The short answer to your question is that you cannot connect to an arbitrary Bluetooth device that may happen, you can only connect to a Bluetooth device that appears through Apple's licensing program (for example, the “Made for iPod / iPhone” label). From the Apple documentation:
Q: [The structure of the external accessory allows] my application to communicate with Bluetooth devices. So why does my app not see the Bluetooth accessory next to my iPhone?
A: The structure of the external accessory is designed so that iOS applications can only communicate with hardware accessories developed as part of the Apple MFi licensing program.
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