Bluetooth positioning method, terminal device, electronic device and storage medium

1 . A Bluetooth positioning method, comprising steps of:

acquiring a sampled message, wherein the sampled message comprises a sampled IQ data and a data signal strength indicator, and the sampled IQ data comprises a plurality of sampled IQ values obtained by sequentially sampling, according to a preset order, signals received or transmitted by a plurality of antennas in a Bluetooth antenna array, wherein the signals received or transmitted by the plurality of antennas are signals transmitted by an identical signal source; and

judging whether the data signal strength indicator is greater than a preset threshold,

wherein when the data signal strength indicator is greater than the preset threshold, a position angle of the signals is obtained based on the sampled IQ data in the sampled message;

the step of a position angle of the signals is obtained based on the sampled IQ data in the sampled message comprises steps of:

acquiring, based on the sampled IQ data, phase differences between adjacent antennas in the Bluetooth antenna array, to obtain a plurality of phase differences;

acquiring based on the sampled IQ data, phase differences corresponding to IQ values at different time points corresponding to an identical antenna;

performing, based on the phase differences between the IQ values at different time points corresponding to the identical antenna, a phase compensation processing on the plurality of phase differences; and

obtaining, based on the plurality of phase differences after the phase compensation processing, the position angle at a current time point.

2 . The method according to claim 1 , wherein the method further comprises, before the step of obtaining based on the plurality of phase differences after the phase compensation processing the position angle at a current time point, a step of:

determining that a standard deviation of the plurality of phase differences is smaller than a preset standard deviation threshold.

3 . The method according to claim 2 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

4 . The method according to claim 1 , wherein the method further comprises, after the step of obtaining the position angle at a current time point, a step of:

determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle.

5 . The method according to claim 4 , wherein when the signal source and the Bluetooth antenna array are relatively stationary, the step of determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle comprises:

acquiring a first average value of the position angle and a plurality of position angles adjacent to the position angle; and

removing, among the position angle and the plurality of position angles adjacent to the position angle, an angle whose difference from the first average value is greater than a preset angle threshold, and calculating a second average value of the remaining angles, wherein the second average value is the target position angle at the current time point.

6 . The method according to claim 5 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

7 . The method according to claim 4 , wherein when the signal source and the Bluetooth antenna array are relatively moving, the step of determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle comprises:

performing, based on preset weights, a weighted average processing on the position angle and the plurality of position angles adjacent to the position angle, to obtain the target position angle at the current time point, wherein a weight value of a position angle corresponding to a time point closer to the current time point is greater, and a weight value of a position angle corresponding to a time point farther away from the current time point is smaller.

8 . The method according to claim 7 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

9 . The method according to claim 4 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

10 . The method according to claim 1 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

11 . An electronic device, comprising a memory and a processor, wherein non-transitory computer-readable instructions are stored in the memory, and the non-transitory computer-readable instructions, when executed by the processor, cause the processor to perform the method according to claim 1 .

12 . The electronic device according to claim 11 , wherein the step of a position angle of the signals is obtained based on the sampled IQ data in the sampled message comprises steps of:

acquiring, based on the sampled IQ data, phase differences between adjacent antennas in the Bluetooth antenna array, to obtain a plurality of phase differences;

acquiring, based on the sampled IQ data, phase differences corresponding to IQ values at different time points corresponding to an identical antenna;

performing, based on the phase differences between the IQ values at different time points corresponding to the identical antenna, a phase compensation processing on the plurality of phase differences; and

obtaining, based on the plurality of phase differences after the phase compensation processing, the position angle at a current time point.

13 . The electronic device according to claim 11 , wherein the method further comprises, before the step of obtaining based on the plurality of phase differences after the phase compensation processing the position angle at a current time point, a step of:

determining that a standard deviation of the plurality of phase differences is smaller than a preset standard deviation threshold.

14 . The electronic device according to claim 11 , wherein the method further comprises, after the step of obtaining the position angle at a current time point, a step of:

determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle.

15 . The electronic device according to claim 11 , wherein when the signal source and the Bluetooth antenna array are relatively stationary, the step of determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle comprises:

acquiring a first average value of the position angle and a plurality of position angles adjacent to the position angle; and

removing, among the position angle and the plurality of position angles adjacent to the position angle, an angle whose difference from the first average value is greater than a preset angle threshold, and calculating a second average value of the remaining angles, wherein the second average value is the target position angle at the current time point.

16 . The electronic device according to claim 11 , wherein when the signal source and the Bluetooth antenna array are relatively moving, the step of determining a target position angle based on the position angle and a plurality of position angles adjacent to the position angle comprises:

performing, based on preset weights, a weighted average processing on the position angle and the plurality of position angles adjacent to the position angle, to obtain the target position angle at the current time point, wherein a weight value of a position angle corresponding to a time point closer to the current time point is greater, and a weight value of a position angle corresponding to a time point farther away from the current time point is smaller.

17 . The electronic device according to claim 11 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.

18 . The method according to claim 1 , further comprising:

acquiring number of the sampled messages whose data signal strength indicator is lower than the preset threshold within a preset duration; and

adjusting the preset threshold according to the number of the sampled messages whose data signal strength indicator is lower than the preset threshold.