CN107167767A - High-precision locating method in a kind of visible ray room based on SC FDMA - Google Patents
High-precision locating method in a kind of visible ray room based on SC FDMA Download PDFInfo
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention discloses high-precision locating method in a kind of visible ray room based on SC FDMA, belong to visible ray field of locating technology, comprise the following steps：Visible ray indoor locating system is built, LED ID data are produced, realizes and ID data is modulated；N point discrete Fourier conversion is carried out to ID data, the inverse discrete Fourier transformer inverse-discrete by M points and insertion cyclic prefix is realized the SC FDMA of ID data is modulated；Receive optical signal and complete opto-electronic conversion, the photosignal obtained after conversion is transferred out；Remove cyclic prefix and obtain effective ID data, and restore the effective ID data received；Calculate positioning point coordinates；Complete visible ray indoor positioning.The present invention improves wireless communication rate and the availability of frequency spectrum, realizes the separation to overlapped signal, overcomes position error and positioning to be delayed, it is to avoid signal produces non-linear distortion in transmitting procedure, improves positioning precision, adds the stability of visible light-seeking.
Description
Technical field
The present invention relates to high-precision locating method in a kind of visible ray room, it is more particularly to a kind of based on SC-FDMA can
See high-precision locating method in light room, belong to visible ray field of locating technology.
Background technology
Global positioning system, also known as GPS, as a kind of ripe outdoor positioning technology, it is with being widely used in mobile phone
The navigation fields such as the service of figure, auto navigation, marine navigation and aircraft navigation, this has largely encouraged indoor positioning technologies
R and D, in recent years, indoor positioning technologies have attracted the concern of numerous scholars, the product orientation detection of such as bulk storage plant,
Navigation Service in heavy construction etc., but because indoor environment is more complicated, because influence and other of multipath fading are wirelessly set
Standby interference make it that signal coverings of the GPS in building is poor, there is larger error for indoor positioning.
Last decade, location technology aspect has carried out substantial amounts of research indoors for each research institution, has emerged in large numbers substantial amounts of new skill
Art, is such as based on WLAN WLAN, RFID, ZigBee, bluetooth, ultra-wide band radio UWB, infrared positioning, computer vision
Numerous indoor positioning technologies such as positioning, ultrasonic wave positioning, these methods provide the positioning precision from several meters to tens centimetres, so
And most of systems based on radio communication can be influenceed by electromagnetic interference, alignment quality is directly affected.
It is different from above-mentioned location technology scheme, it is seen that light indoor positioning technologies are to be based on visible light communication, also known as VLC room
Interior location technology, the light intensity of white light LEDs is controlled by the high-frequency of eye recognition not, is ensureing to provide the same of normal illumination
Shi Jinhang propagates the id information of positioning, and it has positioning precision height, few add-on module, good confidentiality and does not have electromagnetic radiation, no
The advantages of by electromagnetic interference, the study hotspot as domestic and international researcher.
Localization method based on LED-ID is a kind of visible ray indoor orientation method simple and easy to apply, and this method will be with position
Related ID data are loaded on different LED/light sources, and receiving terminal realizes Passive Positioning by receiving and parsing through ID data, existing
Nowadays, receiving terminal typically receives optical signal using photodetector, and the light signal strength of detection is converted into corresponding electricity
Signal, receives optical signal by this method, in receiving terminal simultaneously by many light irradiations when, due to the aliasing of signal intensity, nothing
Method judges the bit information received, and multiple signals are interfered, it is impossible to received correct id information, and passed through sequence control
Method cause serious positioning delay, the relatively low availability of frequency spectrum and message transmission rate；Need to take the photograph by the method for imaging
As the auxiliary of head, it is inconvenient；Disturb the algorithm eliminated also cumbersome.
The content of the invention
The main object of the present invention is to provide for high-precision locating method in a kind of visible ray room based on SC-FDMA,
This method is by using the orthogonality and preferable PAPR characteristics of SC-FDMA modulated process sub-carriers, each LED ID data
Sent in the form of light after ovennodulation, receiving terminal restores SC-FDMA signal by opto-electronic conversion, then demodulated
To each LED ID data and respective intensities, positioning is realized eventually through different LED id information and intensity.
The purpose of the present invention can reach by using following technical scheme：
High-precision locating method in a kind of visible ray room based on SC-FDMA, comprises the following steps：
Step S1：High-accuracy position system in visible ray room is built, the ID data of white LED module are produced, realized to ID
The modulation of data；
Step S2：To ID data carry out N point discrete Fourier conversion, to the inverse discrete Fourier transformer inverse-discrete by M points and insert
Enter cyclic prefix realization to modulate the SC-FDMA of ID data, ID data are sent in the form of optical signal；
Step S3：Receive optical signal and complete opto-electronic conversion, the photosignal obtained after conversion is transferred out；
Step S4：Remove cyclic prefix and obtain effective ID data, and restore the effective ID data received；
Step S5：Using the effective ID data received and corresponding signal intensity, positioning point coordinates is calculated；
Step S6：Complete high accuracy positioning in the visible ray room based on SC-FDMA.
Further, in step S1, it is seen that high-accuracy position system includes multiple LED transmitters, a positioning in light room
Receiver and a location-server, LED transmitter include transmitting terminal processor, D/A modules and light emission module, position receiver
Machine includes photoelectric conversion module, A/D modules and receiving terminal processor.
Further, in step S1, light emission module is made up of LED drive circuit and white LED module, opto-electronic conversion mould
Block is made up of photodetector and amplifying circuit, and transmitting terminal processor is used for ID data and the realization pair for producing white LED module
The modulation of ID data, receiving terminal processor is used for the demodulation for completing the docking collection of letters number, and calculating of the completion to received signal strength,
Location-server realizes positioning using obtained ID data and to shadow intensity.
Further, in step S2, transmitting terminal processor carries out N point discrete Fourier conversion to ID data, by sub- load
Ripple mapping is by ID data distributions to corresponding N number of subcarrier, and M-N subcarrier of unallocated data distributes empty data, then
Realized by the inverse discrete Fourier transformer inverse-discrete and insertion cyclic prefix of M points and the SC-FDMA of ID data is modulated, and pass through D/A moulds
Block is converted to analog signal, sends ID data in the form of optical signal finally by light emission module.
Further, in step S2, light emission module is used to realize the transmission to analog signal, is changed by A/D modules
Obtained analog signal rate of change is more than eye recognition high frequency, for ensureing that signal amplitude is located at the linear zone of light emission module
Between, it is ensured that signal undistorted transmission.
Further, in step S3, photoelectric conversion module receives optical signal, and completes opto-electronic conversion, amplified and A/D moulds
After block conversion, the optical signal transmission that sampling is obtained to receiving terminal processor.
Further, in step S4, receiving terminal processor removes cyclic prefix and obtains effective ID data, to effective ID data
The DFT of M points is carried out, M subcarrier is obtained, N number of son of correspondence ID data is isolated by subcarrier inverse mapping
Carrier wave, and the intensity of corresponding carriers is obtained, then the discrete Fourier of N points is carried out to there is N number of subcarrier of valid signal strengths
Inverse transformation, finally restores the effective ID data received；Obtained corresponding carriers intensity reaches photoelectricity with white LED module and visited
The illuminance for surveying device is directly proportional, i.e., intensity can characterize the size of illuminance.
Further, in step S5, location-server is adopted by the effective ID data received and corresponding signal intensity
Calculate positioning point coordinates with received signal strength measurement method, received signal strength measurement method be according to Lambertian radiation body Model,
Obtain the distance between white LED module and photodetector d1, photodetector there is formula (1) between receiving luminous intensity P
Relation is as follows, i.e.,：
Wherein, d1The distance between white LED module and photodetector for being 1 for numbering；
For the half-power angle of white LED module,
P0For the luminous power of white LED module；
P is the luminous intensity that photodetector is received；
A is the effective area of photodetector；
h1For photodetector apart from the white LED module vertical distance.
Further, in step S5, the distance between obtained white LED module and photodetector information, knot are utilized
The positional information of corresponding white LED module is closed, when receiving the ID data of three white LED modules, utilizes the positioning of three sides to calculate
Method solves and obtains photoelectric probe position coordinate；When receiving the ID data of more than three white LED modules, by permutation and combination
Method and three side location algorithms combine and obtain multigroup position coordinates, and the position coordinates most obtained at last takes average coordinate to be visited as photoelectricity
Survey the final coordinate of device.
Further, in step S5, three side location algorithms comprise the following steps：With each white LED module in horizontal plane
On projection centre be the center of circle, with photodetector to each white LED module where photodetector plane projection center
Distance draws circle for radius, and the intersecting position of three circles or public domain are detector coordinates；Permutation and combination method includes following step
Suddenly：It is combined using every three white LED modules being not arranged on the same straight line as one group.
The advantageous effects of the present invention：According to high accuracy positioning side in the visible ray room based on SC-FDMA of the present invention
High-precision locating method in method, the visible ray room based on SC-FDMA that the present invention is provided, should by SC-FDMA modulation-demodulation techniques
For in VISIBLE LIGHT SYSTEM, wireless communication rate and the availability of frequency spectrum to be greatly increased on the premise of cost is not increased；Profit
With the orthogonal property between modulated process sub-carriers, the separation to overlapped signal is realized, is overcome dry between optical signal
Disturb the position error brought and serious positioning delay；Using the preferable PAPR characteristics of SC-FDMA technologies, it is prevented effectively from signal and exists
The serious position error for producing non-linear distortion in transmitting procedure and bringing；SC-FDMA technologies are combined with three side positioning modes,
Positioning precision is not only increased, and does not need synchronized transmission, the stability of visible ray alignment system is considerably increased.
Brief description of the drawings
Fig. 1 is a preferred embodiment of high-precision locating method in the visible ray room based on SC-FDMA according to the present invention
Method flow diagram；
Fig. 2 is a preferred embodiment of high-accuracy position system in the visible ray room based on SC-FDMA according to the present invention
Visible light communication principles of modulation and demodulation block diagram, the embodiment can be with Fig. 1 identicals embodiment or with Fig. 1 not
Same embodiment；
Fig. 3 is a preferred embodiment of high-precision locating method in the visible ray room based on SC-FDMA according to the present invention
Visible ray room in high-accuracy position system theory diagram, the embodiment can be with Fig. 1 or Fig. 2 identical embodiments,
Can be the embodiments different from Fig. 1 or Fig. 2；
Fig. 4 is a preferred embodiment of high-precision locating method in the visible ray room based on SC-FDMA according to the present invention
Three side location algorithm principle schematics, the embodiment can be with Fig. 1 or Fig. 2 or Fig. 3 identicals embodiment or with
Embodiments different Fig. 1 or Fig. 2 or Fig. 3；
Fig. 5 is a preferred embodiment of high-precision locating method in the visible ray room based on SC-FDMA according to the present invention
Alignment system block diagram, the embodiment can be with Fig. 1 or Fig. 2 or Fig. 3 or Fig. 4 identicals embodiment or with Fig. 1 or
Embodiments different Fig. 2 or Fig. 3 or Fig. 4.
Embodiment
To make those skilled in the art's more clear and clear and definite technical scheme, with reference to embodiment and accompanying drawing
The present invention is described in further detail, but the implementation of the present invention is not limited to this.
As shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 4 and Fig. 5, in a kind of visible ray room based on SC-FDMA that the present embodiment is provided
High-precision locating method, comprises the following steps：
Step S1：Build high-accuracy position system in visible ray room：The system includes multiple LED transmitters, a positioning
Receiver and location-server, the LED transmitter include transmitting terminal processor, D/A modules and light emission module, wherein launching
End processor mainly produces the ID data of white LED module and realizes the modulation to ID data, and light emission module drives electricity by LED
Road and white LED module composition, the location receiver include photoelectric conversion module, A/D modules and receiving terminal processor, wherein
Photoelectric conversion module is made up of photodetector, amplifying circuit, and receiving terminal processor mainly completes the demodulation of the docking collection of letters number
The calculating of intensity, location-server mainly realizes positioning using obtained ID data and to shadow intensity；
Step S2：Transmitting terminal processor carries out N point discrete Fourier conversion, i.e. DFT, by subcarrier maps to ID data
By in ID data distributions to corresponding N number of subcarrier, then the empty data of M-N subcarrier distribution of unallocated data pass through M points
Inverse discrete Fourier transformer inverse-discrete be that IDFT and insertion cyclic prefix are realized and the SC-FDMA of ID data modulated, be then passed through D/A moulds
Block is converted to analog signal, sends ID data in the form of optical signal finally by light emission module, light emission module
The transmission to analog signal can be achieved；The analog signal rate of change being converted to by A/D modules must is fulfilled for eye recognition
High frequency not, it is ensured that normal illumination, and ensure that signal amplitude is located at the linearly interval of light emission module, it is ensured that the nothing of signal
Distortion is transmitted；
Step S3：Photoelectric conversion module receives optical signal and completes opto-electronic conversion, after the conversion of amplified and A/D modules, will adopt
The signal that sample is obtained is transmitted to receiving terminal processor；
Step S4：Receiving terminal processor remove cyclic prefix obtain effective ID data, to effective ID data carry out M points from
Scattered Fourier transform is that DFT obtains M subcarrier, and N number of subcarrier of correspondence ID data is isolated simultaneously by subcarrier inverse mapping
The intensity of corresponding carriers being obtained, the inverse discrete Fourier transformer inverse-discrete of N points is then carried out to there is N number of subcarrier of valid signal strengths
That is IDFT, finally restores the effective ID data received, and the intensity and white LED module for obtaining corresponding carriers reach photoelectricity and visited
The illuminance for surveying device is directly proportional, i.e., intensity can characterize the size of illuminance；
In step S5, location-server is believed by the effective ID data received and corresponding signal intensity using receiving
Number dolorimetry calculates positioning point coordinates, and received signal strength measurement method is, according to Lambertian radiation body Model, to obtain white light
The distance between LED module and photodetector d1, photodetector receive exist between luminous intensity P formula (1) relation it is as follows,
I.e.：
Wherein, d1The distance between white LED module and photodetector for being 1 for numbering；
For the half-power angle of white LED module,
P0For the luminous power of the white LED module；
P is the luminous intensity that photodetector is received；
A is the effective area of photodetector；
h1For photodetector apart from the white LED module vertical distance；
From geometrical relationship：
Try to achieve photodetector distance numbers be 1 white LED module where photodetector plane projection center
Distance, similarly, can in the hope of other each LED d2(x,y)、d3(x,y)、d4(x,y)......；
The range information obtained using step S5, and the positional information of corresponding white LED module is combined, when receiving three
During the ID data of white LED module, detector position coordinate is solved using three side location algorithms；It is white when receiving more than three
During the ID data of light LED module, the method for permutation and combination and three side location algorithms are combined and obtain multigroup position coordinates, most at last
Obtained position coordinates takes the average final coordinate as photodetector；
Three side location algorithms comprise the following steps：Using the projection centre of each white LED module in the horizontal plane as the center of circle,
The photodetector tried to achieve using formula (2) to each white LED module plane projection center where photodetector distance as
Radius draws circle, and the intersecting position of three circles or public domain are detector coordinates；
The method of permutation and combination comprises the following steps：Using every three white LED modules not point-blank as one group
It is combined；
Step S6：Complete high accuracy positioning in the visible ray room based on SC-FDMA.
Further, in the present embodiment, LED transmitter includes transmitting terminal processor, D/A modules and transmitter module, its
In, transmitting terminal processor uses FPGA, for producing different ID data and carrying out SC-FDMA modulation, and by corresponding ID numbers
According to being modulated in corresponding orthogonal sub-carriers, and it is not in contact with, each other independently transmitted signal, adjusts between each transmitting terminal processor
Signal processed is transformed into transmitter module through D/A modules, and transmitter module is made up of LED drive circuit and white LED module, and it drives electricity
Road provides suitable direct current biasing for white LED module, and signal modulation white LED module driving current linear zone
Between, white light LEDs send the signal after modulation in the form of visible ray；Receiving terminal processor uses FPGA, for adopting
The ID data collected carry out SC-FDMA demodulation and come out effective ID data converts and obtain corresponding signal intensity；Positioning clothes
Business device can be embedded device or computer.
In summary, in the present embodiment, according to high accuracy positioning in the visible ray room based on SC-FDMA of the present embodiment
High-precision locating method in method, the visible ray room based on SC-FDMA that the present embodiment is provided, by SC-FDMA modulation /demodulation skills
Art is applied in VISIBLE LIGHT SYSTEM, and wireless communication rate and spectrum utilization are greatly increased on the premise of cost is not increased
Rate；Using the orthogonal property between modulated process sub-carriers, the separation to overlapped signal is realized, is overcome between optical signal
The position error come of interference fringe and serious positioning delay；Using the preferable PAPR characteristics of SC-FDMA technologies, letter is prevented effectively from
The serious position error that non-linear distortion is produced number in transmitting procedure and is brought；By SC-FDMA technologies and three side positioning mode phases
With reference to, positioning precision is not only increased, and synchronized transmission is not needed, considerably increase the stability of visible ray alignment system.
It is described above, it is only further embodiment of the present invention, but protection scope of the present invention is not limited thereto, and it is any
Those familiar with the art is in scope disclosed in this invention, and technique according to the invention scheme and its design add
With equivalent substitution or change, protection scope of the present invention is belonged to.
Claims (10)
1. high-precision locating method in a kind of visible ray room based on SC-FDMA, it is characterised in that：Comprise the following steps：
Step S1：High-accuracy position system in visible ray room is built, the ID data of white LED module are produced, realized to ID data
Modulation；
Step S2：N point discrete Fourier conversion is carried out to ID data, to being followed by the inverse discrete Fourier transformer inverse-discrete and insertion of M points
Ring prefix is realized is modulated to the SC-FDMA of ID data, and ID data are sent in the form of optical signal；
Step S3：Receive optical signal and complete opto-electronic conversion, the photosignal obtained after conversion is transferred out；
Step S4：Remove cyclic prefix and obtain effective ID data, and restore the effective ID data received；
Step S5：Using the effective ID data received and corresponding signal intensity, positioning point coordinates is calculated；
Step S6：Complete high accuracy positioning in the visible ray room based on SC-FDMA.
2. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 1, its feature exists
In：In step S1, it is seen that high-accuracy position system is fixed including multiple LED transmitters, a location receiver and one in light room
Position server, LED transmitter includes transmitting terminal processor, D/A modules and light emission module, and location receiver includes opto-electronic conversion
Module, A/D modules and receiving terminal processor.
3. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 2, its feature exists
In：In step S1, light emission module is made up of LED drive circuit and white LED module, and photoelectric conversion module is by photodetector
With amplifying circuit composition, transmitting terminal processor is used for the ID data for producing white LED module and realizes the modulation to ID data, connects
Receiving end processor is used for the demodulation for completing the docking collection of letters number, and completes the calculating to received signal strength, and location-server is utilized
Obtained ID data and being realized to shadow intensity are positioned.
4. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 2, its feature exists
In：In step S2, transmitting terminal processor carries out N point discrete Fourier conversion to ID data, by subcarrier maps by ID data
It is assigned on corresponding N number of subcarrier, then the empty data of M-N subcarrier distribution of unallocated data pass through discrete Fu of M points
Vertical leaf inverse transformation and insertion cyclic prefix is realized to be modulated to the SC-FDMA of ID data, and is converted to simulation letter by D/A modules
Number, ID data are sent in the form of optical signal finally by light emission module.
5. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 4, its feature exists
In：In step S2, light emission module is used to realize the transmission to analog signal, the analog signal being converted to by A/D modules
Rate of change be more than eye recognition high frequency, for ensure signal amplitude be located at light emission module linearly interval, it is ensured that signal without
Distortion is transmitted.
6. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 2, its feature exists
In：In step S3, photoelectric conversion module receives optical signal, and completes opto-electronic conversion, after the conversion of amplified and A/D modules, will adopt
The optical signal transmission that sample is obtained is to receiving terminal processor.
7. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 2, its feature exists
In：In step S4, receiving terminal processor removes cyclic prefix and obtains effective ID data, and the discrete of M points is carried out to effective ID data
Fourier transform, obtains M subcarrier, and N number of subcarrier of correspondence ID data is isolated by subcarrier inverse mapping, and obtains phase
The intensity of carrier wave is answered, then the inverse discrete Fourier transformer inverse-discrete of N points is carried out to there is N number of subcarrier of valid signal strengths, it is final to go back
Original goes out the effective ID data received；Obtained corresponding carriers intensity reaches the illuminance of photodetector with white LED module
It is directly proportional, i.e., intensity can characterize the size of illuminance.
8. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 3, its feature exists
In：In step S5, location-server is by the effective ID data received and corresponding signal intensity, using received signal strength
Mensuration calculates positioning point coordinates, and received signal strength measurement method is, according to Lambertian radiation body Model, to obtain white LED module
With the distance between photodetector d1, photodetector receive exist between luminous intensity P formula (1) relation it is as follows, i.e.,：
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Wherein, d1The distance between white LED module and photodetector for being 1 for numbering；
For the half-power angle of white LED module,
P0For the luminous power of white LED module；
P is the luminous intensity that photodetector is received；
A is the effective area of photodetector；
h1For photodetector apart from the white LED module vertical distance.
9. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 8, its feature exists
In：In step S5, using the distance between obtained white LED module and photodetector information, with reference to corresponding white light LEDs mould
The positional information of block, when receiving the ID data of three white LED modules, is solved using three side location algorithms and obtains photoelectricity and visit
Survey device position coordinates；When receiving the ID data of more than three white LED modules, by permutation and combination method and three side location algorithms
With reference to multigroup position coordinates is obtained, the position coordinates most obtained at last takes average coordinate as the final coordinate of photodetector.
10. high-precision locating method in a kind of visible ray room based on SC-FDMA according to claim 9, its feature exists
In：In step S5, three side location algorithms comprise the following steps：Using the projection centre of each white LED module in the horizontal plane as
The center of circle, is drawn as radius using photodetector to the distance at each white LED module plane projection center where photodetector and justified,
The position or public domain that three circles intersect are detector coordinates；Permutation and combination method comprises the following steps：Do not existed with every three
White LED module on same straight line is combined for one group.
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Cited By (7)
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| CN107634797A (en) * | 2017-10-25 | 2018-01-26 | 天津大学 | Visible light-seeking and visible light communication and the method for improving positioning precision are realized simultaneously |
| CN107817473A (en) * | 2017-10-25 | 2018-03-20 | 天津大学 | A kind of method for improving visible ray positioning precision |
| CN108037484A (en) * | 2017-11-30 | 2018-05-15 | 百色学院 | A kind of interior LED visible light localization method, system and device |
| CN108802681A (en) * | 2018-04-19 | 2018-11-13 | 江苏理工学院 | A kind of visible light localization method and positioning system based on more receiving terminals |
| CN108896961A (en) * | 2018-06-29 | 2018-11-27 | 天津大学 | A method of the raising visible light positioning accuracy based on signal power estimation |
| CN109061557A (en) * | 2018-08-09 | 2018-12-21 | 苏州大学 | Indoor visible light communication positions integrated approach |
| CN115432036A (en) * | 2022-09-28 | 2022-12-06 | 北京和利时系统工程有限公司 | Train operation control system based on visible light communication and train positioning method |
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| CN108802681A (en) * | 2018-04-19 | 2018-11-13 | 江苏理工学院 | A kind of visible light localization method and positioning system based on more receiving terminals |
| CN108802681B (en) * | 2018-04-19 | 2022-07-08 | 江苏理工学院 | Visible light positioning method and positioning system based on multiple receiving ends |
| CN108896961A (en) * | 2018-06-29 | 2018-11-27 | 天津大学 | A method of the raising visible light positioning accuracy based on signal power estimation |
| CN108896961B (en) * | 2018-06-29 | 2022-03-01 | 天津大学 | Method for improving visible light positioning accuracy based on signal power estimation |
| CN109061557A (en) * | 2018-08-09 | 2018-12-21 | 苏州大学 | Indoor visible light communication positions integrated approach |
| CN115432036A (en) * | 2022-09-28 | 2022-12-06 | 北京和利时系统工程有限公司 | Train operation control system based on visible light communication and train positioning method |
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