CN103543434A - Indoor positioning system, indoor positioning cell phone and indoor positioning method - Google Patents

Indoor positioning system, indoor positioning cell phone and indoor positioning method Download PDF

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CN103543434A
CN103543434A CN201310493142.1A CN201310493142A CN103543434A CN 103543434 A CN103543434 A CN 103543434A CN 201310493142 A CN201310493142 A CN 201310493142A CN 103543434 A CN103543434 A CN 103543434A
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light
receiving end
light intensity
indoor positioning
transmitting terminal
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CN103543434B (en
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谢波
谭光
毛成华
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Shenzhen Institute of Advanced Technology of CAS
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Shenzhen Institute of Advanced Technology of CAS
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
    • G01S17/06—Systems determining position data of a target
    • G01S17/08—Systems determining position data of a target for measuring distance only
    • G01S17/32—Systems determining position data of a target for measuring distance only using transmission of continuous waves, whether amplitude-, frequency-, or phase-modulated, or unmodulated
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
    • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
    • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
    • G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
    • G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments

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Abstract

The invention provides an indoor positioning system. The indoor positioning system comprises a light emitting end and a light receiving end. The light emitting end transmits an optical signal. The light receiving end comprises an optical sensor, an electronic compass and a processor and rotates around a spatial point by at least three postures. The optical sensor receives optical signal data; the electronic compass collects magnetic data and acceleration data; the processor acquires at least three light intensity values by calculating the optical signal data, acquires magnetic correction parameters and at least three course angles by calculating the magnetic data and the acceleration data, and calculates unit normal vector at each posture of the optical sensor; the processor sets up an equation set according to the at least three light intensity values and the corresponding unit normal vectors and solves coordinates of the light receiving end by a light intensity model. The invention further provides an indoor positioning cell phone and an indoor positioning method thereof. By being integrated with optical, magnetic and acceleration sensors, the indoor positioning cell phone and the indoor positioning method thereof meet the application requirement of indoor positioning, and are high in positioning accuracy, good in stability and low in cost.

Description

Indoor locating system, mobile phone and localization method
Technical field
The present invention relates to location, relate in particular to a kind of indoor locating system, mobile phone and localization method.
Background technology
Along with popularizing of information and communication technology (ICT), people grow with each passing day to the demand of indoor positioning information, and some ，Ru markets, public place, airport, exhibition room, office building, warehouse, underground parking etc. all need to use locating information accurately.Such as in the scenes such as mall shopping, public place missing, bulk storage plant management, all need to use positional information.Accurate indoor positioning information, can realize efficient management to free space and stock in storage; Can navigate police, fireman, soldier, health care worker completes specific indoor task; Intelligent space, general fit calculation etc. all be unable to do without location-based service, so indoor positioning has broad application prospects.
Abundanter about the research of indoor positioning technology both at home and abroad, according to positioning principle, there are proximity detection [1], fingerprint matching [2] and polygon/Angle Method [3] etc.Proximity detection method is using the source location detecting as position location, and precision is lower.Finger print matching method utilizes signal characteristic in indoor environment coupling can access good positioning precision, but positioning result is subject to the impacts such as indoor multipath effect and environmental change, and it is loaded down with trivial details to set up fingerprint database work.And polygon/Angle Method need to first be put the information such as distance/angle of reference point by TOA, TDOA, the accurate measurement and positioning of AOA scheduling algorithm, recycling trilateration etc. positions target.If reference mode positional information is accurate, measuring distance is accurate, just can accurately record the position of destination node, but this conclusion is theoretic best result, in actual measurement, can there is error, so that result is inaccurate.
[1]L.Ni,Y.Liu,C.Yiu,and A.Patil.LANDMARC:Indoor Location Sensing Using Active RFID.In WINET,2004.
[2]M.Youssef and A.Agrawala.The Horus WLAN Location Determination System.In MobiSys,2005.
[3]N.B.Priyantha,A.Chakraborty,and H.Balakrishnan.The Cricket Location-Support System.In MobiCom,2000.
Summary of the invention
In view of this, we provide a kind of indoor locating system, indoor positioning mobile phone and indoor orientation method, the simple indoor positioning in order to realize accurately.
Indoor locating system in the present invention, comprises light transmitting terminal and optical receiving end.Described smooth transmitting terminal, for sending light signal; Described optical receiving end, comprises optical sensor, electronic compass and processor, and described optical receiving end a bit rotates at least three attitudes around space; Wherein said optical sensor, at optical signal data during at least three attitudes described in gathering; Described electronic compass, for gathering at least three group magnetic force data and acceleration informations at described rotary course; Described processor, from optical signal data, calculate at least three light intensity values, from magnetic force data and acceleration information, calculate at least three group unit normal vectors of described optical sensor, utilize light intensity model, and set up system of equations according to described at least three light intensity values and corresponding unit normal vector, solve the coordinate figure of described optical receiving end.
Preferably, described smooth transmitting terminal is connected in power supply, comprise light source and be connected in light source and power supply between frequency controller, described frequency controller, for controlling power switch with predeterminated frequency, makes light source send the light signal of frequency stabilization.
Preferably, described light intensity model is s = f d ( d ) * f μ ( arcsin ( d ′ d ) ) * f ω ( arccos ( z 0 - z d ) ) , Wherein, establish (x 0, y 0, z 0) be the coordinate figure of light transmitting terminal, (x, y, z) be the coordinate figure of described optical receiving end, s is that light intensity value, d be described smooth transmitting terminal are that incident angle and the ω that light enters optical sensor is that light is in the emergence angle of light transmitting terminal to the distance between described optical receiving end, μ, d ' is the distance of light transmitting terminal to optical sensor place plane, f d, f μ, f ωbe respectively the relation function of light intensity and d, μ, ω.
Preferably, the computing formula of described magnetic correction parameter is:
Figure BDA0000398122810000022
x wherein, y, z is magnetic force data, R is geomagnetic field intensity constant, x0, y0, z0, a, b, the magnetic correction parameter of c for obtaining.
Preferably, the computation process of described course angle comprises: utilize described magnetic correction parameter to carry out data recovery, can fasten three axle components at rectangular coordinate is M x, M y, M z, normalization data obtains M x1, M y1, M z1.Acceleration transducer is A at the normalization data of carrier rectangular coordinate system x1, A y1, A z1;
Calculate:
Angle of pitch ρ=arc sin (A x1),
Roll angle γ=arc sin (A y1/ cos ρ),
Use formula:
M X2=M X1cosρ+M Z1sinρ，
M y2=M X1sinγsinρ+M y1cosγ-M z1sinγcosρ，
M z2=-M x1cos γ sin ρ+M y1sin γ+M z1cos γ cos ρ, and
Figure BDA0000398122810000031
obtain course angle heading.
Preferably, the planar linear at described at least three attitude optical sensor places is independent.
Preferably, described electronic compass comprises Magnetic Sensor and described acceleration transducer.
Indoor positioning mobile phone of the present invention, is integrated with the optical receiving end of above-mentioned indoor locating system.
Indoor orientation method of the present invention, comprises and is fixed on indoor light transmitting terminal and optical receiving end movably, comprises the steps: the predeterminated frequency at described smooth transmitting terminal place, the light signal of output predeterminated frequency; Described optical receiving end is a bit rotated at least three attitudes, the light signal while receiving described each attitude, light intensity value when processor calculates each attitude around space; Gather at least three group magnetic force data and acceleration informations, processor calculates magnetic correction parameter, and the unit normal vector of optical sensor place plane while calculating each attitude; Processor utilizes light intensity model, described at least three light intensity values and corresponding unit normal vector to set up system of equations, solves the coordinate figure of described optical receiving end.
The present invention, according to light intensity model, uses the receiving end device that is integrated with optical sensor, can in complicated indoor environment, comparatively accurately record the position of this receiving end, can meet the application requirements of a lot of indoor positioning, positioning precision is high, good stability, and cost is lower.
Accompanying drawing explanation
Fig. 1 is the topology example figure of light transmitting terminal in embodiment of the present invention.
Fig. 2 is the topology example figure of optical receiving end in embodiment of the present invention.
Fig. 3 a to Fig. 3 c is respectively the demonstration graph of three interplanar Line independents in embodiment of the present invention.
Fig. 4 is light intensity model analysis figure in embodiment of the present invention.
Fig. 5 is the process flow diagram of localization method in embodiment of the present invention.
Embodiment
, comprise light transmitting terminal 10 and optical receiving end 20.Wherein, light transmitting terminal 10, for sending light signal.Optical receiving end 20 is at least three attitudes of rotation a bit around space, and the optical signal data while receiving each attitude, magnetic force data and acceleration information utilize light intensity model to calculate and obtain the current coordinate figure of optical receiving end 20.
The smooth transmitting terminal of embodiment 1
As shown in Figure 1, light transmitting terminal 10 comprises the power supply power interface of power supply (or be connected in) 11, light source 13 and frequency controller 12.
The light source 13 that the present invention uses is LED lamp, and visible ray or infrared ray are provided.The luminescence chip of these LED lamps is smaller, therefore can be used as pointolite.Frequency of utilization controller 12 is connected between light source 13 and power supply 11, and controls power switch with predeterminated frequency, makes light source 13 send the light signal of frequency stabilization.
Embodiment 2 optical receiving ends
As shown in Figure 2, optical receiving end 20 comprises optical sensor 21, electronic compass 22, processor 23, storage chip 24 and power module 25 etc.Wherein, electronic compass 22 comprises Magnetic Sensor, acceleration transducer.In the present embodiment, optical sensor 21 and electronic compass 22 are integrated and make the independent sensor daughter board of a slice, then sensor daughter board daughter board is connected to and on single-chip microcomputer base plate, makes a special-purpose location receiving end or optical sensor and electronic compass are integrated on mobile phone as optical receiving end 20.
For obtaining light, magnetic, acceleration information, optical receiving end 20 a bit rotates at least three attitudes around space.During described at least three attitudes, the planar linear at optical sensor 21 places is independent, as shown in Figure 3.
Optical sensor 21, for optical signal data during at least three attitudes described in receiving, processor 23 utilizes light intensity model, calculates the light intensity value of each attitude;
Light intensity model is s = f d ( d ) * f μ ( arcsin ( d ′ d ) ) * f ω ( arccos ( z 0 - z d ) ) ,
Wherein, establish (x 0, y 0, z 0) be the coordinate figure of light transmitting terminal 10, (x, y, z) be the coordinate figure of described optical receiving end, s is that light intensity value, d be described smooth transmitting terminal 10 are that incident angle and the ω that light enters sensor is that light is in the emergence angle of light transmitting terminal to distance, μ between described optical receiving end 20, d ' is the distance of light transmitting terminal to optical sensor 21 place planes, f d, f μ, f ω is respectively the relation function of light intensity and d, μ, ω.
Magnetic Sensor in electronic compass 22, for gathering at least three group magnetic force data in described rotation, calculates and exports magnetic correction parameter; The computing formula of described magnetic correction parameter is:
Figure BDA0000398122810000052
Figure BDA0000398122810000053
x wherein, y, z is magnetic force data, R is geomagnetic field intensity constant, x 0, y 0, z 0, a, b, the magnetic correction parameter of c for obtaining.
Acceleration transducer in electronic compass 22, by described magnetic correction parameter and the accekeration collecting, processor calculates and exports at least three group course angles, and calculates the unit normal vector of optical sensor 21 each attitude plane.
The computation process of described course angle comprises:
Utilize described magnetic correction parameter to carry out data recovery, can fasten three axle components at rectangular coordinate is M x, M y, M z, normalization data obtains M x1, M y1, M z1.Acceleration transducer is A at the normalization data of carrier rectangular coordinate system x1, A y1, A z1; Calculate:
Angle of pitch ρ=arc sin (A x1), roll angle γ=arc sin (A y1/ cos ρ),
Use formula:
M X2=M X1cosρ+M Z1sinρ，
M y2=M X1sinγsinρ+M y1cosγ-M z1sinγcosρ，
M z2=-M x1cos γ sin ρ+My1sin γ+M z1cos γ cos ρ, and
Figure BDA0000398122810000062
obtain course angle heading.
Processor 23, calculates light intensity value and unit normal vector etc., and utilizes light intensity model, according to described at least three light intensity values and corresponding unit normal vector, sets up system of equations, solves the coordinate figure of optical receiving end 20.
The computation process of described coordinate comprises:
Utilize light intensity model s = f d ( d ) * f μ ( arcsin ( d ′ d ) ) * f ω ( arccos ( z 0 - z d ) ) , According to obtain at least three light intensity value si and unit normal vector (A i, B i, C i), i=1 wherein, 2,3 ..., by following equation, form system of equations:
S 1=(k/d 2)*((A 1(x 1-x)+B 1(y 1-y)+C 1(z 1-z))/d)*((z 1-z)/d) （1）
S 2=(k/d 2)*((A 2(x 2-x)+B 2(y 2-y)+C 2(z 2-z))/d)*((z 2-z)/d) （2）
S 3=(k/d 2)*((A 3(x 3-x)+B 3(y 3-y)+C 3(z 3-z))/d)*((z 3-z)/d) （3）
……
Solving equations can obtain the coordinate figure of optical receiving end 20.
Embodiment 3 indoor orientation methods
As shown in Figure 5, wherein S511 is the setting steps that is fixed on indoor light transmitting terminal, and step S521-step S525 is the receiving optical signals of movably optical receiving end and the step of coordinates computed value.
In step S511, in light transmitting terminal, rate of connections controller between light source and power supply, and a default frequency, in order to control power switch, makes light source send the light signal of frequency stabilization in frequency controller.
The frequency of light signal can not be too low, should not affect the normal operation, rest of people in indoor environment etc., frequency can not be too high, should make the receiving end device can the complete light signal that collects, its frequency also will be avoided existing interfering frequency in environment, as 100hz frequency of daylight lamp etc.Through experimental test, optical signal frequency should at least be greater than 30hz.
In step S521, optical receiving end is a bit at least rotated to three attitudes around space.During described at least three attitudes, the planar linear at optical sensor place is independent, as shown in Figure 3.
In step S522, set up light intensity model, receive the light signal of each attitude, calculate at least three light intensity values.
Known according to experimental result, the light intensity value s that optical sensor receives in current location and the distance d between current location and light source, it is relevant at the emergence angle ω of light source place (when the light that ω represents to enter optical sensor sends at light source place and the angle of light source vertical sand shooting central ray earthward) that light enters the incident angle μ angle of sensor plane (when μ represents that light enters optical sensor with) of sensor and light.As shown in Figure 4, (x 0, y 0, z 0) be the coordinate figure of pointolite, the position coordinates that (x, y, z) is described optical sensor, sensor plane and surface level have certain angle.Use respectively function f d(d), f μ(μ), f ω(ω) represent the relation of light intensity s and d, μ, ω.As everyone knows, square being inversely proportional to of light intensity attenuation and distance, represents that with k optical sensor vertical plane is to light source center light (as Fig. 4 center line), at the light intensity value recording apart from 1 meter of of light source, f d(d)=k/d 2, wherein, d = ( x 0 - x ) 2 + ( y 0 - y ) 2 + ( z 0 - z ) 2 . Distance light source d rice on optical sensor centre light, incident angle μ=90 °, equal angles interval (as every 10 °) deflection sensor plane, make incident angle μ that center light the enters optical sensor 90 ° of equal angles intervals (as 10 °) when vertical be reduced to 0 °, now central ray is parallel with sensor plane, after each deflection, test light intensity value, light intensity s and μ's is related to f μ(μ)=f μ(arc sin (d '/d)), wherein
D '=| A (x 0-x)+B (y 0-y)+C (z 0-z) |, represent that light source is to the distance of sensor plane, (A, B, C) is the unit normal vector of described light sensor senses plane.By distance light source d rice on optical sensor centre light, ° equal angles interval, emergence angle ω=0 (as 10 °) deflection light source, the direction of central ray is along with light source deflection, central ray emergence angle ω increases to 90 ° from 0 °, after each deflection, test light intensity value, the relation of light intensity s and ω
Figure BDA0000398122810000072
according to experimental result and Fig. 4 light intensity model analysis figure, light intensity s=f d(d) * f μ(μ) * f ω(ω),
s = f d ( d ) * f μ ( arcsin ( d ′ d ) ) * f ω ( arccos ( z 0 - z d ) ) - - - ( 1 )
In step S523, receive the magnetic force data of each attitude, by magnetic force data are proofreaied and correct, obtain correction parameter.
If Magnetic Sensor is not subject to any interference, Magnetic Sensor is around in space, certain a bit does omnirange rotation.The magnetic force data that collect are distributed in (0,0,0) be on the sphere of the centre of sphere, but in fact Magnetic Sensor can be subject to the various magnetic interference of place equipment and environment of living in, the data that collect in its rotary course can form an inclination ellipsoid that departs from the centre of sphere, this just need to proofread and correct it, obtain correction parameter, thereby magnetic force data are proofreaied and correct, the magnetic force data after proofreading and correct are returned to (0,0,0) be on the sphere of the centre of sphere.Sensor daughter board or mobile phone are arranged in a certain location point in space, and use hand or machinery around this omnirange rotation sensor daughter board or mobile phone, gather magnetic force data and acceleration information with certain speed simultaneously.Expression formula after the magnetic force Data correction being interfered is:
Figure BDA0000398122810000081
x wherein, y, z is magnetic force data, R is geomagnetic field intensity constant, x0, y0, z0, a, b, the correction parameter of c for obtaining.Above formula is rewritten into matrix form: x 2=[x y z-y 2-z 21]
* [ 2 x 0 2 ( a 2 b 2 ) y 0 2 ( a 2 c 2 ) z 0 a 2 b 2 a 2 c 2 a 2 R 2 - x 0 2 - ( a 2 b 2 ) y 0 2 - ( a 2 c 2 ) z 0 2 ] T
If W nx1=x 2, | H| nX6=[x y z-y 2-z 21],
X 6 X 1 = [ 2 x 0 2 ( a 2 b 2 ) y 0 2 ( a 2 c 2 ) z 0 a 2 b 2 a 2 c 2 a 2 R 2 - x 0 2 - ( a 2 b 2 ) y 0 2 - ( a 2 c 2 ) z 0 2 ] T
W nx1=[H] nx6* X 6x1, according to least square method, obtain X=[H th] -1h t* W, can obtain x0 thus, y0, z0, a, b, the value of c, i.e. correction parameter.
In step S524, gather at least three group acceleration informations, in conjunction with magnetic correction parameter, the unit normal vector of optical sensor place plane while calculating each attitude.
Correction parameter in use in step is proofreaied and correct magnetic force data, and on the sphere that data can be returned to (0,0,0) be the centre of sphere, it is at carrier rectangular coordinate system x, y, and the component on z tri-axles is M x, M y, M z, normalization data obtains M x1, M y1, M z1.Acceleration transducer is at carrier rectangular coordinate system x, y, and the data on z tri-axles are A x, A y, A z, normalization data is A x1, A y1, A z1.
Use formula: ρ=arc sin (A x1), γ=arc sin (A y1/ cos ρ), can be calculated angle of pitch ρ and roll angle γ.
Use formula: M x2=M x1cos ρ+M z1sin ρ,
M y2=M X1sinγsinρ+m y1cosγ-M z1sinγcosρ，
M z2=-M x1cos γ sin ρ+M y1sin γ+M z1cos γ cos ρ, and
Figure BDA0000398122810000091
obtain course angle heading, and by course angle, can calculate the unit normal vector of current attitude time sensor plane.
In step S525, processor utilizes light intensity model, described at least three light intensity values and corresponding unit normal vector to set up system of equations, solves the coordinate figure of described optical receiving end.
To every kind of attitude, single-chip microcomputer or mobile phone are collected after some (as 128 s') original light intensity data, carry out Fourier transform, on frequency domain, remove other interfering frequencies in environment (as common daylight lamp 100Hz frequency), take out value corresponding to signal frequency, then process through inversefouriertransform the light intensity value that obtains corresponding light source.According at least three different attitudes of step 6 conversion, and corresponding optical sensor planar linear is independent while having at least three attitudes, can obtain at least three light intensity values and corresponding course angle thereof.Coordinate figure and light intensity model in conjunction with light intensity value, course angle, pointolite are used formula (1) to set up the system of equations of at least three equations, and solve described system of equations, obtain the coordinate of described optical receiving end.
The present invention is according to light intensity model, use is integrated with the receiving end device of optical sensor, can in complicated indoor environment, comparatively accurately record the position of this receiving end, can meet the application requirements of a lot of indoor positioning, and except signal source and receiving end, without arranging other utility appliance, without gathering indoor fingerprint, positioning precision is high, good stability, and cost is lower.
The present invention positions with infrared ray or visible ray, positioning precision is higher than methods such as proximity detection and fingerprint matchings, mean accuracy is in 0.4m left and right, light signal is not subject to the impact of indoor environment complicated and changeable, general indoor environment does not have multipath effect, positioning result is stable, does not need to gather indoor fingerprint.
The above is only the preferred embodiment of the present invention; it should be pointed out that for those skilled in the art, under the premise without departing from the principles of the invention; can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.

Claims (9)

1. an indoor locating system, comprises light transmitting terminal and optical receiving end, it is characterized in that:
Described smooth transmitting terminal, for sending light signal;
Described optical receiving end, comprises optical sensor, electronic compass and processor, and described optical receiving end a bit rotates at least three attitudes around space; Wherein:
Described optical sensor, at optical signal data during at least three attitudes described in gathering;
Described electronic compass, for gathering at least three group magnetic force data and acceleration informations at described rotary course;
Described processor, from optical signal data, calculate at least three light intensity values, from magnetic force data and acceleration information, calculate at least three group unit normal vectors of described optical sensor, utilize light intensity model, and set up system of equations according to described at least three light intensity values and corresponding unit normal vector, solve the coordinate figure of described optical receiving end.
2. indoor locating system as claimed in claim 1, it is characterized in that, described smooth transmitting terminal is connected in power supply, comprise light source and be connected in light source and power supply between frequency controller, described frequency controller, for controlling power switch with predeterminated frequency, makes light source send the light signal of frequency stabilization.
3. indoor locating system as claimed in claim 2, is characterized in that, described light intensity model is s = f d ( d ) * f μ ( arcsin ( d ′ d ) ) * f ω ( arccos ( z 0 - z d ) ) , Wherein, establish (x 0, y 0, z 0) be the coordinate figure of light transmitting terminal, (x, y, z) be the coordinate figure of described optical receiving end, s is that light intensity value, d be described smooth transmitting terminal are that incident angle and the ω that light enters optical sensor is that light is in the emergence angle of light transmitting terminal to the distance between described optical receiving end, μ, d ' is the distance of light transmitting terminal to optical sensor place plane, f d, f μ, f ωbe respectively the relation function of light intensity and d, μ, ω.
4. indoor locating system claimed in claim 3, is characterized in that, the computing formula of described magnetic correction parameter is:
Figure FDA0000398122800000012
x wherein, y, z is magnetic force data, R is geomagnetic field intensity constant, x 0, y 0, z 0, a, b, the magnetic correction parameter of c for obtaining.
5. indoor locating system as claimed in claim 4, is characterized in that, the computation process of described course angle comprises:
Utilize described magnetic correction parameter to carry out data recovery, can fasten three axle components at rectangular coordinate is M x, M y, M z, normalization data obtains M x1, M y1, M z1.Acceleration transducer is A at the normalization data of carrier rectangular coordinate system x1, A y1, A z1;
Calculate: angle of pitch ρ=arc sin (A x1),
Roll angle γ=arc sin (A y1/ cos ρ),
Use formula:
M X2=M X1cosρ+M Z1sinρ，
M y2=M X1sinγsinρ+M y1cosγ-M z1sinγcosρ，
M z2=-M x1cos γ sin ρ+M y1sin γ+M z1cos γ cos ρ, and
Figure FDA0000398122800000021
obtain course angle heading.
6. indoor locating system as claimed in claim 1, is characterized in that, the planar linear at described at least three attitude optical sensor places is independent.
7. indoor locating system as claimed in claim 1, is characterized in that, described electronic compass comprises Magnetic Sensor and described acceleration transducer.
8. an indoor positioning mobile phone, is characterized in that, is integrated with the optical receiving end of the indoor locating system as described in the one of claim 1 to 7.
9. an indoor orientation method, comprises and is fixed on indoor light transmitting terminal and optical receiving end movably, it is characterized in that, comprises the steps:
At described smooth transmitting terminal place predeterminated frequency, the light signal of output predeterminated frequency;
Described optical receiving end is a bit rotated at least three attitudes, the light signal while receiving described each attitude, light intensity value when processor calculates each attitude around space;
Gather at least three group magnetic force data and acceleration informations, processor calculates magnetic correction parameter, and the unit normal vector of optical sensor place plane while calculating each attitude;
Processor utilizes light intensity model, described at least three light intensity values and corresponding unit normal vector to set up system of equations, solves the coordinate figure of described optical receiving end.
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CN104735780B (en) * 2015-03-25 2018-03-30 中国科学院深圳先进技术研究院 A kind of indoor positioning device and localization method
CN106680771A (en) * 2015-11-10 2017-05-17 复旦大学 Reverse positioning system and method
CN106443585A (en) * 2016-09-09 2017-02-22 中国地质大学（武汉） Accelerometer combined LED indoor 3D positioning method
CN107493531A (en) * 2017-08-04 2017-12-19 歌尔科技有限公司 A kind of head pose detection method, device and earphone
CN107493531B (en) * 2017-08-04 2019-11-08 歌尔科技有限公司 A kind of head pose detection method, device and earphone
CN107632966A (en) * 2017-09-08 2018-01-26 歌尔科技有限公司 Movement locus determines method and electronic equipment
CN109561393A (en) * 2018-12-24 2019-04-02 北京全电智领科技有限公司 A kind of low speed carrier localization method and device based on Space Optical Communication Technologies
CN110518951A (en) * 2019-07-26 2019-11-29 联想(北京)有限公司 A kind of information processing method and device
CN110518951B (en) * 2019-07-26 2021-06-15 联想(北京)有限公司 Information processing method and device
CN111751784A (en) * 2020-06-23 2020-10-09 上海申核能源工程技术有限公司 Three-dimensional optical positioning system of nuclear power station
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