioning data of the target device is obtained through UWB ranging technology. Then, the device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data, which improves the stability and reliability of vehicle-mounted fusion positioning and reduces the power consumption of vehicle-mounted fusion positioning. Attached Figure Description

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the embodiments of the present invention are described below. It should be understood that the drawings described below are only for the convenience of clearly describing some embodiments of the technical solutions of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 A flowchart illustrating the steps of a vehicle-mounted fusion positioning method based on Bluetooth channel detection, provided in an embodiment of the present invention; Figure 2 A structural block diagram of an in-vehicle fusion positioning device based on Bluetooth channel detection provided in an embodiment of the present invention; Figure 3 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0021] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the embodiments of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0023] The vehicle-mounted fusion positioning method based on Bluetooth channel detection provided in this invention can be applied to terminals, servers, or software running on either terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or vehicle-mounted terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the vehicle-mounted fusion positioning method based on Bluetooth channel detection, but is not limited to the above forms.

[0024] This invention can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This invention can be described in the general context of computer-executable instructions, such as program modules, that are executed by a computer. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This invention can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.

[0025] It should be noted that in various specific embodiments of the present invention, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user parking space location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of the present invention require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to a confirmation page. Only after obtaining the user's separate permission or consent is the necessary user-related data for the normal operation of the embodiments of the present invention acquired.

[0026] Reference Figure 1 This invention provides a vehicle-mounted fusion positioning method based on Bluetooth channel detection, specifically including the following steps: S101. Obtain the Bluetooth channel characteristic data of the target device through the vehicle's in-vehicle Bluetooth module, and determine the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel characteristic data. S102. When the coarse positioning distance is greater than or equal to the preset first threshold, keep the vehicle's on-board UWB module in a sleep state. S103. When the coarse positioning distance is less than the first threshold, the vehicle-mounted UWB module is woken up. The corresponding ranging segment transmission frequency and energy accumulation window size are determined according to the coarse positioning distance. The vehicle-mounted UWB module sends the UWB ranging segment to the target device according to the ranging segment transmission frequency and obtains the ranging segment response returned by the target device. Then, the energy of the ranging segment response is accumulated according to the energy accumulation window size to obtain the UWB positioning data of the target device. S104. Determine the device location information of the target device based on the coarse positioning distance and UWB positioning data.

[0027] Specifically, this embodiment of the invention uses Bluetooth 6.0 CS technology to detect the channel characteristics of the target device, obtain the approximate distance and location range of the device, and achieve low-power coarse positioning prediction; based on the Bluetooth 6.0 CS coarse positioning results, the transmission frequency and energy accumulation window parameters of the UWB ranging segment are dynamically adjusted to avoid invalid ranging; the MMS ranging segment transmission mode is adopted to collect multiple segments of UWB ranging data, and the data reliability is improved through energy accumulation window processing; coarse positioning and precise positioning data are fused to output accurate device location information and trigger the vehicle system to wake up; during non-positioning periods, the UWB unit is controlled to sleep, and low-power monitoring is maintained only through Bluetooth 6.0 CS to reduce overall power consumption.

[0028] This invention uses Bluetooth channel detection technology to determine the coarse positioning distance of the target device. When the coarse positioning distance is less than a preset threshold, the vehicle-mounted UWB module is activated and the ranging segment transmission frequency and energy accumulation window size are dynamically adjusted. The UWB positioning data of the target device is obtained through UWB ranging technology. Then, the device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data, which improves the stability and reliability of vehicle-mounted fusion positioning and reduces the power consumption of vehicle-mounted fusion positioning.

[0029] As a further optional implementation, the Bluetooth channel characteristic data of the target device is obtained through the vehicle's in-vehicle Bluetooth module, and the coarse positioning distance between the target device and the vehicle is determined based on the Bluetooth channel characteristic data. This specifically includes: S1011. Scan the surrounding Bluetooth signals through the vehicle Bluetooth module, and after detecting the Bluetooth broadcast packet of the target device, continuously collect multiple sets of Bluetooth channel characteristic data of the target device based on Bluetooth channel detection technology. The Bluetooth channel characteristic data includes signal strength, channel fading coefficient and signal propagation delay. S1012. Calculate the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel characteristic data and the preset signal propagation loss model.

[0030] Specifically, the vehicle's onboard Bluetooth module actively scans for surrounding Bluetooth signals. When it detects a Bluetooth broadcast packet from a target device (such as a mobile phone or smart key with Bluetooth), it continuously collects multiple sets of Bluetooth channel characteristic data, including three core parameters: signal strength (RSSI), channel fading coefficient, and signal propagation delay.

[0031] The collected Bluetooth channel characteristics are substituted into a preset signal propagation loss model (such as a free space propagation model or a logarithmic distance path loss model), and combined with fixed parameters such as the Bluetooth signal's transmit power and receive sensitivity, to calculate the coarse positioning distance between the target device and the vehicle. For example, when the RSSI value is -60dBm, the coarse positioning distance calculated by the model is approximately 5 meters.

[0032] The calculated coarse positioning distance is compared with a preset first threshold (such as 10 meters) to determine the working status of the subsequent UWB module.

[0033] As a further optional implementation, the corresponding ranging segment transmission frequency and energy accumulation window size are determined based on the coarse positioning distance, specifically including: S1031. Determine the distance range interval to which the coarse positioning distance belongs based on the preset distance range division rules; S1032. Based on the distance range, match the corresponding ranging segment transmission frequency and energy accumulation window size in the preset UWB ranging parameter library; Among them, the transmission frequency of the ranging segment corresponding to the high range interval is lower than that corresponding to the low range interval, and the energy accumulation window size corresponding to the high range interval is larger than that corresponding to the low range interval.

[0034] Specifically, if the coarse positioning distance is greater than or equal to the first threshold (e.g., the target device is more than 10 meters away), the vehicle-mounted UWB module remains in sleep mode, and only the Bluetooth module continuously monitors the position changes of the target device. At this time, the vehicle only maintains a low-power Bluetooth scanning mode to reduce power consumption. If the coarse positioning distance is less than the first threshold (e.g., the target device enters the 10-meter range), the vehicle wakes up the UWB module through the power management module, and at the same time matches the corresponding ranging segment transmission frequency and energy accumulation window parameters from the preset parameter library according to the current coarse positioning distance.

[0035] For example, when the distance is in the range of 5-10 meters, a lower transmission frequency (such as sending a ranging segment once every 100ms) and a larger energy accumulation window (such as accumulating 10 response signals) are used to balance ranging accuracy and power consumption; when the distance is in the range of 0-5 meters, a higher transmission frequency (such as sending a ranging segment once every 20ms) and a smaller energy accumulation window (such as accumulating 3 response signals) are used to improve the positioning refresh rate and accuracy.

[0036] As a further optional implementation, the vehicle-mounted UWB module sends UWB ranging segments to the target device according to the ranging segment transmission frequency, and obtains the ranging segment response returned by the target device, specifically including: S1033. Generate a narrow pulse UWB ranging segment through the vehicle-mounted UWB module, and continuously send the UWB ranging segment to the target device according to the ranging segment transmission frequency. S1034. Continuously receive UWB ranging segments through the target device, generate a ranging segment response containing a timestamp based on the UWB ranging segments, and return the ranging segment response to the vehicle-mounted UWB module. S1035. Continuously receive ranging segment responses returned by the target device through the vehicle-mounted UWB module.

[0037] Specifically, the UWB module continuously sends narrow-pulse UWB ranging segments to the target device according to the matched ranging segment transmission frequency. After receiving the ranging segment, the target device immediately returns a ranging segment response containing a timestamp, and the vehicle's UWB module continuously receives and records these response signals.

[0038] As a further optional implementation, the UWB positioning data of the target device is obtained by accumulating the energy of the ranging segment response according to the energy accumulation window size, specifically including: S1036. Based on the energy accumulation window size, perform energy accumulation on the responses of multiple ranging segments located within the same ranging time period to obtain the ranging response data for the corresponding ranging time period. S1037. Calculate the UWB positioning distance between the target device and the vehicle based on the ranging response data and the time-of-flight algorithm; S1038. Calculate the azimuth angle of the target device relative to the vehicle based on the ranging response data corresponding to the multiple UWB antennas of the vehicle-mounted UWB module and the angle of arrival ranging algorithm. S1039. Generate UWB positioning data based on UWB positioning distance and azimuth.

[0039] Specifically, based on preset energy accumulation window parameters, the energy of multiple ranging segments received within the same time period is accumulated to enhance the effective signal strength and reduce noise interference. Subsequently, the precise distance between the target device and the vehicle is calculated using a time-of-flight (ToF) algorithm combined with the propagation speed of the UWB signal. If the vehicle is equipped with multiple UWB antennas, the azimuth angle of the target device can also be obtained using an angle-of-arrival (AoA) algorithm. Finally, the UWB positioning data (distance + azimuth) is obtained by combining these parameters.

[0040] As a further optional implementation, the device location information of the target device is determined based on the coarse positioning distance and UWB positioning data, specifically including: S1041. Determine the corresponding error feature database based on the coarse positioning distance, and determine the error range of the UWB positioning data based on the error feature database; S1042. Correct the UWB positioning data according to the coarse positioning distance and error range to obtain the precise positioning data of the target device; S1043. Determine the device location information of the target device based on the vehicle's GPS positioning information and the precise positioning data of the target device.

[0041] Specifically, the coarse positioning distance obtained from the Bluetooth module (as an initial reference) is fused with the precise positioning data (distance + orientation) obtained from the UWB module: based on the coarse positioning distance, the precise UWB positioning data is calibrated to correct errors caused by signal blockage and multipath effects; combined with the vehicle's own location information (such as GPS positioning), the relative position of the target device is converted into an absolute geographic location, and finally, complete device location information containing the relative distance, orientation, and absolute coordinates between the target device and the vehicle is output.

[0042] Specifically, in typical scenarios of daily vehicle use (such as underground garages, city streets, and indoor parking lots), different degrees of signal obstruction (such as wall obstruction and vehicle obstruction) and multipath environments (such as high-rise building reflection and ground reflection) are simulated. Bluetooth coarse positioning distance, UWB raw precise positioning data, and real location data obtained through high-precision positioning equipment (such as differential GPS and optical positioning systems) are collected simultaneously.

[0043] Analyze the deviation patterns between UWB positioning data and real data under different scenarios, and establish an error feature database: record the correspondence between the degree of signal obstruction (such as the material and thickness of the obstruction) and UWB ranging error; statistically analyze the correlation data between the number of multipath signals, the length of the reflection path and the UWB angle measurement error; and mark the error range of Bluetooth coarse positioning distance as a basic reference for calibration.

[0044] Based on the current Bluetooth coarse positioning distance and combined with an error feature database, the potential error range of UWB positioning is determined. For example, when the Bluetooth coarse positioning distance is 3 meters and the location is an underground parking garage, the database shows that the UWB ranging error is typically ±0.2 meters, and the angle error is ±5°. Simultaneously, additional features of the UWB signal (such as signal arrival time difference and signal strength fluctuation) are collected and matched with features in the database: if the UWB signal strength fluctuation exceeds a preset threshold, multipath effect is identified; if the signal arrival time difference shows abnormal abrupt changes, signal obstruction is identified, further identifying the error type. Using the Bluetooth coarse positioning distance as a baseline, the raw UWB ranging data is initially corrected. For example, if the raw UWB ranging is 2.8 meters and the Bluetooth coarse positioning is 3 meters, the UWB data is corrected to 2.95 meters based on the error ratio in the database for this scenario.

[0045] For each identified error type, the corresponding calibration algorithm is invoked: 1) Signal Obstruction Correction: Based on the material and thickness of the obstruction, attenuation compensation coefficients are retrieved from the database to compensate the UWB ranging data. For example, when obstructed by a wall, a compensation value of 0.15 meters is added; 2) Multipath effect correction: A multipath signal separation algorithm is used to extract the direct wave signal, eliminate reflected wave interference, recalculate the time of flight (ToF), and correct the ranging error; for the angle measurement error, a weighted average algorithm is used to filter multiple sets of angle data.

[0046] The results of basic calibration and special correction are weighted and fused to obtain the final accurate positioning data, ensuring that the data error is controlled within the preset range.

[0047] As an optional implementation, the vehicle-mounted fusion positioning method further includes the following steps: S105. Update the signal propagation loss model based on the device location information and the corresponding Bluetooth channel characteristic data.

[0048] Specifically, after obtaining accurate device location information, a new data sample is formed based on the Bluetooth channel feature data corresponding to the device location information. The signal propagation loss model used in the aforementioned Bluetooth channel detection is updated based on this data sample, thereby improving the accuracy of subsequent Bluetooth channel detection coarse positioning.

[0049] The method steps of the embodiments of the present invention have been described above. It can be understood that the embodiments of the present invention determine the coarse positioning distance of the target device using Bluetooth channel detection technology. When the coarse positioning distance is less than a preset threshold, the vehicle-mounted UWB module is activated and the ranging segment transmission frequency and energy accumulation window size are dynamically adjusted. UWB positioning data of the target device is obtained through UWB ranging technology. Then, based on the coarse positioning distance and the UWB positioning data, the device location information of the target device is determined, improving the stability and reliability of vehicle-mounted fusion positioning and reducing the power consumption of vehicle-mounted fusion positioning.

[0050] Compared with the prior art, the embodiments of the present invention also have the following advantages: 1) In non-line-of-sight scenarios, the range-measuring stability is improved through UWB segment energy accumulation, and the anti-occlusion capability is strong; 2) Dynamically adjust UWB operating parameters to avoid unnecessary power consumption and balance positioning accuracy and battery life; 3) It is compatible with mainstream automotive Bluetooth 6.0 modules and UWB chips, with strong compatibility and short deployment cycle.

[0051] Reference Figure 2 This invention provides a vehicle-mounted fusion positioning device based on Bluetooth channel detection, comprising: The Bluetooth signal detection unit is used to acquire Bluetooth channel characteristic data of the target device through the vehicle's in-vehicle Bluetooth module, and determine the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel characteristic data. The sleep control unit is used to keep the vehicle's onboard UWB module in sleep mode when the coarse positioning distance is greater than or equal to a preset first threshold. The UWB ranging unit is used to wake up the vehicle-mounted UWB module when the coarse positioning distance is less than a first threshold. It determines the corresponding ranging segment transmission frequency and energy accumulation window size based on the coarse positioning distance, sends the UWB ranging segment to the target device through the vehicle-mounted UWB module according to the ranging segment transmission frequency, and obtains the ranging segment response returned by the target device. Then, it accumulates the energy of the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device. The fusion positioning unit is used to determine the device location information of the target device based on the coarse positioning distance and UWB positioning data.

[0052] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0053] Reference Figure 3 This invention provides an electronic device, comprising: At least one processor; At least one memory for storing at least one program; When the above-mentioned at least one program is executed by the above-mentioned at least one processor, the above-mentioned at least one processor implements the above-mentioned vehicle fusion positioning method based on Bluetooth channel detection.

[0054] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0055] This invention also provides a computer-readable storage medium storing a processor-executable computer program that, when executed by a processor, implements the aforementioned vehicle fusion positioning method based on Bluetooth channel detection.

[0056] This invention provides a computer-readable storage medium that can execute a vehicle-mounted fusion positioning method based on Bluetooth channel detection provided in the method embodiments of this invention. It can execute any combination of the implementation steps of the method embodiments and has the corresponding functions and beneficial effects of the method.

[0057] This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described vehicle fusion positioning method based on Bluetooth channel detection.

[0058] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0059] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0060] The embodiments described in this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0061] The terms "first," "second," "third," "fourth," etc. (if present) in the specification and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0062] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0063] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0064] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0065] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0066] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0067] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0068] In the foregoing description of this specification, references to terms such as "one embodiment," "another embodiment," or "some embodiments" indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of the present invention. In this specification, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0069] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0070] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the above embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A vehicle-mounted fusion positioning method based on Bluetooth channel detection, characterized in that, Includes the following steps: The Bluetooth channel feature data of the target device is obtained by the vehicle's in-vehicle Bluetooth module, and the coarse positioning distance between the target device and the vehicle is determined based on the Bluetooth channel feature data. When the coarse positioning distance is greater than or equal to a preset first threshold, the vehicle's onboard UWB module is kept in a dormant state. When the coarse positioning distance is less than the first threshold, the vehicle-mounted UWB module is woken up. Based on the coarse positioning distance, the corresponding ranging segment transmission frequency and energy accumulation window size are determined. The vehicle-mounted UWB module sends a UWB ranging segment to the target device according to the ranging segment transmission frequency and obtains the ranging segment response returned by the target device. Then, the energy of the ranging segment response is accumulated according to the energy accumulation window size to obtain the UWB positioning data of the target device. The device location information of the target device is determined based on the coarse positioning distance and the UWB positioning data.

2. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 1, characterized in that, The step of acquiring Bluetooth channel feature data of the target device through the vehicle's onboard Bluetooth module, and determining the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel feature data, specifically includes: The vehicle-mounted Bluetooth module scans for surrounding Bluetooth signals, and after detecting a Bluetooth broadcast packet from the target device, it continuously collects multiple sets of Bluetooth channel characteristic data of the target device based on Bluetooth channel detection technology. The Bluetooth channel characteristic data includes signal strength, channel fading coefficient, and signal propagation delay. The coarse positioning distance between the target device and the vehicle is calculated based on the Bluetooth channel characteristic data and the preset signal propagation loss model.

3. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 1, characterized in that, The step of determining the corresponding ranging segment transmission frequency and energy accumulation window size based on the coarse positioning distance specifically includes: The distance range interval to which the coarse positioning distance belongs is determined according to the preset distance range division rules; Based on the distance range, the corresponding ranging segment transmission frequency and energy accumulation window size are obtained by matching in the preset UWB ranging parameter library; Wherein, the transmission frequency of the ranging segment corresponding to the high-order interval of the distance range is lower than the transmission frequency of the ranging segment corresponding to the low-order interval of the distance range, and the size of the energy accumulation window corresponding to the high-order interval of the distance range is larger than the size of the energy accumulation window corresponding to the low-order interval of the distance range.

4. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 1, characterized in that, The step of sending a UWB ranging segment to the target device via the vehicle-mounted UWB module according to the ranging segment transmission frequency, and obtaining the ranging segment response returned by the target device, specifically includes: The vehicle-mounted UWB module generates narrow pulse UWB ranging segments and continuously sends the UWB ranging segments to the target device according to the transmission frequency of the ranging segments. The target device continuously receives the UWB ranging segments, generates a ranging segment response containing a timestamp based on the UWB ranging segments, and returns the ranging segment response to the vehicle-mounted UWB module. The vehicle-mounted UWB module continuously receives the ranging segment response returned by the target device.

5. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 1, characterized in that, The step of accumulating energy in the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device specifically includes: Based on the energy accumulation window size, the energy of multiple ranging segment responses located within the same ranging time period is accumulated to obtain the ranging response data for the corresponding ranging time period; The UWB positioning distance between the target device and the vehicle is calculated based on the ranging response data and a time-of-flight algorithm. The azimuth angle of the target device relative to the vehicle is calculated based on the ranging response data corresponding to the multiple UWB antennas of the vehicle-mounted UWB module and the angle of arrival ranging algorithm. The UWB positioning data is generated based on the UWB positioning distance and the azimuth angle.

6. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 1, characterized in that, The step of determining the device location information of the target device based on the coarse positioning distance and the UWB positioning data specifically includes: The corresponding error feature database is determined based on the coarse positioning distance, and the error range of the UWB positioning data is determined based on the error feature database. The UWB positioning data is corrected based on the coarse positioning distance and the error range to obtain the precise positioning data of the target device; The device location information of the target device is determined based on the GPS positioning information of the vehicle and the precise positioning data of the target device.

7. The vehicle-mounted fusion positioning method based on Bluetooth channel detection according to claim 2, characterized in that, The vehicle-mounted fusion positioning method further includes the following steps: The signal propagation loss model is updated based on the device location information and the corresponding Bluetooth channel feature data.

8. A vehicle-mounted fusion positioning device based on Bluetooth channel detection, characterized in that, include: A Bluetooth signal detection unit is used to acquire Bluetooth channel feature data of a target device through the vehicle's in-vehicle Bluetooth module, and determine the coarse positioning distance between the target device and the vehicle based on the Bluetooth channel feature data. A sleep control unit is used to keep the vehicle's onboard UWB module in a sleep state when the coarse positioning distance is greater than or equal to a preset first threshold. The UWB ranging unit is used to wake up the vehicle-mounted UWB module when the coarse positioning distance is less than the first threshold, determine the corresponding ranging segment transmission frequency and energy accumulation window size according to the coarse positioning distance, send UWB ranging segments to the target device through the vehicle-mounted UWB module according to the ranging segment transmission frequency, obtain the ranging segment response returned by the target device, and then accumulate energy on the ranging segment response according to the energy accumulation window size to obtain the UWB positioning data of the target device. A fusion positioning unit is used to determine the device location information of the target device based on the coarse positioning distance and the UWB positioning data.

9. An electronic device, characterized in that, include: At least one processor; At least one memory for storing at least one program; When the at least one program is executed by the at least one processor, the at least one processor implements a vehicle fusion positioning method based on Bluetooth channel detection as described in any one of claims 1 to 7.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements a vehicle-mounted fusion positioning method based on Bluetooth channel detection as described in any one of claims 1 to 7.

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