CN104567875A - Indoor hybrid positioning system and method based on inertial positioning and VLC for mobile phone - Google Patents
Indoor hybrid positioning system and method based on inertial positioning and VLC for mobile phone Download PDFInfo
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- CN104567875A CN104567875A CN201410831922.7A CN201410831922A CN104567875A CN 104567875 A CN104567875 A CN 104567875A CN 201410831922 A CN201410831922 A CN 201410831922A CN 104567875 A CN104567875 A CN 104567875A
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- 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
- G01C21/18—Stabilised platforms, e.g. by gyroscope
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- 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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- 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
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- Electromagnetism (AREA)
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Abstract
The invention provides an indoor hybrid positioning system and an indoor hybrid positioning method based on inertial positioning and VLC for a mobile phone. A downlink chain comprises a visible light downlink sending module and an inertia and VLC hybrid positioning module, wherein the visible light downlink sending module comprises a downlink sending processor and a visible light LED; the inertia and VLC hybrid positioning module comprises a VLC positioning receiver, a communication interface as well as a gyroscope, an acceleration sensor and an APP module which are arranged in the mobile phone. An uplink chain comprises a positioning data sending module and a positioning data receiving module, wherein the positioning data sending module comprises a Bluetooth module of an intelligent mobile phone; the positioning data receiving module comprises a terminal Bluetooth receiving module. According to the indoor hybrid positioning system and the indoor hybrid positioning method, integrated hardware equipment in the current intelligent mobile phone can be fully utilized, a positioning device is simplified, so that the positioning device is easy to operate and convenient to carry everyday; meanwhile, the push of relevant information about the positions can be realized by utilizing a target position; the system is wide in application, high in practicability and can be effectively applied in public places such as supermarkets and libraries in future.
Description
Technical field
The present invention relates to a kind of indoor hybrid location system based on mobile phone inertial positioning and VLC and method, belong to technical field of visible light communication.
Background technology
Based on visible light communication (Visible Light Communication, VLC) the indoor positioning scheme of technology is owing to utilizing white semiconductor light emitting diode (Light Emitting Diode, LED) white light launched is as the carrier of positioning signal, so there is no electromagnetic radiation, not by the restriction of applied environment; And the transmission channel of VLC generally adopts direct projection channel, and multi-path jamming is smaller, so this targeting scheme can reach higher precision; In addition, the indoor locating system based on VLC technology is mutually compatible with following VLC communication technology, and therefore do not need expensive hardware device to drop into, cost compare is low.The patented claim of existing number of patent application: CN201410084621: " a kind of indoor orientation method based on visible ray label " gives one and carry out pinpoint apparatus and method based on light intensity, but these methods also have certain defect, the place that can not arrive for more indoor LED direct projection light or the place of being blocked, the positioning precision of this localization method sharply will decline and even lose efficacy.
The principle of inertial positioning system utilizes gyroscope and acceleration transducer, records direction and the distance of object movement, by object initial position try to achieve its move after position coordinates.This location algorithm is simple and be convenient to realize, and whether does not have the impact of illumination by surrounding environment, but shortcoming there are cumulative errors, is not suitable for long-time use.Therefore, inertial positioning technology is incorporated in VLC indoor locating system, complementation can be carried out with VLC indoor positioning technologies, improve the positioning precision of indoor locating system further.
The patent of existing number of patent application: CN201410067768: in " indoor hybrid location system and method based on inertial positioning and VLC technology ", descending transceiver module requires to use relevant FPGA, up transceiver module requires to use relevant FPGA and infrared LED to launch induction installation equally, whole system device is complicated, need additional configuration relevant device, and be not easy to carry.
21 century, smart mobile phone is progressively applied in daily life, and gyroscope integrated in mobile phone and accelerometer are that inertial positioning provides possibility, and the Bluetooth function in mobile phone is similarly uploading of information and provides possibility.Therefore, only need external VLC locating module to be connected with mobile phone by communication serial port, we just can realize the mixed positioning of VLC technology and mobile phone inertial positioning, realize uploading of information by Bluetooth of mobile phone simultaneously.This device realizes simple, and is easy to carry, and can meet the indoor positioning demand of people greatly.
Summary of the invention
The object of the invention is for solve existing indoor hybrid location system device complicated, be not easy to the problem of carrying, a kind of indoor hybrid location system based on mobile phone inertial positioning and VLC and method are proposed.
Based on an indoor hybrid location system of mobile phone inertial positioning and VLC, comprise the descending sending module of visible ray, inertia and VLC mixed positioning module, locator data sending module and locator data receiver module.
The annexation of above-mentioned ingredient is: the descending sending module of visible ray sends modulating coding signal by visible ray, VLC location receivers in inertia and VLC mixed positioning module receives and demodulation visible light signal rule out locating information, inertia is connected by mobile phone with locator data sending module with VLC mixed positioning module, transmits data between locator data sending module and locator data receiver module by Bluetooth signal.
By the descending sending module of visible ray and inertia and VLC mixed positioning module composition downlink, form up-link by locator data sending module and locator data receiver module.
The descending sending module of described visible ray comprises: descending sending processor and visible LED; The signal output part of descending sending processor is connected with the driving input end of visible LED, wherein, descending sending processor is made up of single-chip microcomputer or FPGA and driving circuit thereof, single-chip microcomputer or FPGA produce the signal frame that visible LED sends, and this signal frame contains the positional information of visible LED in indoor; This signal frame carries out Current amplifier by driving circuit, and the modulation signal after amplifying is loaded on the drive current of visible LED; Signal after modulation is launched with visible ray form by visible LED.
Described inertia and VLC mixed positioning module comprise: VLC location receivers, gyroscope, acceleration transducer, APP module built-in in communication interface and mobile phone.Described VLC location receivers contains photodetector, VLC position data collecting processing unit, photodetector converts electric signal to light signal, VLC position data collecting processing unit carries out analog to digital conversion electric signal, and calculates the photoelectric conversion signal intensity received; Described communication interface adopts serial ports or bluetooth, completes the communication of each intermodule of VLC location receivers and embedded in mobile phone; Described gyroscope is used for direction of measurement; Acceleration transducer is for measuring mobile phone displacement; APP module receives the photoelectric conversion signal intensity of the VLC location receivers that communications interface transmission is come, carry out threshold value judgement, if signal intensity is higher than threshold value, by strength relationship and the RSS localization method of different LED, APP model choice is based on VLC technology gained positional information, illumination more weak namely lower than threshold value time, think that light signal is blocked, APP model choice is based on inertial positioning gained positional information.The annexation of above-mentioned module is: the signal intensity after the conversion of VLC location receivers output photoelectric, communication interface is transferred to signal strength information in mobile phone A PP module, mobile phone A PP module obtains signal intensity by communication interface, and exports light-seeking information or inertial positioning information according to threshold value judgement.
Locator data sending module adopts the bluetooth module in mobile phone, and locator data is sent.
Locator data receiver module adopts terminal Bluetooth to receive locator data.
Based on an indoor hybrid locating method of mobile phone inertial positioning and VLC, concrete steps are:
Step 1, visible ray downlink module sends location coding information;
Described location coding information is based on multiple LED coded message (LED quantity is not less than 3).The ID coding that each LED is corresponding unique.Location coding information, based on time division multiplex (TDM), has common frame head, when detector receives the coded message of multiple LED simultaneously, can identify different ID codes;
Step 2, inertia and VLC mixed positioning module obtain the coded signal intensity of current different LED by VLC location receivers;
Step 3, inertia and VLC mixed positioning module are sent to the coded signal strength information that step 2 obtains in mobile phone by communication interface by VLC location receivers;
Step 4, mobile phone obtains inertial positioning information by gyroscope and accelerometer;
The method obtaining inertial positioning is: the initial position first set before mobile phone does not move is true origin, the mobile phone comprising accelerometer is utilized to carry out inertial navigation, mobile phone utilizes basic Acceleration Formula to resolve acceleration information, draw the displacement relative to initial position, and then positioned by the relativeness of displacement and initial position.
Step 5, APP module compares the coded signal intensity obtained from communication interface and threshold value, when coded signal intensity is greater than threshold value, calculate multiple LED relative intensity relation, obtain the attenuation distance of optical transport according to strength relationship, orient the relative position relation based on multiple LED light source (RSS location) at the photodetector place in VLC location receivers.When coded signal intensity is lower than threshold value, using the inertial positioning numerical value of step 4 as locator value.
Step 6, mobile phone is uploaded to locator data receiver module final locator data by the Bluetooth protocol of locator data sending module.
Beneficial effect
Compared with prior art, the present invention has following remarkable advantage:
The present invention makes full use of hardware device integrated in current smart mobile phone, simplifies locating device, simple to operate, and is convenient to daily carrying; Utilize target location to realize the propelling movement of location dependent information, be widely used, practical, can effectually apply in the public places such as the supermarket in future, library.
Accompanying drawing explanation
Fig. 1 is the structured flowchart of indoor mixed positioning device provided by the invention;
Fig. 2 is the indoor visible light positioning system prototype experiment system schematic based on LED illumination in embodiment;
Fig. 3 is the indoor visible light positioning system prototype experiment theory diagram based on LED illumination in embodiment;
Label declaration: 1-first LED, 2-second LED, 3-the 3rd LED, the single led lamp schematic diagram of 4-, 5-light signal, client 6-.
Embodiment
Below in conjunction with specific embodiment, the present invention is described in detail.Following examples are to invention has been detailed description, but specific embodiment of the invention form is not limited thereto.The explanation of this enforcement just understands method of the present invention and core concept thereof for helping; Meanwhile, for one of ordinary skill in the art, according to thought of the present invention, all will change in specific embodiments and applications, this description should not be construed as limitation of the present invention.The various apparent change carried out it when not deviating from spirit and the right of the method for the invention is all within protection scope of the present invention.
Mixed positioning device of the present invention as shown in Figure 1, comprises visible ray downlink module; Inertia and VLC mixed positioning module; Locator data sending module; Locator data receiver module.As shown in Figure 2, the system principle diagram of its correspondence as shown in Figure 3 for the indoor visible light positioning system prototype experiment system based on LED illumination of the present embodiment.
Embodiment 1: the descending sending module of visible ray comprises: descending sending processor road and visible LED;
See that the descending sending module of light produces location coding signal by FPGA (EP2C8Q208C8), driving circuit is loaded in corresponding LED after carrying out signal amplification.Signal after modulation is launched with visible ray form by visible LED.
Inertia and VLC mixed positioning module comprise: VLC location receivers, gyroscope, acceleration transducer and APP module built-in in communication interface and mobile phone;
In location receivers, light intensity is converted to electric signal by photoelectric detector PD A10A, and this signal, after FPGA process, can extract the strength of modulating signal of different LED, and communication interface adopts chip FT311D to realize serial communication.
Mobile phone used is Samsung I9508, and serial communication configuration parameter is set as, baud rate is 9600, and data bit is 8, and check bit is 0, and position of rest is 1.FPGA and mobile communication is realized by configuring above.
The signal intensity received is reached in mobile phone by serial ports.APP module in mobile phone judges the amplitude of light intensity, when the amplitude of light intensity is less than threshold value, thinks that light-seeking was lost efficacy, if light intensity amplitude is greater than threshold value, then the method for received signal strength can be adopted to obtain locator value.
Locator data sending module is the bluetooth module of smart mobile phone; Bluetooth module sends locator data.
Locator data receiver module is terminal Bluetooth receiver module; Terminal Bluetooth receiver module receives locator data.
Embodiment 2:
Adopt the visible ray downlink module identical with embodiment 1; Locator data sending module; Locator data receiver module; In communication interface in inertia and VLC mixed positioning module, adopt bluetooth module ATK-HC05-V1.
Disconnect KEY (or meeting GND), bluetooth module now can normal transceiving data, otherwise can not normal transceiving data.Mobile phone is installed: the bluetooth serial ports assistant V1.97apk in the supporting data of module.After installing software, open software, enter search bluetooth equipment interface, pointing device, namely enters select operating mode, and input password, complete pairing, bluetooth module answers successful connection.Data can be sent out mutually.Light intensity signal is transferred in mobile phone by bluetooth module.
The work concrete steps of above-mentioned indoor mixed positioning device are:
Step 1, visible ray downlink module sends location coding information;
Described location coding information is based on 3 LED coded messages.The ID coding that each LED is corresponding unique.Location coding information, based on time division multiplex (TDM), has common frame head, when detector receives the coded message of 3 LED simultaneously, can identify different ID codes;
Step 2, inertia and VLC mixed positioning module obtain the coded signal intensity of current different LED by VLC location receivers;
Step 3, inertia and VLC mixed positioning module are sent to the coded signal strength information that step 2 obtains in mobile phone by communication interface by VLC location receivers;
Step 4, mobile phone obtains inertial positioning information by gyroscope and accelerometer;
The method obtaining inertial positioning is: the initial position first set before mobile phone does not move is true origin, the mobile phone comprising accelerometer is utilized to carry out inertial navigation, mobile phone utilizes basic Acceleration Formula to resolve acceleration information, draw the displacement relative to initial position, and then positioned by the relativeness of displacement and initial position.
Step 5, APP module compares the coded signal intensity obtained from communication interface and threshold value, when coded signal intensity is greater than threshold value, calculate multiple LED relative intensity relation, obtain the attenuation distance of optical transport according to strength relationship, orient the relative position relation based on multiple LED light source (RSS location) at the photodetector place in VLC location receivers.When coded signal intensity is lower than threshold value, using the numerical value of inertial positioning as locator value.
Step 6, mobile phone is uploaded to locator data receiver module final locator data by the Bluetooth protocol of locator data sending module.
Above specific embodiments of the invention are described.It is to be appreciated that the present invention is not limited to above-mentioned particular implementation, those skilled in the art can make various distortion or amendment within the scope of the claims, and this does not affect flesh and blood of the present invention.
Claims (8)
1., based on an indoor hybrid location system for mobile phone inertial positioning and VLC technology, it is characterized in that: comprise the descending sending module of visible ray, inertia and VLC mixed positioning module, locator data sending module and locator data receiver module; By the descending sending module of visible ray and inertia and VLC mixed positioning module composition downlink, form up-link by locator data sending module and locator data receiver module;
The descending sending module of described visible ray comprises: descending sending processor and visible LED; The signal output part of descending sending processor is connected with the driving input end of visible LED, and wherein, descending sending processor produces the signal frame that visible LED sends, and this signal frame contains the positional information of visible LED in indoor; This signal frame carries out Current amplifier by driving circuit, and the modulation signal after amplifying is loaded on the drive current of visible LED; Signal after modulation is launched with visible ray form by visible LED;
Described inertia and VLC mixed positioning module comprise: VLC location receivers, gyroscope, acceleration transducer, APP module built-in in communication interface and mobile phone; Described VLC location receivers contains photodetector, VLC position data collecting processing unit, photodetector converts electric signal to light signal, VLC position data collecting processing unit carries out analog to digital conversion electric signal, and calculates the photoelectric conversion signal intensity received; Described communication interface completes the communication of each intermodule of VLC location receivers and embedded in mobile phone; Described gyroscope is used for direction of measurement; Acceleration transducer is for measuring mobile phone displacement; APP module receives the photoelectric conversion signal intensity of the VLC location receivers that communications interface transmission is come, carry out threshold value judgement, if signal intensity is higher than threshold value, by strength relationship and the RSS localization method of different LED, APP model choice is based on VLC technology gained positional information, illumination more weak namely lower than threshold value time, think that light signal is blocked, APP model choice is based on inertial positioning gained positional information; The annexation of above-mentioned module is: the signal intensity after the conversion of VLC location receivers output photoelectric, communication interface is transferred to signal strength information in mobile phone A PP module, mobile phone A PP module obtains signal intensity by communication interface, and exports light-seeking information or inertial positioning information according to threshold value judgement;
Locator data sending module refers to the bluetooth module of smart mobile phone, by bluetooth module, locator data is sent;
Locator data receiver module refers to terminal Bluetooth receiver module; Described terminal Bluetooth receiver module receives locator data.
2., based on the indoor hybrid location system based on mobile phone inertial positioning and VLC technology according to claim 1, it is characterized in that: described descending sending processor is FPGA and driving circuit thereof.
3., based on the indoor hybrid location system based on mobile phone inertial positioning and VLC technology according to claim 1, it is characterized in that: the descending sending processor of the descending sending module of described visible ray is single-chip microcomputer and driving circuit thereof.
4. based on the indoor hybrid location system based on mobile phone inertial positioning and VLC technology according to claim 1, it is characterized in that: in described inertia and VLC mixed positioning module, communication interface is serial ports.
5. based on the indoor hybrid location system based on mobile phone inertial positioning and VLC technology according to claim 1, it is characterized in that: in described inertia and VLC mixed positioning module, communication interface is bluetooth.
6., based on an indoor hybrid locating method of mobile phone inertial positioning and VLC, it is characterized in that: concrete steps are:
Step 1, visible ray downlink module sends location coding information;
Step 2, inertia and VLC mixed positioning module obtain the coded signal intensity of current different LED by VLC location receivers;
Step 3, inertia and VLC mixed positioning module are sent to the coded signal strength information that step 2 obtains in mobile phone by communication interface by VLC location receivers;
Step 4, mobile phone obtains inertial positioning information by gyroscope and accelerometer;
Step 5, APP module compares the coded signal intensity obtained from communication interface and threshold value, when coded signal intensity is greater than threshold value, calculate multiple LED relative intensity relation, obtain the attenuation distance of optical transport according to strength relationship, orient the relative position relation based on multiple LED light source at the photodetector place in VLC location receivers; When coded signal intensity is lower than threshold value, using the inertial positioning numerical value of step 4 as locator value;
Step 6, mobile phone is uploaded to locator data receiver module final locator data by the Bluetooth protocol of locator data sending module.
7. based on a kind of indoor hybrid locating method based on mobile phone inertial positioning and VLC according to claim 6, it is characterized in that: location coding information described in step 1 is for based on multiple LED coded message; The ID coding that each LED is corresponding unique; Location coding information, based on time division multiplex, has common frame head, when detector receives the coded message of multiple LED simultaneously, can identify different ID codes.
8. based on a kind of indoor hybrid locating method based on mobile phone inertial positioning and VLC according to claim 6, it is characterized in that: obtaining inertial positioning method described in step 4 is: the initial position first set before mobile phone does not move is true origin, the mobile phone comprising accelerometer is utilized to carry out inertial navigation, mobile phone utilizes basic Acceleration Formula to resolve acceleration information, draw the displacement relative to initial position, and then positioned by the relativeness of displacement and initial position.
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