CN108600943A - A kind of keyless systems localization method based on low-power consumption bluetooth RSS - Google Patents
A kind of keyless systems localization method based on low-power consumption bluetooth RSS Download PDFInfo
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- CN108600943A CN108600943A CN201810308013.3A CN201810308013A CN108600943A CN 108600943 A CN108600943 A CN 108600943A CN 201810308013 A CN201810308013 A CN 201810308013A CN 108600943 A CN108600943 A CN 108600943A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
- G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/30—Services specially adapted for particular environments, situations or purposes
- H04W4/40—Services specially adapted for particular environments, situations or purposes for vehicles, e.g. vehicle-to-pedestrians [V2P]
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
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Abstract
The invention discloses a kind of keyless systems localization methods based on low-power consumption bluetooth RSS, are related to wireless communication and field of locating technology, the described method comprises the following steps：Step 1：Offline location fingerprint information collection, which includes interior location acquisition strategies and vehicle external position acquisition strategies；Step 2：Online data positioning stage, the online data positioning stage are mainly included in line signal acquisition and carry out positioning and positioning result optimization filtering etc. to the RSS signals after being filtered with data prediction, the location fingerprint location algorithm based on Idea of Probability.The critical issue that the present invention is solved keyless entry and positioned without key activation system Intelligent key using the location fingerprint location algorithm based on Idea of Probability as core, the Intelligent key positioning accuracy based on low-power consumption bluetooth RSS signals can be effectively improved, the robustness of keyless entry and no key activation system is improved.
Description
Technical field
The present invention relates to wireless communication and field of locating technology more particularly to it is a kind of based on low-power consumption bluetooth RSS without key
Spoon enters and without key activation system localization method.
Background technology
Keyless entry based on smart mobile phone and activation system (Passive Entry＆Passive Start, PEPS)
It is a kind of location technology for relying on smart mobile phone and low-power consumption bluetooth, it is intended to replace the technical side of existing low-and high-frequency PEPS system
Case, and be expected to become the important development direction of next-generation automobile PEPS.Specifically, bluetooth PEPS technologies can pass through the intelligence of user
Energy mobile phone is realized keyless entry and is started, to save the private key of automobile.But based on low-power consumption bluetooth without key
Into still there is many problem of needing research at present with startup, such as：The accurate discrimination in automobile interior exterior portion.
Since received signal strength (RSS) acquisition of information cost is relatively low, and RSS information and distance dependent, it is possible to
The positioning to Intelligent key is realized using RSS.Chinese invention patent：A kind of keyless systems positioning side based on bluetooth RSSI
Method, publication date：On September 1st, 2017, the patent No.：CN201710167473.4 discloses a kind of utilization bluetooth RSS signals realization
The localization method of Intelligent key.The positioning principle of the invention is to be based on existing attenuation model between RSS signal intensities and distance,
The nonlinear function of cab signal intensity RSS and distance are fitted particular by BP neural network so that it is with respect to conventional droop
Model has better fitting degree.However, this method does not fully take into account the spy of RSS signals spatial variations at any time
Point, especially when RSS signals fluctuate, influence bigger of this method to distance measurement result.In addition, when in varying environment, it should
Attenuation model also needs to redefine fitting coefficient, and it is to improve operation time as generation that it, which improves ranging models fitting precision,
Valence.
Therefore, those skilled in the art be dedicated to designing it is a kind of based on RSS information come the side of precise positioning smart mobile phone
Method so that not only operand is low for this method, but also has higher positioning accuracy.Meanwhile as realization keyless entry and nothing
The critical support technology of key activation system, additionally it is possible to accurately recognize Intelligent key in the car with the state outside vehicle.
Invention content
In view of the drawbacks described above of the prior art, technical problem to be solved by the invention is to provide believed based on on-vehicle Bluetooth
The method that mark can effectively distinguish the smart mobile phone vehicle inside and outside positioning as key, to serve based on bluetooth RSS's
Keyless entry and no key activation system.
To achieve the above object, the present invention provides a kind of keyless systems localization method based on low-power consumption bluetooth RSS,
The method includes：
Step 1：Offline location fingerprint information collection；
Step 2：Online signal acquisition and data prediction；
Step 3：RSS signals after being filtered are positioned using location fingerprint algorithm based on probability.
Further, the step 1 includes：
Step 1-1：Vehicle interior RSS data acquires, at this point, operating personnel need through smart mobile phone APP collection vehicles
The RSS data of internal multiple acquisition positions, when particular by RSS information of the reception from multiple access points and continuing one section
Between, RSS is finally carried out into correspondence markings with location information and is stored；
Step 1-2：Outside vehicle RSS data acquires, at this point, operating personnel are surrounding first yet by smart mobile phone APP
In the 0.5m annular regions of vehicle's surroundings, ground of advancing receives the RSS information from diverse access point, then around vehicle's surroundings
It in 0.5m to 1m ranges, is still acquired using the above method, and the rest may be inferred, i.e., every time by the annular region boundary of scanning
Increase 0.5m, until the annular region in circular vehicle's surroundings 1.5m to 2m, finally by collected RSS data and location information
It carries out corresponding and stores；
Step 1-3：Using following Gaussian distribution curve
RSS histogram of the fitting access point in some position, wherein μ represents RSS signals mean value intensity at the position, σ generations
The standard deviation of RSS signals at the table position, and to each specific position in step 1-1 and step 1-2, each is connect
Access point stores corresponding Gaussian Distribution Parameters μ and σ.
Further, the acquisition position include the main driving seat of vehicle, two seats of assistant driver seat and heel row with
And vehicle external annular region.
Further, described access point is 3-5, and the typical installation position of described access point includes mainly door handle for vehicle
It is first-class with vehicle console.
Further, described access point is low-power consumption bluetooth signal transmitting module, using TI CC2541 or DA14650.
Further, corresponding peripheral power supply circuit is integrated in described access point.
Further, the smart mobile phone APP will be with receiving time successively storage RSS data.
Further, the step 2 includes：
Step 2-1：It is pre-installed in the Bluetooth accessing point on vehicle using the APP acquisitions on smart mobile phone
RSS signals；
Step 2-2：Gaussian filtering is carried out to the RSS signals of acquisition, the larger exceptional value of RSS signal fluctuations is rejected, inhibits
Noise in RSS signals.
Further, the step 3 includes：
Step 3-1：According to the signal vector m=[RSS of online acquisition1,RSS2,……,RSSn], n is of access point
Number, it is close using the Gaussian Distribution Parameters and corresponding gaussian probability of each position, each access point stored in step 1-3
Degree function calculates separately P (RSSi| p), that is, calculate for all possible position p, signal strength RSSiSignal occur it is general
Rate；
Step 3-2:Based on step 3-1, each possible position p can be obtainedjThere is the joint probability of RSS signal vectors m,
I.e.
Step 3-3：All joint probabilities are ranked up, is found in position candidate and this signal vector possibility occurs
Maximum positionI.e.
Step 3-4：To further strengthen positioning accuracy, final positionCan use the estimated location that step 3-3 is determined with
And the product of probability is weighted interpolation processing acquisition at the position, i.e.,
Wherein, K represents K larger position of select probability.
Further, the method further includes filtering the Intelligent key vehicle inside and outside identification result that step 3 exports
Wave rejects unnecessary flase drop point, to make the final judgement of Intelligent key relative vehicle position relationship.
In the better embodiment of the present invention, a kind of keyless entry and nothing based on low-power consumption bluetooth RSS are provided
Key activation system localization method.This localization method includes mainly two stages：It is that the RSS data of off-line phase is adopted first
Data acquire two main process outside collection, including the acquisition of interior data and vehicle.The followed by real-time positioning of on-line stage, with probability
Location fingerprint algorithm is the positioning that core carries out smart mobile phone (i.e. Intelligent key).
Compared with prior art, the beneficial effects of the invention are as follows：
1, using based on probability positions fingerprint algorithm come solve keyless entry and without key activation system Intelligent key it is fixed
The critical issue of position, can effectively improve the Intelligent key positioning accuracy based on low-power consumption bluetooth RSS signals, same to hour operation quantity
It is smaller, be easy to realize on the poor platform of computing capability, for realize keyless entry based on low-power consumption bluetooth RSS signals with
No key activation system provides important technology support, effectively improves system robustness.
2, it provides completely based on the mobile terminal locating scheme under vehicle environment, includes not only complete signal processing stream
Journey further includes the strategy of specific offline location fingerprint data acquisition.
In addition, utilizing the interior fixed point station acquisition scheme proposed and vehicle outer ring station acquisition scheme that can have
While effect improves the accuracy of interior outer Intelligent key identification, opposite can also reduce the consuming of off-line phase database sharing when
Between and manpower.
The technique effect of the design of the present invention, concrete structure and generation is described further below with reference to attached drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Description of the drawings
Fig. 1 is that the present invention implements to illustrate principle sketch；
Fig. 2 is off-line phase outside vehicle annular location RSS data acquisition figure；
Fig. 3 is the RSS signal probabilities histogram and Gauss curve fitting schematic diagram of a certain some access point of position；
Fig. 4 is on-line stage signal flow graph；
Fig. 5 is tuning on-line effect diagram.
Specific implementation mode
Multiple preferred embodiments that the present invention is introduced below with reference to Figure of description, keep its technology contents more clear and just
In understanding.The present invention can be emerged from by many various forms of embodiments, and protection scope of the present invention not only limits
The embodiment that Yu Wenzhong is mentioned.
In the accompanying drawings, the identical component of structure is indicated with same numbers label, everywhere the similar component of structure or function with
Like numeral label indicates.The size and thickness of each component shown in the drawings are to be arbitrarily shown, and there is no limit by the present invention
The size and thickness of each component.In order to keep diagram apparent, some places suitably exaggerate the thickness of component in attached drawing.
Start with no key as shown in Figure 1, present embodiments providing a kind of keyless entry based on low-power consumption bluetooth RSS
System positioning method.This localization method includes mainly two stages of I and II, wherein I-stage is off-line phase, and the II stages are
On-line stage.Concrete operating principle is：The RSS data acquisition of off-line phase is carried out first, including outside the acquisition of interior data and vehicle
Data acquire two main process；Secondly carry out on-line stage real-time positioning, and using probability positions fingerprint algorithm as core into
The positioning of row smart mobile phone (i.e. Intelligent key).
Specifically, when the vehicle interior in off-line data collecting stage carries out RSS data acquisition, operating personnel pass through intelligence
Cell phone application acquires the RSS data including the positions such as two the main driving seat of vehicle, assistant driver seat and heel row seats,
And the chronologically-based records of smart mobile phone APP, the RSS data for storing each position, receive multiple accesses shown in coming from 1
The RSS information of point is simultaneously kept for the regular hour.
The typical installation position of these access points mainly include door handle for vehicle and vehicle console it is first-class, in view of cost because
Element is advisable with 3-5 pieces.Access point use Bluetooth transmission module, in the present embodiment preferably use TI CC2541 or
DA14650, and design, make corresponding miniature peripheral power supply circuit to achieve the purpose that place access point convenient for installing.
Specifically, when the outside vehicle in off-line data collecting stage carries out RSS data acquisition, operating personnel still use intelligence
It can cell phone application acquisition.First, in the 0.5m annular regions around vehicle's surroundings, operating personnel are received in traveling from not
With the RSS information of access point；Later, it in vehicle's surroundings 0.5m to 1m ranges, is still acquired using the above method,
The rest may be inferred, i.e., the annular region boundary of scanning is increased 0.5m every time, until in the annular around vehicle's surroundings 1.5m to 2m
Collected RSS data is finally carried out corresponding and stored by region with location information.Specific annular region acquisition schematic diagram is such as
Shown in Fig. 2.
In addition, the data storage of off-line phase mainly uses following Gaussian distribution curve：
RSS histogram of the fitting access point in some position.Wherein, μ represents RSS signals mean value intensity at the position, and σ
Represent the standard deviation of RSS signals at the position.For each specific position outside interior and vehicle, for each access
Point stores corresponding Gaussian Distribution Parameters μ and σ.Fig. 3 show typical RSS signals histogram and it uses gaussian curve approximation
Effect.It is convenient for using in the online data stage later by the RSS information that Gaussian distribution curve form stores, there is operand
It is small, the features such as being easy to store.
Specifically, online data positioning stage is mainly included in line signal acquisition and pre-processes, is based on probability positions fingerprint
Positioning and positioning result optimization filter this three parts, and the overall flow figure of online data positioning stage is as shown in Figure 4.
Before implementation tuning on-line, it is necessary first to do the signal being collected into online and be filtered in real time, press down as far as possible
Noise in RSS raw informations processed preferably uses gaussian filtering scheme to carry out signal noise pretreatment in the present embodiment.
Smart mobile phone vehicle inside and outside location algorithm core based on probability positions fingerprint is to be based on naive Bayesian principle.
According to each access point 1 in the data of a certain position online acquisition, i.e. signal vector m=[RSS1,RSS2,……,RSSn], n is
The number of access point, when selected N is in line acquisition position, the data 2 acquired at this time will include N number of signal vector m
Be stored in advance in using off-line phase each position in database 3, each access point Gaussian Distribution Parameters μ and
σ and corresponding Gaussian probability-density function calculate separately P (RSSi| p), that is, calculate for all possible position p, signal is strong
Degree is RSSiSignal occur probability, obtain each position pjThere is the joint probability of RSS signal vectors m.I.e.
To all joint probability P (m | pj) in be ranked up, found in position candidate there is this signal vector may
The maximum position of propertyI.e.
To further strengthen the precision of positioning, final positionIt can be with general at above-mentioned estimated location and the position
The product of rate is weighted interpolation processing acquisition, i.e.,
Wherein, K represents K larger position of select probability.
Finally, the Intelligent key that the smart mobile phone vehicle inside and outside location algorithm based on probability positions fingerprint exports by described
Vehicle inside and outside identification result is filtered, and is rejected unnecessary flase drop point, is made Intelligent key relative vehicle position relationship
It is final to judge.
Compared with prior art, the present invention is utilized solves keyless entry and without key based on probability positions fingerprint algorithm
The critical issue of activation system Intelligent key positioning, can effectively improve the Intelligent key based on low-power consumption bluetooth RSS signals
Positioning accuracy, it is smaller with hour operation quantity, it is easy to realize on the poor platform of computing capability, low-power consumption bluetooth is based on to realize
The keyless entry of RSS signals provides important technology support with no key activation system, effectively improves system robustness.Meanwhile
Include not only complete signal processing flow the present invention provides completely based on the mobile terminal locating scheme under vehicle environment,
It further include the strategy of specific offline location fingerprint data acquisition.
In addition, utilizing the interior fixed point station acquisition scheme proposed and vehicle outer ring station acquisition scheme that can have
While effect improves the accuracy of interior outer Intelligent key identification, opposite can also reduce the consuming of off-line phase database sharing when
Between and manpower.
Fig. 5 is that the present invention carries out the interior outer operational effect positioned of Intelligent key in real time according to the RSS data obtained online
Schematic diagram, wherein 1 in ordinate represent car, and 0 represents outside vehicle.
The preferred embodiment of the present invention has been described in detail above.It should be appreciated that the ordinary skill of this field is without wound
The property made labour, which according to the present invention can conceive, makes many modifications and variations.Therefore, all technician in the art
Pass through the available technology of logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Scheme, all should be in the protection domain being defined in the patent claims.
Claims (10)
1. a kind of keyless systems localization method based on low-power consumption bluetooth RSS, which is characterized in that the method includes：
Step 1：Offline location fingerprint information collection；
Step 2：Online signal acquisition and data prediction；
Step 3：RSS signals after being filtered are positioned using location fingerprint algorithm based on probability.
2. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as described in claim 1, which is characterized in that
The step 1 includes：
Step 1-1：Vehicle interior RSS data acquires, at this point, operating personnel need by inside smart mobile phone APP collection vehicles
The RSS data of multiple acquisition positions, particular by receiving the RSS information from multiple access points and continuing for some time, most
RSS carries out correspondence markings with location information and stores at last；
Step 1-2：Outside vehicle RSS data acquires, at this point, operating personnel are surrounding vehicle first yet by smart mobile phone APP
In the 0.5m annular regions of surrounding, ground of advancing receives the RSS information from diverse access point, then around vehicle's surroundings 0.5m
It into 1m, is still acquired, and the rest may be inferred, i.e., every time increased the annular region boundary of scanning using the above method
0.5m, until in the annular region around vehicle's surroundings 1.5m to 2m, finally carrying out collected RSS data with location information
It corresponds to and stores；
Step 1-3：Using following Gaussian distribution curve
RSS histogram of the fitting access point in some position, wherein μ represents RSS signals mean value intensity at the position, and σ is represented should
The standard deviation of RSS signals at position, and to each specific position in step 1-1 and step 1-2, for each access
Point stores corresponding Gaussian Distribution Parameters μ and σ.
3. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as claimed in claim 2, which is characterized in that
The acquisition position includes the main driving seat, two seats of assistant driver seat and heel row and vehicle external annular region of vehicle.
4. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as claimed in claim 3, which is characterized in that
Described access point is 3-5, and the typical installation position of described access point includes mainly on door handle for vehicle and vehicle console.
5. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as claimed in claim 4, which is characterized in that
Described access point is low-power consumption bluetooth signal transmitting module, using TI CC2541 or DA14650.
6. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as claimed in claim 5, which is characterized in that
Corresponding peripheral power supply circuit is integrated in described access point.
7. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as claimed in claim 6, which is characterized in that
It is characterized in that, the smart mobile phone APP will be with receiving time successively storage RSS data.
8. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as described in claim 1, which is characterized in that
The step 2 includes：
Step 2-1：The RSS that the Bluetooth accessing point on vehicle is pre-installed in using the APP acquisitions on smart mobile phone is believed
Number；
Step 2-2：Gaussian filtering is carried out to the RSS signals of acquisition, rejects the larger exceptional value of RSS signal fluctuations, inhibits RSS letters
Noise in number.
9. a kind of keyless systems localization method based on low-power consumption bluetooth RSS as described in claim 1, which is characterized in that
The step 3 includes：
Step 3-1：According to the signal vector m=[RSS of online acquisition1,RSS2,……,RSSn], n is the number of access point, profit
With the Gaussian Distribution Parameters of each position, each access point stored in step 1-3 and corresponding Gaussian probability-density function
Calculate separately P (RSSi| p), that is, calculate for all possible position p, signal strength RSSiSignal occur probability；
Step 3-2:Based on step 3-1, each possible position p can be obtainedjThere is the joint probability of RSS signal vectors m, i.e.,
Step 3-3：All joint probabilities are ranked up, is found in position candidate and this signal vector possibility maximum occurs
PositionI.e.
Step 3-4：To further strengthen positioning accuracy, final positionThe estimated location and be somebody's turn to do that step 3-3 is determined can be used
The product of probability is weighted interpolation processing acquisition at position, i.e.,
Wherein, K represents K larger position of select probability.
10. a kind of keyless systems positioning side based on low-power consumption bluetooth RSS as described in claim 7 or 8 or 9 any one
Method, which is characterized in that the method further includes being filtered the Intelligent key vehicle inside and outside identification result that step 3 exports,
Unnecessary flase drop point is rejected, to make the final judgement of Intelligent key relative vehicle position relationship.
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| CN110753392A (en) * | 2019-10-28 | 2020-02-04 | 北京四海万联科技有限公司 | Bluetooth key positioning system and method based on Internet of vehicles |
| CN113747357A (en) * | 2021-09-10 | 2021-12-03 | 深圳南方德尔汽车电子有限公司 | Bluetooth positioning method based on calibration parameters |
| CN113747357B (en) * | 2021-09-10 | 2024-04-16 | 深圳南方德尔汽车电子有限公司 | Bluetooth positioning method based on calibration parameters |
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