CN105301562A - Wireless positioning system of visible light communication - Google Patents

Abstract

The invention relates to a wireless positioning system of visible light communication. The wireless positioning system comprises a mobile reception end, a relay and positioning integrated device and emission ends; each emission end comprises a microprocessor, an LED light source, an RFID label storing the geographical position of the LED light source, a first optical-electrical signal converter, a first Bluetooth module and a solar cell, the LED light source is uniformly provided with multiple square LED crystal lattices which are numbered independently, and each LED crystal lattice is provided with black LED, blue LED, green LED and red LED; the mobile reception end comprises a central processor, a GPS positioning module, an optical signal receiver, a signal amplifier, a noise filter, a signal comparator, a second optical-electrical signal converter, a camera, an LTE communication module, a second Bluetooth module, a position adapter and a display screen; and the relay and positioning integrated device comprises a fusion processing module and a third Bluetooth module. The system can carry out positioning accurately via visible light, and can be used to interact abundant information via a multi-dimension color code or two-dimensional code.

Description

Visible light communication wireless location system

Technical field

The present invention relates to field of locating technology, particularly relate to a kind of visible light communication wireless location system.

Background technology

Along with the development of mobile Internet, the various position service system based on location is constantly released in succession.Current, the outdoor wireless location system be most widely used is the GPS GPS based on the U.S..By arranging GPS locating module in mobile terminal, can in outdoor for mobile terminal provides higher positioning service.But, in the movable more family room of people or buildings than in the particular surroundings of comparatively dense, gps signal can be blocked, so that the positioning performance of these particular surroundingss is poor.

In recent years, along with the development of the visible light communication technology of LED green light source and constantly generally arranging of LED green light source, the localization method based on visible light communication is proposed in succession.After this visible light communication is located through and the location information data of each LED green light source is converted to light signal, by LED green light source, luminous ray is launched, then this light is received by mobile terminal, and change, the position data extracted in light signal, thus obtain the current location of mobile terminal.But existing visible light communication location depends on separately visible light communication and positions, and its locating effect is limited.

Summary of the invention

Technical matters to be solved by this invention provides one can obtain current geographic position exactly for above-mentioned prior art, can realize again the visible light communication wireless location system that abundant information is mutual.

The present invention solves the problems of the technologies described above adopted technical scheme: visible light communication wireless location system, it is characterized in that, comprise mobile reception end, relaying location fusing device and some transmitting terminals, described transmitting terminal distributes equably and is arranged on around the fusing device of relaying location; Wherein,

Described transmitting terminal comprises microprocessor and connects the LED light source of microprocessor, the RFID label tag storing LED light source geographical location information, the first photoelectric signal converter, the first bluetooth module and solar cell respectively; Described LED light source is arranged equably some luminous lattices of square LED with independent numbering; Be provided with black light LED, blue-ray LED, green light LED and red-light LED in the luminous lattice of described each LED, described black light LED, blue-ray LED, green light LED are connected microprocessor respectively with red-light LED; Described LED light source connects solar cell; Wherein,

Described microprocessor, in order to read the LED light source geographical location information stored in RFID label tag, and is converted to the color code information of optical information, 2 D code information and multidimensional respectively by LED light source geographic position letter, and orders the luminous lattice of LED to perform luminescence;

Described first photoelectric signal converter, in order to the modulation orders according to microprocessor, is converted to light signal by LED light source geographical location information by electric signal;

Described first bluetooth module, in order to receive, to detect the Bluetooth signal of mobile reception end, and sends to relaying to locate fusing device by the Bluetooth signal intensity level of detection;

Described LED light source, on the one hand after LED light source geographical location information is converted to 2 D code information, according to microprocessor to the luminescence of the luminous lattice of LED or black out order, sends light and dark image in 2 D code; On the other hand after LED light source geographical location information is converted to the color code information of multidimensional, according to microprocessor respectively to luminescence or the black out order of black light LED, blue-ray LED, green light LED and red-light LED, send the color code image of the multidimensional be made up of different colours;

Described mobile reception end comprise central processing unit and connect the GPS locating module of central processing unit respectively, device, signal comparator, the second photoelectric signal converter, camera, LTE communication module, the second bluetooth module, location matches device and display screen are made an uproar in optical signal receiver, signal amplifier, filter; Described signal amplifier connects optical signal receiver and filter respectively and to make an uproar device, and described signal comparator connects filter and to make an uproar device and the second photoelectric signal converter; Described location matches device connects the second photoelectric signal converter and display screen respectively, and described display screen connects camera, and described GPS locating module connects LTE communication module and display screen; Wherein, described GPS locating module, in order to obtain the positional information of mobile reception end when outdoor environment, and by display screen display position;

Described optical signal receiver, in order to receive the light signal that in each transmitting terminal, LED light source sends, and the light signal of transmission and reception carries out amplification process to signal amplifier;

Described filter is made an uproar device, in order to make an uproar to the light signal filter after amplifying, then sends to signal comparator to judge: when light signal strength exceedes predetermined threshold value, then judged result is sent to the second photoelectric signal converter, start opto-electronic conversion;

Described second photoelectric signal converter, in order to the light signal of reception to be converted to the electric signal in LED light source geographic position, is shown the geographic position of this LED light source according to the matching result of location matches device to electric signal by display screen;

Described camera, in order to scan the image in 2 D code or the color code image of multidimensional that LED light source sends, and extracts the LED light source geographical location information in image in 2 D code or the color code image of multidimensional by central processing unit;

Described second bluetooth module, the light signal strength value in order to each transmitting terminal after device process of filter being made an uproar sends to relaying to locate fusing device;

Described relaying location fusing device comprises fusion treatment module and the 3rd bluetooth module, and the 3rd bluetooth module connects the first bluetooth module, fusion treatment module and the second bluetooth module respectively;

Described fusion treatment module, receives the light signal strength value of each transmitting terminal that mobile reception end sends, and according to each light signal strength value received, calculates the current residing geographic position of mobile reception end, and send to mobile reception end through the 3rd bluetooth module; Wherein, the process calculating mobile reception end current geographic position in turn includes the following steps:

(1) set each transmitting terminal and be respectively R ₁, R ₂, R ₃, R ₄..., R _n, transmitting terminal R ₁, R ₂, R ₃, R ₄..., R _ngeographic coordinate be respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) ..., (x _n, y _n, z _n), the light signal strength value of each transmitting terminal that fusion treatment module receives in time period T is respectively p ₁₁, p ₁₂, p ₁₃..., p _1M; p ₂₁, p ₂₂, p ₂₃..., p _2M; p ₃₁, p ₃₂, p ₃₃..., p _3M; ...; p _n1, p _n2, p _n3..., p _nM; The reference geographic coordinate of mobile reception end is (x, y, z), and the actual geographic coordinate of mobile reception end is (x _r, y _r, z _r), N34, M31;

(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates the signal intensity root-mean-square value p of the light signal strength value of each transmitting terminal _i; Wherein,

$p_i=\sqrt{\frac{1}{M}\underset{j=1}{\overset{M}{\Σ}}{p^2}_{ij}},i=1,2,3,...,N;$ Formula (1)

Wherein, p _irepresent transmitting terminal R _ithe root-mean-square value of light signal strength value, p _ijrepresent transmitting terminal R _isome light signal strength values;

(3) according to the light signal strength root-mean-square value p of each transmitting terminal received ₁, p ₂, p ₃, p ₄..., p _n, choose the value p that signal intensity root-mean-square value size is positioned at first four ₁, p ₂, p ₃and p ₄;

(4) according to the signal intensity root-mean-square value p of each transmitting terminal ₁, p ₂, p ₃and p ₄, obtain transmitting terminal R respectively ₁, R ₂, R ₃and R ₄to the distance d of mobile reception end ₁, d ₂, d ₃and d ₄; Wherein,

$p_i=p_0+10{\mathrm{nlog}}_{10}\[\frac{d_i+v}{d_0}\]+\mathrm{\ξ},i=1,2,3,4;$ Formula (2)

$d_i=d_0{10}^{\frac{p_i-p_0-\mathrm{\ξ}}{10n}}-v$ Formula (3)

Wherein, p _ifor transmitting terminal R _ilight signal strength root-mean-square value, n is path loss index, and ξ is the random number meeting Gaussian distribution, and its average is zero, d _ifor transmitting terminal R _ito the distance of mobile reception end, d ₀for reference distance, p ₀for distance mobile reception end d ₀the signal strength values at place, v is distance estimations error, be a numerical value is the stochastic variable of positive number, and i=1,2,3,4;

(5) according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃) and (x ₄, y ₄, z ₄), and the distance d obtained ₁, d ₂, d ₃and d ₄, solve the reference geographic coordinate (x, y, z) of mobile reception end, solution procedure comprises:

A () is to transmitting terminal R ₁, R ₂, R ₃and R ₄be one group with three, divide into groups, obtain four groups of transmitting terminals combination: R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₃(x ₃, y ₃, z ₃), R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₄(x ₄, y ₄, z ₄), R ₁(x ₁, y ₁, z ₁), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄), R ₂(x ₂, y ₂, z ₂), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄);

B () is according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) and distance d ₁, d ₂, d ₃and d ₄, calculate respectively first geographic coordinate (x', y', z') of mobile reception end, the second geographic coordinate (x "; y ", z "), the 3rd geographic coordinate (x " ', y " '; z " ') and the 4th geographic coordinate (x " ", y " ", z " "); Wherein,

$\left\{\begin{array}{c}{(x_1-x^{\′})}^2+{(y_1-y^{\′})}^2+{(z_1-z^{\′})}^2={d_1}^2\\ {(x_2-x^{\′})}^2+{(y_2-y^{\′})}^2+{(z_2-z^{\′})}^2={d_2}^2\\ {(x_3-x^{\′})}^2+{(y_3-y^{\′})}^2+{(z_3-z^{\′})}^2={d_3}^2\end{array}\right.$ Formula (4)

$\left\{\begin{array}{c}{(x_1-x^{\′\′})}^2+{(y_1-y^{\′\′})}^2+{(z_1-z^{\′\′})}^2={d_1}^2\\ {(x_2-x^{\′\′})}^2+{(y_2-y^{\′\′})}^2+{(z_2-z^{\′\′})}^2={d_2}^2\\ {(x_4-x^{\′\′})}^2+{(y_4-y^{\′\′})}^2+{(z_4-z^{\′\′})}^2={d_4}^2\end{array}\right.$ Formula (5)

$\left\{\begin{array}{c}{(x_1-x^{\′\′\′})}^2+{(y_1-y^{\′\′\′})}^2+{(z_1-z^{\′\′\′})}^2={d_1}^2\\ {(x_3-x^{\′\′\′})}^2+{(y_3-y^{\′\′\′})}^2+{(z_3-z^{\′\′\′})}^2={d_3}^2\\ {(x_4-x^{\′\′\′})}^2+{(y_4-y^{\′\′\′})}^2+{(z_4-z^{\′\′\′})}^2={d_4}^2\end{array}\right.$ Formula (6)

$\left\{\begin{array}{c}{(x_2-x^{\′\′\′\′})}^2+{(y_2-y^{\′\′\′\′})}^2+{(z_2-z^{\′\′\′\′})}^2={d_1}^2\\ {(x_3-x^{\′\′\′\′})}^2+{(y_3-y^{\′\′\′\′})}^2+{(z_3-z^{\′\′\′\′})}^2={d_3}^2\\ {(x_4-x^{\′\′\′\′})}^2+{(y_4-y^{\′\′\′\′})}^2+{(z_4-z^{\′\′\′\′})}^2={d_4}^2\end{array}\right.$ Formula (7)

C () is according to the first geographic coordinate (x' of the mobile reception end obtained, y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " "); calculate the reference geographic coordinate (x, y, z) of mobile reception end; Wherein,

$\left\{\begin{array}{c}x=\frac{\frac{x^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{x^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{x^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{x^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ y=\frac{\frac{y^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{y^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{y^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{y^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ z=\frac{\frac{z^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{z^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{z^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{z^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\end{array}\right.$ Formula (8);

(6) according to the first geographic coordinate (x' of the mobile reception end calculated in step (5), y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " ") and reference the geographic coordinate (x; y, z) of mobile reception end that obtains, calculating mobile reception end actual geographic coordinate (x _r, y _r, z _r) positioning error Δ x, Δ y, Δ z, wherein:

$\left\{\begin{array}{c}{x}^{\′}-x={\mathrm{\Δx}}_1\\ x^{\′\′}-x={\mathrm{\Δx}}_2\\ x^{\′\′\′}-x={\mathrm{\Δx}}_3\\ x^{\′\′\′\′}-x={\mathrm{\Δx}}_4\end{array}\right.$ Formula (9)

$\left\{\begin{array}{c}{y}^{\′}-y={\mathrm{\Δy}}_1\\ y^{\′\′}-y={\mathrm{\Δy}}_2\\ y^{\′\′\′}-y={\mathrm{\Δy}}_3\\ y^{\′\′\′\′}-y={\mathrm{\Δy}}_4\end{array}\right.$ Formula (10)

$\left\{\begin{array}{c}{z}^{\′}-z={\mathrm{\Δz}}_1\\ z^{\′\′}-z={\mathrm{\Δz}}_2\\ z^{\′\′\′}-z={\mathrm{\Δz}}_3\\ z^{\′\′\′\′}-z={\mathrm{\Δz}}_4\end{array}\right.$ Formula (11)

$\left\{\begin{array}{c}\mathrm{\Δ}x=\frac{{\mathrm{\Δx}}_1+{\mathrm{\Δx}}_2+{\mathrm{\Δx}}_3+{\mathrm{\Δx}}_4}{4}\\ \mathrm{\Δ}y=\frac{{\mathrm{\Δy}}_1+{\mathrm{\Δy}}_2+{\mathrm{\Δy}}_3+{\mathrm{\Δy}}_4}{4}\\ \mathrm{\Δ}z=\frac{{\mathrm{\Δz}}_1+{\mathrm{\Δz}}_2+{\mathrm{\Δz}}_3+{\mathrm{\Δz}}_4}{4}\end{array}\right.$ Formula (12)

(7) according to the reference geographic coordinate (x, y, z) of the mobile reception end calculated and the positioning error Δ x of calculating, Δ y, Δ z, calculate the actual coordinate (x of mobile reception end _r, y _r, z _r):

$\left\{\begin{array}{c}{x}_R=x+\mathrm{\Δ}x\\ y_R=y+\mathrm{\Δ}y\\ z_R=z+\mathrm{\Δ}z\end{array}\right.$ Formula (13).

Compared with prior art, the invention has the advantages that: each transmitting terminal geographic position is after the first photoelectric signal converter transfers light signal to by electric signal, luminous according to the light signal situation after modulation by microprocessor instructs LED luminous intracell black light LED, blue-ray LED, green light LED and red-light LED, to irradiate the color code of multidimensional containing transmitting terminal geographic position or Quick Response Code, camera is utilized to scan by mobile reception terminal, the geographical location information obtained in the color code of multidimensional or Quick Response Code; After the light signal of each transmitting terminal that mobile reception terminal receives, demodulation receives, extract the geographic position data in light signal, GPS locating module then independently obtains the geographic position data under outdoor environment; The light signal strength value that relaying location fusing device is received according to mobile reception termination, merges the current geographic position data obtaining mobile reception end, and is supplied to mobile reception end.This visible light communication wireless location system is on outdoor GPS location base, the visible ray sent in conjunction with each transmitting terminal accurately merges location, also send to mobile reception end to extract with the form of the color code of multidimensional or Quick Response Code the information such as abundant geographic position simultaneously, both obtained mobile reception end current geographic position exactly, the object that this positioning system utilizes the mutual abundant information of the color code of multidimensional can be achieved again.

Accompanying drawing explanation

Fig. 1 is the structural representation of visible light communication wireless location system in the embodiment of the present invention;

The localization method schematic flow sheet that Fig. 2 adopts for positioning system shown in Fig. 1;

Fig. 3 is the emulation positioning performance curve synoptic diagram of positioning system in the embodiment of the present invention.

Embodiment

Below in conjunction with accompanying drawing embodiment, the present invention is described in further detail.

As shown in Figure 1, the visible light communication wireless location system of the present embodiment, comprises mobile reception end 1, relaying location fusing device 2 and some transmitting terminals 3, and transmitting terminal 3 distributes equably and is arranged on relaying location fusing device 2 around; Wherein,

Transmitting terminal 3 comprises microprocessor 300 and connects the LED light source 301 of microprocessor 300, RFID label tag 302, first photoelectric signal converter 303, first bluetooth module 304 storing LED light source 301 geographical location information and solar cell 305 respectively; LED light source 301 is arranged equably some luminous lattices of square LED with independent numbering; Be provided with black light LED3011, blue-ray LED 3012, green light LED 3013 and red-light LED 3014 in the luminous lattice of each LED, black light LED3011, blue-ray LED 3012, green light LED 3013 are connected microprocessor 300 respectively with red-light LED 3014; LED light source 301 connects solar cell 305; Wherein,

Microprocessor 300, in order to read the LED light source geographical location information stored in RFID label tag 302, and is converted to the color code information of optical information, 2 D code information and multidimensional respectively by LED light source geographic position letter, and orders the luminous lattice of LED to perform luminescence;

First photoelectric signal converter 303, in order to the modulation orders according to microprocessor 300, is converted to light signal by LED light source geographical location information by electric signal;

First bluetooth module 304, in order to receive, to detect the Bluetooth signal of mobile reception end 1, and sends to relaying to locate fusing device 2 by the Bluetooth signal intensity level of detection;

LED light source 301, on the one hand after LED light source geographical location information is converted to 2 D code information, according to luminescence or the black out order of the luminous lattice of microprocessor 300 couples of LED, sends light and dark image in 2 D code; On the other hand after LED light source geographical location information is converted to the color code information of multidimensional, according to microprocessor 300 respectively to luminescence or the black out order of black light LED3011, blue-ray LED 3012, green light LED 3013 and red-light LED 3014, send the color code image of the multidimensional be made up of different colours;

Mobile reception end 1 comprise central processing unit 100 and connect the GPS locating module 101 of central processing unit 100 respectively, device 104, signal comparator 105, second photoelectric signal converter 106, camera 107, LTE communication module 108, second bluetooth module 109, location matches device 110 and display screen 111 are made an uproar in optical signal receiver 102, signal amplifier 103, filter; Signal amplifier 103 connects optical signal receiver 102 and filter respectively and to make an uproar device 104, and signal comparator 105 connects filter and to make an uproar device 104 and the second photoelectric signal converter 106; Location matches device 110 connects the second photoelectric signal converter 106 and display screen 111 respectively, and display screen 111 connects camera 107, GPS locating module 101 and connects LTE communication module 108 and display screen 111; Wherein,

GPS locating module 101, in order to obtain the positional information of mobile reception end 1 when outdoor environment, and by display screen 111 display position;

Optical signal receiver 102, in order to receive the light signal that in each transmitting terminal 3, LED light source 301 sends, and the light signal of transmission and reception carries out amplification process to signal amplifier 103;

Filter device 104 of making an uproar, in order to make an uproar to the light signal filter after amplification, then send to signal comparator 105 to judge: when light signal strength exceedes predetermined threshold value, then judged result is sent to the second photoelectric signal converter 106, start opto-electronic conversion;

Second photoelectric signal converter 106, in order to the light signal of reception to be converted to the electric signal in LED light source geographic position, is shown the geographic position of this LED light source by display screen 111;

Camera 107, in order to scan the image in 2 D code or the color code image of multidimensional that LED light source sends, and extracts the LED light source geographical location information in image in 2 D code or the color code image of multidimensional by central processing unit 100;

Second bluetooth module 109, the light signal strength value of each transmitting terminal after processing in order to device 104 of filter being made an uproar sends to relaying to locate fusing device 2;

Relaying location fusing device 2 comprises fusion treatment module 20 and the 3rd bluetooth module the 21, three bluetooth module 21 connects the first bluetooth module 304, fusion treatment module 20 and the second bluetooth module 109 respectively;

Fusion treatment module 20, the light signal strength value that each transmitting terminal 3 that reception mobile reception end 1 sends sends, and according to each light signal strength value received, calculate the current residing geographic position of mobile reception end 1, and send to mobile reception end 1 through the 3rd bluetooth module 21; Wherein, the process calculating mobile reception end 1 current geographic position in turn includes the following steps:

(1) set each transmitting terminal and be respectively R ₁, R ₂, R ₃, R ₄..., R _n, transmitting terminal R ₁, R ₂, R ₃, R ₄..., R _ngeographic coordinate be respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) ..., (x _n, y _n, z _n), the light signal strength value of each transmitting terminal that fusion treatment module receives in time period T is respectively p ₁₁, p ₁₂, p ₁₃..., p _1M; p ₂₁, p ₂₂, p ₂₃..., p _2M; p ₃₁, p ₃₂, p ₃₃..., p _3M; ...; p _n1, p _n2, p _n3..., p _nM; The reference geographic coordinate of mobile reception end is (x, y, z), and the actual geographic coordinate of mobile reception end is (x _r, y _r, z _r), N>=4, M>=1;

(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates the signal intensity root-mean-square value p of the light signal strength value of each transmitting terminal _i; Wherein,

$p_i=\sqrt{\frac{1}{M}\underset{j=1}{\overset{M}{\Σ}}{p^2}_{ij}},i=1,2,3,...,N;$ Formula (1)

Wherein, p _irepresent transmitting terminal R _ithe root-mean-square value of light signal strength value, p _ijrepresent transmitting terminal R _isome light signal strength values;

(3) according to the light signal strength root-mean-square value p of each transmitting terminal received ₁, p ₂, p ₃, p ₄..., p _n, choose the value p that signal intensity root-mean-square value size is positioned at first four ₁, p ₂, p ₃and p ₄;

(4) according to the signal intensity root-mean-square value p of each transmitting terminal ₁, p ₂, p ₃and p ₄, obtain transmitting terminal R respectively ₁, R ₂, R ₃and R ₄to the distance d of mobile reception end ₁, d ₂, d ₃and d ₄; Wherein,

$p_i=p_0+10{\mathrm{nlog}}_{10}\[\frac{d_i+v}{d_0}\]+\mathrm{\ξ},i=1,2,3,4;$ Formula (2)

$d_i=d_0{10}^{\frac{p_i-p_0-\mathrm{\ξ}}{10n}}-v$ Formula (3)

Wherein, p _ifor transmitting terminal R _ilight signal strength root-mean-square value, n is path loss index, and ξ is the random number meeting Gaussian distribution, and its average is zero, d _ifor transmitting terminal R _ito the distance of mobile reception end, d ₀for reference distance, p ₀for distance mobile reception end d ₀the signal strength values at place, v is distance estimations error, be a numerical value is the stochastic variable of positive number, and i=1,2,3,4;

(5) according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃) and (x ₄, y ₄, z ₄), and the distance d obtained ₁, d ₂, d ₃and d ₄, solve the reference geographic coordinate (x, y, z) of mobile reception end, solution procedure comprises:

A () is to transmitting terminal R ₁, R ₂, R ₃and R ₄be one group with three, divide into groups, obtain four groups of transmitting terminals combination: R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₃(x ₃, y ₃, z ₃), R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₄(x ₄, y ₄, z ₄), R ₁(x ₁, y ₁, z ₁), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄), R ₂(x ₂, y ₂, z ₂), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄);

B () is according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) and distance d ₁, d ₂, d ₃and d ₄, calculate respectively first geographic coordinate (x', y', z') of mobile reception end, the second geographic coordinate (x "; y ", z "), the 3rd geographic coordinate (x " ', y " '; z " ') and the 4th geographic coordinate (x " ", y " ", z " "); Wherein,

$\left\{\begin{array}{c}{(x_1-x^{\′})}^2+{(y_1-y^{\′})}^2+{(z_1-z^{\′})}^2={d_1}^2\\ {(x_2-x^{\′})}^2+{(y_2-y^{\′})}^2+{(z_2-z^{\′})}^2={d_2}^2\\ {(x_3-x^{\′})}^2+{(y_3-y^{\′})}^2+{(z_3-z^{\′})}^2={d_3}^2\end{array}\right.$ Formula (4)

$\left\{\begin{array}{c}{(x_1-x^{\′\′})}^2+{(y_1-y^{\′\′})}^2+{(z_1-z^{\′\′})}^2={d_1}^2\\ {(x_2-x^{\′\′})}^2+{(y_2-y^{\′\′})}^2+{(z_2-z^{\′\′})}^2={d_2}^2\\ {(x_4-x^{\′\′})}^2+{(y_4-y^{\′\′})}^2+{(z_4-z^{\′\′})}^2={d_4}^2\end{array}\right.$ Formula (5)

$\left\{\begin{array}{c}{(x_1-x^{\′\′\′})}^2+{(y_1-y^{\′\′\′})}^2+{(z_1-z^{\′\′\′})}^2={d_1}^2\\ {(x_3-x^{\′\′\′})}^2+{(y_3-y^{\′\′\′})}^2+{(z_3-z^{\′\′\′})}^2={d_3}^2\\ {(x_4-x^{\′\′\′})}^2+{(y_4-y^{\′\′\′})}^2+{(z_4-z^{\′\′\′})}^2={d_4}^2\end{array}\right.$ Formula (6)

$\left\{\begin{array}{c}{(x_2-x^{\′\′\′\′})}^2+{(y_2-y^{\′\′\′\′})}^2+{(z_2-z^{\′\′\′\′})}^2={d_1}^2\\ {(x_3-x^{\′\′\′\′})}^2+{(y_3-y^{\′\′\′\′})}^2+{(z_3-z^{\′\′\′\′})}^2={d_3}^2\\ {(x_4-x^{\′\′\′\′})}^2+{(y_4-y^{\′\′\′\′})}^2+{(z_4-z^{\′\′\′\′})}^2={d_4}^2\end{array}\right.$ Formula (7)

C () is according to the first geographic coordinate (x' of the mobile reception end obtained, y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " "); calculate the reference geographic coordinate (x, y, z) of mobile reception end; Wherein,

$\left\{\begin{array}{c}x=\frac{\frac{x^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{x^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{x^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{x^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ y=\frac{\frac{y^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{y^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{y^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{y^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ z=\frac{\frac{z^{\′}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{z^{\′\′}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{z^{\′\′\′}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{z^{\′\′\′\′}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\end{array}\right.$ Formula (8);

(6) according to the first geographic coordinate (x' of the mobile reception end calculated in step (5), y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " ") and reference the geographic coordinate (x; y, z) of mobile reception end that obtains, calculating mobile reception end actual geographic coordinate (x _r, y _r, z _r) positioning error Δ x, Δ y, Δ z, wherein:

$\left\{\begin{array}{c}{x}^{\′}-x={\mathrm{\Δx}}_1\\ x^{\′\′}-x={\mathrm{\Δx}}_2\\ x^{\′\′\′}-x={\mathrm{\Δx}}_3\\ x^{\′\′\′\′}-x={\mathrm{\Δx}}_4\end{array}\right.$ Formula (9)

$\left\{\begin{array}{c}{y}^{\′}-y={\mathrm{\Δy}}_1\\ y^{\′\′}-y={\mathrm{\Δy}}_2\\ y^{\′\′\′}-y={\mathrm{\Δy}}_3\\ y^{\′\′\′\′}-y={\mathrm{\Δy}}_4\end{array}\right.$ Formula (10)

$\left\{\begin{array}{c}{z}^{\′}-z={\mathrm{\Δz}}_1\\ z^{\′\′}-z={\mathrm{\Δz}}_2\\ z^{\′\′\′}-z={\mathrm{\Δz}}_3\\ z^{\′\′\′\′}-z={\mathrm{\Δz}}_4\end{array}\right.$ Formula (11)

$\left\{\begin{array}{c}\mathrm{\Δ}x=\frac{{\mathrm{\Δx}}_1+{\mathrm{\Δx}}_2+{\mathrm{\Δx}}_3+{\mathrm{\Δx}}_4}{4}\\ \mathrm{\Δ}y=\frac{{\mathrm{\Δy}}_1+{\mathrm{\Δy}}_2+{\mathrm{\Δy}}_3+{\mathrm{\Δy}}_4}{4}\\ \mathrm{\Δ}z=\frac{{\mathrm{\Δz}}_1+{\mathrm{\Δz}}_2+{\mathrm{\Δz}}_3+{\mathrm{\Δz}}_4}{4}\end{array}\right.$ Formula (12)

(7) according to the reference geographic coordinate (x, y, z) of the mobile reception end calculated and the positioning error Δ x of calculating, Δ y, Δ z, calculate the actual coordinate (x of mobile reception end _r, y _r, z _r):

$\left\{\begin{array}{c}{x}_R=x+\mathrm{\Δ}x\\ y_R=y+\mathrm{\Δ}y\\ z_R=z+\mathrm{\Δ}z\end{array}\right.$ Formula (13).

Fig. 3 gives the simulation result curve synoptic diagram of the localization method of visible light communication positioning system in the present embodiment, has also done emulation to traditional GPS localization method simultaneously.As seen from Figure 3, when transmitting terminal quantity is certain, the Positioning estimation error of the localization method that the present embodiment positioning system adopts is lower than traditional GPS localization method, and this illustrates that the localization method that the present embodiment positioning system adopts has better positioning performance; It can also be seen that, along with the continuous increase of transmitting terminal number, the positioning performance of the visible ray localization method adopted in the present embodiment improves gradually.This fully shows, the visible ray localization method adopted in the present embodiment system has positioning performance more better than traditional GPS localization method.

The course of work of the visible light communication wireless location system in the present embodiment is as follows: transmitting terminal geographic position is after the first photoelectric signal converter 303 transfers light signal to by electric signal, order LED luminous intracell black light LED3011, blue-ray LED 3012, green light LED 3013 and red-light LED 3014 luminous according to the light signal situation after modulation by microprocessor 300, to irradiate the color code of multidimensional containing this transmitting terminal geographic position or Quick Response Code, microprocessor 300 can also order the luminous lattice of LED to send the color code of multidimensional containing other abundant informations or Quick Response Code; Mobile reception end 1 utilizes camera 107 to scan, the geographical location information obtained in the color code of multidimensional or Quick Response Code, and after reception, separating dim signal, extract the geographic position data in light signal, GPS locating module 101 then independently obtains the geographic position under outdoor environment, and is shown by display screen 111; Relaying location fusing device 2, according to each light signal strength received, merges the current geographic position data obtaining mobile reception end 1, and provides fusion gained geographic position data to mobile reception end 1.

Claims (1)

1. visible light communication wireless location system, is characterized in that, comprises mobile reception end, relaying location fusing device and some transmitting terminals, and described transmitting terminal distributes equably and is arranged on around the fusing device of relaying location; Wherein,

Described transmitting terminal comprises microprocessor and connects the LED light source of microprocessor, the RFID label tag storing LED light source geographical location information, the first photoelectric signal converter, the first bluetooth module and solar cell respectively; Described LED light source is arranged equably some luminous lattices of square LED with independent numbering; Be provided with black light LED, blue-ray LED, green light LED and red-light LED in the luminous lattice of described each LED, described black light LED, blue-ray LED, green light LED are connected microprocessor respectively with red-light LED; Described LED light source connects solar cell; Wherein,

Described microprocessor, in order to read the LED light source geographical location information stored in RFID label tag, and is converted to the color code information of optical information, 2 D code information and multidimensional respectively by LED light source geographic position letter, and orders the luminous lattice of LED to perform luminescence;

Described first photoelectric signal converter, in order to the modulation orders according to microprocessor, is converted to light signal by LED light source geographical location information by electric signal;

Described first bluetooth module, in order to receive, to detect the Bluetooth signal of mobile reception end, and sends to relaying to locate fusing device by the Bluetooth signal intensity level of detection;

Described LED light source, on the one hand after LED light source geographical location information is converted to 2 D code information, according to microprocessor to the luminescence of the luminous lattice of LED or black out order, sends light and dark image in 2 D code; On the other hand after LED light source geographical location information is converted to the color code information of multidimensional, according to microprocessor respectively to luminescence or the black out order of black light LED, blue-ray LED, green light LED and red-light LED, send the color code image of the multidimensional be made up of different colours;

Described mobile reception end comprise central processing unit and connect the GPS locating module of central processing unit respectively, device, signal comparator, the second photoelectric signal converter, camera, LTE communication module, the second bluetooth module, location matches device and display screen are made an uproar in optical signal receiver, signal amplifier, filter; Described signal amplifier connects optical signal receiver and filter respectively and to make an uproar device, and described signal comparator connects filter and to make an uproar device and the second photoelectric signal converter; Described location matches device connects the second photoelectric signal converter and display screen respectively, and described display screen connects camera, and described GPS locating module connects LTE communication module and display screen; Wherein, described GPS locating module, in order to obtain the positional information of mobile reception end when outdoor environment, and by display screen display position;

Described optical signal receiver, in order to receive the light signal that in each transmitting terminal, LED light source sends, and the light signal of transmission and reception carries out amplification process to signal amplifier;

Described filter is made an uproar device, in order to make an uproar to the light signal filter after amplifying, then sends to signal comparator to judge: when light signal strength exceedes predetermined threshold value, then judged result is sent to the second photoelectric signal converter, start opto-electronic conversion;

Described second photoelectric signal converter, in order to the light signal of reception to be converted to the electric signal in LED light source geographic position, is shown the geographic position of this LED light source according to the matching result of location matches device to electric signal by display screen;

Described camera, in order to scan the image in 2 D code or the color code image of multidimensional that LED light source sends, and extracts the LED light source geographical location information in image in 2 D code or the color code image of multidimensional by central processing unit;

Described second bluetooth module, the light signal strength value in order to each transmitting terminal after device process of filter being made an uproar sends to relaying to locate fusing device;

Described relaying location fusing device comprises fusion treatment module and the 3rd bluetooth module, and the 3rd bluetooth module connects the first bluetooth module, fusion treatment module and the second bluetooth module respectively;

Described fusion treatment module, receives the light signal strength value of each transmitting terminal that mobile reception end sends, and according to each light signal strength value received, calculates the current residing geographic position of mobile reception end, and send to mobile reception end through the 3rd bluetooth module; Wherein, the process calculating mobile reception end current geographic position in turn includes the following steps:

(1) set each transmitting terminal and be respectively R ₁, R ₂, R ₃, R ₄..., R _n, transmitting terminal R ₁, R ₂, R ₃, R ₄..., R _ngeographic coordinate be respectively (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) ..., (x _n, y _n, z _n), the light signal strength value of each transmitting terminal that fusion treatment module receives in time period T is respectively p ₁₁, p ₁₂, p ₁₃..., p _1M; p ₂₁, p ₂₂, p ₂₃..., p _2M; p ₃₁, p ₃₂, p ₃₃..., p _3M; p _n1, p _n2, p _n3..., p _nM; The reference geographic coordinate of mobile reception end is (x, y, z), and the actual geographic coordinate of mobile reception end is (x _r, y _r, z _r), N>=4, M>=1;

(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates the signal intensity root-mean-square value p of the light signal strength value of each transmitting terminal _i; Wherein,

$p_i=\sqrt{\frac{1}{M}\underset{j=1}{\overset{M}{\Σ}}{p^2}_{ij}},i=1,2,3,...,N;$ Formula (1)

Wherein, p _irepresent transmitting terminal R _ithe root-mean-square value of light signal strength value, p _ijrepresent transmitting terminal R _isome light signal strength values;

(3) according to the light signal strength root-mean-square value p of each transmitting terminal received ₁, p ₂, p ₃, p ₄..., p _n, choose the value p that signal intensity root-mean-square value size is positioned at first four ₁, p ₂, p ₃and p ₄;

(4) according to the signal intensity root-mean-square value p of each transmitting terminal ₁, p ₂, p ₃and p ₄, obtain transmitting terminal R respectively ₁, R ₂, R ₃and R ₄to the distance d of mobile reception end ₁, d ₂, d ₃and d ₄; Wherein,

$p_i=p_0+10{\mathrm{nlog}}_{10}\[\frac{d_i+v}{d_0}\]+\mathrm{\ξ},i=1,2,3,4;$ Formula (2)

$d_i=d_0{10}^{\frac{p_i-p_0-\mathrm{\ξ}}{10n}}-v$ Formula (3)

Wherein, p _ifor transmitting terminal R _ilight signal strength root-mean-square value, n is path loss index, and ξ is the random number meeting Gaussian distribution, and its average is zero, d _ifor transmitting terminal R _ito the distance of mobile reception end, d ₀for reference distance, p ₀for distance mobile reception end d ₀the signal strength values at place, v is distance estimations error, be a numerical value is the stochastic variable of positive number, and $0<\frac{v}{d_i}<<1,$ i＝1,2,3,4；

(5) according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃) and (x ₄, y ₄, z ₄), and the distance d obtained ₁, d ₂, d ₃and d ₄, solve the reference geographic coordinate (x, y, z) of mobile reception end, solution procedure comprises:

A () is to transmitting terminal R ₁, R ₂, R ₃and R ₄be one group with three, divide into groups, obtain four groups of transmitting terminals combination: R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₃(x ₃, y ₃, z ₃), R ₁(x ₁, y ₁, z ₁), R ₂(x ₂, y ₂, z ₂) and R ₄(x ₄, y ₄, z ₄), R ₁(x ₁, y ₁, z ₁), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄), R ₂(x ₂, y ₂, z ₂), R ₃(x ₃, y ₃, z ₃) and R ₄(x ₄, y ₄, z ₄);

B () is according to transmitting terminal R ₁, R ₂, R ₃and R ₄geographic coordinate (x ₁, y ₁, z ₁), (x ₂, y ₂, z ₂), (x ₃, y ₃, z ₃), (x ₄, y ₄, z ₄) and distance d ₁, d ₂, d ₃and d ₄, calculate respectively first geographic coordinate (x', y', z') of mobile reception end, the second geographic coordinate (x "; y ", z "), the 3rd geographic coordinate (x " ', y " '; z " ') and the 4th geographic coordinate (x " ", y " ", z " "); Wherein,

$\left\{\begin{array}{c}{(x_1-x^{\&prime;})}^2+{(y_1-y^{\&prime;})}^2+{(z_1-z^{\&prime;})}^2={d_1}^2\\ {(x_2-x^{\&prime;})}^2+{(y_2-y^{\&prime;})}^2+{(z_2-z^{\&prime;})}^2={d_2}^2\\ {(x_3-x^{\&prime;})}^2+{(y_3-y^{\&prime;})}^2+{(z_3-z^{\&prime;})}^2={d_3}^2\end{array}\right.$ Formula (4)

$\left\{\begin{array}{c}{(x_1-x^{\&prime;\&prime;})}^2+{(y_1-y^{\&prime;\&prime;})}^2+{(z_1-z^{\&prime;\&prime;})}^2={d_1}^2\\ {(x_2-x^{\&prime;\&prime;})}^2+{(y_2-y^{\&prime;\&prime;})}^2+{(z_2-z^{\&prime;\&prime;})}^2={d_2}^2\\ {(x_4-x^{\&prime;\&prime;})}^2+{(y_4-y^{\&prime;\&prime;})}^2+{(z_4-z^{\&prime;\&prime;})}^2={d_4}^2\end{array}\right.$ Formula (5)

$\left\{\begin{array}{c}{(x_1-x^{\&prime;\&prime;\&prime;})}^2+{(y_1-y^{\&prime;\&prime;\&prime;})}^2+{(z_1-z^{\&prime;\&prime;\&prime;})}^2={d_1}^2\\ {(x_3-x^{\&prime;\&prime;\&prime;})}^2+{(y_3-y^{\&prime;\&prime;\&prime;})}^2+{(z_3-z^{\&prime;\&prime;\&prime;})}^2={d_3}^2\\ {(x_4-x^{\&prime;\&prime;\&prime;})}^2+{(y_4-y^{\&prime;\&prime;\&prime;})}^2+{(z_4-z^{\&prime;\&prime;\&prime;})}^2={d_4}^2\end{array}\right.$ Formula (6)

$\left\{\begin{array}{c}{(x_2-x^{\&prime;\&prime;\&prime;\&prime;})}^2+{(y_2-y^{\&prime;\&prime;\&prime;\&prime;})}^2+{(z_2-z^{\&prime;\&prime;\&prime;\&prime;})}^2={d_2}^2\\ {(x_3-x^{\&prime;\&prime;\&prime;\&prime;})}^2+{(y_3-y^{\&prime;\&prime;\&prime;\&prime;})}^2+{(z_3-z^{\&prime;\&prime;\&prime;\&prime;})}^2={d_3}^2\\ {(x_4-x^{\&prime;\&prime;\&prime;\&prime;})}^2+{(y_4-y^{\&prime;\&prime;\&prime;\&prime;})}^2+{(z_4-z^{\&prime;\&prime;\&prime;\&prime;})}^2={d_4}^2\end{array}\right.$ Formula (7)

C () is according to the first geographic coordinate (x' of the mobile reception end obtained, y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " "); calculate the reference geographic coordinate (x, y, z) of mobile reception end; Wherein,

$\left\{\begin{array}{c}x=\frac{\frac{x^{\&prime;}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{x^{\&prime;\&prime;}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{x^{\&prime;\&prime;\&prime;}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{x^{\&prime;\&prime;\&prime;\&prime;}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ y=\frac{\frac{y^{\&prime;}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{y^{\&prime;\&prime;}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{y^{\&prime;\&prime;\&prime;}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{y^{\&prime;\&prime;\&prime;\&prime;}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\\ z=\frac{\frac{z^{\&prime;}}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{z^{\&prime;\&prime;}}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{z^{\&prime;\&prime;\&prime;}}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{z^{\&prime;\&prime;\&prime;\&prime;}}{{d_2}^2+{d_3}^2+{d_4}^2}}{\frac{1}{{d_1}^2+{d_2}^2+{d_3}^2}+\frac{1}{{d_1}^2+{d_2}^2+{d_4}^2}+\frac{1}{{d_1}^2+{d_3}^2+{d_4}^2}+\frac{1}{{d_2}^2+{d_3}^2+{d_4}^2}}\end{array}\right.$ Formula (8);

(6) according to the first geographic coordinate (x' of the mobile reception end calculated in step (5), y', z'), the second geographic coordinate (x ", y "; z "), the 3rd geographic coordinate (x " '; y " ', z " ') and the 4th geographic coordinate (x " ", y " "; z " ") and reference the geographic coordinate (x; y, z) of mobile reception end that obtains, calculating mobile reception end actual geographic coordinate (x _r, y _r, z _r) positioning error Δ x, Δ y, Δ z, wherein:

$\left\{\begin{array}{c}{x}^{\&prime;}-x=\mathrm{\&Delta;}{x}_1\\ x^{\&prime;\&prime;}-x=\mathrm{\&Delta;}{x}_2\\ x^{\&prime;\&prime;\&prime;}-x=\mathrm{\&Delta;}{x}_3\\ x^{\&prime;\&prime;\&prime;\&prime;}-x=\mathrm{\&Delta;}{x}_4\end{array}\right.$ Formula (9)

$\left\{\begin{array}{c}{y}^{\&prime;}-y=\mathrm{\&Delta;}{y}_1\\ y^{\&prime;\&prime;}-y=\mathrm{\&Delta;}{y}_2\\ y^{\&prime;\&prime;\&prime;}-y=\mathrm{\&Delta;}{y}_3\\ y^{\&prime;\&prime;\&prime;\&prime;}-y=\mathrm{\&Delta;}{y}_4\end{array}\right.$ Formula (10)

$\left\{\begin{array}{c}{z}^{\&prime;}-z=\mathrm{\&Delta;}{z}_1\\ z^{\&prime;\&prime;}-z=\mathrm{\&Delta;}{z}_2\\ z^{\&prime;\&prime;\&prime;}-z=\mathrm{\&Delta;}{z}_3\\ z^{\&prime;\&prime;\&prime;\&prime;}-z=\mathrm{\&Delta;}{z}_4\end{array}\right.$ Formula (11)

$\left\{\begin{array}{c}\mathrm{\&Delta;}x=\frac{{\mathrm{\&Delta;x}}_1+{\mathrm{\&Delta;x}}_2+{\mathrm{\&Delta;x}}_3+{\mathrm{\&Delta;x}}_4}{4}\\ \mathrm{\&Delta;}y=\frac{{\mathrm{\&Delta;y}}_1+{\mathrm{\&Delta;y}}_2+{\mathrm{\&Delta;y}}_3+{\mathrm{\&Delta;y}}_4}{4}\\ \mathrm{\&Delta;}z=\frac{{\mathrm{\&Delta;z}}_1+{\mathrm{\&Delta;z}}_2+{\mathrm{\&Delta;z}}_3+{\mathrm{\&Delta;z}}_4}{4}\end{array}\right.$ Formula (12)

(7) according to the reference geographic coordinate (x, y, z) of the mobile reception end calculated and the positioning error Δ x of calculating, Δ y, Δ z, calculate the actual coordinate (x of mobile reception end _r, y _r, z _r):

$\left\{\begin{array}{c}{x}_R=x+\mathrm{\&Delta;}x\\ y_R=y+\mathrm{\&Delta;}y\\ z_R=z+\mathrm{\&Delta;}z\end{array}\right.$ Formula (13).