Bluetooth positioning system and vehicle

Abstract

The Bluetooth positioning system comprises a data processing module, a control module and at least two anchor point modules, one anchor point module is a main anchor point module, and the other anchor point modules are slave anchor point modules; the master anchor point module and the slave anchor point module are connected with the data processing module and the control module; the master anchor point module is connected with the slave anchor point module; the data processing module is connected with the control module; the main anchor point module determines a first distance value and a first signal quality level corresponding to a Bluetooth signal through Bluetooth channel detection, and determines a first RSS I value; the slave anchor point module is used for determining a second RSS I value; the data processing module is used for controlling all the Bluetooth anchor point modules to perform polling signal level testing when the first signal quality level is reduced, and determining the Bluetooth anchor point module with the highest signal quality level as a main anchor point module; and the positioning of the Bluetooth key is determined by integrating the distance value, the signal quality grade and the RSS I value measured by Bluetooth channel detection, so that the positioning reliability and accuracy are improved.

Description

TECHNICAL FIELD

[0001] The embodiment of the present application relates to the technical field of vehicle positioning, in particular to a Bluetooth positioning system and a vehicle. BACKGROUND

[0002] The keyless entry technology has been widely used in modern cars. This technology allows the owner to easily unlock and start the vehicle without using the traditional mechanical key through radio frequency identification or Bluetooth identification. Keyless entry not only improves the convenience of users, but also enhances the security of vehicles. With the development of technology, keyless entry systems are becoming more and more intelligent and popular, becoming an important standard configuration of modern cars.

[0003] Most of the current Bluetooth positioning methods use the Received Signal Strength Indication (RSSI) received by Bluetooth to position, that is, the relationship between the signal strength and the distance between the transmitting point and the receiving point is used to position. The positioning accuracy of Bluetooth RSSI is generally 2-5 meters. In actual application, factors such as anchor point position and environment affect the propagation of Bluetooth signals, resulting in problems such as volatility and outliers of Bluetooth signal values. As a result, the correlation between the signal attenuation model and the distance will be weakened, resulting in further expansion of the positioning error, causing the positioning position to drift, the area to be misjudged, and affecting the use experience of the Bluetooth key. CONTENT OF THE UTILITY MODEL

[0004] The embodiment of the present application provides a Bluetooth positioning system and a vehicle, which can solve the technical problem of inaccurate Bluetooth key area positioning result and improve the accuracy of Bluetooth key area positioning.

[0005] The embodiment of the present application provides a Bluetooth positioning system, which comprises a data processing module, a control module and at least two anchor point modules, one of which is a master anchor point module and the others are slave anchor point modules;

[0006] The master anchor point module and the slave anchor point module are connected with the data processing module and the control module;

[0007] The master anchor point module is connected with the slave anchor point module;

[0008] The data processing module is connected with the control module;

[0009] The master anchor point module is used to establish a Bluetooth connection with the Bluetooth key and determine a first distance value and a first signal quality level of the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and determine a first RSSI value according to the Bluetooth signal, the first distance value being the distance between the master anchor point module and the Bluetooth key determined based on the Bluetooth channel detection;

[0010] The slave anchor module is configured to listen to a communication channel between the master anchor module and the Bluetooth key, and determine a second RSSI value according to the Bluetooth signal listened to;

[0011] The data processing module is configured to control all the Bluetooth anchor modules to perform a polling signal level test when the first signal level is below a target level, the target level being the signal level determined when the master anchor module is determined, the polling signal level test being a test in which all the Bluetooth anchors successively establish Bluetooth connections with the Bluetooth key and determine signal levels based on the Bluetooth connections; and the Bluetooth anchor module with the highest signal level is determined as the master anchor module, and the signal level corresponding to the master anchor module is determined as the target level.

[0012] In an embodiment, the master anchor module comprises a first antenna, a first wireless control unit, a first bus transceiver unit and a first bus interface;

[0013] The first wireless control unit is connected with the first antenna and the first bus transceiver unit, and the first antenna is configured to establish a communication connection with the Bluetooth key;

[0014] The first bus transceiver unit is connected with the first bus interface;

[0015] The first bus interface is connected with the slave anchor module, the data processing module and the control module.

[0016] In an embodiment, the slave anchor module comprises a second antenna, a second wireless control unit, a second bus transceiver unit and a second bus interface;

[0017] The second wireless control unit is connected with the second antenna and the second bus transceiver unit, and the second antenna is configured to listen to a communication channel between the master anchor module and the Bluetooth key;

[0018] The second bus transceiver unit is connected with the second bus interface;

[0019] The second bus interface is connected with the master anchor module, the data processing module and the control module.

[0020] In an embodiment, the data processing module comprises a first micro control unit, a third bus transceiver unit and a third bus interface;

[0021] The first micro control unit is connected with the third bus transceiver unit;

[0022] The third bus transceiver unit is connected with the third bus interface;

[0023] The third bus interface is connected with the master anchor module, the slave anchor module and the control module.

[0024] In an embodiment, the control module comprises: a second micro control unit, a fourth bus transceiver unit and a fourth bus interface;

[0025] The second micro control unit is connected with the fourth bus transceiver unit;

[0026] The fourth bus transceiver unit is connected with the fourth bus interface;

[0027] The fourth bus interface is connected with the master anchor module, the slave anchor module and the data processing module.

[0028] In an embodiment, the anchor module is arranged at one or more of the following positions: an in-vehicle position, a co-pilot position, a trunk position, a main driver position and a front position of the vehicle, the in-vehicle position being at a preset position of a driving control area of the vehicle, the co-pilot position being at a preset position of a co-pilot area of the vehicle, the trunk position being at a preset position of a trunk area of the vehicle, the main driver position being at a preset position of a main driver area of the vehicle, and the front position being at a preset position of a front area of the vehicle.

[0029] In an embodiment, the anchor module is arranged at one or more of the following positions: an in-vehicle position, a first top corner position, a second top corner position, a third top corner position and a fourth top corner position, the in-vehicle position being at a preset position of a driving control area of the vehicle, the first top corner position, the second top corner position, the third top corner position and the fourth top corner position being preset positions of four corners around the vehicle.

[0030] In an embodiment, the anchor module is four, the anchor module is arranged in the vehicle, the anchor module comprises a first anchor module, a second anchor module, a third anchor module and a fourth anchor module, one of the first anchor module, the second anchor module, the third anchor module and the fourth anchor module is a master anchor module, and the other anchor modules are slave anchor modules; the number of the first anchor module is one or two, and the number of the second anchor module, the third anchor module and the fourth anchor module is one;

[0031] The first anchor module is arranged at the in-vehicle position, and the in-vehicle position is at a preset position of a driving control area of the vehicle;

[0032] The second anchor module is arranged at the co-pilot position, and the co-pilot position is at a preset position of a co-pilot area of the vehicle;

[0033] The third anchor module is arranged at the trunk position, and the trunk position is at a preset position of a trunk area of the vehicle;

[0034] The fourth anchor module is arranged at the main driver position, and the main driver position is at a preset position of a main driver area of the vehicle.

[0035] In an embodiment, the anchor modules are provided in the vehicle, the anchor modules include a first anchor module, a second anchor module, a third anchor module, a fourth anchor module and a fifth anchor module, the number of the first anchor module is one or two, the number of the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is one;

[0036] The first anchor module is provided at an in-vehicle position, the in-vehicle position is located at a preset position of a driver control area of the vehicle;

[0037] The second anchor module is provided at a co-driver position, the co-driver position is located at a preset position of a co-driver area of the vehicle;

[0038] The third anchor module is provided at a trunk position, the trunk position is located at a preset position of a trunk area of the vehicle;

[0039] The fourth anchor module is provided at a main driver position, the main driver position is located at a preset position of a main driver area of the vehicle;

[0040] The fifth anchor module is provided at a vehicle head position, the vehicle head position is located at a preset position of a vehicle head area of the vehicle.

[0041] In an embodiment, the anchor modules are five, the anchor modules are provided in the vehicle, the anchor modules include a first anchor module, a second anchor module, a third anchor module, a fourth anchor module and a fifth anchor module, one of the first anchor module, the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is a master anchor module, and the other anchor modules are slave anchor modules; the number of the first anchor module is one or two, and the number of the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is one;

[0042] The first anchor module is provided at an in-vehicle position, the in-vehicle position is located at a preset position of a driver control area of the vehicle;

[0043] The second anchor module is provided at a first top corner position of the vehicle;

[0044] The third anchor module is provided at a second top corner position of the vehicle;

[0045] The fourth anchor module is provided at a third top corner position of the vehicle;

[0046] The fifth anchor module is provided at a fourth top corner position of the vehicle;

[0047] The first top corner position, the second top corner position, the third top corner position and the fourth top corner position are preset positions of four top corners around the vehicle.

[0048] The embodiments of the present application also provide a vehicle including the Bluetooth positioning system.

[0049] The above, through the master anchor module and the slave anchor module are connected, so that the master anchor module and the Bluetooth key establishes Bluetooth connection, the slave anchor module can listen to the communication channel between the master anchor module and the Bluetooth key, the master anchor module obtains the first distance value and the first signal quality level through the Bluetooth channel detection of Bluetooth signal, and determines the first RSSI value according to the Bluetooth signal of transceiving, the slave anchor module determines the second RSSI value according to the Bluetooth signal of listening, the master anchor module and the slave anchor module are connected with the data processing module, so that the data processing module can receive the first distance value, the first signal quality level and the first RSSI value sent by the master anchor module and receive the second RSSI value sent by the slave anchor module, so as to determine whether the signal quality between the master Bluetooth anchor module and the Bluetooth key decreases according to the first signal quality level of the master Bluetooth anchor module, when the signal quality decreases, the master Bluetooth anchor module is determined again through the polling signal level test. By using the above technical means, the anchor module with Bluetooth channel detection and RSSI value detection is used for Bluetooth key positioning. Compared with the existing Bluetooth positioning system which only determines the position of the Bluetooth key through the RSSI value, the anchor module with Bluetooth channel detection is added, and the first distance value and the first signal quality level detected by the Bluetooth channel detection and the first RSSI value and the second RSSI value detected by the RSSI value detection are combined to determine the positioning of the Bluetooth key, which can effectively reduce the influence of Bluetooth signal fluctuation on the positioning result, improve the reliability of Bluetooth signal positioning, and thus improve the accuracy of Bluetooth key area positioning. In addition, the anchor module with polling signal level test is provided, and in the Bluetooth positioning process, the Bluetooth anchor module with the highest current signal quality level can be determined as the master Bluetooth anchor module based on the polling signal level test according to the actual situation, so as to improve the accuracy of the first RSSI value and the first distance value detected by the master anchor module, and in addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor module based on the communication channel between the master anchor module and the Bluetooth key can be improved, and the accuracy of the final target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can be improved.

[0050] The vehicle provided above has the beneficial effects of the Bluetooth positioning system. BRIEF DESCRIPTION OF DRAWINGS

[0051] Figure 1 is a first schematic view of a Bluetooth positioning system provided by the embodiments of the present application;

[0052] Figure 2 is a second schematic view of a Bluetooth positioning system provided by the embodiments of the present application;

[0053] Figure 3is a third schematic view of a Bluetooth positioning system provided by an embodiment of the present application;

[0054] Figure 4 is a fourth schematic view of a Bluetooth positioning system provided by an embodiment of the present application;

[0055] Figure 5 is a fifth schematic view of a Bluetooth positioning system provided by an embodiment of the present application;

[0056] Figure 6 is a sixth schematic view of a Bluetooth positioning system provided by an embodiment of the present application;

[0057] Figure 7 is a seventh schematic view of a Bluetooth positioning system provided by an embodiment of the present application;

[0058] Figure 8 is an eighth schematic view of a Bluetooth positioning system provided by an embodiment of the present application. DETAILED DESCRIPTION

[0059] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all the embodiments of the present application.

[0060] Figure 1 is a first schematic view of a Bluetooth positioning system provided by an embodiment of the present application, Figure 2 is a second schematic view of a Bluetooth positioning system provided by an embodiment of the present application, with reference to Figure 1 and Figure 2The Bluetooth positioning system 1 comprises a data processing module 11, a control module 12 and at least two anchor point modules 13, one of which is a master anchor point module 131 and the others are slave anchor point modules 132. The master anchor point module 131 and the slave anchor point modules 132 are connected with the data processing module 11 and the control module 12. The master anchor point module 131 is connected with the slave anchor point modules 132. The data processing module 11 is connected with the control module 12. The master anchor point module 131 is used to establish a Bluetooth connection with the Bluetooth key 2 and transceive Bluetooth signals, and is also used to determine a first distance value and a first signal quality level of the Bluetooth signals through Bluetooth channel detection, and determine a corresponding first RSSI value according to the transceived Bluetooth signals. The slave anchor point module 132 is used to listen to the communication channel between the master anchor point module 131 and the Bluetooth key 2, and determine a second RSSI value according to the listened Bluetooth signals. The data processing module 11 is used to receive the first signal quality level reported by the master anchor point module 131. When the first signal quality level is below a target quality level, it represents that the signal quality of the Bluetooth signals between the master Bluetooth anchor point module 131 and the Bluetooth key has decreased, so that a polling signal level test can be performed by controlling all Bluetooth anchor point modules to re-determine a new master anchor point module 131.

[0061] The master anchor point module 131 is determined from all anchor point modules 13 through the polling signal level test. For example, all anchor point modules 13 can establish a Bluetooth communication connection with the Bluetooth key 2 in a preset order, and obtain a corresponding Bluetooth signal quality level based on the Bluetooth connection through Bluetooth channel detection of a corresponding Bluetooth test signal, so as to realize the polling signal level test. The signal quality level can be divided into three levels of high, medium and low, or can be divided into specific numerical values, for example, 0-100%. All anchor point modules 13 send their own signal quality levels to the data processing module 11 or any anchor point module 13. The data processing module 11 or the corresponding anchor point module 13 receives the signal quality levels sent by all anchor point modules 13, and each signal quality level contains ID information of the corresponding anchor point module 13. The data processing module 11 or the corresponding anchor point module 13 compares the signal quality levels of all anchor point modules 13, determines the anchor point module 13 with the highest signal quality level as the master anchor point module 131, and determines the signal quality level corresponding to the master anchor point module 131 as the target signal quality level.

[0062] In an embodiment, a preset target quality level can be set, assuming that the preset target quality level is high, or the preset target quality level is 90%, all anchor modules 13 sequentially perform Bluetooth connection with the Bluetooth key 2 in a preset order, detect the Bluetooth channel based on the Bluetooth connection through Channel Sounding (Bluetooth channel sounding technology), and determine the signal quality level of the communication connection between itself and the Bluetooth key 2 according to the Bluetooth signal obtained by detecting the Bluetooth channel. If the current anchor module 13 determines that the signal quality level of itself is high or greater than or equal to 90%, it determines itself as the master anchor module 131, and sends a control signal to other anchor modules 13 to inform other anchor modules 13 to be slave anchor modules 132. If the current anchor module 13 determines that the signal quality level of itself is medium or low, or less than 90%, i.e. below the target quality level, it sends a Bluetooth link transfer instruction to the next anchor module 13, and the Bluetooth anchor module 13 performs Bluetooth connection with the Bluetooth key 2 as the current anchor module 13, and detects the Bluetooth channel based on the Bluetooth connection through Channel Sounding (Bluetooth channel sounding technology), and determines the signal quality level of the communication connection between itself and the Bluetooth key 2 according to the Bluetooth signal obtained by detecting the Bluetooth channel. Until the current anchor module 13 determines that the signal quality level of itself is high or greater than or equal to the level 90%, it determines itself as the master anchor module 131, and sends a control signal to other anchor modules 13 to inform other anchor modules 13 to be slave anchor modules 132. Through the above-mentioned polling signal level test method, it can be determined which of the current anchor modules 13 has a Bluetooth connection signal quality level with the Bluetooth key 2 greater than or equal to the preset target quality level, so that the anchor module greater than or equal to the preset target quality level is determined as the master anchor module 131. Subsequently, when the master anchor module 131 performs Bluetooth connection with the Bluetooth key 2 and positioning processing, the reliability of the Bluetooth signal of the Bluetooth connection can be improved, thereby improving the reliability and accuracy of the positioning of the Bluetooth key 2.

[0063] The data processing module 11 is also used to receive the first distance value, the first signal quality level, the first RSSI value and the second RSSI value, and perform data processing according to the received first distance value, first signal quality level, first RSSI value and second RSSI value to determine the position area of the Bluetooth key 2.

[0064] The above, using the anchor module with Bluetooth channel detection and RSSI value detection to locate the Bluetooth key, compared with the existing Bluetooth positioning system which only determines the position of the Bluetooth key through the RSSI value, the anchor module with Bluetooth channel detection is added, the first distance value and the first signal quality level detected by the Bluetooth channel detection and the first RSSI value and the second RSSI value detected by the RSSI value detection are combined to determine the positioning of the Bluetooth key, which can effectively reduce the influence of Bluetooth signal fluctuation on the positioning result, improve the reliability of Bluetooth signal positioning, and thus improve the accuracy of Bluetooth key area positioning. In addition, the anchor module with polling signal level test is provided, and during the Bluetooth positioning process, the Bluetooth anchor module with the highest current signal quality level can be determined as the main Bluetooth anchor module based on the polling signal level test according to the actual situation, so as to improve the accuracy of the first RSSI value and the first distance value detected by the main anchor module, and in addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor module based on the communication channel between the master anchor module and the Bluetooth key can be improved, and the accuracy of the final target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can be improved.

[0065] The Bluetooth positioning system 1 includes at least two anchor modules 13, and each anchor module 13 includes a wireless control unit. The wireless control unit in each anchor module 13 includes two working modes, BLE (Bluetooth Low Energy) slave mode and BLE listening mode. When the anchor module 13 is the master anchor module 131, the working mode of the wireless control unit is BLE slave mode; when the anchor module 13 is the slave anchor module 132, the working mode of the wireless control unit is BLE listening mode. After the master anchor module 131 is determined, the other anchor modules 13 execute BLE listening mode as slave anchor modules 132.

[0066] Based on the Bluetooth positioning system 1 includes at least two anchor modules 13, each anchor module 13 with the Bluetooth key 2 to establish a Bluetooth connection, the corresponding Bluetooth signal quality may not be the same, so as to select the Bluetooth signal corresponding to the signal quality level from a plurality of anchor modules 13 higher or highest one anchor module 13 as the main anchor module 131, to ensure that the subsequent Bluetooth key 2 positioning when the quality of the Bluetooth signal transceiver. Therefore, the main anchor module 131 can be determined from all anchor modules 13 by polling signal level test. Exemplary, all anchor modules 13 can be in accordance with the preset order, in turn and Bluetooth key 2 to establish a Bluetooth communication connection, and based on the Bluetooth connection through the Bluetooth channel detection corresponding Bluetooth test signal, the corresponding Bluetooth test signal quality level, to achieve polling signal level test. Among them, the signal quality level can be divided into high, medium and low three levels, but also can be divided into a specific level value, for example, 0-100%. All anchor modules 13 will send their own signal quality level to the data processing module 11 or any anchor module 13, the data processing module 11 or the corresponding anchor module 13 receiving all anchor modules 13 sent signal quality level, each signal quality level related information contains the corresponding anchor module 13 ID information. Data processing module 11 or the corresponding anchor module 13 will all the signal quality level of the anchor module 13 comparison, to determine the highest signal quality level of the anchor module 13 as the main anchor module 131, and determine the main anchor module 131 corresponding to the signal quality level as the target signal quality level.

[0067] In an embodiment, a preset target quality level can be set, assuming that the preset target quality level is high, or the preset target quality level is 90%, all anchor modules 13 sequentially and Bluetooth key 2 Bluetooth connection based on Bluetooth connection through Channel Sounding (Bluetooth channel sounding technology) to detect Bluetooth channel, and according to the detected Bluetooth signal to determine the signal quality level of the communication connection between itself and Bluetooth key 2. If the current anchor module 13 determines that the signal quality level of itself is high or greater than or equal to 90%, it is determined that itself is the master anchor module 131, and sends a control signal to other anchor modules 13 to inform other anchor modules 13 as a slave anchor module 132. If the current anchor module 13 determines that the signal quality level of itself is medium or low, or less than 90%, that is, below the target quality level, it sends a Bluetooth link transfer instruction to the next anchor module 13, and the Bluetooth anchor module 13 as the current anchor module 13 and Bluetooth key 2 Bluetooth connection based on Bluetooth connection through Channel Sounding (Bluetooth channel sounding technology) to detect Bluetooth channel, and according to the Bluetooth signal obtained by detecting the Bluetooth channel to determine the signal quality level of the communication connection between itself and Bluetooth key 2. Until the current anchor module 13 determines that the signal quality level of itself is high or greater than or equal to the level 90%, it is determined that itself is the master anchor module 131, and sends a control signal to other anchor modules 13 to inform other anchor modules 13 as a slave anchor module 132. Through the above-mentioned polling signal level test method, it can be determined which of the current anchor modules 13 has a Bluetooth connection signal quality level greater than or equal to the preset target quality level with Bluetooth key 2, so that the anchor module greater than or equal to the preset target quality level is determined as the master anchor module 131. Subsequently, through the master anchor module 131 and Bluetooth key 2 Bluetooth connection and positioning processing, the reliability of the Bluetooth signal of the Bluetooth connection can be improved, thereby improving the reliability and accuracy of the positioning of Bluetooth key 2.

[0068] The master anchor module 131 includes a first antenna 1311, a first wireless control unit 1312, a first bus transceiver unit 1313, and a first bus interface 1314. The first wireless control unit 1312 is connected with the first antenna 1311 and the first bus transceiver unit 1313, and the first antenna 1311 is used to establish a communication connection with Bluetooth key 2. The first bus transceiver unit 1313 is connected with the first bus interface 1314. The first bus interface 1314 is connected with the slave anchor module 132 (i.e. the second bus interface 1324), the data processing module 11 (i.e. the third bus interface 113), and the control module 12 (i.e. the fourth bus interface 123).

[0069] After the main anchor module 131 is determined, the main anchor module 131 works in BLE slave mode, initiates broadcasting, and the wireless controller 21 of the Bluetooth key 2 initiates a connection request as a BLE master to establish a Bluetooth connection with the main anchor module 131. After the connection is completed, the main anchor module 131 in BLE slave mode performs Channel Sounding ranging to obtain a first carrier signal phase and determine a first distance value based on the first carrier signal phase. For example, the first antenna 1311 is controlled by the first wireless control unit 1312 to transmit a carrier signal to the Bluetooth key 2 at a frequency of 2402MHz-2480MHz with a bandwidth of 1MHz. The wireless controller 21 of the Bluetooth key 2 receives the carrier signal through the corresponding antenna 22 through Channel Sounding and reflects the carrier signal. The main anchor module 131 receives the reflected carrier signal, collects the carrier signal phase and the RSSI value, and obtains the first carrier signal phase and the first RSSI value. The first distance between the main anchor module 131 and the Bluetooth key 2 and the first signal quality level of the carrier signal between the main anchor module 131 and the Bluetooth key 2 are determined according to the first carrier signal phase.

[0070] The main anchor module 131 controls other anchor modules 13 to work in BLE listening mode. The main anchor module 131 sends BLE communication link parameters to the slave anchor module 132 through the first bus transceiver unit 1313 and the first bus interface 1314, and the slave anchor module 132 listens to the Bluetooth signal (BLE data packet) between the Bluetooth key 2 and the main anchor module 131 according to the BLE communication link parameters, determines the second RSSI value according to the listened Bluetooth signal, and reports the determined second RSSI value to the data processing module 11.

[0071] The slave anchor module 132 comprises a second antenna 1321, a second wireless control unit 1322, a second bus transceiver unit 1323 and a second bus interface 1324. The second wireless control unit 1322 is connected with the second antenna 1321 and the second bus transceiver unit 1323, and the second antenna 1321 is used to listen to the communication channel between the master anchor module 131 and the Bluetooth key 2. The second bus transceiver unit 1323 is connected with the second bus interface 1324. The second bus interface 1324 is connected with the master anchor module 131 (i.e. the first bus interface 1314), the data processing module 11 (i.e. the third bus interface 113) and the control module 12 (i.e. the fourth bus interface 123). In the embodiment, the first bus interface 1314 of the master anchor module 131 is connected with the second bus interface 1324 of the slave anchor module 132 through a CAN (Controller Area Network) bus or a LIN (Local Interconnect Network) bus. The slave anchor module 132 receives the BLE communication link parameters transmitted by the master anchor module 131 through the second bus interface 1324. The second bus interface 1324 of the slave anchor module 132 is connected with the data processing module 11 through the CAN bus or the LIN bus. The slave anchor module 132 reports the second RSSI value to the data processing module 11 through the second bus interface 1324.

[0072] The data processing module 11 comprises a first micro control unit 111, a third bus transceiver unit 112 and a third bus interface 113. The first micro control unit 111 is connected with the third bus transceiver unit 112. The third bus transceiver unit 112 is connected with the third bus interface 113. The third bus interface 113 is connected with the master anchor module 131 (i.e. the first bus interface 1314), the slave anchor module 132 (the second bus interface 1324) and the control module 12 (i.e. the fourth bus interface 123). The data processing module 11 is used to control all Bluetooth anchor modules to perform a polling signal level test when the first signal level is below a target level, the target level being a signal level determined when the master anchor module is determined, the polling signal level test being a test in which all Bluetooth anchors successively establish Bluetooth connections with the Bluetooth key and determine signal levels based on the Bluetooth connections; and determine the Bluetooth anchor module with the highest signal level as the master anchor module and the signal level corresponding to the master anchor module as the target level. The data processing module 11 is also used to receive the first distance value, the first signal level, the first RSSI value and the second RSSI value, and perform data processing based on the received first distance value, first signal level, first RSSI value and second RSSI value to determine the location area of the Bluetooth key 2.

[0073] The control module 12 comprises a second micro control unit 121, a fourth bus transceiver unit 122 and a fourth bus interface 123. The second micro control unit 121 is connected with the fourth bus transceiver unit 122. The fourth bus transceiver unit 122 is connected with the fourth bus interface 123. The fourth bus interface 123 is connected with the master anchor module 131 (i.e. the first bus interface 1314), the slave anchor module 132 (i.e. the second bus interface 1324) and the data processing module 11 (i.e. the third bus interface 113). The control module 12 is configured to perform vehicle unlocking, locking and greeting operations according to the location area of the Bluetooth key 2.

[0074] In an embodiment, the first bus transceiver unit 1313, the second bus transceiver unit 1323, the third bus transceiver unit 112 and the fourth bus transceiver unit 122 are configured to convert CAN (Controller Area Network) / LIN (Local Interconnect Network) signals.

[0075] The specific number of anchor modules in the Bluetooth positioning system can be set according to actual conditions. Figure 3 is a third schematic diagram of a Bluetooth positioning system provided by an embodiment of the present application, referring to Figures 1-3 The anchor module 13 is arranged at one or more of the in-vehicle position 1A, the co-pilot position 2, the trunk position 3, the driver position 4 and the front position 5 of the vehicle. The in-vehicle position 1A is located at a preset position of the driving control area of the vehicle, the co-pilot position 2 is located at a preset position of the co-pilot area of the vehicle, the trunk position 3 is located at a preset position of the trunk area of the vehicle, the driver position 4 is located at a preset position of the driver area of the vehicle, and the front position 5 is located at a preset position of the front area of the vehicle. The number of anchor modules 13 arranged at the in-vehicle position 1A, the co-pilot position 2, the trunk position 3, the driver position 4 and the front position 5 can be set according to actual conditions, and the number of anchor modules 13 arranged at each position is not limited in the embodiment.

[0076] Referring to Figures 1-3In this embodiment, the Bluetooth positioning system includes four anchor modules 13. The anchor modules 13 are four, and the anchor modules 13 are arranged in the vehicle. The anchor modules 13 include a first anchor module 13a, a second anchor module 13b, a third anchor module 13c, and a fourth anchor module 13d. One of the first anchor module 13a, the second anchor module 13b, the third anchor module 13c, and the fourth anchor module 13d is a master anchor module 131, and the other anchor modules 13 are slave anchor modules 132. Which anchor module 13 is the master anchor module 13 can be determined according to the aforementioned polling signal level test. The first anchor module 13a is arranged at an in-vehicle position 1A, which is located at a preset position of a driver control area of the vehicle. The second anchor module 13b is arranged at a front passenger position 2, which is located at a preset position of a front passenger area of the vehicle. The third anchor module 13c is arranged at a trunk position 3, which is located at a preset position of a trunk area of the vehicle. The fourth anchor module 13d is arranged at a driver position 4, which is located at a preset position of a driver area of the vehicle. Through the arrangement of the four anchor modules 13, the detection range can cover the in-vehicle area and the surrounding areas of the driver, the front passenger, and the trunk. The Bluetooth key 2 is usually located in these areas when there is a need for unlocking or locking, and therefore, by arranging the four anchor modules 13 at the in-vehicle position 1A, the front passenger position 2, the trunk position 3, and the driver position 4, the comprehensiveness and accuracy of the Bluetooth positioning can be improved, and the user experience can be improved.

[0077] The specific number of anchor modules in the Bluetooth positioning system can be set according to actual conditions. Figure 4 FIG. 4 is a fourth schematic diagram of a Bluetooth positioning system provided by an embodiment of the present application, referring to Figures 1-2 and Figure 4In this embodiment, the Bluetooth positioning system includes five anchor modules 13. The anchor modules 13 are five, and the anchor modules 13 are arranged in the vehicle. The anchor modules 13 include a first anchor module 13a, a second anchor module 13b, a third anchor module 13c, and a fourth anchor module 13d. One of the first anchor module 13a, the second anchor module 13b, the third anchor module 13c, and the fourth anchor module 13d is a master anchor module 131, and the other anchor modules 13 are slave anchor modules 132. Among them, the number of the first anchor module 13a is two, and the number of the second anchor module 13b, the third anchor module 13c, and the fourth anchor module 13d is one. Which anchor module 13 is the master anchor module 13 can be determined according to the aforementioned polling signal level test. One of the first anchor modules 13a is arranged at an in-vehicle position 1A, and the in-vehicle position 1A is located at a preset position of the driver control area of the vehicle. The other first anchor module 13a is arranged at an in-vehicle position 1B, and the in-vehicle position 1B is located at a preset position of the driver control area of the vehicle. The in-vehicle position 1A and the in-vehicle position 1B are arranged adjacent to each other. The second anchor module 13b is arranged at a copilot position 2, and the copilot position 2 is located at a preset position of the copilot area of the vehicle. The third anchor module 13c is arranged at a trunk position 3, and the trunk position 3 is located at a preset position of the trunk area of the vehicle. The fourth anchor module 13d is arranged at a driver position 4, and the driver position 4 is located at a preset position of the driver area of the vehicle. Through the position arrangement of the five anchor modules 13, the detection range can cover the in-vehicle area and the surrounding area of the driver, the surrounding area of the copilot, and the surrounding area of the trunk. Generally, the Bluetooth key 2 is located in these areas when there is a need for unlocking and locking, etc. Therefore, by arranging the five anchor modules 13 at the in-vehicle position 1A, the in-vehicle position 1B, the copilot position 2, the trunk position 3, and the driver position 4, the comprehensiveness and accuracy of the Bluetooth positioning can be improved, and the user's experience can be improved.

[0078] The specific number of anchor modules in the Bluetooth positioning system can be set according to actual conditions. Figure 5 FIG. 5 is a fifth schematic diagram of a Bluetooth positioning system provided by the embodiment of the present application, referring to FIG. 1, Figures 1-2 and Figure 5In this embodiment, the Bluetooth positioning system includes five anchor modules 13. The five anchor modules 13 are arranged in the vehicle, and the anchor modules 13 include a first anchor module 13a, a second anchor module 13b, a third anchor module 13c, a fourth anchor module 13d, and a fifth anchor module 13e. One of the first anchor module 13a, the second anchor module 13b, the third anchor module 13c, the fourth anchor module 13d, and the fifth anchor module 13e is a master anchor module 131, and the other anchor modules 13 are slave anchor modules 132. The anchor module 13 that serves as the master anchor module 13 can be determined according to the aforementioned polling signal level test. The first anchor module 13a is arranged at an in-vehicle position 1A, which is located at a preset position in the driver control area of the vehicle. The second anchor module 13b is arranged at a front passenger position 2, which is located at a preset position in the front passenger area of the vehicle. The third anchor module 13c is arranged at a trunk position 3, which is located at a preset position in the trunk area of the vehicle. The fourth anchor module 13d is arranged at a driver position 4, which is located at a preset position in the driver area of the vehicle. The fifth anchor module 13e is arranged at a vehicle head position 5, which is located at a preset position in the vehicle head area of the vehicle. By arranging the five anchor modules 13 in this way, the detection range can cover the in-vehicle area as well as the surrounding areas of the driver, the front passenger, the trunk, and the vehicle head, and the Bluetooth key 2 is usually located in these areas when there is a need to unlock or lock, etc. Therefore, by arranging the five anchor modules 13 at the in-vehicle position 1A, the front passenger position 2, the trunk position 3, the driver position 4, and the vehicle head position 5, the comprehensiveness and accuracy of the Bluetooth positioning can be improved, and the user's experience can be improved.

[0079] The specific number of anchor modules in the Bluetooth positioning system can be set according to actual conditions. Figure 6 FIG. 6 is a sixth schematic diagram of a Bluetooth positioning system according to an embodiment of the present application, which is similar to FIG. 5, and the same reference signs are used for the same elements. Figures 1-2 and Figure 6In this embodiment, the Bluetooth positioning system includes six anchor modules 13. The six anchor modules 13 are arranged in the vehicle, and the six anchor modules 13 include a first anchor module 13a, a second anchor module 13b, a third anchor module 13c, a fourth anchor module 13d, and a fifth anchor module 13e. One of the first anchor module 13a, the second anchor module 13b, the third anchor module 13c, the fourth anchor module 13d, and the fifth anchor module 13e is a master anchor module 131, and the other anchor modules 13 are slave anchor modules 132. The number of the first anchor module 13a is two, and the number of the second anchor module 13b, the third anchor module 13c, the fourth anchor module 13d, and the fifth anchor module 13e is one. Which anchor module 13 is the master anchor module 13 can be determined according to the aforementioned polling signal level test. One of the first anchor modules 13a is arranged at an in-vehicle position 1A, and the in-vehicle position 1A is located at a preset position of a driver control area of the vehicle. The other first anchor module 13a is arranged at an in-vehicle position 1B, and the in-vehicle position 1B is located at a preset position of the driver control area of the vehicle. The in-vehicle position 1A and the in-vehicle position 1B are arranged adjacent to each other. The second anchor module 13b is arranged at a copilot position 2, and the copilot position 2 is located at a preset position of a copilot area of the vehicle. The third anchor module 13c is arranged at a trunk position 3, and the trunk position 3 is located at a preset position of a trunk area of the vehicle. The fourth anchor module 13d is arranged at a driver position 4, and the driver position 4 is located at a preset position of a driver area of the vehicle. The fifth anchor module 13e is arranged at a vehicle head position 5, and the vehicle head position 5 is located at a preset position of a vehicle head area of the vehicle. Through the arrangement of the five anchor modules 13, the detection range can cover the in-vehicle area and the surrounding areas of the driver, the copilot, the trunk, and the vehicle head. Generally, the Bluetooth key 2 is located in these areas when there is a need for unlocking or locking, and therefore, by arranging the five anchor modules 13 at the in-vehicle position 1A, the copilot position 2, the trunk position 3, the driver position 4, and the vehicle head position 5, the comprehensiveness and accuracy of the Bluetooth positioning can be improved, and the user experience can be improved.

[0080] The specific number of anchor modules in the Bluetooth positioning system can be set according to actual conditions. Figure 7 FIG. 7 is a seventh schematic diagram of a Bluetooth positioning system provided by an embodiment of the present application, which is described with reference to FIGS. 1 to 6. Figures 1-2 and Figure 7The anchor point module 13 is arranged at one or more of the in-vehicle position 1A, the first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9 of the vehicle. The in-vehicle position 1A is a preset position in the driving control area of the vehicle, and the first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9 are preset positions of the four top corners around the vehicle. The number of anchor point modules 13 arranged at the in-vehicle position 1A, the first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9 can be set according to actual conditions, and the number of anchor point modules 13 arranged at each position in the embodiment is not limited.

[0081] Referring to Figures 1-2 and Figure 7 In the embodiment, the Bluetooth positioning system includes five anchor point modules 13. The five anchor point modules 13 are arranged in the vehicle, and the anchor point modules 13 include a first anchor point module 13a, a second anchor point module 13b, a third anchor point module 13c, a fourth anchor point module 13d, and a fifth anchor point module 13e. One of the first anchor point module 13a, the second anchor point module 13b, the third anchor point module 13c, the fourth anchor point module 13d, and the fifth anchor point module 13e is a master anchor point module 131, and the other anchor point modules 13 are slave anchor point modules 132. The first anchor point module 13a is arranged at the in-vehicle position 1A, which is a preset position in the driving control area of the vehicle. The second anchor point module 13b is arranged at the first top corner position 6 of the vehicle. The third anchor point module 13c is arranged at the second top corner position 7 of the vehicle. The fourth anchor point module 13d is arranged at the third top corner position 8 of the vehicle. The fifth anchor point module 13e is arranged at the fourth top corner position 9 of the vehicle. The first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9 are preset positions of the four top corners around the vehicle. Through the arrangement of the five anchor point modules 13, the detection range can cover the in-vehicle area and the surrounding area of the four top corners, and the Bluetooth key 2 is usually located in these areas when unlocking and locking is required. Therefore, by arranging the five anchor point modules 13 at the in-vehicle position 1A, the first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9, the comprehensiveness and accuracy of Bluetooth positioning can be improved, and the user experience can be improved.

[0082] The specific number of anchor point modules in the Bluetooth positioning system can be set according to actual conditions. Figure 8 is a eighth schematic view of a Bluetooth positioning system provided by the embodiment of the application, referring to Figures 1-2 and Figure 8In this embodiment, the Bluetooth positioning system includes six anchor modules 13. The six anchor modules 13 are arranged in the vehicle, and the anchor modules 13 include a first anchor module 13a, a second anchor module 13b, a third anchor module 13c, a fourth anchor module 13d, and a fifth anchor module 13e. One of the first anchor module 13a, the second anchor module 13b, the third anchor module 13c, the fourth anchor module 13d, and the fifth anchor module 13e is a master anchor module 131, and the other anchor modules 13 are slave anchor modules 132. The number of the first anchor module 13a is two, and the number of the second anchor module 13b, the third anchor module 13c, the fourth anchor module 13d, and the fifth anchor module 13e is one. One of the first anchor modules 13a is arranged at an in-vehicle position 1A, which is located at a preset position of the driving control area of the vehicle. The other first anchor module 13a is arranged at an in-vehicle position 1B, which is located at a preset position of the driving control area of the vehicle. The in-vehicle position 1A and the in-vehicle position 1B are arranged adjacent to each other. The second anchor module 13b is arranged at a first top corner position 6 of the vehicle. The third anchor module 13c is arranged at a second top corner position 7 of the vehicle. The fourth anchor module 13d is arranged at a third top corner position 8 of the vehicle. The fifth anchor module 13e is arranged at a fourth top corner position 9 of the vehicle. The first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9 are preset positions of the four corners of the vehicle. Through the arrangement of the six anchor modules 13, the detection range can cover the in-vehicle area and the surrounding area of the four corners, and the Bluetooth key 2 is usually located in these areas when the unlocking and locking needs exist. Therefore, by arranging the six anchor modules 13 at the in-vehicle position 1A, the in-vehicle position 1B, the first top corner position 6, the second top corner position 7, the third top corner position 8, and the fourth top corner position 9, the comprehensiveness and accuracy of the Bluetooth positioning can be improved, and the user experience can be improved.

[0083] The above, through the master anchor module and the slave anchor module connection, so that the master anchor module and the Bluetooth key to establish a Bluetooth connection, the slave anchor module can listen to the communication channel between the master anchor module and the Bluetooth key, the master anchor module detects the Bluetooth signal of the Bluetooth connection through the Bluetooth channel to get the first distance value and the first signal quality level, and determines the first RSSI value according to the Bluetooth signal, the slave anchor module determines the second RSSI value according to the Bluetooth signal, the master anchor module and the slave anchor module are connected with the data processing module, so that the data processing module can receive the first distance value, the first signal quality level and the first RSSI value sent by the master anchor module and receive the second RSSI value sent by the slave anchor module, so as to determine whether the signal quality between the master Bluetooth anchor module and the Bluetooth key is reduced according to the first signal quality level of the master Bluetooth anchor module, when the signal quality is reduced, the master Bluetooth anchor module is determined again through the polling signal level test. By using the above technical means, the anchor module with Bluetooth channel detection and RSSI value detection is used for Bluetooth key positioning, compared with the existing Bluetooth positioning system which only determines the position of the Bluetooth key through the RSSI value, the anchor module with Bluetooth channel detection is added, and the first distance value and the first signal quality level detected by the Bluetooth channel detection and the first RSSI value and the second RSSI value detected by the RSSI value detection are combined to determine the positioning of the Bluetooth key, which can effectively reduce the influence of Bluetooth signal fluctuation on the positioning result, improve the positioning reliability of the Bluetooth signal, and thus improve the accuracy of the Bluetooth key area positioning. In addition, the anchor module with polling signal level test is provided, during the Bluetooth positioning process, the Bluetooth anchor module with the highest signal quality level can be determined as the master Bluetooth anchor module based on the polling signal level test according to the actual situation, so as to improve the accuracy of the first RSSI value and the first distance value detected by the master anchor module, in addition, the accuracy of the second RSSI value obtained by the slave Bluetooth anchor module based on the communication channel between the master anchor module and the Bluetooth key can be improved, and the accuracy of the final target position area of the Bluetooth key obtained by the data processing module based on the first RSSI value, the first distance value and the second RSSI value can be improved.

[0084] The Channel Sounding (Bluetooth channel sounding technology) technology of phase ranging is used to measure the distance (i.e., the first distance value) between the Bluetooth key and the master anchor module, and the measurement accuracy can reach 10 cm. In the scene affected by multipath effect and signal attenuation, an accurate distance value (i.e., the first distance value) can also be output. By monitoring the Bluetooth signal of the Bluetooth key from the anchor module, the master anchor module only needs to establish a BLE connection link with the Bluetooth key to obtain the RSSI value of the Bluetooth signal corresponding to the Bluetooth key. The accurate distance value and the RSSI values obtained by different slave anchor modules can accurately locate the position area of the Bluetooth key. Therefore, the Bluetooth positioning system provided in the embodiment has the advantages of high accuracy, high flexibility, convenient deployment and suppression of multipath effect.

[0085] The embodiment of the application further provides a vehicle comprising the Bluetooth positioning system.

[0086] The vehicle provided in the above embodiment has the beneficial effects of the Bluetooth positioning system.

[0087] In the description of the utility model, it is understood that the orientation or positional relationship indicated by the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the utility model and simplifying the description, and therefore cannot be understood as indicating or implying that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as limiting the utility model.

[0088] In the utility model, unless otherwise explicitly specified and limited, the terms "arrange", "mount", "connect", "connect", "fix" and the like should be understood in a broad sense, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, can be directly connected, or indirectly connected through an intermediate medium, can be the communication or interaction relationship between two elements. For ordinary skilled in the art, the specific meaning of the above terms in the utility model can be understood according to the specific circumstances.

[0089] In addition, the terms "first" and "second" are only for the purpose of description, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features limited by "first" and "second" can explicitly or implicitly include one or more features. In the description of the utility model, the meaning of "multiple" is two or more, unless otherwise explicitly specified and limited.

[0090] It should be noted that in the present application, unless otherwise specified and limited, the first feature is "on" or "under" the second feature, which can be direct contact between the first and second features, or indirect contact through an intermediate medium. Moreover, the first feature "above", "above" and "above" the second feature can be directly above or obliquely above the first feature, or only indicate that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "below" and "below" the second feature can be directly below or obliquely below the first feature, or only indicate that the horizontal height of the first feature is less than that of the second feature.

[0091] The above is only the preferred embodiment of the present application, but the protection scope of the present application is not limited to this. Any skilled person in the art can make equivalent replacement or change according to the technical scheme and the inventive concept of the present application within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A Bluetooth positioning system, characterized in that Comprise: Data processing module, control module and at least two anchor modules, one of which is a master anchor module, and the other anchor module is a slave anchor module; The master anchor module and the slave anchor module are connected with the data processing module and the control module; The master anchor module is connected with the slave anchor module; The data processing module is connected with the control module; The master anchor module is used to establish a Bluetooth connection with a Bluetooth key and determine a first distance value and a first signal quality level of the Bluetooth signal of the Bluetooth connection through Bluetooth channel detection, and determine a first RSSI value according to the Bluetooth signal, and the first distance value is the distance between the master anchor module and the Bluetooth key determined based on Bluetooth channel detection; The slave anchor module is used to listen to the communication channel between the master anchor module and the Bluetooth key, and determine a second RSSI value according to the Bluetooth signal listened to; The data processing module is used to control all Bluetooth anchor modules to perform polling signal level test when the first signal quality level is below the target quality level, the target quality level is the signal quality level determined when the master anchor module is determined, and the polling signal level test is a test in which all Bluetooth anchor modules establish Bluetooth connection with the Bluetooth key in turn and determine the signal quality level based on the Bluetooth connection; according to the received signal quality level, the Bluetooth anchor module with the highest signal quality level is determined as the master anchor module, and the signal quality level corresponding to the master anchor module is determined as the target quality level.

2. The Bluetooth positioning system of claim 1, wherein, The master anchor module comprises: a first antenna, a first wireless control unit, a first bus transceiver unit and a first bus interface; The first wireless control unit is connected with the first antenna and the first bus transceiver unit, and the first antenna is used to establish a communication connection with the Bluetooth key; The first bus transceiver unit is connected with the first bus interface; The first bus interface is connected with the slave anchor module, the data processing module and the control module.

3. The Bluetooth positioning system of claim 1, wherein, The slave anchor module comprises: a second antenna, a second wireless control unit, a second bus transceiver unit and a second bus interface; The second wireless control unit is connected with the second antenna and the second bus transceiver unit, and the second antenna is used to listen to the communication channel between the master anchor module and the Bluetooth key; The second bus transceiver unit is connected with the second bus interface; The second bus interface is connected with the master anchor module, the data processing module and the control module.

4. The Bluetooth positioning system of claim 1, wherein, The data processing module comprises: a first micro control unit, a third bus transceiver unit and a third bus interface; The first micro control unit is connected with the third bus transceiver unit; The third bus transceiver unit is connected with the third bus interface; The third bus interface is connected with the master anchor module, the slave anchor module and the control module.

5. The Bluetooth positioning system of claim 1, wherein, The control module comprises: a second micro control unit, a fourth bus transceiver unit and a fourth bus interface; The second micro control unit is connected with the fourth bus transceiver unit; The fourth bus transceiver unit is connected with the fourth bus interface; The fourth bus interface is connected with the master anchor module, the slave anchor module and the data processing module.

6. The Bluetooth positioning system of claim 1, wherein, The anchor module is arranged at one or more of an in-vehicle position, a co-driver position, a trunk position, a driver position and a front position of the vehicle, the in-vehicle position being at a preset position of a driving control area of the vehicle, the co-driver position being at a preset position of a co-driver area of the vehicle, the trunk position being at a preset position of a trunk area of the vehicle, the driver position being at a preset position of a driver area of the vehicle, and the front position being at a preset position of a front area of the vehicle.

7. The Bluetooth positioning system of claim 1, wherein, The anchor module is arranged at one or more of an in-vehicle position, a first top corner position, a second top corner position, a third top corner position and a fourth top corner position of the vehicle, the in-vehicle position being at a preset position of a driving control area of the vehicle, and the first top corner position, the second top corner position, the third top corner position and the fourth top corner position being at preset positions of four top corners of the vehicle.

8. The Bluetooth positioning system of claim 1, wherein, The anchor module is arranged in the vehicle, and the anchor module includes a first anchor module, a second anchor module, a third anchor module and a fourth anchor module, one of the first anchor module, the second anchor module, the third anchor module and the fourth anchor module being a master anchor module, and the other anchor modules being slave anchor modules; the number of the first anchor module is one or two, and the number of the second anchor module, the third anchor module and the fourth anchor module is one. The first anchor module is arranged at an in-vehicle position, and the in-vehicle position is at a preset position of a driving control area of the vehicle. The second anchor module is arranged at a co-driver position, and the co-driver position is at a preset position of a co-driver area of the vehicle. The third anchor module is arranged at a trunk position, and the trunk position is at a preset position of a trunk area of the vehicle. The fourth anchor module is arranged at a driver position, and the driver position is at a preset position of a driver area of the vehicle.

9. The Bluetooth positioning system of claim 1, wherein, The anchor module is arranged in the vehicle, and the anchor module includes a first anchor module, a second anchor module, a third anchor module, a fourth anchor module and a fifth anchor module, one of the first anchor module, the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module being a master anchor module, and the other anchor modules being slave anchor modules; the number of the first anchor module is one or two, and the number of the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is one. The first anchor module is arranged at an in-vehicle position, and the in-vehicle position is at a preset position of a driving control area of the vehicle. The second anchor module is arranged at a co-driver position, and the co-driver position is at a preset position of a co-driver area of the vehicle. The third anchor module is arranged at a trunk position, and the trunk position is at a preset position of a trunk area of the vehicle. The fourth anchor module is arranged at a driver position, and the driver position is at a preset position of a driver area of the vehicle. The fourth anchor module is arranged at a main driving position, and the main driving position is located at a preset position of a main driving area of the vehicle. The fifth anchor module is arranged at a vehicle head position, and the vehicle head position is located at a preset position of a vehicle head area of the vehicle.

10. The Bluetooth positioning system of claim 1, wherein, The anchor modules are five, and the anchor modules are arranged in the vehicle, and the anchor modules include a first anchor module, a second anchor module, a third anchor module, a fourth anchor module and a fifth anchor module, one of the first anchor module, the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is a main anchor module, and the other anchor modules are slave anchor modules; the number of the first anchor module is one or two, and the number of the second anchor module, the third anchor module, the fourth anchor module and the fifth anchor module is one. The first anchor module is arranged at an in-vehicle position, and the in-vehicle position is located at a preset position of a driving control area of the vehicle. The second anchor module is arranged at a first top corner position of the vehicle. The third anchor module is arranged at a second top corner position of the vehicle. The fourth anchor module is arranged at a third top corner position of the vehicle. The fifth anchor module is arranged at a fourth top corner position of the vehicle. The first top corner position, the second top corner position, the third top corner position and the fourth top corner position are preset positions of four top corners around the vehicle.

11. A vehicle characterized by comprising: The application further provides a Bluetooth positioning system. The Bluetooth positioning system according to any one of claims 1-10.

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