CN112399331A - Automobile Bluetooth key positioning method - Google Patents
Automobile Bluetooth key positioning method Download PDFInfo
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- CN112399331A CN112399331A CN202010655611.5A CN202010655611A CN112399331A CN 112399331 A CN112399331 A CN 112399331A CN 202010655611 A CN202010655611 A CN 202010655611A CN 112399331 A CN112399331 A CN 112399331A
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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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- 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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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C9/00—Individual registration on entry or exit
- G07C9/00174—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys
- G07C9/00309—Electronically operated locks; Circuits therefor; Nonmechanical keys therefor, e.g. passive or active electrical keys or other data carriers without mechanical keys operated with bidirectional data transmission between data carrier and locks
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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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- 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
- H04W4/029—Location-based management or tracking services
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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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- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
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- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
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- Lock And Its Accessories (AREA)
Abstract
The invention discloses a method for positioning an automobile Bluetooth key. The method comprises the following steps: the method comprises the steps of establishing a rectangular plane coordinate system, calculating coordinates of vertexes of a plane polygon of an automobile outline, respectively arranging a Bluetooth device at least 3 positions in the polygon, obtaining RSSI (received signal strength indicator) of each Bluetooth device for receiving Bluetooth key broadcast data, calculating the distance between a Bluetooth key and each Bluetooth device based on the RSSI, calculating coordinates of the Bluetooth key projected on the plane of the polygon on the basis, and judging whether the Bluetooth key is in the automobile or not according to the position relation between the coordinates and the polygon. According to the invention, the Bluetooth device is arranged at least 3 positions, and the position of the Bluetooth key is determined based on the RSSI, so that the positioning accuracy of the Bluetooth key is improved.
Description
Technical Field
The invention relates to the technical field of wireless distance measurement and positioning, in particular to a positioning method for an automobile Bluetooth key.
Background
The bluetooth key is a function for controlling a vehicle by using a bluetooth function of a mobile phone in a case where the bluetooth key is close to the vehicle. The Bluetooth key can realize the related operations of opening/closing the door, opening/closing the trunk and the like. The bluetooth key is an invisible intelligent key, not only can realize the main function of physical key, can also realize abundanter car networking function, for example: borrow the car for friend when the people is not present, realize that virtual key starts the car etc..
In the prior art, a vehicle-mounted T-Box Bluetooth device is generally matched with a mobile phone APP to realize a Bluetooth key of a vehicle connection. It is common to read the RSSI (Received Signal Strength) of the bluetooth device on the T-Box in the car and determine the location of the bluetooth key (whether in the car or not) by comparison with a threshold. The problems with this approach are: the positioning precision is not high, and the judgment accuracy is low.
Disclosure of Invention
In order to solve the problems in the prior art, the invention provides a positioning method for an automobile Bluetooth key.
In order to achieve the purpose, the invention adopts the following technical scheme:
a method for positioning an automobile Bluetooth key comprises the following steps:
step 1, drawing a planar polygon representing the outline of an automobile, establishing a planar rectangular coordinate system on a plane where the polygon is located, and calculating the coordinates of each vertex of the polygon;
step 2, the first Bluetooth device broadcasts data outwards periodically, and after the Bluetooth key receives and matches the data successfully, the data is broadcasted outwards; all the Bluetooth devices receive the broadcast data of the Bluetooth key and respectively output the RSSI to the ECU; the number of the Bluetooth devices is not less than 3, and the Bluetooth devices are respectively arranged at 3 different positions in a polygonal plane;
step 3, the ECU calculates the distance between the Bluetooth key and each Bluetooth device based on the RSSI;
step 4, calculating the coordinates of the projection of the Bluetooth key on the plane where the polygon is located based on the distance between the Bluetooth key and each Bluetooth device and the coordinates of each Bluetooth device;
and 5, judging whether the Bluetooth key is in the vehicle according to the position relation between the coordinate of the projection of the Bluetooth key on the plane where the polygon is located and the polygon.
Compared with the prior art, the invention has the following beneficial effects:
the method comprises the steps of establishing a rectangular plane coordinate system, calculating the coordinates of the vertexes of a plane polygon of the outline of the automobile, respectively arranging a Bluetooth device at least at 3 positions in the polygon, acquiring RSSI (received signal strength indicator) of the Bluetooth device for receiving Bluetooth key broadcast data, calculating the distance between the Bluetooth key and each Bluetooth device based on the RSSI, calculating the coordinates of the Bluetooth key projected on the plane of the polygon on the basis, and judging whether the Bluetooth key is in the automobile or not according to the position relation between the coordinates and the polygon, so that the automatic positioning of the Bluetooth key can be realized. According to the invention, the Bluetooth device is arranged at least 3 positions, and the position of the Bluetooth key is determined based on the RSSI, so that the positioning accuracy of the Bluetooth key is improved.
Drawings
Fig. 1 is a schematic diagram of a hardware structure according to the present embodiment;
fig. 2 is a schematic view of the inside of the vehicle when the outline is rectangular, ". o" indicates the bluetooth key position.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The embodiment of the invention provides a method for positioning an automobile Bluetooth key, which comprises the following steps:
s101, drawing a planar polygon representing the outline of the automobile, establishing a planar rectangular coordinate system on a plane where the polygon is located, and calculating the coordinates of each vertex of the polygon;
s102, the first Bluetooth device broadcasts data outwards periodically, and after the Bluetooth key (namely the mobile phone) receives and matches the data successfully, the data is broadcasted outwards; all the Bluetooth devices receive the broadcast data of the Bluetooth key and respectively output the RSSI to the ECU; the number of the Bluetooth devices is not less than 3, and the Bluetooth devices are respectively arranged at 3 different positions in a polygonal plane;
s103, the ECU calculates the distance between the Bluetooth key and each Bluetooth device based on RSSI;
s104, calculating the coordinates of the projection of the Bluetooth key on the plane where the polygon is located based on the distance between the Bluetooth key and each Bluetooth device and the coordinates of each Bluetooth device;
and S105, judging whether the Bluetooth key is in the vehicle according to the position relation between the coordinate of the projection of the Bluetooth key on the plane where the polygon is located and the polygon.
The hardware circuit structure according to the present embodiment is shown in fig. 1, and mainly includes an ECU, a plurality of bluetooth devices connected to the ECU, and a bluetooth key, i.e., a mobile phone. Bluetooth devices can operate in both transmit and receive states. Only 3 bluetooth devices are shown in fig. 1, a first bluetooth device, a second bluetooth device and a third bluetooth device.
In the present embodiment, step S101 is mainly used to determine the vehicle contour and establish a planar rectangular coordinate system. The determination of the automobile profile is mainly used for judging whether the Bluetooth key is in the automobile. The automobile profile of the embodiment refers to the intersection line of the automobile body and the horizontal plane in the automobile. The actual automobile contour is relatively complex, and in order to simplify data processing, the automobile contour is approximately represented by a polygon, so that the method for judging whether the Bluetooth key is in the automobile is greatly simplified. In principle, the origin of the rectangular plane coordinate system may be any point on the plane of the polygon, and the coordinate axis may also be any direction, but for the sake of simplicity, some special points in the general vehicle selection are the origins, and the direction of the symmetry axis of the vehicle body is the direction of the longitudinal axis, as shown in fig. 2. With the coordinate system, the coordinates of each vertex of the polygon can be calculated; with the vertex coordinates, the car contour is determined.
In this embodiment, step S102 is mainly used to obtain the RSSI of each bluetooth device receiving the bluetooth key broadcast data. In order to improve the positioning accuracy, at least 3 positions are selected, and a Bluetooth device connected with the ECU is arranged at each position. These bluetooth devices should be spaced as far apart as possible and not collinear (or nearly collinear), and are typically located at 4 side door locations. The first Bluetooth device in the plurality of Bluetooth devices is a main Bluetooth device, the main Bluetooth device broadcasts data periodically, the Bluetooth keys receive the broadcast data and match the broadcast data, the Bluetooth keys broadcast the data outwards after the matching is successful, then all the Bluetooth devices receive the broadcast data, and the RSSI of each Bluetooth device is sent to the ECU. Before matching, the period of the data broadcast by the main Bluetooth device can be larger, and can be selected to be about 1 second; after the matching is successful, the period of the broadcast data can be shortened to 10-50 milliseconds in order to improve the data processing precision.
In this embodiment, step S103 is mainly used to calculate the distance between the bluetooth key and each bluetooth device. The RSSI size is closely related to the distance, and the closer the distance is, the smaller the attenuation is, and the larger the RSSI is; the further away the distance, the greater the attenuation and the smaller the RSSI. RSSI is approximately inversely proportional to the square of the distance. From this principle, the distance can be calculated based on RSSI. The calculation can be carried out according to an empirical formula, or the distance-RSSI test data can be made into a table and then accurately calculated by an interpolation method.
In the present embodiment, step S104 is mainly used to determine the position coordinates of the bluetooth key. The bluetooth key is not necessarily just in the plane where the polygon is located, so that the coordinate of the projection of the bluetooth key on the plane where the polygon is located is actually calculated, and whether the bluetooth key is in the vehicle can be judged by the coordinate. The geometric knowledge can be utilized to solve the coordinates of the projection of the Bluetooth key on the plane where the polygon is located based on the distance between the Bluetooth key and each Bluetooth device and the coordinates of each Bluetooth device.
In this embodiment, step S105 is mainly used to determine whether the bluetooth key is in the vehicle. The embodiment judges according to the position relation between the coordinates of the projection of the Bluetooth key on the plane where the polygon is located and the polygon. In step S101, the coordinates of each vertex of the polygon are obtained, and accordingly, an equation of a straight line where each edge is located can be obtained, and whether the projection is located in the polygon can be determined according to the position relationship between the projection coordinates and each edge.
As an alternative embodiment, S103 first performs second-order moment following filtering on the RSSI of each received bluetooth device to obtain
Then based on
Calculating the distance between the Bluetooth key and each Bluetooth device;
the formula (2) is shown in formulas (1) to (5):
mt＝mt-1*β1+(1-β1)*αt (1)
vt＝vt-1*β2+(1-β2)*αt*αt (2)
wherein t represents the current time, i.e., the tth time, αtIs the RSSI value of the current time, mtIs the first moment, v, of the RSSI at the current timetIs the second moment, beta, of the RSSI at the current time1、β2Are filter coefficients.
This embodiment provides a technical solution for filtering RSSI data. Because of the factors influencing the RSSI, the distance error calculated by directly measuring the RSSI value is larger. Therefore, in this embodiment, the RSSI directly measured is processed by using the second moment following filter, so that the influence of interference can be eliminated to some extent, and the specific method is as shown in formulas (1) to (5). Wherein, beta1、β2For filter coefficients, typically take beta1＝0.90～0.99，β2＝0.80～0.95。
As an alternative embodiment, the formula for calculating the distance d between the bluetooth key and the bluetooth device based on the RSSI is as follows:
d＝10-(RSSI-A)/20 (6)
wherein d is meter, A is received signal strength at a distance of 1 meter, and RSSI and A are both dbm.
The embodiment provides a technical scheme for calculating the distance according to the RSSI value. The calculation principle is simple, and the distance corresponding to the RSSI can be obtained by comparing the RSSI with the signal strength A when the distance is 1 meter. The value of a can be obtained by repeated experiments, and in this example a ═ 59 dbm.
As an optional embodiment, the S104 specifically includes:
solving an equation set consisting of the equations (7), (8) and (9) to obtain coordinates x and y of the projection of the Bluetooth key on the plane where the polygon is located:
in the formula (x)1,y1)、(x2,y2)、(x3,y3) Respectively the coordinates of the first Bluetooth device, the second Bluetooth device and the third Bluetooth device, z is the distance between the Bluetooth key and the plane where the polygon is located, R1、R2、R3The distances between the current period bluetooth key and the first bluetooth device, the second bluetooth device and the third bluetooth device are respectively.
The embodiment provides a technical scheme for calculating the projection coordinates of the Bluetooth key on the plane where the polygon is located. Formulas (7) and (8),(9) Actually, the positions of 3 Bluetooth devices are taken as the centers of spheres and R is taken as the center of sphere1、R2、R3The equation is 3 spherical surfaces of the radius, and the intersection point of the 3 spherical surfaces is the position of the Bluetooth key. Subtracting two sides of any 2 equations in the 3 equations, eliminating a variable z to obtain a linear equation of two elements, and solving the linear equation of two elements to obtain x and y. Due to R obtained from RSSI1、R2、R3There is an error and the system of equations consisting of equations (7), (8), (9) may be unsolved. If this occurs, the data at the current time is discarded and the calculation is performed again with the data at the next time.
As an alternative embodiment, the polygon has vertex coordinates (a) respectively1,b1)、(a1,b2)、(a2,b2)、(a2,b1) Wherein, a1<a2，b1<b2(ii) a If the coordinate (x, y) of the projection of the Bluetooth key on the plane where the polygon is located satisfies a1＜x＜a2And b is1＜y＜b2If the Bluetooth key is in the vehicle; otherwise the bluetooth key is outside the vehicle.
The embodiment provides a technical scheme for judging whether the Bluetooth key is in the vehicle or not when the polygon is the simplest rectangle. As shown in fig. 2, as long as a is satisfied1＜x＜a2And b is1＜y＜b2The Bluetooth key can be considered to be in the vehicle; otherwise outside the vehicle. In general, the outline polygon of the automobile is approximated to a rectangle, and the influence on the determination result is not large.
The above description is only for the purpose of illustrating a few embodiments of the present invention, and should not be taken as limiting the scope of the present invention, in which all equivalent changes, modifications, or equivalent scaling-up or down, etc. made in accordance with the spirit of the present invention should be considered as falling within the scope of the present invention.
Claims (5)
1. A method for positioning an automobile Bluetooth key is characterized by comprising the following steps:
step 1, drawing a planar polygon representing the outline of an automobile, establishing a planar rectangular coordinate system on a plane where the polygon is located, and calculating the coordinates of each vertex of the polygon;
step 2, the first Bluetooth device broadcasts data outwards periodically, and after the Bluetooth key receives and matches the data successfully, the data is broadcasted outwards; all the Bluetooth devices receive the broadcast data of the Bluetooth key and respectively output the RSSI to the ECU; the number of the Bluetooth devices is not less than 3, and the Bluetooth devices are respectively arranged at 3 different positions in a polygonal plane;
step 3, the ECU calculates the distance between the Bluetooth key and each Bluetooth device based on the RSSI;
step 4, calculating the coordinates of the projection of the Bluetooth key on the plane where the polygon is located based on the distance between the Bluetooth key and each Bluetooth device and the coordinates of each Bluetooth device;
and 5, judging whether the Bluetooth key is in the vehicle according to the position relation between the coordinate of the projection of the Bluetooth key on the plane where the polygon is located and the polygon.
2. The method as claimed in claim 1, wherein step 3 is performed by performing a second moment following filtering on the RSSI of each bluetooth device received to obtain the RSSI
Then based on
Calculating the distance between the Bluetooth key and each Bluetooth device;
the formula (2) is shown in formulas (1) to (5):
mt＝mt-1*β1+(1-β1)*αt (1)
vt＝vt-1*β2+(1-β2)*αt*αt (2)
wherein t represents the current time, i.e., the tth time, αtIs the RSSI value of the current time, mtIs the first moment, v, of the RSSI at the current timetIs the second moment, beta, of the RSSI at the current time1、β2Are filter coefficients.
3. The method as claimed in claim 1, wherein the distance d between the bluetooth key and the bluetooth device is calculated based on the RSSI according to the following formula:
d＝10-(RSSI-A)/20 (6)
wherein d is meter, A is received signal strength at a distance of 1 meter, and RSSI and A are both dbm.
4. The automobile Bluetooth key positioning method according to claim 1, wherein the step 4 specifically includes:
solving an equation set consisting of the equations (7), (8) and (9) to obtain coordinates x and y of the projection of the Bluetooth key on the plane where the polygon is located:
in the formula (x)1,y1)、(x2,y2)、(x3,y3) Respectively the coordinates of the first Bluetooth device, the second Bluetooth device and the third Bluetooth device, z is the distance between the Bluetooth key and the plane where the polygon is located, R1、R2、R3The distances between the current period bluetooth key and the first bluetooth device, the second bluetooth device and the third bluetooth device are respectively.
5. The bluetooth key positioning method for automobiles of claim 1, wherein the polygon is a polygon with vertex coordinates of (a)1,b1)、(a1,b2)、(a2,b2)、(a2,b1) Wherein, a1<a2，b1<b2(ii) a If the coordinate (x, y) of the projection of the Bluetooth key on the plane where the polygon is located satisfies a1＜x＜a2And b is1＜y＜b2If the Bluetooth key is in the vehicle; otherwise the bluetooth key is outside the vehicle.
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