CN103017758A - Indoor real-time high-precision positioning system - Google Patents
Indoor real-time high-precision positioning system Download PDFInfo
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- CN103017758A CN103017758A CN2012105589456A CN201210558945A CN103017758A CN 103017758 A CN103017758 A CN 103017758A CN 2012105589456 A CN2012105589456 A CN 2012105589456A CN 201210558945 A CN201210558945 A CN 201210558945A CN 103017758 A CN103017758 A CN 103017758A
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Abstract
An indoor real-time high-precision positioning system comprises a transmitting device and a receiving device, wherein the transmitting device consists of LED (light-emitting diode) lighting lamps and a driving circuit; the driving circuit has functions of supplying driving current to the LED lighting lamps as well as loading position information of the LED lighting lamps for modulation; the LED lighting lamps realize the lighting function as well as broadcast the position information; the adjacent LED lighting lamps are distinguished through code division multiple access; the receiving device comprises a hand-held receiving terminal; the hand-held receiving terminal is provided with two sensors, namely a camera and a photodiode PD; the photodiode PD has functions of receiving the position information broadcast by the LED lighting lamps and acquiring absolute positions of the LED lighting lamps; and the camera has a function of shooting a scene image of the lamps upwards so as to compute relative positions of the receiving terminal to the LED lighting lamps. The indoor real-time high-precision positioning system does not require additional transmitting equipment, does not consume any frequency spectrum resource and can avoid electromagnetic radiation.
Description
Technical field
The present invention relates to a kind of positioning system, be specifically related to a kind of indoor real-time high-precision positioning system.
Background technology
Positional information all has great significance for people's live and work, and positional information is provided in real time, very large facility is provided can for people's live and work.For example, the navigation of complex environment etc. under the guide to visitors in the shopping guide of large department store, museum, the parking stall of seeking the airport underground garage, the mine.
Under outdoor environment, the GPS GPS can satisfy basic positioning requirements, but in indoor situation, because blocking and multipath effect of building, the bearing accuracy of gps system sharply descends, do not satisfy people's needs, indoor locating system arises at the historic moment, such as radio-frequency (RF) identification (RFID) positioning system, ultra broadband (UWB) indoor locating system, infrared, the ultrasonic bluetooth indoor locating system etc. that involves, these systems have satisfied the ask for something of people for indoor location information more or less, but also exist some drawbacks, as: need the extra transceiver of installing, produce electromagnetic radiation etc.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of indoor real-time high-precision positioning system, do not need additionally to install transmitter, do not expend any frequency spectrum resource, avoid simultaneously the volume electromagnetic radiation.
In order to achieve the above object, the technical scheme taked of the present invention is:
A kind of indoor real-time high-precision positioning system, comprise emitter and receiving trap, emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, the positional information that has also loaded the LED illuminating lamp is modulated, the LED illuminating lamp is being broadcasted the positional information of self when realizing illumination functions;
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
The relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of the height of indoor ceiling, hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, then holding the built-in magnetic compass of receipts terminal according to catcher determines, concern according to geometric projection, add the sensing of hand-held receiving terminal, just can get terminal for the relative position of LED illuminating lamp.
The field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
The process of the present invention location is: hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map;
When photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards;
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction;
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
Advantage of the present invention is: do not need additionally to install transmitter, do not expend any frequency spectrum resource, avoid simultaneously the volume electromagnetic radiation.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is that the relative position of camera and LED illuminating lamp calculates schematic diagram.
Fig. 3 is position fixing process process flow diagram of the present invention.
Fig. 4 is the theory diagram of emitter of the present invention.
Fig. 5 is the theory diagram of receiving trap of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
With reference to Fig. 1, a kind of indoor real-time high-precision positioning system, comprise emitter and receiving trap, emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, and the positional information that has also loaded the LED illuminating lamp is modulated, and the LED illuminating lamp is when realizing illumination functions, broadcast the positional information of self, utilizing CDMA multiplexing to distinguish between the adjacent LED illuminating lamp.
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
The relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of the height of indoor ceiling, hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, and then determines according to the hand-held built-in magnetic compass of receiving terminal, concerns according to geometric projection, as shown in Figure 2
Add from the direction sensing of the hand-held receiving terminal of magnetic compass extraction, just can get terminal for the relative position of LED illuminating lamp.
The field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
The process of the present invention location is: as shown in Figure 3, hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map.
Because the attribute of device itself, the field angle of camera is greater than the field of view of receiver angle of photodiode PD, so, when photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards.
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction.
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
Referring to Fig. 4, emitter comprises CPU (central processing unit), power module, WIFI module, driving circuit, LED lamp, control center is transferred to location service information by WIFI the WIFI module of transmitting terminal, the WIFI module passes to CPU (central processing unit) with information, CPU (central processing unit) is responsible for information is encoded, and signal is modulated on the LED illuminating lamp via driving circuit broadcasts away by spatial light.
Referring to Fig. 5, receiving trap comprises the assemblies such as CPU (central processing unit), power module, photodiode PD, self-adaptation amplifying circuit, camera and display, photodiode PD receives the spatial light broadcast message of LED illuminating lamp, via the self-adaptation amplifying circuit signal is passed to CPU (central processing unit), simultaneously, camera passes to CPU (central processing unit) with the illumination image of LED illuminating lamp, CPU (central processing unit) is decoded the signal that PD receives, the image that simultaneously camera is received is processed, and the positional information of clearing place is presented in the display in real time.
Claims (4)
1. indoor real-time high-precision positioning system, comprise emitter and receiving trap, it is characterized in that: emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, the positional information that has also loaded the LED illuminating lamp is modulated, the LED illuminating lamp is being broadcasted the positional information of self when realizing illumination functions;
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
2. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that: the relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of indoor ceiling, the height of hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, then holding the built-in magnetic compass of receipts terminal according to catcher determines, concern according to geometric projection, add the sensing of hand-held receiving terminal, just can get terminal for the relative position of LED illuminating lamp.
3. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that: the field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
4. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that, the process of location is: hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map;
When photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards;
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction;
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
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Cited By (18)
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| CN103442436A (en) * | 2013-08-27 | 2013-12-11 | 华为技术有限公司 | Indoor positioning terminal, network, system and method |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN103869284A (en) * | 2014-02-28 | 2014-06-18 | 北京邮电大学 | Visible light communication-based indoor positioning 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 |
| 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 |
| CN105444752A (en) * | 2014-09-02 | 2016-03-30 | 深圳市芯通信息科技有限公司 | Light source brightness-based indoor positioning method, and apparatus and system thereof |
| CN105806330A (en) * | 2014-12-29 | 2016-07-27 | 北京贝虎机器人技术有限公司 | Indoor robot |
| CN105953786A (en) * | 2016-04-20 | 2016-09-21 | 清华大学 | Indoor precise positioning method and system based on imaging communication |
| CN105979472A (en) * | 2016-04-18 | 2016-09-28 | 清华大学 | Method and system for cooperative work of visible light positioning and bluetooth communication |
| CN106301566A (en) * | 2016-08-24 | 2017-01-04 | 网易（杭州）网络有限公司 | A kind of alignment system based on light and the method utilizing mobile terminal to carry out positioning |
| CN106595639A (en) * | 2016-12-27 | 2017-04-26 | 纳恩博（北京）科技有限公司 | Positioning system and positioning method and device thereof and robot |
| CN107219517A (en) * | 2017-07-25 | 2017-09-29 | 中航联创科技有限公司上海分公司 | Mobile phone Android camera alignment system and its method based on LED visible light communication |
| CN108346309A (en) * | 2018-03-01 | 2018-07-31 | 西安理工大学 | It is a kind of that vehicle system and method is sought based on the underground parking lot positioning for imaging communication |
| CN109341687A (en) * | 2018-06-01 | 2019-02-15 | 上海大学 | It is a kind of based on mobile phone any level towards single LED visible light communication indoor orientation method of angle |
| CN109459025A (en) * | 2018-11-08 | 2019-03-12 | 中北大学 | A kind of class brain air navigation aid based on light stream UWB combination |
| CN109756267A (en) * | 2017-11-07 | 2019-05-14 | 珠海横琴华策光通信科技有限公司 | A kind of camera positioning system and its application based on LED light emission device light-seeking |
| WO2019141177A1 (en) * | 2018-01-16 | 2019-07-25 | 京东方科技集团股份有限公司 | Voronoi diagram based indoor space positioning |
| CN111352070A (en) * | 2020-03-19 | 2020-06-30 | 东南大学 | Indoor three-dimensional optical positioning method based on photodiode array |
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| WO2015027807A1 (en) * | 2013-08-27 | 2015-03-05 | 华为技术有限公司 | Indoor positioning terminal, network, system and method thereof |
| CN103442436B (en) * | 2013-08-27 | 2017-06-13 | 华为技术有限公司 | A kind of indoor positioning terminal, network, system and method |
| CN103442436A (en) * | 2013-08-27 | 2013-12-11 | 华为技术有限公司 | Indoor positioning terminal, network, system and method |
| CN103759724B (en) * | 2014-01-16 | 2016-10-26 | 西安电子科技大学 | A kind of indoor navigation method based on lamp decoration feature and system |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN103869284A (en) * | 2014-02-28 | 2014-06-18 | 北京邮电大学 | Visible light communication-based indoor positioning system and method |
| 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 |
| CN105444752A (en) * | 2014-09-02 | 2016-03-30 | 深圳市芯通信息科技有限公司 | Light source brightness-based indoor positioning method, and apparatus and system thereof |
| CN105806330A (en) * | 2014-12-29 | 2016-07-27 | 北京贝虎机器人技术有限公司 | Indoor robot |
| 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 |
| CN105979472A (en) * | 2016-04-18 | 2016-09-28 | 清华大学 | Method and system for cooperative work of visible light positioning and bluetooth communication |
| CN105953786A (en) * | 2016-04-20 | 2016-09-21 | 清华大学 | Indoor precise positioning method and system based on imaging communication |
| CN105953786B (en) * | 2016-04-20 | 2019-03-01 | 清华大学 | The positioning system of indoor accurate positioning method based on imaging communication |
| CN106301566A (en) * | 2016-08-24 | 2017-01-04 | 网易（杭州）网络有限公司 | A kind of alignment system based on light and the method utilizing mobile terminal to carry out positioning |
| CN106595639A (en) * | 2016-12-27 | 2017-04-26 | 纳恩博（北京）科技有限公司 | Positioning system and positioning method and device thereof and robot |
| CN106595639B (en) * | 2016-12-27 | 2019-09-20 | 纳恩博（北京）科技有限公司 | Positioning system and its localization method and device and robot |
| CN107219517A (en) * | 2017-07-25 | 2017-09-29 | 中航联创科技有限公司上海分公司 | Mobile phone Android camera alignment system and its method based on LED visible light communication |
| CN109756267A (en) * | 2017-11-07 | 2019-05-14 | 珠海横琴华策光通信科技有限公司 | A kind of camera positioning system and its application based on LED light emission device light-seeking |
| WO2019141177A1 (en) * | 2018-01-16 | 2019-07-25 | 京东方科技集团股份有限公司 | Voronoi diagram based indoor space positioning |
| CN108346309A (en) * | 2018-03-01 | 2018-07-31 | 西安理工大学 | It is a kind of that vehicle system and method is sought based on the underground parking lot positioning for imaging communication |
| CN109341687A (en) * | 2018-06-01 | 2019-02-15 | 上海大学 | It is a kind of based on mobile phone any level towards single LED visible light communication indoor orientation method of angle |
| CN109459025A (en) * | 2018-11-08 | 2019-03-12 | 中北大学 | A kind of class brain air navigation aid based on light stream UWB combination |
| CN111352070A (en) * | 2020-03-19 | 2020-06-30 | 东南大学 | Indoor three-dimensional optical positioning method based on photodiode array |
| CN111352070B (en) * | 2020-03-19 | 2022-02-22 | 东南大学 | Indoor three-dimensional optical positioning method based on photodiode array |
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