CN105674986A - Indoor positioning method adopting visible light and inert composition - Google Patents
Indoor positioning method adopting visible light and inert composition Download PDFInfo
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- CN105674986A CN105674986A CN201610206411.5A CN201610206411A CN105674986A CN 105674986 A CN105674986 A CN 105674986A CN 201610206411 A CN201610206411 A CN 201610206411A CN 105674986 A CN105674986 A CN 105674986A
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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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- 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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- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Automation & Control Theory (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Optical Communication System (AREA)
- Navigation (AREA)
Abstract
The invention provides an indoor positioning method adopting visible light and inert composition. A mobile carrier can detect a visible light signal in a process of moving in a room. The indoor positioning method comprises the following steps: judging whether the mobile carrier is positioned in a visible light strong coverage region according to a light intensity threshold value; if a light intensity value is less than the light intensity threshold value, directly taking a position estimation value acquired by an inert device as carrier positioning information; if the light intensity value is greater than or equal o the light intensity threshold value, calculating the position estimation value according to the visible light signal, subtracting the position estimation value acquired by the inert device from the position estimation value calculated according to the visible light signal, and performing Kalman filtering on an obtained difference value to obtain a drift error of the inert device, wherein the drift error is used for correcting the inert device, and the corrected position estimation value of the inert device is used as the carrier positioning information. According to the indoor positioning method, the influence caused by a cover blind area and a shadow in a visible light positioning process can be effectively avoided, and the shortcoming that the error of the inert device is accumulated along the time is overcome; continuous automatic high-precision indoor positioning is realized.
Description
Technical field
The present invention relates to a kind of indoor orientation method.
Background technology
Existing station-keeping system mainly contains satellite navigation system (GNSS), inertial navigation system and radist. In indoor, gps signal is blocked seriously, is not suitable for. Inertia device have autonomy by force, the feature such as precision height in short-term, but its error easily adds up in time, is used alone and cannot meet indoor high fix demand, it is often necessary to is combined with other high fix mode. Indoor positioning based on radiowave has Wifi, bluetooth, WLAN etc., and positioning precision is higher, but is all easily subject to electromagnetic interference influence, and when multiple user shares, alignment quality is not good, and should not use in electromagnetic susceptibility environment.
In recent years, indoor positioning mode based on visible light communication (VLC) develops rapidly, it is possible to the positional information of user being transmitted by LED illumination facility, thus realize indoor positioning accurately, its positioning precision can reach centimetre-sized. Visible ray location technology has high precision, electromagnetic-radiation-free, energy-saving and cost-reducing, covering is extensive, without the need to additionally laying the advantages such as access. But, for ensureing positioning performance, it is necessary to consider the distribution of indoor signal to noise ratio, avoid the appearance of blind area and shade, particularly in the continuity being difficult to ensure location when room, LED failure. Current solution adopts methods such as improving light source, elimination intersymbol interference, optimization LED layout to alleviate Problems existing, can not thoroughly solve this problem.
Summary of the invention
In order to overcome the deficiencies in the prior art, the present invention proposes the indoor orientation method of a kind of visible ray and inertia combination, based on inertial sensor indoor positioning, visible ray is orientated supplementary means as and is carried out navigation location, the progressive error utilizing visible ray location to eliminate inertial sensor in region are covered by force, it is achieved the indoor positioning of autonomous high precision continuously in LED light. Mobile terminal and intelligence equipment (such as robot, without man-machine etc.) can be widely used in the local high fix requirement such as large-scale indoor warehouse, garage, supermarket, airport, mine, the impact of common covering blind area and shade in can effectively avoiding LED visible light to locate on the one hand, the shortcoming that inertial device error is accumulated in time can be overcome on the other hand, it is achieved the indoor positioning of autonomous high precision continuously.
The technical solution adopted for the present invention to solve the technical problems comprises the following steps:
Step 1, carrying out visible light communication test, the visible ray intensity values recorded under the communication bit error rates of setting is as Intensity threshold;
Step 2, visible-light detector and inertia device are installed on mobile vehicle to be positioned;
Step 3, mobile vehicle detect visible light signal in real time by visible-light detector in indoor moving process, differentiate whether mobile vehicle is positioned at visible light intensity coverage area by Intensity threshold; If light intensity value is less than Intensity threshold, then mobile vehicle is in visible light intensity and covers blind area, directly by the location estimation value of inertia device acquisition as carrier locating information; If light intensity value is more than or equal to Intensity threshold, then mobile vehicle is in visible light intensity coverage area, adopt visible light signal to resolve and obtain location estimation value, the location estimation value that the location estimation value obtain inertia device and visible light signal resolve is subtracted each other, the difference obtained is carried out Kalman filtering, obtain the drift error of inertia device, correct inertia device by this drift error, and using the inertia device location estimation value after correction as carrier locating information.
A visible light communication link is built in described visible light communication test, is sent by visible light communication link and is not less than 1010The scale-of-two test data of individual byte, receives the error rate and is less than 10-9Region definition be visible light intensity coverage area, receiving code rate is more than or equal to 10-9Region definition be visible light intensity cover blind area, receive the error rate be 10-9Time light intensity value be defined as Intensity threshold.
Described visible light communication test carries out at least 3 times, gets the mean value of each test result.
The invention has the beneficial effects as follows:
The present invention adopts communication bit error rates to distinguish light intensity coverage area and to cover blind area, ensure that the communication bit error rates of visible ray coverage area is less than setting requirement, effectively ensure that visible ray alignment quality, and the demarcation of Intensity threshold can complete in laboratory, then can instruct in-site installation, be easy to Project Realization.
The present invention's visible ray detent edge of inertial system being unified is complementary, it may be achieved the indoor positioning of autonomous high precision continuously. Covering blind area at visible ray, carrier is positioned and navigation by the mode that the present invention adopts inertial navigation system independently to work, and avoids the location failure phenomenon occurring that visible-blind causes; Use the high precision position location information that obtains of visible ray location technology and inertia system to merge in visible ray coverage area, and inertia device drift error is revised, reduce the positionerror of carrier, overcome the deficiency being accustomed to the use of separately the error over time accumulation that sexual system occurs.
Accompanying drawing explanation
Fig. 1 is the principle schematic of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is further described, and the present invention comprises but is not limited only to following embodiment.
The present invention comprises the following steps:
Step 1, carries out Intensity threshold demarcation in lab analysis receiving optical signals intensity and the relation covering region. Distinguish light intensity coverage area by the error rate and cover blind area, ensure that the communication bit error rates of LED coverage area is less than 10-9。
Specifically, build a LED light communication link, sent by visible light communication link and be not less than 1010Individual byte binary test data, receives these group data at receiving end and is used for testing link error rates, and testing time should be not less than 3 times. When the error rate is less than 10-9Time, it is defined as the strong coverage area of LED light; When the error rate is more than or equal to 10-9Time, it is defined as LED light and covers by force blind area.The critical light intensity value that test obtains (refers to that the error rate is 10-9Time light intensity value) be defined as Intensity threshold.
Step 2, at the indoor arrangement LED light communications infrastructure, mobile vehicle is installed visible-light detector, inertia device and Comprehensive Signal Processing device.
Step 3, as shown in Figure 1, carrier detects visible light signal in real time by visible-light detector in moving process, and converts electrical signal access integrated information treater to, and first Comprehensive Signal Processing device differentiates whether be the strong coverage area of LED light by Intensity threshold. If LED light covers by force blind area, then the direct location estimation value obtained with inertia device is as carrier locating information. In the strong coverage area of LED light, signal is carried out demodulation, adopt visible ray location technology to resolve and obtain location estimation value, the position inertia estimated value that this value obtains with inertia device again merges mutually, export visible ray-inertia combination location estimation value, the drift of inertia device is corrected by this value, and using the inertial position estimated value after correction as carrier locating information.
Specifically, information fusion, using the difference of the estimation position of inertia device and the estimation position of LED visible light communication as the observed value of state, estimates the drift error of Inertial Measurement Unit by Kalman filter.
Special instruction: realizing visible ray location technology has multiple means, such as LED identity information identification location, time of arrival and digital, light signal strength location, image sensor location etc. Do not limit its concrete measure herein.
Claims (3)
1. the indoor orientation method of a visible ray and inertia combination, it is characterised in that comprise the steps:
Step 1, carrying out visible light communication test, the visible ray intensity values recorded under the communication bit error rates of setting is as Intensity threshold;
Step 2, visible-light detector and inertia device are installed on mobile vehicle to be positioned;
Step 3, mobile vehicle detect visible light signal in real time by visible-light detector in indoor moving process, differentiate whether mobile vehicle is positioned at visible light intensity coverage area by Intensity threshold; If light intensity value is less than Intensity threshold, then mobile vehicle is in visible light intensity and covers blind area, directly by the location estimation value of inertia device acquisition as carrier locating information; If light intensity value is more than or equal to Intensity threshold, then mobile vehicle is in visible light intensity coverage area, adopt visible light signal to resolve and obtain location estimation value, the location estimation value that the location estimation value obtain inertia device and visible light signal resolve is subtracted each other, the difference obtained is carried out Kalman filtering, obtain the drift error of inertia device, correct inertia device by this drift error, and using the inertia device location estimation value after correction as carrier locating information.
2. the indoor orientation method of visible ray according to claim 1 and inertia combination, it is characterised in that: a visible light communication link is built in described visible light communication test, is sent by visible light communication link and is not less than 1010The scale-of-two test data of individual byte, receives the error rate and is less than 10-9Region definition be visible light intensity coverage area, receiving code rate is more than or equal to 10-9Region definition be visible light intensity cover blind area, receive the error rate be 10-9Time light intensity value be defined as Intensity threshold.
3. the indoor orientation method of visible ray according to claim 1 and inertia combination, it is characterised in that: described visible light communication test carries out at least 3 times, gets the mean value of each test result.
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248077A (en) * | 2016-07-06 | 2016-12-21 | 北京理工大学 | A kind of visible ray integrated positioning system based on particle filter and method |
| CN106840140A (en) * | 2017-01-06 | 2017-06-13 | 中国人民解放军信息工程大学 | A kind of indoor orientation method and system |
| CN107192387A (en) * | 2017-05-23 | 2017-09-22 | 北京理工大学 | A kind of combined positioning method based on Unscented kalman filtering |
| CN107888289A (en) * | 2017-11-14 | 2018-04-06 | 东南大学 | The indoor orientation method and platform merged based on visible light communication with inertial sensor |
| CN108169711A (en) * | 2017-12-18 | 2018-06-15 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of mobile robot Markov localization method based on visible ray |
| EP3336574A1 (en) | 2016-12-13 | 2018-06-20 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System for determining a position of a tag and corresponding method |
| CN108225330A (en) * | 2018-01-03 | 2018-06-29 | 华南理工大学 | A kind of visible ray dynamic positioning method based on Kalman filtering |
| CN108507561A (en) * | 2018-03-05 | 2018-09-07 | 华南理工大学 | A kind of VLC based on mobile terminal and IMU fusion and positioning methods |
| CN108955674A (en) * | 2018-07-10 | 2018-12-07 | 上海亚明照明有限公司 | Indoor positioning device and indoor orientation method based on visible light communication |
| CN109031194A (en) * | 2018-07-12 | 2018-12-18 | 中山火炬职业技术学院 | Indoor hybrid locating method |
| 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 |
| CN109579834A (en) * | 2018-12-24 | 2019-04-05 | 北京全电智领科技有限公司 | Localization method and device based on Space Optical Communication Technologies |
| CN109696176A (en) * | 2017-10-24 | 2019-04-30 | 珠海横琴华策光通信科技有限公司 | A kind of inertial navigation localization method based on LED light emission device light-seeking correction |
| CN109883416A (en) * | 2019-01-23 | 2019-06-14 | 中国科学院遥感与数字地球研究所 | A kind of localization method and device of the positioning of combination visible light communication and inertial navigation positioning |
| WO2019174213A1 (en) | 2018-03-14 | 2019-09-19 | Boe Technology Group Co., Ltd. | Positioning method, positioning apparatus, and computer-program product |
| CN110346784A (en) * | 2018-04-02 | 2019-10-18 | 珠海横琴华策光通信科技有限公司 | A method of based on LED lamp light-seeking and directional wheel integrated positioning |
| US10769836B2 (en) | 2017-12-27 | 2020-09-08 | Industrial Technology Research Institute | Method and apparatus for establishing coordinate system and data structure product |
| US10949998B2 (en) | 2018-01-16 | 2021-03-16 | Boe Technology Group Co., Ltd. | Indoor space positioning based on Voronoi diagram |
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| CN104390643A (en) * | 2014-11-24 | 2015-03-04 | 上海美琦浦悦通讯科技有限公司 | Method for realizing indoor positioning based on multi-information fusion |
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Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106248077A (en) * | 2016-07-06 | 2016-12-21 | 北京理工大学 | A kind of visible ray integrated positioning system based on particle filter and method |
| EP3336574A1 (en) | 2016-12-13 | 2018-06-20 | Fraunhofer-Gesellschaft zur Förderung der angewandten Forschung e.V. | System for determining a position of a tag and corresponding method |
| CN106840140A (en) * | 2017-01-06 | 2017-06-13 | 中国人民解放军信息工程大学 | A kind of indoor orientation method and system |
| CN106840140B (en) * | 2017-01-06 | 2020-05-22 | 中国人民解放军信息工程大学 | Indoor positioning method and system |
| CN107192387A (en) * | 2017-05-23 | 2017-09-22 | 北京理工大学 | A kind of combined positioning method based on Unscented kalman filtering |
| CN109696176A (en) * | 2017-10-24 | 2019-04-30 | 珠海横琴华策光通信科技有限公司 | A kind of inertial navigation localization method based on LED light emission device light-seeking correction |
| CN107888289B (en) * | 2017-11-14 | 2020-08-11 | 东南大学 | Indoor positioning method and platform based on fusion of visible light communication and inertial sensor |
| CN107888289A (en) * | 2017-11-14 | 2018-04-06 | 东南大学 | The indoor orientation method and platform merged based on visible light communication with inertial sensor |
| CN108169711A (en) * | 2017-12-18 | 2018-06-15 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of mobile robot Markov localization method based on visible ray |
| US10769836B2 (en) | 2017-12-27 | 2020-09-08 | Industrial Technology Research Institute | Method and apparatus for establishing coordinate system and data structure product |
| CN108225330A (en) * | 2018-01-03 | 2018-06-29 | 华南理工大学 | A kind of visible ray dynamic positioning method based on Kalman filtering |
| US10949998B2 (en) | 2018-01-16 | 2021-03-16 | Boe Technology Group Co., Ltd. | Indoor space positioning based on Voronoi diagram |
| CN108507561A (en) * | 2018-03-05 | 2018-09-07 | 华南理工大学 | A kind of VLC based on mobile terminal and IMU fusion and positioning methods |
| CN110274594A (en) * | 2018-03-14 | 2019-09-24 | 京东方科技集团股份有限公司 | A kind of indoor positioning device and method |
| WO2019174213A1 (en) | 2018-03-14 | 2019-09-19 | Boe Technology Group Co., Ltd. | Positioning method, positioning apparatus, and computer-program product |
| CN110274594B (en) * | 2018-03-14 | 2021-04-23 | 京东方科技集团股份有限公司 | Indoor positioning equipment and method |
| EP3765820A4 (en) * | 2018-03-14 | 2021-12-15 | BOE Technology Group Co., Ltd. | Positioning method, positioning apparatus, and computer-program product |
| US11340074B2 (en) | 2018-03-14 | 2022-05-24 | Boe Technology Group Co., Ltd. | Positioning method, positioning apparatus, and computer-program product |
| CN110346784A (en) * | 2018-04-02 | 2019-10-18 | 珠海横琴华策光通信科技有限公司 | A method of based on LED lamp light-seeking and directional wheel integrated positioning |
| CN108955674A (en) * | 2018-07-10 | 2018-12-07 | 上海亚明照明有限公司 | Indoor positioning device and indoor orientation method based on visible light communication |
| CN109031194A (en) * | 2018-07-12 | 2018-12-18 | 中山火炬职业技术学院 | Indoor hybrid locating method |
| CN109579834A (en) * | 2018-12-24 | 2019-04-05 | 北京全电智领科技有限公司 | Localization method and device based on Space Optical Communication Technologies |
| 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 |
| CN109579834B (en) * | 2018-12-24 | 2020-12-04 | 北京全电智领科技有限公司 | Positioning method and device based on space optical communication technology |
| CN109883416A (en) * | 2019-01-23 | 2019-06-14 | 中国科学院遥感与数字地球研究所 | A kind of localization method and device of the positioning of combination visible light communication and inertial navigation positioning |
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Application publication date: 20160615 |