CN106019226A - Visible light indoor positioning method for exterior of region based on double detectors - Google Patents

Abstract

The invention discloses a visible light indoor positioning method for the exterior of a region based on double detectors, and the method comprises the following steps: 1), enabling a transmitting end processor to drive a plurality of LEDs, wherein each LED transmits a modulated visible light signal; 2), optical detectors A and B receive and demodulate the visible light signals transmitted by the LED at step 1at the same time, and extracting the related information; 3), employing a Lambertian radiation model to build a quadratic equation set according to the extracted related information; 4), finally carrying out the real-time solving of position coordinates through employing the least square method. Compared with a conventional indoor positioning method, the method provided by the invention can achieve the positioning in an LED region, and, most importantly, can achieve the positioning outside the region. Moreover, the method provided by the invention is simple and easy, and is convenient to implement. No matter inside or outside the region, the method can achieve the positioning inside and outside the region if only three or more LEDs can cover the region. The method greatly reduces the number of needed LEDs, and saves the cost.

Description

Visible ray indoor orientation method outside a kind of region based on double detector

Technical field

The present invention relates to visible ray indoor orientation method outside a kind of region based on double detector, belong to technical field of visible light communication.

Background technology

Indoor positioning scheme based on visible light communication (Visible Light Communication, VLC) technology is owing to utilizing white The white light that semiconductor light-emitting-diode (Light Emitting Diode, LED) is launched is as the carrier of framing signal, so not having electricity Magnetic radiation, is not limited by applied environment；And the transmission channel of VLC typically uses direct projection channel, multi-path jamming is smaller, So this targeting scheme can reach the precision that comparison is high；It addition, indoor locating system based on VLC technology and following VLC Communication technology is mutually compatible, and the hardware device that therefore need not costliness puts into, and cost ratio is relatively low.

At present, existing more two-dimentional indoor orientation method, but region, location is limited to the distribution of LED array, can only realize Location within LED array.Such as in volume 39 first phase in March, 2015 " lamp and illumination " page 34 " room delivered The comparative study of the some key technologies of interior visible ray " in, slow nanmu et al. has carried out analysis and summary to visible ray indoor positioning technologies. In the high-precision locating method of the non-imaged being previously mentioned at present.The method of commonly used triangle polyester fibre based on RSSI, the method It is to position in LED institute overlay area.If the position outside to LED region positions, need to lay more LED, Add system cost.

Summary of the invention

It is an object of the invention to as solving existing visible ray indoor positioning and can only carry out positioning at the intra-zone being made up of LED, nothing The problem of method feasible region outside fix, proposes visible ray localization method outside a kind of region based on double detector.

The core concept of the present invention is: utilize base station sounds device known to position to receive the intensity of LED signal to demarcate LED's Light intensity and reference range, then by solving the quadratic equation that illuminance radiation patterns sets up the mobile station detector of Location-Unknown Group, obtains the position of mobile station detector, i.e. realizes indoor visible light location.

Visible ray indoor orientation method outside a kind of based on double detector the region that the present invention proposes, comprises the following steps:

Step one, transmitting terminal processor drive multiple LED, each LED to send the visible light signal through ovennodulation；

Wherein, described LED specific features is that n, n are more than or equal to 3 for meeting bright vigorous radiant body radiation patterns and quantity；

Wherein, the visible light signal speed after described modulation meets condition behaviour eye and can't see flicker；

Step 2, photo-detector A and the visible light signal that photo-detector B receives simultaneously and in demodulation step one, LED sends, and Extract relevant information；

Described photo-detector A is base station sounds device, and its particular location is known；

Photo-detector B is mobile station detector, and its particular location is unknown, and its position is required；

ID that the particular content of described extraction relevant information includes LED and the intensity of each LED signal received；

Step 3, establishing an equation group according to the relevant information extracted in step 2, detailed process is as follows:

According to bright vigorous radiant body intensity of illumination distribution formula, illuminance P of the LED that photo-detector A or photo-detector B receives is:

Wherein, P₀For LED luminous power,Expression is the angle of radiation between LED and photo-detector, it is assumed that in region, location The angle of each self-corresponding photo-detector A of n LED be designated as respectively:Each LED correspondence photo-detector The angle of B is designated as respectively:d_iIt is the distance between LED and photo-detector, detector A distance n Individual LED distance respectively d_A1, d_A2……d_An；Photo-detector B distance n LED distance respectively d_B1, d_B2..., d_Bn；A is the effective area of photo-detector, and θ is light angle when inciding photo-detector receiving plane；For LED light source half Power angle,

P is photo-detector A or the LED signal intensity that receives of photo-detector B, wherein, and the n that photo-detector A receives The signal intensity of LED is respectively P_A1, P_A2..., P_An；The signal intensity of n the LED that photo-detector B receives is respectively For P_B1, P_B2..., P_Bn；

Can obtain the relation of LED signal that photo-detector A receives and LED distance d:

$d=\sqrt[(m+3)]{\frac{P_0}{P_1}\left(\frac{(m+1){\mathrm{Ah}}^{(m+1)}}{2\mathrm{\π}}\right)}---\left(2\right)$

In formula, m is the bright vigorous number of LED itself, for known quantity；Except d and P₁Can change with photo-detector location A difference Outward, remaining is all unrelated with photo-detector location A, for constant；

The n-th LED signal intensity that photo-detector A and photo-detector B receives is brought in formula (2), obtains formula (3)

$\frac{d_{An}}{d_{Bn}}=\sqrt[m+3]{\frac{P_{Bn}}{P_{An}}}---\left(3\right)$

(3) formula is converted, mobile station detector and the n-th LED distance such as formula (4) can be obtained

$d_{Bn}=\frac{d_{An}}{\sqrt[m+3]{\frac{P_{Bn}}{P_{An}}}}=d_{An}\sqrt[m+3]{\frac{P_{An}}{P_{Bn}}}---\left(4\right)$

According to the range formula of point-to-point transmission, if the coordinate residing for mobile station detector be (x, y), then

$\left\{\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2=d_1\\ {(x_2-x)}^2+{(y_2-y)}^2=d_2\\ ?\\ {(x_n-x)}^2+{(y_n-y)}^2=d_n\end{array}\right\}---\left(5\right)$

Step 4, by the equation group (5) in least square solution step 3, try to achieve (x is y) residing for mobile station detector Coordinate.

Beneficial effect

Outside a kind of region based on double detector of the present invention, visible ray indoor orientation method uses two photo-detectors to position, its In one be base station sounds device, another is mobile station detector；And use bright vigorous radiation patterns row quadratic equation group real-time resolving Position coordinates, has the advantages that

1. the method that the present invention proposes, compared with existing indoor orientation method, not only can realize location in LED region, the most main That wants can be with feasible region outside fix；

2. the method that the present invention proposes is simple, it is simple to realize；Inside and outside Regional Economy, it is only necessary to 3 or more than 3 LED The place that can cover just can be with the location inside and outside feasible region；Greatly reduce required LED number, save cost.

Accompanying drawing explanation

Fig. 1 is visible ray indoor orientation method and the flow chart of embodiment 1 outside a kind of region based on double detector of the present invention；

Fig. 2 is determining of being relied in visible ray indoor orientation method outside a kind of region based on double detector of the present invention and embodiment 2 Position system scenarios schematic diagram；

Fig. 3 is that the system used in visible ray indoor orientation method embodiment 2 outside a kind of region based on double detector of the present invention is shown It is intended to.

Detailed description of the invention

Below in conjunction with specific embodiment to the present invention a kind of based on double detector region outside visible ray localization method carry out specifically Bright.

Embodiment 1

Use the method for the invention to realize room area outer visible ray location, Fig. 1 be the present invention and embodiment a kind of based on double spies Survey the flow chart of visible ray indoor orientation method outside the region of device.

As it is shown in figure 1, transmitting terminal processor drives three LED, it is designated as LED_A, LED_B, LED_C；Each LED sends warp The visible light signal of ovennodulation；Base station sounds device and mobile station detector receive simultaneously and demodulate the visible light signal that LED sends, Respectively obtain the illuminance of each LED, be designated as P respectively_A1,P_A2,P_A3,P_B1,P_B2,P_B3.Can further according to the formula (4) in step 3 In the hope of the distance between each LED and mobile station detector, as follows:

$d_{B1}=\frac{d_{A1}}{\sqrt[m+3]{\frac{P_{B1}}{P_{A1}}}}=d_{A1}\sqrt[m+3]{\frac{P_{A1}}{P_{B1}}}$

$d_{B2}=\frac{d_{A2}}{\sqrt[m+3]{\frac{P_{B2}}{P_{A2}}}}=d_{A2}\sqrt[m+3]{\frac{P_{A2}}{P_{B2}}}$

$d_{B3}=\frac{d_{A3}}{\sqrt[m+3]{\frac{P_{B3}}{P_{A3}}}}=d_{A3}\sqrt[m+3]{\frac{P_{A3}}{P_{B3}}}$

The bright vigorous several m=18 of the known quantity of the LED of step 3 itself in the present embodiment, i.e. photo-detector A's Yu LED of base station sounds device Distance d_A1,d_A2,d_A3Bring above-mentioned 3 formula into, can be in the hope of d_B1,d_B2,d_B3；Again by d_B1,d_B2,d_B3Bring in step 3 Equation group (5) can in the hope of detector B position coordinate (x, y).

Embodiment 2

The location relied on by visible ray indoor orientation method outside a kind of region based on double detector of the present embodiment as shown in Figure 2 System schematic；The alignment system that the present embodiment relies on uses three LED send signal and positioned by detector reception, LED Forming equilateral triangle at a distance of 0.7m two-by-two, with LED_A, LED_B, LED_C represent respectively；Drive circuit provides for white light LEDs Suitably direct current biasing, and be modulated on the driving electric current of white light LEDs sending signal；Compared to region inner position system (only Equilateral triangle interior zone can be positioned), only need the LED number required for disposing one of them region just can be real in emitting portion Now position, greatly reduce LED quantity needed for system；

Signal after modulation is launched by white light LEDs with visible ray form；

Two photodetectors carry out illuminance reception simultaneously, wherein base station sounds device position it is known that and this position can be at horizontal plane Interior optional position；Mobile station detector is then the detector needing location；Two detectors have only to receive and identify three LED The signal issued, needs to receive and identify the signal that all LED send compared to detector in the inner position system of region, it is achieved Method is simple；

The illuminance signal that detector receives transmits to host computer, and host computer can be at computer or mobile phone or other band computings The intelligent object of reason function, host computer receives the information that at least two detector sends simultaneously, then by described localization method meter Calculate photo-detector coordinate, and displaing coordinate and image information in real time.

Locating effect: taking at random a little in the plane of location, the position of the point got is as shown in table 1 below:

Table 1 the inventive method positioning result

The abscissa positioning result of the inventive method: x (unit: m)	The vertical coordinate positioning result of the inventive method: y (unit: m)
		0.6600	0.0100
0.9800	0.0200
		0.6600	0.2400
1.1000	0.5700

Coordinate in accompanying drawing 3 is respectively (0.7,0), (1,0), (0.7,0.25), (1.1,0.6), positioning result, i.e. table 1 In data be (0.66,0.01), (0.98,0.02), (0.66,0.24), (1.10,0.57), parasang is rice, can To see, its position error is within ten centimetres.And other localization methods the most cannot not contrast in above-mentioned coordinate setting As a result, so not being embodied in figure or the table of the present embodiment.

Embodiment described above is the preferable enforcement of visible ray indoor orientation method outside a kind of region based on double detector of the present invention Example, the present invention should not be limited to this embodiment and accompanying drawing disclosure of that.This embodiment is only intended to help to understand this The method of invention and core concept thereof；Those skilled in the art can make various deformation or amendment within the scope of the claims, This has no effect on the flesh and blood of the present invention.

For one of ordinary skill in the art, according to the thought of the present invention, the most all have In place of change, this specification content should not be construed as limitation of the present invention.Every without departing from complete under spirit disclosed in this invention The equivalence become or amendment, both fall within the scope of protection of the invention.

Claims (5)

1. visible ray indoor orientation method outside a region based on double detector, it is characterised in that:

Comprise the following steps:

Step one, transmitting terminal processor drive multiple LED, each LED to send the visible light signal through ovennodulation；

Step 2, photo-detector A and the visible light signal that photo-detector B receives simultaneously and in demodulation step one, LED sends, And extract relevant information；

Step 3, establish an equation group according to the relevant information extracted in step 2；

Step 4, by the equation group in least square solution step 3, try to achieve (x is y) residing for mobile station detector Coordinate.

Visible ray indoor orientation method outside a kind of region based on double detector, it is characterised in that:

LED specific features described in step one is that n, n are more than for meeting bright vigorous radiant body radiation patterns and quantity In 3.

Visible ray indoor orientation method outside a kind of region based on double detector, it is characterised in that:

Visible light signal speed after modulation described in step one meets condition behaviour eye and can't see flicker.

Visible ray indoor orientation method outside a kind of region based on double detector, it is characterised in that:

Photo-detector A described in step 2 is base station sounds device, and its particular location is known；

Photo-detector B described in step 2 is mobile station detector, and its particular location is unknown, and its position is required；

ID that the particular content of described extraction relevant information includes LED and the intensity of each LED signal received.

Visible ray indoor orientation method outside a kind of region based on double detector, it is characterised in that:

Establishing an equation group according to the relevant information extracted in step 2 in step 3, detailed process is as follows:

According to bright vigorous radiant body intensity of illumination distribution formula, the illuminance of the LED that photo-detector A or photo-detector B receives P is:

Wherein, P₀For LED luminous power,Expression is the angle of radiation between LED and photo-detector, it is assumed that positioning area The angle of each self-corresponding photo-detector A of n LED in territory is designated as respectively:Each LED pair The angle answering photo-detector B is designated as respectively:d_iIt is the distance between LED and photo-detector, Detector A distance n LED distance respectively d_A1, d_A2……d_An；Photo-detector B distance n LED distance point Wei d_B1, d_B2..., d_Bn；A is the effective area of photo-detector, and θ is that light is when inciding photo-detector receiving plane Angle；For the half-power angle of LED light source,

P is photo-detector A or the LED signal intensity that receives of photo-detector B, and wherein, photo-detector A receives The signal intensity of n LED is respectively P_A1, P_A2..., P_An；The signal of n the LED that photo-detector B receives Intensity is respectively P_B1, P_B2..., P_Bn；

Can obtain the relation of LED signal that photo-detector A receives and LED distance d:

$d=\sqrt[(m+3)]{\frac{P_0}{P_1}\left(\frac{(m+1){\mathrm{Ah}}^{(m+1)}}{2\mathrm{\π}}\right)}---\left(2\right)$

In formula, m is the bright vigorous number of LED itself, for known quantity；Except d and P₁Can be with photo-detector location A difference Outside change, remaining is all unrelated with photo-detector location A, for constant；

The n-th LED signal intensity that photo-detector A and photo-detector B receives is brought in formula (2), obtains formula (3)

$\frac{d_{An}}{d_{Bn}}=\sqrt[m+3]{\frac{P_{Bn}}{P_{An}}}---\left(3\right)$

(3) formula is converted, mobile station detector and the n-th LED distance such as formula (4) can be obtained

$d_{Bn}=\frac{d_{An}}{\sqrt[m+3]{\frac{P_{Bn}}{P_{An}}}}=d_{An}\sqrt[m+3]{\frac{P_{An}}{P_{Bn}}}---\left(4\right)$

According to the range formula of point-to-point transmission, if the coordinate residing for mobile station detector be (x, y), then

$\left\{\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2=d_1\\ {(x_2-x)}^2+{(y_2-y)}^2=d_2\\ ?\\ {(x_n-x)}^2+{(y_n-y)}^2=d_n\end{array}\right\}---\left(5\right).$