CN102788968A - Indoor passive tracking method and system based on wireless light sensor network - Google Patents
Indoor passive tracking method and system based on wireless light sensor network Download PDFInfo
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- CN102788968A CN102788968A CN2012102491460A CN201210249146A CN102788968A CN 102788968 A CN102788968 A CN 102788968A CN 2012102491460 A CN2012102491460 A CN 2012102491460A CN 201210249146 A CN201210249146 A CN 201210249146A CN 102788968 A CN102788968 A CN 102788968A
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Abstract
The invention discloses indoor passive tracking method and system based on a wireless light sensor network. The system comprises wireless light sensors, light sources and a base station, wherein the base station collects and monitors the illumination level sample values received by the wireless light sensors which are arranged on two sides of an indoor monitored area from the light sources which are arranged on two sides of the indoor monitored area. The method comprises the following steps: dividing the indoor monitored area covered by the base station into a plurality of subdivisions, and setting each subdivision with a probability value; determining that no target obstacle exists between the wireless light sensors and the light sources if the illumination level sample values collected by the base station are unchanged; and determining that a target obstacle exists between the wireless light sensors and the light sources if the illumination level sample values collected by the base station are reduced within a special time period, and calculating the position of the target obstacle based on the aggregate (L) of active connections between the wireless light sensors and the light sources.
Description
Technical field
The present invention relates to a kind of indoor passive tracking method and system, belong to wireless self-organization network systems technology field based on the wireless light sensor network.
Background technology
Fast-developing and increasingly mature along with the communication technology, sensor technology and embedded computing technique, the microsensor node with communication, sensing and computing power begins to occur, and be applied to gradually produce and life among.Various environment or monitoring target information in the perception in phase of this sensor network, collection and the processing network's coverage area, and be distributed to the user who needs these information.Sensor network merges information world in logic with real physical world; Profoundly changed the interactive mode of man and nature, it can be widely used in numerous areas such as military and national defense, industrial or agricultural control, biologic medical, environmental monitoring, target following.
On the problem of tracked mobile target, two kinds of methods of main at present existence.A kind of target that is hypothesis is followed the tracks of has been carried certain utility appliance (such as wireless light sensor node, RF identification, palm PC or the like), thereby makes target followed the tracks of by other fixed-nodes or monitoring system easily.Reference for example is published in the document " Detection and Tracking Using Wireless Sensor Networks " of ACM SenSys in 2007 international conference; Be published in the document " Mobile RFID Tracking System " of ICTTA international conference in 2008, this method is commonly referred to as the tracking based on system.But this method limitation is very big, especially as the place that the museum, need receive security monitoring, anyly goes into the shop person and can not carry the utility appliance that can be followed the tracks of.
Another kind is that the target that hypothesis is followed the tracks of is unaccommodated, and promptly target is not carried any utility appliance that can be followed the tracks of, and therefore whole tracing process is " passive ".The Passive Track method mainly contains based on the tracking of video and based on infrared perception and follows the tracks of two kinds of methods in the industry at present.Wherein receive the influence of video definition and limiting transmission of data based on the tracking of video, algorithm complex is high, and calculated amount is bigger, makes that the real-time of algorithm is poor, and precision is poor, uses limited relatively.Passive Track algorithm based on infrared perception only is applicable to that monitoring has the object or person body of relative higher temperature, and the mobile object that is equal to or less than room temperature for temperature can't be monitored basically.Also have a kind of Passive Track algorithm based on signal attenuation, these class methods mainly are based on the signal quality that can influence the wireless receiving and dispatching node that blocks of mobile object, thereby judge and analyze the position of mobile object according to the attenuation degree of signal.But because the time-varying characteristics of signal attenuation, and the influence that receives the situation such as reflection, diffraction and refraction of signal transmission, inaccurate based on the Passive Track method normally result of signal attenuation.
Therefore, to prior art problems, need the passive tracking method and system that a kind of algorithm is simple, cost is low, precision is high, applied widely to realize tracking especially to target.
Summary of the invention
The objective of the invention is to propose a kind of indoor passive tracking method and system based on the wireless light sensor network; Wireless light sensor network through wireless light sensor, light source and base station are formed is realized the passive tracking to indoor target; Have simple in structure, cost is low, precision is high, characteristics such as applied widely, be fit to large-scale promotion and use.
For reaching this purpose, the present invention proposes a kind of indoor passive tracking method based on the wireless light sensor network, it is characterized in that, may further comprise the steps:
The indoor guarded region that the base station is covered is divided into some little lattice, and the set of said little lattice is C, and each the said little lattice among the said set C are provided with a probable value;
Some wireless light sensors are deployed in respectively on the perpendicular line of indoor guarded region both sides, equally some light sources are deployed in respectively on the perpendicular line of indoor guarded region both sides;
Characterize said base station with illumination horizontal sampling value and collect the illumination level that said wireless light sensor receives from said light source; Said illumination level sample value is collected in said base station; If constant, then show between said wireless light sensor and the said light source not have target obstacle;
In special time period; The said illumination level sample value that said wireless light sensor receives from said light source is collected in said base station, reduces if said illumination level sample value is collected in said base station, then shows between said wireless light sensor and the said light source to have said target obstacle; Being connected to active connection the between said wireless light sensor and the said light source; The set of said active connection is L, if obtain greater than a said active connection, said active connection is through said little lattice; Increase the said probable value of said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle;
In said special time period; The said indoor guarded region of collecting when said base station has only the said illumination level sample value of two groups of said wireless light sensors to reduce; Promptly obtain a said active connection; Consider said active connect corresponding said wireless light sensor group and said light sources; Said light source in respectively that the said wireless light sensor of the decline of illumination level sample value described in the said wireless light sensor group of said indoor guarded region both sides is corresponding with it the said light sources connects; Said light source in the said wireless light sensor that illumination level sample value described in the said wireless light sensor group is the constant said light sources corresponding with it connects, and forms a quadrilateral combination zone, and said target obstacle is promptly at said quadrilateral combination zone; Choose the centre position of said quadrilateral combination zone, calculate the position and height of said target obstacle;
Adopt said method to calculate the position and the height of said target obstacle; The max value of error of the position of the said target obstacle that obtains is w/2; The max value of error of the height of the said target obstacle that obtains is f/2; W is the width of said indoor guarded region, and f is the distance of adjacent said wireless light sensor on the same group;
In said special time period; The said indoor guarded region of collecting when said base station has the said illumination level sample value greater than two groups of said wireless light sensors to reduce; Promptly obtain greater than a said active connection; Promptly obtain to enliven articulation set L, this moment, can there be a plurality of positions in said target obstacle, and said active connection is through said little lattice; Then increase the said probable value of said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle;
Among the set L of said active connection first is active to be connected through the first little lattice among the set C of said little lattice; Among the set L of said active connection second is active to be connected through the second little lattice among the set C of said little lattice; Increase the probable value of the said first little lattice and the said second little lattice, the said first little lattice have the highest identical said probable value with the said second little lattice;
If the said first little lattice are adjacent with the said second little lattice; The said first little lattice and the said second little lattice are merged into big lattice; With said big lattice put into said little lattice set C and will the said first little lattice and the said second little lattice reject from the set C of said little lattice, selecting the highest said big center of a lattice point of said probable value is the position of said target obstacle;
If the said first little lattice and the said second little lattice are non-conterminous, then increase said probable value from the 3rd little lattice of the nearest last special time period of said special time period, select the position of the said the 3rd little center of a lattice point for said target obstacle.
A kind of indoor passive tracking system based on the wireless light sensor network comprises:
Wireless light sensor, light source and base station;
Said wireless light sensor is deployed on the perpendicular line of indoor guarded region both sides, and said light source portion is deployed on the perpendicular line of indoor guarded region both sides, and the illumination level sample value that said wireless light sensor receives from said light source is collected and monitored in said base station;
If it is constant that said illumination level sample value is collected in said base station, then show between said wireless light sensor and the said light source not have target obstacle;
In special time period; The said illumination level sample value that said wireless light sensor receives from said light source is collected in said base station, reduces if said illumination level sample value is collected in said base station, then shows between said wireless light sensor and the said light source to have said target obstacle; Being connected to active connection the between said wireless light sensor and the said light source; The set of said active connection is L, if obtain greater than a said active connection, said active connection is through said little lattice; Increase the said probable value of said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle;
Said wireless light sensor comprises:
An optical sensor, the illumination level around can perception characterizes said optical sensor perception illumination level on every side with said illumination level sample value;
At least one wireless signal transceiver can be communicated by letter with said wireless light sensor on every side, and formation wireless light sensor network (Wireless Sensor Networks, WSN);
Said light source adopts the angle pencil of ray light source.
Beneficial effect of the present invention is:
(1) solved limitation based on the tracking of system, this method requires tracked target must carry the utility appliance that certain can be traced into by other stationary nodes or detection system, but in practical application, is difficult to satisfy above-mentioned condition.Such as the museum, anyly go into the shop person and can not carry the utility appliance that to be followed the tracks of.
(2) though existing method also can realize not carrying the tracking of the target that can be followed the tracks of utility appliance, existing Passive Track method or complex algorithm, perhaps low precision is perhaps poor for applicability.The present invention has adopted wireless light sensor and angle pencil of ray ordinary light source cheaply, the monitoring through the base station can realize to do not carry can be followed the tracks of utility appliance target in indoor tracking.System has characteristics such as algorithm is simple, cost is low, precision height, makes it have the economic advantages that large scale deployment is used.
Description of drawings
Fig. 1 is based on the indoor passive tracking system construction drawing of wireless sensor network in the specific embodiment of the invention;
Fig. 2 is based on the process flow diagram of the indoor passive tracking method of wireless light sensor network in the specific embodiment of the invention;
Fig. 3 is based on the indoor passive tracking method synoptic diagram of wireless light sensor network in the specific embodiment of the invention;
Fig. 4 is the method synoptic diagram that calculates target obstacle position and height when having only active a connection in the specific embodiment of the invention between wireless light sensor and the light source.
Embodiment
Further specify technical scheme of the present invention below in conjunction with accompanying drawing and through embodiment.
Fig. 1 is based on the structural drawing of the indoor passive tracking system of wireless light sensor network in the present embodiment; A kind of indoor passive tracking system based on the wireless light sensor network; Comprise: light source 101, wireless light sensor 102 and base station 103; Said light source 101 is deployed on the perpendicular line of indoor guarded region both sides; Said wireless light sensor 102 is deployed on the perpendicular line of indoor guarded region both sides, and the illumination level sample value that said wireless light sensor 102 receives from said light source 101 is collected and monitored in said base station 103.
Fig. 2 is based on the process flow diagram of the indoor passive tracking method of wireless light sensor network in the present embodiment.As shown in Figure 2, present embodiment is realized comprising based on the step of the indoor passive tracking of wireless light sensor network:
Step 201, this flow process start from this step.
Step 203, deployment wireless light sensor and light source; In the present embodiment, some wireless light sensors are deployed in respectively on the perpendicular line of indoor guarded region both sides, equally some light sources are deployed in respectively on the perpendicular line of indoor guarded region both sides.As shown in Figure 3; Suppose that said indoor guarded region has 10 groups of wireless light sensors, wireless light sensor group 1-10, every group have wireless light sensor several; Every group of wireless light sensor is deployed on the perpendicular line of guarded region both sides, and every group of wireless light sensor used box indicating in the drawings; Have 10 groups of light sources among the figure, light sources 1 ' 10 ', every group of light source is deployed on the perpendicular line of indoor guarded region both sides equally, and every group of light source representes with circle that in the drawings said light source adopts the angle pencil of ray light source, and every group of wireless light sensor and every group of light source overlap.Suppose that in the present embodiment said indoor guarded region has 10 groups of said wireless light sensors and 10 groups of said light sources just for the concrete implementation method of present embodiment better is described; Quantity in sensor groups described in the practical application and said light sources is not limited in this; And said wireless light sensor and said light source can not overlap yet, as long as confirm the particular location of said wireless light sensor and said light source respectively and guarantee that said wireless light sensor can receive the illumination level of the said light source in opposite.
Step 204, characterize said base station with illumination horizontal sampling value and collect the illumination level that said wireless light sensor receives from said light source; If said illumination level sample value " constant " is collected in said base station; Then execution in step 215; Show between said wireless light sensor and the said light source not have target obstacle, the probable value of said little lattice is 0; Be " reduction " if said illumination level sample value is collected in said base station, then execution in step 205.
There is target between step 205, wireless light sensor and the light source, the active connection is set; In the present embodiment; In special time period; Said base station is collected said wireless light sensor and is reduced from the illumination level sample value that said light source receives, and explains between said wireless light sensor and the said light source to have said target obstacle, and being connected between said wireless light sensor and the said light source enlivened and connected l; The set of said active connection is L, l ∈ L.
Step 206, judgement enliven linking number and whether equal 1, if equal 1, and execution in step 207, greater than 1, execution in step 208; In the present embodiment, if judge that enlivening linking number equals 1, as shown in Figure 3; Being numbered 1 reduces according to the horizontal sampling value with the light that is numbered 6 said wireless light sensor group is said; That is to say that connecting 1-6 is said active connection, and have only a said active connection, then execution in step 207; In the present embodiment; If judge active the connection greater than 1; As shown in Figure 3, if be numbered 2 be numbered 8 and be numbered 3 and reduce with the said illumination level sample value that is numbered 6 said wireless light sensor, then explanation connects 2-8 and 3-6 connects for active; Promptly obtain greater than a said active connection, then execution in step 208.
Step 207, the horizontal sampling value is reduced and constant pairing wireless senser is connected to form quadrilateral with light source respectively; Consider said active connect corresponding said wireless light sensor group and said light sources; Said light source in respectively that the said wireless light sensor of the decline of illumination level sample value described in the said wireless light sensor group of said indoor guarded region both sides is corresponding with it the said light sources connects; Said light source in the said wireless light sensor that illumination level sample value described in the said wireless light sensor group is the constant said light sources corresponding with it connects; Form a quadrilateral combination zone, said target obstacle is promptly at said quadrilateral combination zone.
In the present embodiment; As shown in Figure 4; One group of said wireless light sensor A1-A6 is deployed in the left side of said indoor guarded region, and another organizes the right that said wireless light sensor B1-B6 is deployed in said indoor guarded region, supposes in the present embodiment to equate in the spacing of same group of said wireless light sensor; Spacing is f, though in fact in practical application spacing do not wait yet and can not have influence on net result.Light source l is deployed in the left side of said indoor guarded region, and light source r is deployed in the right of said indoor guarded region, and the height of said light source is h1.Said target obstacle is behaved, and for the sake of simplicity, the human solid line among present embodiment Fig. 4 representes that this does not influence its position and height calculation.Highly be the people of h; When being in two groups of said wireless light sensor position intermediate p; When said target obstacle is arranged in the said indoor guarded region through the line between said wireless light sensor and the said light source; The said illumination level sample value of the said wireless light sensor that said base station receives can reduce, certain that this moment, said target obstacle was in this line a bit on, if many such lines are arranged; Then their intersection point is exactly the position of said target obstacle, and the intersection point of solid line lr1 and rl1 is the location point of said target obstacle among Fig. 4.
The said illumination level value that the position is in the said wireless light sensor below l1 point and the r1 point can descend, and the illumination level value of said wireless light sensor A1, A2, A3 and said wireless light sensor B1, B2 remains unchanged.But l1 point and r1 point place do not have the variation that said wireless light sensor can receive the said illumination level value of said light source; Therefore can only know that l1 point and r1 point are between said wireless light sensor A3 and the A4 respectively and between said wireless light sensor B2 and the B3; Based on above analysis, can confirm people's approximate being present in lB2, lB3, rA3, these four said quadrilateral combination zones (solid line) that dotted line surrounded of rA4 of position, the crown.
Execution in step 215 finishes.
Step 208, the active connection, increase little lattice probable value through little lattice; In the present embodiment, as shown in Figure 3, connect 2-8 and connect 3-6 through little lattice a, therefore increase the probable value of said little lattice a.
Step 210, judgement have the quantity of the little lattice of maximum probability value, if equal 1, and execution in step 211, if equal 2, then execution in step 212; In the present embodiment, as shown in Figure 3, active 2-8 of connection and 3-6 pass through said little lattice a, then have only said little lattice a to have the maximum probability value, at this moment execution in step 211; If active 2-8 of connection and 3-6 pass through said little lattice a, active connection 2-9 and 3-7 are through little lattice b, and then said little lattice a has identical maximum probability value, execution in step 212 with said little lattice b.
Step 211, choose the highest said little center of a lattice point of probable value for the target location; In the present embodiment, as shown in Figure 3, active 2-8 of connection and 3-6 pass through said little lattice a, then have only said little lattice a to have the maximum probability value, and the central point of then choosing said little lattice a is the position of said target obstacle.
Execution in step 215 finishes.
Whether 2 little lattice that step 212, judgement have the maximum probability value are adjacent, if, execution in step 213, if not, execution in step 214; In the present embodiment; As shown in Figure 3; Numbering 2 and numbering 8 and number 3 and reduce with the said illumination level sample value of numbering 6 said wireless light sensor; Meanwhile number 2 with numbering 9 and number 3 and reduce with the said illumination level sample value of numbering 7 said wireless light sensor, said so little lattice a has the highest identical said probable value and adjacent with said little lattice b (b ∈ C), and then execution in step 213.
Step 213, two adjacent little lattice of merging are chosen the big center of a lattice point in merging back and are the target location; In the present embodiment, as shown in Figure 3, said little lattice a and said little lattice b are merged into big lattice, select the position of said big center of a lattice point for said target obstacle.
Execution in step 215 finishes.
Step 214, definite from last nearest little lattice of a time period is chosen the position that its central point is a target; In the present embodiment, select to leave the nearest position that said little center of a lattice is said target obstacle of position of a last time point.This is because said target obstacle generally all has the characteristics of uniform motion; The average sample time of supposing said wireless light sensor is 100ms; And be set at 500ms to the time cycle; From the near more said little lattice in position of last time point, its possibility as the position of said target obstacle is big more so.The big I of said little lattice in the present embodiment, selects the people as said target obstacle according to the decision of the size of the said target obstacle of pre-monitoring, and therefore to choose 40cm * 40cm just enough for said little lattice.
Execution in step 215 finishes.
Beneficial effect of the present invention is:
(1) solved limitation based on the system keeps track method, this method requires tracked target must carry the utility appliance that certain can be traced into by other stationary nodes or detection system, but in practical application, is difficult to satisfy above-mentioned condition.Such as the museum, anyly go into the shop person and can not carry the utility appliance that to be followed the tracks of.
(2) though existing method also can realize not carrying the tracking of the target that can be followed the tracks of utility appliance, existing Passive Track method or complex algorithm, perhaps low precision is perhaps poor for applicability.The present invention has adopted wireless light sensor and angle pencil of ray ordinary light source cheaply, the monitoring through the base station can realize to do not carry can be followed the tracks of utility appliance target in indoor tracking.System has characteristics such as algorithm is simple, cost is low, precision height, makes it have the economic advantages that large scale deployment is used.
More than show and described ultimate principle of the present invention, principal character and advantage of the present invention.The technician of the industry should understand; The present invention is not restricted to the described embodiments; That describes in the foregoing description just explains principle of the present invention; The present invention also has various changes and modifications under the prerequisite that does not break away from spirit and scope of the invention, and these variations and improvement all fall in the scope of the invention that requires protection.The present invention requires protection domain to be defined by appending claims and equivalent thereof.
Claims (7)
1. the indoor passive tracking method based on the wireless light sensor network is characterized in that, may further comprise the steps:
A) the indoor guarded region that the base station is covered is divided into some little lattice, and the set of said little lattice is C, and each the said little lattice among the said set C are provided with a probable value;
B) some wireless light sensors are deployed in respectively on the perpendicular line of indoor guarded region both sides, equally some light sources are deployed in respectively on the perpendicular line of indoor guarded region both sides;
C) characterize said base station with illumination horizontal sampling value and collect the illumination level that said wireless light sensor receives from said light source; Said illumination level sample value is collected in said base station; If constant, then show between said wireless light sensor and the said light source not have target obstacle;
D) in special time period; The said illumination level sample value that said wireless light sensor receives from said light source is collected in said base station, reduces if said illumination level sample value is collected in said base station, then shows between said wireless light sensor and the said light source to have said target obstacle; Being connected to active connection the between said wireless light sensor and the said light source; The set of said active connection is L, if obtain greater than a said active connection, said active connection is through said little lattice; Increase the said probable value of said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle.
2. the indoor passive tracking method based on the wireless light sensor network according to claim 1 is characterized in that said step d) specifically comprises:
D1) if said step d) only obtains a said active connection, then to the position of said target obstacle with highly calculate, concrete steps comprise:
D11) in said special time period, said base station is collected said indoor guarded region and is had only the said illumination level sample value of two groups of said wireless light sensors to reduce, and promptly obtains a said active connection;
D12) consider said active connect corresponding said wireless light sensor group and said light sources; Said light source in respectively that the said wireless light sensor of the decline of illumination level sample value described in the said wireless light sensor group of said indoor guarded region both sides is corresponding with it the said light sources connects; Said light source in the said wireless light sensor that illumination level sample value described in the said wireless light sensor group is the constant said light sources corresponding with it connects; Form a quadrilateral combination zone; Said target obstacle is promptly at said quadrilateral combination zone; Choose the centre position of said quadrilateral combination zone, calculate the position and height of said target obstacle;
D2) if said step d) obtains then the position of said target obstacle to be calculated greater than a said active connection, concrete steps comprise:
D21) in said special time period; Said indoor guarded region is collected in said base station has the said illumination level sample value greater than two groups of said wireless light sensors to reduce; Promptly obtain greater than a said active connection; Promptly obtain to enliven articulation set L, this moment, can there be a plurality of positions in said target obstacle;
D22) said active connection then increases the said probable value of said little lattice through said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle.
3. the indoor passive tracking method based on the wireless light sensor network according to claim 2; It is characterized in that: adopt said steps d 1) describe to calculate the position and the height of said target obstacle; The max value of error of the position of the said target obstacle that obtains is w/2; The max value of error of the height of the said target obstacle that obtains is f/2, and w is the width of said indoor guarded region, and f is the distance of adjacent said wireless light sensor on the same group in the said indoor guarded region.
4. according to claim 2 or 3 described indoor passive tracking methods, it is characterized in that said steps d 22 based on the wireless light sensor network) concrete steps comprise:
D221) first among the set L of said active connection is active connects through the first little lattice among the set C of said little lattice; Among the set L of said active connection second is active to be connected through the second little lattice among the set C of said little lattice; Increase the probable value of the said first little lattice and the said second little lattice, the said first little lattice have the highest identical said probable value with the said second little lattice;
D222) if the said first little lattice are adjacent with the said second little lattice; The said first little lattice and the said second little lattice are merged into big lattice; With said big lattice put into said little lattice set C and will the said first little lattice and the said second little lattice reject from the set C of said little lattice, selecting the highest said big center of a lattice point of said probable value is the position of said target obstacle;
D223) if the said first little lattice and the said second little lattice are non-conterminous; Then increase the said probable value of the 3rd little lattice in the said little lattice set C of the nearest last special time period of said special time period, select the position of the said the 3rd little center of a lattice point for said target obstacle.
5. the indoor passive tracking system based on the wireless light sensor network is characterized in that, comprising:
Wireless light sensor, light source and base station;
Said wireless light sensor is deployed on the perpendicular line of indoor guarded region both sides; Said light source portion is deployed on the perpendicular line of indoor guarded region both sides, and the said illumination level sample value that said wireless light sensor receives from said light source is collected and monitored in said base station;
Said illumination level sample value is collected in said base station, if constant, then shows between said wireless light sensor and the said light source not have target obstacle;
In special time period; The said illumination level sample value that said wireless light sensor receives from said light source is collected in said base station, reduces if said illumination level sample value is collected in said base station, then shows between said wireless light sensor and the said light source to have said target obstacle; Being connected to active connection the between said wireless light sensor and the said light source; The set of said active connection is L, if obtain greater than a said active connection, said active connection is through said little lattice; Increase the said probable value of said little lattice, the position that to select the highest said little center of a lattice point coordinate of said probable value be said target obstacle.
6. the indoor passive tracking system based on the wireless light sensor network according to claim 5 is characterized in that said wireless light sensor comprises:
An optical sensor, the illumination level around can perception characterizes said optical sensor perception illumination level on every side with said illumination level sample value;
At least one wireless signal transceiver can be communicated by letter with said wireless light sensor on every side, and formation wireless light sensor network (Wireless Sensor Networks, WSN).
7. according to claim 5 or 6 described indoor passive tracking systems, it is characterized in that said light source adopts the angle pencil of ray light source based on the wireless light sensor network.
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