CN102901948A - Indoor positioning device and system - Google Patents
Indoor positioning device and system Download PDFInfo
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- CN102901948A CN102901948A CN201210437760XA CN201210437760A CN102901948A CN 102901948 A CN102901948 A CN 102901948A CN 201210437760X A CN201210437760X A CN 201210437760XA CN 201210437760 A CN201210437760 A CN 201210437760A CN 102901948 A CN102901948 A CN 102901948A
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Abstract
The invention discloses an indoor positioning device and an indoor positioning system. The indoor positioning device comprises a first receiver, a storage and a processor, wherein the first receiver is used for receiving optical signals emitted by lighting lamps; different lighting lamps emit different optical signals which correspond to different coded information; the storage is used for storing an indoor map and a corresponding relation of decoded information and address information; the address information is used for indicating the address of a lighting lamp in the indoor map; and the processor is connected to the first receiver and the storage respectively and is used for processing the optical signals to obtain the decoded information corresponding to the coded information and searching address information corresponding to the decoded information in the storage. By the invention, the positioning accuracy and timeliness are ensured.
Description
Technical field
The present invention relates to positioning field, in particular to a kind of indoor positioning Apparatus and system.
Background technology
Indoor positioning device of the prior art need to rely on global indoor positioning device (GPS) to determine current position.Generally speaking, GPS need to be known longitude and the latitude of determinand.At some in particular cases, also to know accurately location of sea level elevation.This three groups of data have been arranged, and the accuracy of GPS location generally can reach 2～3 meters.Because existing indoor positioning device need to could work within the direct sight line of gps satellite, so when entering into market or underground parking etc. when regional, GPS locates and just lost effectiveness.
Can't in the problem of indoor use, effective solution be proposed not yet at present for indoor positioning device of the prior art.
Summary of the invention
The invention provides a kind of indoor positioning Apparatus and system, can't be in the problem of indoor use to solve at least indoor positioning device of the prior art.
To achieve these goals, according to an aspect of the present invention, provide a kind of indoor positioning device.
Indoor positioning device according to the present invention comprises: the first receiver, be used for receiving the light signal that illuminating lamp sends, and wherein, different illuminating lamps sends different light signals, the coded message that different light signals is corresponding different; Storer, for the corresponding relation of map in the locker room and decoded information and address information, wherein, address information is used for the expression illuminating lamp in the address of indoor map; Processor is connected to respectively the first receiver and storer, drawing decoded information corresponding to coded message, and searches the address information corresponding with decoded information for the treatment of light signal from storer.
Further, said apparatus also comprises: the second receiver, be connected with processor, be used for receiving destination-address information, wherein, destination-address information is the corresponding address information in destination of user's input, and processor also is used for determining navigation way according to the address information of destination-address information and illuminating lamp at indoor map, wherein, navigation way is the route from address corresponding to address to destination corresponding to illuminating lamp.
Further, said apparatus also comprises: detecting device, be connected with processor, the kind of the light signal that receives for detection of the first receiver, processor also is used for determining navigation circuit according to address information and the destination-address information of the illuminating lamp that sends this light signal when the first receiver only receives a kind of light signal.
Further, the first receiver also is used for receiving the first light signal and the second light signal, wherein, the first light signal is the light signal that the first illuminating lamp sends, the second light signal is the light signal that the second illuminating lamp sends, processor also is used for when the first receiver receives the first light signal and the second light signal simultaneously, judge the light intensity magnitude between the first light signal and the second light signal, when the light intensity of the first light signal during greater than the light intensity of the second light signal, determine that navigation way is the route that sends corresponding address to the destination, address corresponding to the illuminating lamp of the first light signal.
Further, said apparatus also comprises: the 3rd receiver, be connected with storer, and be used for receiving the indoor map after upgrading.
Further, the first receiver receives the light signal of flicker, processor also for the treatment of the light signal of flicker obtaining decoded information, and from storer, search the address information corresponding with decoded information.
Further, processor also is used for obtaining decoded information according to the time interval of light signal flicker, and from storer, search the address information corresponding with decoded information, wherein, be very first time during the interval when the time interval of flicker, the decoded information that light signal is corresponding is 0, when the time interval of flicker was second time interval, the decoded information that light signal is corresponding is 1, and very first time interval is different with second time interval.
Further, processor also is used for determining preamble code corresponding to light signal, wherein, with the optical information of the 3rd time interval flicker corresponding to preamble code, the first receiver is after receiving light signal corresponding to preamble code, the optical information that receiving digital signals is corresponding, the 3rd time interval was different from very first time interval and second time interval.
Further, the indoor positioning device also comprises: display screen, be connected with processor, and be used for showing address or the navigation circuit of location.
Further, storer also is used for the corresponding relation of storage decoded information and information, and processor also is used for obtaining the information corresponding with decoded information according to processing the decoded information that obtains, and display screen also is used for display reminding information.
To achieve these goals, according to another aspect of the present invention, provide a kind of indoor locating system.
According to a further aspect in the invention, provide a kind of indoor locating system.This indoor locating system comprises: a plurality of illuminating lamps, wherein, and the coded message that light signal that different illuminating lamps sends is corresponding different, coded message is corresponding with decoded information, and the address information of illuminating lamp is corresponding on decoded information and the indoor map; And the indoor positioning device, be used for to receive the light signal that illuminating lamp sends, process light signal drawing corresponding decoded information, and obtain the address information corresponding with decoded information.
By the present invention, obtain the coded message corresponding to light signal of illuminating lamp, by the corresponding relation of coded message and decoded information and the corresponding relation of decoded information and address information, obtain this decoded information in the address information of obtaining in advance on the indoor map, thereby determine the address of the indoor positioning device in the illuminating lamp range of exposures, thereby can position according to the information on the indoor map, therefore having solved indoor positioning device of the prior art can't be in the problem of indoor use, and then has guaranteed accuracy and the promptness of location.
Description of drawings
The accompanying drawing that consists of the application's a part is used to provide a further understanding of the present invention, and illustrative examples of the present invention and explanation thereof are used for explaining the present invention, do not consist of improper restriction of the present invention.In the accompanying drawings:
Fig. 1 is the structured flowchart according to the indoor positioning device of the embodiment of the invention;
Fig. 2 a is the structural representation according to the illuminating lamp of the embodiment of the invention;
Fig. 2 b is the connection diagram according to the adjusting control circuit in the light signal sending module of the embodiment of the invention;
Fig. 2 c is the theory diagram according to the optical signal receiving module of the embodiment of the invention;
Fig. 2 d is the circuit connection diagram according to the optical signal receiving module of the embodiment of the invention;
Fig. 3 a is the waveform synoptic diagram according to the preamble code of the embodiment of the invention;
Fig. 3 b is 0 waveform synoptic diagram according to the embodiment of the invention; And
Fig. 3 c is 1 waveform synoptic diagram according to the embodiment of the invention.
Embodiment
Need to prove that in the situation of not conflicting, embodiment and the feature among the embodiment among the application can make up mutually.Describe below with reference to the accompanying drawings and in conjunction with the embodiments the present invention in detail.
The embodiment of the invention provides a kind of indoor positioning device, below indoor positioning device that the embodiment of the invention is provided be introduced.
Fig. 1 is the structured flowchart according to the indoor positioning device of the embodiment of the invention.
As shown in Figure 1, this indoor positioning device comprises the first receiver 11, storer 12 and processor 13.
The first receiver 11 is used for receiving the light signal that illuminating lamp sends, and wherein, different illuminating lamps sends different light signals, the coded message that different light signals is corresponding different.
Illuminating lamp can be the LED lamp, is mainly used in illumination, takes into account the effect that sends light signal, and light signal both can be the light of flicker, also can be the light of carry information.In order not affect illumination and not affect the comfort level of people on sense organ, the light signal in the present embodiment is the light of flicker.
Diverse location in whole system, each illuminating lamp is provided with a plurality of lighting lamps, different illuminating lamps carried out different codings, so that can send the light signal corresponding to different coding information, that is it is different, being positioned at the light signal that the illuminating lamp of diverse location sends.For example, the first illuminating lamp that is positioned at primary importance sends first light signal of encoding through first, the second illuminating lamp that is positioned at the second place sends second light signal of encoding through second, the 3rd illuminating lamp that is positioned at the 3rd position sends the 3rd light signal of encoding through the 3rd, wherein, the first light signal is corresponding to the first coded message, and the second light signal is corresponding to the second coded message, and the 3rd light signal is corresponding to the 3rd coded message.
In embodiments of the present invention, illuminating lamp both can play the effect of illumination, can also play the effect of location, owing to the coding that different illuminating lamps is carried out is different, thereby, the light that different illuminating lamps sends has different flicker frequencies, and this flicker frequency is that people's naked eyes can't be discovered, thereby, so that illuminating lamp not only can play the effect of illumination, and can play the effect of optical communication, send unique light signal that can be used for its position, location.
Fig. 2 is the structural representation according to the illuminating lamp of the embodiment of the invention, as shown in Figure 2, the illuminating lamp that uses in the present embodiment has increased processor on the basis at ordinary lamp and lantern, single-chip microcomputer (MCU) for example, to carry out Signal coding, can use the processor identical with indoor positioning device in the present embodiment on the illuminating lamp, also can use different processors, total line traffic control of indoor positioning device sends to MCU with information, the different coded message of address editor that MCU is different according to each LED lamp, it is luminous that coded message is controlled illumination LED by brightness adjustment control, thereby coded message is sent from the LED lamp.When not sending information, dimming controlling module has dimming function equally.Regard illuminating lamp and coupled each several part as a light signal sending module, then this light signal sending module comprises AC/DC change-over circuit, led drive circuit, bus control circuit, MCU, adjusting control circuit and LED lamp.Part in the dotted line frame can be integrated into components and parts, and these components and parts are connected in existing led drive circuit or the led driver and can use.
Wherein, the AC/DC change-over circuit is converted to DC voltage with the 220V alternating voltage, and this circuit can be realized by transformer, also can realize by Switching Power Supply; DC voltage after will changing by led drive circuit further is converted to constant current voltage and offers the LED lamp; Bus control circuit can be used for the brightness that control information transmission is controlled the LED lamp; Adjusting control circuit receives the information of bus transfer, produces the PWM dimmer voltage signal of control LED.In order to satisfy the launch requirements of light signal, further, bus control circuit also is used for transmitting the communication information to be sent, bus control circuit sends to MCU with the communication information to be sent, MCU receives the communication information, and it is compiled as the light coded message, and adjusting control circuit is luminous according to coded message control illumination LED, thereby the form of the communication information with light signal sent from the LED lamp, finished the function of optical transmission module.Need to prove that when not sending the communication information, adjusting control circuit has the function of adjusting brightness of LED lamps equally.
In the embodiment shown in Fig. 2 a, adjusting control circuit can adopt the circuit shown in Fig. 2 b to realize.Shown in Fig. 2 b, this circuit comprises four resistance and two metal-oxide-semiconductor Q1, and wherein, the first end of the first metal-oxide-semiconductor Q1 connects MCU, and the second end connects power supply, the 3rd end ground connection via the 14 resistance R 14; The first end of the second metal-oxide-semiconductor Q2 is connected to the node between the first metal-oxide-semiconductor Q1 and the 14 resistance R 14, and the second end is connected to LED lamp D2, and the 3rd end is via the 16 resistance R 16 ground connection; One termination power of the 13 resistance R 13, the other end is connected with the first end of the first metal-oxide-semiconductor Q1; One end ground connection of the 15 resistance R 15, the other end are connected to the node between the first end of the second end of the first metal-oxide-semiconductor Q1 and the second metal-oxide-semiconductor Q2.
Adopt this adjusting control circuit, amplify by metal-oxide-semiconductor and come driving LED, produce high frequency flicker light, send light signal.
Optical Receivers can adopt the optical signal receiving module shown in Fig. 2 c, this Optical Receivers is used for the signal receiving end of communicate optical signal transmission, the light signal that receives is converted to photoelectric signal, and the photoelectric signal after will changing amplifies, obtain stable square-wave signal by shaping after amplifying, so that decoding circuit is decoded, shown in Fig. 2 c, this optical signal receiving module comprises optical signal processing circuit, amplifying circuit and comparison shaping circuit.
Wherein, optical signal processing circuit is used for receiving optical signals, and the light signal that receives is converted to photoelectric signal; Amplifying circuit is connected with optical signal processing circuit, is used for the photoelectric signal of optical signal processing circuit output is amplified; Voltage signal and threshold voltage signal after relatively shaping circuit will amplify compare, and obtain a stable square-wave signal, so that decoding circuit is decoded.
Particularly, this optical signal receiving module can be realized by the circuit shown in Fig. 2 c.Shown in Fig. 2 c, optical signal processing circuit comprises optical receiving circuit and pre-amplification circuit, wherein, optical receiving circuit comprises light receiving diode D1, photoresistance RS and the second resistance R 2, and pre-amplification circuit comprises the first capacitor C 1, the 3rd resistance R 3, the 4th resistance R 4 and the first comparer UIA; Amplifying circuit comprises the second capacitor C 2, the 5th resistance R 5, the 6th resistance R 6, the 8th resistance R 8 and the second comparer UIB; Relatively shaping circuit comprises the 9th resistance R 9, the tenth resistance R 10, the 11 resistance R 11, the 12 resistance R 12 and the 3rd comparer UIC.
Particularly, the signal of the annexation of each circuit and output is described below respectively:
The termination power of light receiving diode D1 in the optical receiving circuit, the parallel circuit ground connection that the other end consists of via photoresistance RS and the second resistance R 2, wherein, light receiving diode D1 is converted to photovoltage with the light signal that receives by parallel circuit, because the characteristic that photoresistance RS resistance changes with intensity of illumination, so that the voltage signal of optical receiving circuit output is little, the stable voltage signal of fluctuation;
The 11 end ground connection of the first comparer UIA in the pre-amplification circuit, 2 ends are via the 3rd resistance R 3 ground connection, 3 ends connect optical receiving circuit, 4 termination powers via the first capacitor C 1,1 end is output terminal, wherein, be connected with the 4th resistance R 4 between 2 ends and 1 end, pre-amplification circuit carries out preliminary amplification with weak voltage signal;
5 ends of the second comparer UIB in the amplifying circuit connect pre-amplification circuit via the second capacitor C 2,6 ends are via the 7th resistance R 7 ground connection, 7 ends are output terminal, wherein, between 6 ends and 7 ends, be connected with the 8th resistance R 8, one termination power of the 5th resistance R 5, the other end is connected to the node between 5 ends of the second capacitor C 2 and the second comparer UIB, one end of the 6th resistance R 6 also is connected to this node, other end ground connection, amplifying circuit is coupled to voltage signal by the second capacitor C 2, because obtaining a galvanic current by the 5th resistance R 5 and the 6th resistance R 6 dividing potential drops, the voltage that the second capacitor C 2 is coupled to presses, and then do amplification by the second comparer UIB and process, the output amplifying signal;
Relatively 9 ends of the 3rd comparer UIC of shaping circuit are via the 11 resistance R 11 ground connection, 10 ends are connected with amplifying circuit, 8 ends are output terminal, wherein, between 8 ends and 9 ends, be connected with the 12 resistance R 12, one termination power of the tenth resistance R 10, the other end is connected to 9 ends of the 3rd comparer UIC and the node between the 11 resistance R 11, one end ground connection of the 9th resistance R 9, the other end is connected to 10 ends of the 3rd comparer UIC and the node between the amplifying circuit, relatively shaping circuit compares the voltage signal of amplifying circuit output with the voltage signal that presets, and exports a stable square-wave signal, does decoding for follow-up decoding circuit and uses.
Because the coded message that the first receiver receives also needed by decoding before sending to main frame and analyzes, in the present embodiment, preferably, the first receiver can be connected on the MCU of illuminating lamp, coded message is decoded and analyze by the MCU in the illuminating lamp, after drawing address information, be connected with bus by MCU again, address information is uploaded in the main frame by bus.Such design simplification the structure of indoor positioning device.
Illuminating lamp is when transmitted signal, per second sends 1 signal, signal comprises 1 Head code+6 Bytes data, the time of transmitted signal is 1*Head code+6*8* (" 0 "+" 1 ")/2=102+6*8* (22+32)/2=1398us=1.4ms, fluorescent lifetime=998.6ms, therefore, non-luminous time of LED lamp=(Head code*1+6*8*1) * 2=98us in transmitting time, because real non-luminous time is 98us in 1s, so luminous validity: (1000,000-98)/1000,000=99.99%, even during transmitted signal (in the 1.4ms), luminous validity also can reach (1398-98)/1398=92.99%, therefore, in second always in the situation in transmitted signal, luminous validity: (1398-98)/1398=92.99%, in the present circumstance, send signal a second 1 time, luminous validity is (1000,000-98)/1000,000=99.99% does not affect normal illumination.
Indoor map can be three-dimensional map, comprises the plane map of every floor, and these indoor maps can arrive the website and download, and also can obtain the map in this place when arriving certain indoor place.
The process of coding and the process of decoding are relative, according to the address of illuminating lamp behind the row coding, send the light signal corresponding with this coded message by illuminating lamp, the processor in the locating device is decoded to the received signal, thereby draws the address information of this illuminating lamp.
The process of decoding is relative with the process that illuminating lamp is encoded to address information, and illuminating lamp can send 1 signal by per second, and signal comprises 1 preamble code (Head code)+6 Bytes data.
The first receiver receives the light signal that light signal can be flicker, processor also for the treatment of the light signal of flicker obtaining decoded information, and from storer, search the address information corresponding with decoded information.
Processor can according to when flicker light intensity variation or the time interval of flicker obtain decoded information corresponding to light signal, consider according to when flicker light intensity variation obtain corresponding decoded information having relatively high expectations to the Receiver Precision of the first receiver, strengthened the cost of indoor positioning device, in the present embodiment, the time interval by flicker is obtained digital signal corresponding to light signal, obtain digital signal corresponding to light signal by the time interval and neither need higher hardware requirement, also can guarantee higher precision, particularly, processor also is used for obtaining decoded information according to the time interval of light signal flicker, and from storer, search address information corresponding to decoded information that receives with the first receiver, wherein, be that the very first time is during the interval when the time interval of flicker, the decoded information that light signal is corresponding is 0, when the time interval of flicker was second time interval, the decoded information that light signal is corresponding was 1, and very first time interval is different with second time interval.
In order to guarantee the accuracy of data transmission, before digital signal, preamble code can be set, after receiving preamble code, begin to accept the digital signal in the light signal, preferably, processor also is used for determining preamble code corresponding to light signal again, wherein, the first receiver after receiving light signal corresponding to preamble code, the optical information that receiving digital signals is corresponding, the 3rd time interval was different from very first time interval and second time interval.
The first receiver 11 is connected with MCU as processor 13, the first receiver 11 receives high level when illuminating lamp is bright, when going out, illuminating lamp receives low level, the time MCU judge whether to receive preamble code by calculating 2 time intervals between the negative edge, signal indication " 0 " still " 1 " is judged in the reception of beginning entering signal after receiving preamble code.Fig. 3 is the waveform synoptic diagram according to the embodiment of the invention, in the present embodiment, when 2 negative edges that the first receiver receives, MCU can calculate the time interval t of 2 negative edges, the time interval of the negative edge that each rising edge is corresponding with it is 2us, the theoretical value t=102us of preamble code, Fig. 3 a is the waveform synoptic diagram according to the preamble code of the embodiment of the invention, when 92us＜t＜112us, MCU is judged as and enters accepting state, otherwise continues to judge whether to enter accepting state, when entering accepting state, directly receive the data of 48bit, then judge it is " 0 " or " 1 ", Fig. 3 b is 0 waveform synoptic diagram according to the embodiment of the invention, as shown in the figure, the theoretical value of " 0 " is 22us, Fig. 3 c is 1 waveform synoptic diagram according to the embodiment of the invention, and as shown in the figure, the theoretical value of " 1 " is 32us, therefore setting criterion is: as t〉what determine during 27us to receive is 1, what determine to receive when t＜27us is 0.
In the present embodiment, encode at transmitting terminal, and send through corresponding illuminating lamp, owing to the coding that the transmitting terminal corresponding to each illuminating lamp carries out is different, thereby, a plurality of different coded message differences corresponding to illuminating lamp, also namely, the light signal that sends of different illuminating lamps is different.After receiving end receives light signal, light signal is decoded, because coded message difference corresponding to each light signal, thereby, resulting decoded information is also different after each light signal is decoded, thereby can identify the light signal that receives from which illuminating lamp.After obtaining in advance indoor map, by obtaining the address information of illuminating lamp, thereby determine the address of the determinand in the illuminating lamp range of exposures, thereby can navigate according to the information on the indoor map, and then guaranteed accuracy and the promptness of navigation.
The indoor positioning device is after the requirement of satisfying the location, can further satisfy the requirement of navigation, preferably, the indoor positioning device also comprises the second receiver, the second receiver is connected with processor, be used for receiving destination-address information, wherein, destination-address information is the corresponding address information in destination of user's input, processor also is used for determining navigation way according to the address information of destination-address information and illuminating lamp at indoor map, wherein, navigation way is the route from address corresponding to address to destination corresponding to illuminating lamp.The similar original GPS navigation of principle of navigation.
Generally speaking, certain distance is arranged between the illuminating lamp, can only receive the optical information that an illuminating lamp sends in a certain position, preferably, the indoor positioning device also comprises detecting device, and detecting device is connected with processor, the kind of the light signal that receives for detection of the first receiver, processor also is used for determining navigation circuit according to address information and the destination-address information of the illuminating lamp that sends this light signal when the first receiver only receives a kind of light signal.
In order to improve the precision of location, also can dwindle the distance between the illuminating lamp, therefore, some position can receive the light signal that many illuminating lamps send, preferably, the first receiver also is used for receiving the first light signal and the second light signal, wherein, the first light signal is the light signal that the first illuminating lamp sends, the second light signal is the light signal that the second illuminating lamp sends, processor also is used for when the first receiver receives the first light signal and the second light signal simultaneously, judge the light intensity magnitude between the first light signal and the second light signal, when the light intensity of the first light signal during greater than the light intensity of the second light signal, determine that navigation way is the route that sends corresponding address to the destination, address corresponding to the illuminating lamp of the first light signal.
Particularly, when the first receiver receives the multiple light signal, can get access to each opto-electronic conversion is the magnitude of voltage that produces, processor is the address information of indoor positioning device for the address information of illuminating lamp corresponding to the light signal of determining the magnitude of voltage maximum also, and determines navigation circuit according to address information and the destination-address information of indoor positioning device.In the present embodiment, the voltage swing that can also change at the dress of sensed light signal judges that by the voltage swing that detects which LED lamp of positional distance of present car is nearest.Light intensity is stronger, and the voltage that light signal is corresponding is larger; Otherwise light intensity is more weak, and the voltage that light signal is corresponding is less.It is nearest to judge which LED lamp of present spacing by such voltage detecting.In the present embodiment, the distance between 2 LED lamps is approximately 5m.Therefore, as long as we know that present indoor positioning device is nearest apart from which LED lamp, and with the position as the location, the position of this illuminating lamp, our bearing accuracy can reach 5m like this, satisfies daily location requirement.
For the accuracy that guarantees to navigate, can be regular or irregular map is upgraded, preferably, above-mentioned indoor positioning device also comprises the 3rd receiver, the 3rd receiver is used for receiving indoor map and the outdoor map after upgrading.
The indoor positioning device has the position of several different methods display room interior locating device, for example on the display board of discontented light emitting diode, diode with flicker represents current address or navigation circuit, in the present embodiment, in order to guarantee better display effect, also comprise display screen on the indoor positioning device, display screen is connected with processor, can be used for showing address or the navigation circuit of location.
Further, comprise default information in the light signal that illuminating lamp sends, storer also is used for the corresponding relation of storage decoded information and information, processor also is used for obtaining the information corresponding with decoded information according to processing the decoded information that obtains, and display screen can also be used for display reminding information.For example, in the market, every illuminating lamp can send the on every side details of commodity or the information of discount in the sales field etc., and the indoor positioning device shows different merchandise news next time at different illuminating lamps.
According to embodiments of the invention, a kind of indoor locating system also is provided, comprise a plurality of illuminating lamps and indoor positioning device, wherein, the coded message that the light signal that different illuminating lamps sends is corresponding different, coded message is corresponding with decoded information, the address information of illuminating lamp is corresponding on decoded information and the indoor map, the indoor positioning device be used for to receive the light signal that illuminating lamp sends, and processes light signal drawing corresponding decoded information, and obtains the address information corresponding with decoded information.
As can be seen from the above description, the embodiment of the invention has realized accurately indoor positioning.
Need to prove, can in the computer system such as one group of computer executable instructions, carry out in the step shown in the process flow diagram of accompanying drawing, and, although there is shown logical order in flow process, but in some cases, can carry out step shown or that describe with the order that is different from herein.
Obviously, those skilled in the art should be understood that, above-mentioned each module of the present invention or each step can realize with general calculation element, they can concentrate on the single calculation element, perhaps be distributed on the network that a plurality of calculation elements form, alternatively, they can be realized with the executable program code of calculation element, thereby, they can be stored in the memory storage and be carried out by calculation element, perhaps they are made into respectively each integrated circuit modules, perhaps a plurality of modules in them or step are made into the single integrated circuit module and realize.Like this, the present invention is not restricted to any specific hardware and software combination.
The above is the preferred embodiments of the present invention only, is not limited to the present invention, and for a person skilled in the art, the present invention can have various modifications and variations.Within the spirit and principles in the present invention all, any modification of doing, be equal to replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (11)
1. an indoor positioning device is characterized in that, comprising:
The first receiver is used for receiving the light signal that illuminating lamp sends, and wherein, different illuminating lamps sends different light signals, the coded message that different light signals is corresponding different;
Storer, for the corresponding relation of map in the locker room and decoded information and address information, wherein, described address information is used for representing that described illuminating lamp is in the address of described indoor map;
Processor is connected to respectively described the first receiver and described storer, drawing decoded information corresponding to described coded message, and searches the address information corresponding with described decoded information for the treatment of described light signal from described storer.
2. indoor positioning device according to claim 1 is characterized in that,
Described device also comprises:
The second receiver is connected with described processor, is used for receiving destination-address information, and wherein, described destination-address information is the corresponding address information in destination of user's input,
Described processor also is used for determining navigation way according to the address information of described destination-address information and described illuminating lamp at described indoor map, wherein, described navigation way is the route from address corresponding to address to described destination corresponding to described illuminating lamp.
3. indoor positioning device according to claim 2 is characterized in that,
Described device also comprises:
Detecting device is connected with described processor, the kind of the light signal that receives for detection of described the first receiver,
Described processor also is used for determining navigation circuit according to address information and the described destination-address information of the illuminating lamp that sends described light signal when described the first receiver only receives a kind of light signal.
4. indoor positioning device according to claim 2 is characterized in that,
Described the first receiver also is used for receiving the first light signal and the second light signal, and wherein, described the first light signal is the light signal that the first illuminating lamp sends, and described the second light signal is the light signal that the second illuminating lamp sends,
Described processor also is used for when described the first receiver receives described the first light signal and described the second light signal simultaneously, judge the light intensity magnitude between described the first light signal and described the second light signal, when the light intensity of described the first light signal during greater than the light intensity of described the second light signal, determine that described navigation way is the route that sends corresponding address to described destination, address corresponding to the illuminating lamp of described the first light signal.
5. indoor positioning device according to claim 1 is characterized in that, described device also comprises: the 3rd receiver, be connected with described storer, and be used for receiving the described indoor map after upgrading.
6. indoor positioning device according to claim 1 is characterized in that,
Described the first receiver receives the described light signal of flicker,
Described processor also for the treatment of the described light signal of flicker obtaining described decoded information, and from described storer, search the address information corresponding with described decoded information.
7. indoor positioning device according to claim 6 is characterized in that,
Described processor also is used for obtaining described decoded information according to the time interval of described light signal flicker, and from described storer, search the address information corresponding with described decoded information, wherein, be that the very first time is during the interval when the time interval of described flicker, the decoded information that described light signal is corresponding is 0, when the time interval of described flicker was second time interval, the decoded information that described light signal is corresponding was 1, and described very first time interval is different with described second time interval.
8. indoor positioning device according to claim 7 is characterized in that,
Described processor also is used for determining preamble code corresponding to described light signal, wherein, with the optical information of the 3rd time interval flicker corresponding to described preamble code, described the first receiver is after receiving light signal corresponding to described preamble code, receive optical information corresponding to described digital signal, described the 3rd time interval is different from described very first time interval and described second time interval.
9. indoor positioning device according to claim 2 is characterized in that, described indoor positioning device also comprises: display screen, be connected with described processor, and be used for showing address or the described navigation circuit of location.
10. indoor positioning device according to claim 9 is characterized in that,
Described storer also is used for storing the corresponding relation of described decoded information and information,
Described processor also is used for obtaining the information corresponding with described decoded information according to processing the described decoded information that obtains,
Described display screen also is used for showing described information.
11. an indoor locating system is characterized in that,
A plurality of illuminating lamps, wherein, the coded message that the light signal that different illuminating lamps sends is corresponding different, described coded message is corresponding with decoded information, and described decoded information is corresponding with the address information of indoor the above illuminating lamp of map; And
The indoor positioning device is used for receiving the light signal that described illuminating lamp sends, and processes described light signal drawing corresponding decoded information, and obtains the address information corresponding with described decoded information.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210437760.XA CN102901948B (en) | 2012-11-05 | 2012-11-05 | Indoor positioning Apparatus and system |
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| CN201210437760.XA CN102901948B (en) | 2012-11-05 | 2012-11-05 | Indoor positioning Apparatus and system |
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| CN102901948A true CN102901948A (en) | 2013-01-30 |
| CN102901948B CN102901948B (en) | 2016-08-03 |
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| CN103825655A (en) * | 2013-04-09 | 2014-05-28 | 常州市武进区半导体照明应用技术研究院 | Positioning system and method of lighting device |
| CN104007412A (en) * | 2014-06-05 | 2014-08-27 | 重庆广建装饰股份有限公司 | Indoor positioning system based on LED lamps |
| CN104517457A (en) * | 2013-09-30 | 2015-04-15 | 鸿富锦精密工业（深圳）有限公司 | Positioning light source device, positioning device and positioning method |
| CN104639242A (en) * | 2014-12-30 | 2015-05-20 | 深圳华智测控技术有限公司 | Streetlight lamp mark acquisition system and method |
| CN105004344A (en) * | 2015-07-31 | 2015-10-28 | 中辰环能技术（北京）有限公司 | AGV light navigating/positioning system |
| CN105388448A (en) * | 2015-10-26 | 2016-03-09 | 深圳市微纳集成电路与系统应用研究院 | Underground work positioning system and method, and helmet for underground work positioning |
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| CN105509734A (en) * | 2015-11-30 | 2016-04-20 | 上海航天测控通信研究所 | Indoor positioning method and system based on visible light |
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| CN106226735A (en) * | 2016-07-26 | 2016-12-14 | 北京理工大学 | A kind of visible ray localization method based on the dynamic configuration codes of Bluetooth technology and system |
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| CN107509245A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of extension tracking based on HTC VIVE |
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| CN109644046A (en) * | 2016-05-23 | 2019-04-16 | 交互数字Ce专利控股公司 | Method and apparatus for indoor positioning |
| CN110470312A (en) * | 2018-05-09 | 2019-11-19 | 北京外号信息技术有限公司 | Air navigation aid and corresponding calculating equipment based on optical label network |
| CN110798796A (en) * | 2019-09-20 | 2020-02-14 | 南方科技大学 | Indoor positioning method and device, computer equipment and storage medium |
| US10849205B2 (en) | 2015-10-14 | 2020-11-24 | Current Lighting Solutions, Llc | Luminaire having a beacon and a directional antenna |
| CN112965473A (en) * | 2019-11-27 | 2021-06-15 | 深圳市大富科技股份有限公司 | Navigation server, automatic guided vehicle and route navigation method and system thereof |
| CN113093105A (en) * | 2021-04-09 | 2021-07-09 | 中国人民解放军战略支援部队信息工程大学 | Visible light indoor positioning method, device and system and related products |
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| CN105444751A (en) * | 2014-08-26 | 2016-03-30 | 深圳市芯通信息科技有限公司 | LED-lamp-based indoor positioning method, device and system |
| CN104639242B (en) * | 2014-12-30 | 2018-12-28 | 深圳华智测控技术有限公司 | Road lamp identifies acquisition system and method |
| CN104639242A (en) * | 2014-12-30 | 2015-05-20 | 深圳华智测控技术有限公司 | Streetlight lamp mark acquisition system and method |
| CN105004344A (en) * | 2015-07-31 | 2015-10-28 | 中辰环能技术（北京）有限公司 | AGV light navigating/positioning system |
| US10849205B2 (en) | 2015-10-14 | 2020-11-24 | Current Lighting Solutions, Llc | Luminaire having a beacon and a directional antenna |
| CN105388448A (en) * | 2015-10-26 | 2016-03-09 | 深圳市微纳集成电路与系统应用研究院 | Underground work positioning system and method, and helmet for underground work positioning |
| CN105509734A (en) * | 2015-11-30 | 2016-04-20 | 上海航天测控通信研究所 | Indoor positioning method and system based on visible light |
| CN109644046A (en) * | 2016-05-23 | 2019-04-16 | 交互数字Ce专利控股公司 | Method and apparatus for indoor positioning |
| CN106226735A (en) * | 2016-07-26 | 2016-12-14 | 北京理工大学 | A kind of visible ray localization method based on the dynamic configuration codes of Bluetooth technology and system |
| CN107248884B (en) * | 2017-06-28 | 2021-08-13 | 联想(北京)有限公司 | Communication method, device and server |
| CN107248884A (en) * | 2017-06-28 | 2017-10-13 | 联想(北京)有限公司 | A kind of method of communication, device and server |
| CN107509245B (en) * | 2017-07-06 | 2020-04-17 | 北京理工大学 | Extended tracking method based on HTC VIVE |
| CN107509245A (en) * | 2017-07-06 | 2017-12-22 | 北京理工大学 | A kind of extension tracking based on HTC VIVE |
| CN107831469A (en) * | 2017-10-26 | 2018-03-23 | 张斌 | Optical signal positioner, method and system |
| CN108303676A (en) * | 2018-01-31 | 2018-07-20 | 张斌 | Optical signal positioning device, method and system |
| CN110470312A (en) * | 2018-05-09 | 2019-11-19 | 北京外号信息技术有限公司 | Air navigation aid and corresponding calculating equipment based on optical label network |
| CN110470312B (en) * | 2018-05-09 | 2021-11-16 | 北京外号信息技术有限公司 | Navigation method based on optical label network and corresponding computing equipment |
| CN110798796A (en) * | 2019-09-20 | 2020-02-14 | 南方科技大学 | Indoor positioning method and device, computer equipment and storage medium |
| CN112965473A (en) * | 2019-11-27 | 2021-06-15 | 深圳市大富科技股份有限公司 | Navigation server, automatic guided vehicle and route navigation method and system thereof |
| CN113093105A (en) * | 2021-04-09 | 2021-07-09 | 中国人民解放军战略支援部队信息工程大学 | Visible light indoor positioning method, device and system and related products |
| CN113093105B (en) * | 2021-04-09 | 2023-09-12 | 中国人民解放军战略支援部队信息工程大学 | Visible light indoor positioning method, device and system and related products |
| CN114296030A (en) * | 2021-12-30 | 2022-04-08 | 广东海洋大学 | Indoor positioning method and system based on visible light communication |
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