CN105716614A - Visible light communication based indoor positioning and navigation method and device for mobile intelligent terminal - Google Patents
Visible light communication based indoor positioning and navigation method and device for mobile intelligent terminal Download PDFInfo
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- 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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Abstract
The invention discloses a visible light communication based indoor positioning and navigation method and device for a mobile intelligent terminal. The method comprises steps as follows: a corresponding ID sequence number is set for each LED lamp, all ID sequence numbers are subjected to blocking, the ID sequence numbers after blocking are subjected to error correction of coding and subjected to framing according to a default frame structure, and to-be-transmitted signals are obtained to drive the LED lamps to be lighted up; after the mobile intelligent terminal decodes the received to-be-transmitted signals, the ID sequence numbers of the corresponding LED lamps are obtained, the positions of the LED lamps are determined by searching for a pre-stored ID sequence number and position relation diagram according to the ID sequence numbers, and positioning and navigation are realized. According to the method and the device, visible light communication and indoor positioning are integrated, the indoor positioning and navigation with low cost, convenience and high coverage rate are realized according to the wide existence and low cost of the LED lamps, and the device and the method have broad application range and good application prospect.
Description
Technical field
The present invention relates to communication technical field, particularly to a kind of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication and device.
Background technology
In recent years, along with the development and application of integrated circuit technique and mobile communication technology, mobile intelligent terminal (mobile phone, panel computer etc.) becomes the crucial entrance of Internet service, deeply to mankind different social sectors.According to statistics, within 2014, global mobile phone sales volume is about 18.8 hundred million, and 2015 annual turnovers remain in that growth.Mobile intelligent terminal can provide multiple service, and wherein location Based service (LBS, Location-basedServices) is just becoming more and more important.
Global positioning system (GPS, GlobalPositioningSystem) is a location technology applying widely, measures multiple satellite-signal difference time of advent estimated position by gps receiver, it is provided that global location covers.But, GPS usually causes being accurately positioned owing to not receiving satellite-signal or poor signal quality in indoor.
Current indoor positioning technologies has a variety of, is typically based on location aware technology and is divided three classes: the location technology based on the relation of closing on, the location technology based on triangle relation and the location technology based on scene analysis.As its name suggests, based on the location of the relation of closing on by one or more known location, by closing on relation location, so typically requiring accessory ID system；Based on the location of triangle relation according to triangle property calculation object space；The characteristic information observed in scene that is located through based on scene analysis estimates the position of object in observer position or scene.
Location technology based on the relation of closing on has good spreadability and reliability, and location algorithm is simple, and response time is short.But it disadvantage is that aid system, positioning precision depends on the coverage of each mark so general precision is relatively low simultaneously.These shortcomings constrain based on the development closing on relation location technology.
Summary of the invention
It is contemplated that at least solve one of above-mentioned technical problem.
For this, it is an object of the present invention to propose a kind of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication, visible light communication and indoor positioning are merged into one by the method, utilize the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate, be with a wide range of applications and good application prospect.
Further object is that a kind of mobile intelligent terminal indoor positioning guider based on visible light communication of proposition.
To achieve these goals, the embodiment of first aspect present invention discloses a kind of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication, comprise the following steps: S1: for each LED, corresponding ID sequence number is set, and all ID sequence numbers are carried out piecemeal, ID sequence number after piecemeal is carried out Error Correction of Coding, and according to default frame structure framing, obtain signal to be sent to drive LED to light；And S2: after the signal described to be sent received is decoded by described mobile intelligent terminal, obtain the ID sequence number of the LED of correspondence, according to this ID sequence number by searching the ID sequence number that prestores and location diagram determines the position of described LED, to realize location navigation.
It addition, the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described S2 farther includes: S21: receive optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after described digital signal decoding, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number；And/or S22: shoot described LED by photographic head and obtain striped picture the ID sequence number to the LED obtaining correspondence after the decoding of described striped picture, and determined the position of described LED according to this ID sequence number by the described ID sequence number of lookup and position relationship schematic diagram.
In some instances, described default frame structure includes frame head, ID block number, piecemeal id information.
In some instances, described ID block number and the product of piecemeal id information figure place are equal to ID total length.
In some instances, by Manchester code or BCH code, the ID sequence number after packet is carried out Error Correction of Coding.
In some instances, in described S21, also include: by fast Fourier transform wave filter wiping out background optical noise, and complete decoding by calculating pulsewidth reconstruction signal.
In some instances, in described S22, also include: choose several striped pictures, and determine, according to the fringe area in several striped pictures described, the width of fringe that single-bit signal is corresponding, and complete decoding according to described width of fringe.
The mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to embodiments of the present invention, visible light communication and indoor positioning are merged into one, utilizes the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate.Use identical transmitting terminal, it is provided that audio port and first two mobile intelligent terminal receiving side signal formula of shooting, two kinds of reception modes can be assisted mutually, improves the accuracy of indoor positioning simultaneously.The present invention provides multiple block encoding framing scheme, it is possible to adapts to different applied environments and equipment, and has broad application prospects in Internet of Things, smart city, wired home, i.e. applied range, application prospect is good.
The embodiment of second aspect present invention discloses a kind of mobile intelligent terminal indoor positioning guider based on visible light communication, including: initiator block, described initiator block is for arranging corresponding ID sequence number for each LED, and all ID sequence numbers are carried out piecemeal, ID sequence number after piecemeal is carried out Error Correction of Coding, and according to default frame structure framing, obtain signal to be sent to drive LED to light；And receiving terminal module, described receiving terminal module is for after being decoded the signal described to be sent received, obtain the ID sequence number of LED of correspondence, according to this ID sequence number by searching the ID sequence number prestored and location diagram determines the position of described LED, to realize location navigation.
It addition, the mobile intelligent terminal indoor positioning guider based on visible light communication according to the above embodiment of the present invention can also have following additional technical characteristic:
In some instances, described receiving terminal module includes:
Memory module, described receiving terminal memory module is used for storing described ID sequence number and location diagram；First decoder module and/or the second decoder module, described first decoder module is for receiving optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after described digital signal decoding, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number, described second decoder module obtains striped picture for shooting described LED by photographic head, and after described striped picture is decoded, obtain the ID sequence number of the LED of correspondence, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number.
The mobile intelligent terminal indoor positioning guider based on visible light communication according to embodiments of the present invention, visible light communication and indoor positioning are merged into one, utilizes the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate.Use identical transmitting terminal, it is provided that audio port and first two mobile intelligent terminal receiving side signal formula of shooting, two kinds of reception modes can be assisted mutually, improves the accuracy of indoor positioning simultaneously.The present invention provides multiple block encoding framing scheme, it is possible to adapts to different applied environments and equipment, and has broad application prospects in Internet of Things, smart city, wired home, i.e. applied range, application prospect is good.
The additional aspect of the present invention and advantage will part provide in the following description, and part will become apparent from the description below, or is recognized by the practice of the present invention.
Accompanying drawing explanation
Above-mentioned and/or the additional aspect of the present invention and advantage are from conjunction with will be apparent from easy to understand the accompanying drawings below description to embodiment, wherein:
Fig. 1 is the flow chart of the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to embodiments of the present invention；
Fig. 2 is the overall system diagram of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to an embodiment of the invention；
Fig. 3 is the flow chart of the transmitting terminal coding framing scheme of according to embodiments of the present invention；
Fig. 4 is the transmitting terminal drive circuit schematic diagram of according to embodiments of the present invention；
Fig. 5 is the audio port reception decoding process figure of according to embodiments of the present invention；
Fig. 6 be according to embodiments of the present invention one exemplary audio mouth receive before signal filtering and filtered schematic diagram；
Fig. 7 is the schematic diagram of the exemplary audio mouth reception signal local of according to embodiments of the present invention；
Fig. 8 is the photographic head shooting decoding process figure of according to embodiments of the present invention two；
Fig. 9 is the best fringe area selection scheme schematic diagram of according to embodiments of the present invention two；
Figure 10 is the fringe area Choice schematic diagram of according to embodiments of the present invention two；And
Figure 11 is the structured flowchart of the mobile intelligent terminal indoor positioning guider based on visible light communication according to embodiments of the present invention.
Detailed description of the invention
Being described below in detail embodiments of the invention, the example of described embodiment is shown in the drawings, and wherein same or similar label represents same or similar element or has the element of same or like function from start to finish.The embodiment described below with reference to accompanying drawing is illustrative of, and is only used for explaining the present invention, and is not considered as limiting the invention.
In describing the invention, it will be appreciated that, term " " center ", " longitudinal direction ", " transverse direction ", " on ", D score, " front ", " afterwards ", " left side ", " right side ", " vertically ", " level ", " top ", " end ", " interior ", orientation or the position relationship of the instruction such as " outward " are based on orientation shown in the drawings or position relationship, it is for only for ease of the description present invention and simplifies description, rather than the device of instruction or hint indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not considered as limiting the invention.Additionally, term " first ", " second " are only for descriptive purposes, and it is not intended that indicate or hint relative importance.
In describing the invention, it is necessary to explanation, unless otherwise clearly defined and limited, term " installation ", " being connected ", " connection " should be interpreted broadly, for instance, it is possible to it is fixing connection, it is also possible to be removably connect, or connect integratedly；Can be mechanically connected, it is also possible to be electrical connection；Can be joined directly together, it is also possible to be indirectly connected to by intermediary, it is possible to be the connection of two element internals.For the ordinary skill in the art, it is possible to concrete condition understands above-mentioned term concrete meaning in the present invention.
The mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to embodiments of the present invention and device are described below in conjunction with accompanying drawing.
Fig. 1 is the flow chart of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to an embodiment of the invention.Fig. 2 is the overall system diagram of mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to an embodiment of the invention.In conjunction with shown in Fig. 1 and Fig. 2, the method comprises the following steps:
Step S1: arrange corresponding ID sequence number for each LED, and all ID sequence numbers are carried out piecemeal, carries out Error Correction of Coding to the ID sequence number after piecemeal, and according to default frame structure framing, obtains signal to be sent to drive LED to light.
Wherein, default frame structure such as includes frame head, ID block number, piecemeal id information.
Further, embodiments of the invention can provide plurality of optional framing arrangement, and wherein, the product of ID block number and piecemeal id information figure place is equal to ID total length, to adapt to different mobile intelligent terminals and applied environment.
Wherein, in step sl, by Manchester code or BCH code, the ID sequence number after packet is carried out Error Correction of Coding.
Step S2: after the signal to be sent received is decoded by mobile intelligent terminal, obtains the ID sequence number of LED of correspondence, according to this ID sequence number by searching the ID sequence number prestored and location diagram determines the position of LED, to realize location navigation.Wherein, ID sequence number and location diagram comprise ID sequence number and the corresponding relation of LED physical location.
Specifically, step S2 farther includes:
Step S21: receive optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after digital signal decoding, and determined the position of LED by lookup ID sequence number and position relationship schematic diagram according to this ID sequence number；And/or
Step S22: shoot LED by photographic head and obtain striped picture the ID sequence number to the LED obtaining correspondence after the decoding of striped picture, and determined the position of LED according to this ID sequence number by lookup ID sequence number and position relationship schematic diagram.It is to say, the information that two kinds of coding/decoding methods that step S21 and step S22 provides obtain can be combined merging, including maximum-ratio combing, it is added the modes such as merging, to improve detection accuracy.That is, embodiments of the invention can decode separately through the coding/decoding method in step S21 or step S22, it is also possible to simultaneously by the coding/decoding method decoding in step S21 and step S22, thus improving detection accuracy.
Wherein, in the step s 21, for instance use the signal decoding method calculated based on pulsewidth.Specifically, by fast Fourier transform fft filters wiping out background optical noise, and complete decoding by calculating pulsewidth reconstruction signal.
In step S22, for instance by choosing several striped pictures, and determine, according to the fringe area in several striped pictures, the width of fringe that single-bit signal is corresponding, and complete decoding according to width of fringe, it is possible to decrease algorithm complex, improve detection accuracy simultaneously.
To sum up, visible ray label (LED-ID) technology is often combined by the present invention with mobile intelligent terminal.One ID mark is set for LED, receives LED light signal by mobile intelligent terminal and detect that ID realizes location.Visible ray tag location technology has based on the advantage closing on relation location technology, avoids tradition based on the shortcoming closing on relation location technology simultaneously.And LED-ID technological essence is the application of visible light communication technology, using LED as signal emitting-source, maximum advantage is in that to have simultaneously completed illumination and location, and does not have the potential safety hazard that radiofrequency signal brings.
The mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to embodiments of the present invention, visible light communication and indoor positioning are merged into one, utilizes the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate.Use identical transmitting terminal, it is provided that audio port and first two mobile intelligent terminal receiving side signal formula of shooting, two kinds of reception modes can be assisted mutually, improves the accuracy of indoor positioning simultaneously.The present invention provides multiple block encoding framing scheme, it is possible to adapts to different applied environments and equipment, and has broad application prospects in Internet of Things, smart city, wired home, i.e. applied range, application prospect is good.
For the ease of being more fully understood that the present invention, below in conjunction with accompanying drawing, by specific embodiment, the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication of the present invention is explained in further detail.
Embodiment one
With reference to Fig. 3, this gives a kind of detailed description of the invention that a kind of mobile intelligent terminal indoor positioning based on visible light communication of present invention proposition is navigated.
In the present embodiment, ID length is 24, is divided into 6 pieces, and coding adopts BCH code, uses decoder module 1,24 figure place to be divided into 6 pieces, and every piece comprises piecemeal id information 4.In order to identify this 4 blocking information position in ID, before piecemeal, add the block number that length is 3.Full 0 and complete 1 block number be listed in disabling block number.3 blocks number and 4 piecemeal id informations amount to 7, and this 7 figure place adopts (15,7,2) BCH code coding, and the code length of (15,7,2) BCH code is 15, and valid data length is 7, can correct 2 bit-errors.After using BCH code coding, the data block length obtained is 15, plus one 8 frame heads (11110000) as a frame before each data block, the ID of one 24 is divided into 6 frames altogether, every frame length is that 23,6 frame data send in order in turn, after being all sent completely, start to send from the first frame again, constantly circulate.
Fig. 4 gives a kind of detailed description of the invention of the drive circuit that transmitting terminal of the present invention uses.220V alternating current is that 40V constant pressure source is powered.Dividing potential drop goes out the 7-30V input as power supply chip, and producing 5V voltage is that single-chip microcomputer is powered.ID is stored in EEPROM.Single-chip microcomputer reads ID from EEPROM and completes block encoding framing.Single Chip Microcomputer (SCM) program produces 16kHz clock signal by timer, as transmitting terminal transmission frequency.The on off state of metal-oxide-semiconductor work, when sending " 1 ", controls LED bright, when sending " 0 ", controls LED and goes out.
Fig. 5 gives the flow chart of a kind of coding/decoding method of the present invention.Namely photo-detector detection optical signal, transfers optical signal to current signal.Thereafter, current signal is converted into voltage signal through the incoming mobile intelligent terminal of 3.5mm audio port by trans-impedance amplifier.The sound card of device interior, with 32kHz frequency sampling, obtains digital signal.The coding/decoding method that the present invention proposes can draw ID from the digital signal of sampling.Detailed process can be divided into following five steps:
The first step: remove background noise.
With reference to the upper figure of Fig. 6 the present embodiment typical reception signal provided, if be not filtered, signal is substantially doped with a sinusoidal signal.This is because, equipment, while receiving LED lamplight signal, also have received the optical signal of indoor general lighting.China's indoor general lighting uses 50Hz AC-powered, there will be the semisinusoidal signal of a 100Hz after rectification, and for the present embodiment, this semisinusoidal signal is exactly background noise.Closely in situation, this noise is without impact, but this noise severe jamming detection and location during remote detection, so must this noise filtering.Again because the frequency of noise is relatively low, individually build a mimic high pass filter difficulty height and weak effect, present invention employs the mode of digital filtering.By digital signal buffer memory, read the data in a regular length buffer every time, be FFT, low frequency component is set to 0, then be IFFT, the signal that reduction obtains has filtered noise (with reference to Fig. 6 figure below).This FFT high pass filter is realized by software, it does not have any hardware cost, and running software complexity is very low.
Second step: baseband signal is rebuild.
With reference to Fig. 7 typical reception signal Local map provided, the present invention proposes a kind of signal decoding method calculated based on pulsewidth.
Because transmitting terminal have employed OOK modulation scheme, so signal pulse width and the persistent period of same level, sampling ratio are relevant.With reference to the signal Local map in Fig. 7, four, pulse P left and right sides point is zero passage separation, and the pulse width of definition P is:
Assume that sampling ratio is r, then the figure place sending signal comprised in pulse P is:
NP=d/r,
In the present embodiment, transmitting terminal adopts 16kHz to send, and receiving terminal adopts 32kHz frequency sampling, and sampling ratio is 2, i.e. r=2.
In the present embodiment, when LED is bright, the data sampled are negative, and when LED is dark, the data sampled are for just.Therefore, pulse P can be redeveloped into NPIndividual 0.All the other all pulses are according to said method calculated and just can completely recover baseband signal.
3rd step: find frame head.
After recovering baseband signal, for obtaining the data block of each frame, it is necessary to find frame head.In the present embodiment, frame head is (11110000), and every frame length is 23.When finding frame head, 8 bit data not requiring nothing more than current location in signal meet frame head, also require that 8 behind 15, interval meet frame head simultaneously.By such rigorous method, the frame head searched out is more reliable, and testing result is more accurate.
4th step: BCH code decodes.
BCH code is the linear block codes of a kind of maturation, and it has quite superior performance when low code length.Coding/decoding method about BCH code has numerous document to describe, and what the present embodiment adopted is a kind of sub-decoding algorithm of time domain correlation.
5th step: output buffer memory.
Owing to a complete ID is divided into 6 pieces of transmissions, the data taken out in certain buffer when decoding may not completely decode and obtain 6 ID blocks, now needed to be placed in output buffer memory decode the ID block obtained in this buffer, after being all received etc. all ID blocks, then 6 ID blocks are spliced into complete ID.
Finally, after obtaining ID, mobile intelligent terminal equipment can search map, it is determined that current device location, and then completes location navigation.
Embodiment two
Embodiment two gives the another kind of detailed description of the invention that a kind of mobile intelligent terminal indoor positioning based on visible light communication of present invention proposition is navigated.
In the present embodiment, ID length is 18, and coding adopts fountain codes, ID is divided into 3 packets and sends, use decoder module 2, and this coded system need not block number.At receiving terminal, receive any 3 or 3 data above bags and be likely to decoding.After obtaining ID, search map, complete location navigation.
In the present embodiment, photographic head shooting LED obtains picture, completes decoding by picture and draws ID.At present, mobile intelligent terminal being commonly used more cheap CMOS camera, CMOS camera has a very typical character: Rolling shutter (RollingShutter) effect.In simple terms, CMOS camera is not that the overall situation has exposed and takes pictures, but has exposed line by line and taken pictures.Therefore, using the LED of CMOS camera shooting OOK modulation can see light and dark striped in picture, these stripeds reflect the light and shade change of LED, namely reflect the signal that LED is loaded.In order to obtain high-quality striped picture, it is necessary to adjust the parameter such as the exposure value of photographic head, ISO value.As shown in Figure 8, concrete decoding process can be divided into following seven steps:
The first step: obtain gray-scale map.
The picture that shooting obtains is yuv format, and wherein Y represents brightness, namely gray value, it is extracted and just can obtain gray-scale map.Fig. 9 gives the typical grayscale figure of the present embodiment shooting.
Second step: choose fringe area.
The present invention proposes a kind of fringe area choosing method based on barycenter expansion.When equipment distance LED farther out time, LED only occupies sub-fraction in picture, directly whole picture is decoded complexity high and unrealistic, it is therefore necessary to select streaky a part of region and be decoded, but this region should comprise stripe information as much as possible simultaneously.Fig. 9 gives the fringe area Choice of a kind of the best, namely fringe area upper-lower height should be long as far as possible, abundant stripe information (region otherwise selected can not efficiently utilize the full detail comprised in picture in its entirety) should be covered, the scope that can not exceed again LED (has more black border in the region otherwise selected, affect detection accuracy), fringe area left and right width should be moderate simultaneously, excessive then computational complexity is too high, too small, can bring very big error when choosing into black border.The fringe area choosing method that the present invention proposes first passes through the position determining that barycenter determines LED, then centered by centroid position, extends appropriately distance up and down, both without departing from the scope of LED, comprises again stripe information as much as possible.Figure 10 is the present invention schematic diagram for square LED fringe area choosing method.It may be noted that at this, expansion scope is not with the upper and lower triangle neutrality line of Fig. 9 for boundary, but it is relevant to have employed count histogrammic method, this histogram shape and numerical value and LED shape, shooting angle of Statistics Bar, is analyzed rectangular histogram can be derived that suitable fringe area selection range.For square LED lamp, the scope calculated by the method is identical with choosing the method for upper and lower neutrality line in Fig. 9 in the ideal case, but both essence are entirely different.The method choosing neutrality line is inapplicable to round LED lamp, but the rectangular histogram fringe area choosing method that the present invention proposes is equally applicable to round LED lamp.
3rd step: determine the width of fringe that single-bit signal is corresponding.
In audio port detection scheme, transmitting terminal frequency is 16kHz, and receiving terminal sample frequency is 32kHz, in theory corresponding two sampled points of single-bit signal.But in the present embodiment, the frequency of photographic head row scanning is relevant with the parameter of photographic head, has no way of learning, it is impossible to directly obtain the width of fringe that single-bit signal is corresponding.Therefore, coding/decoding method requires over a few width picture and determines the width of fringe that single-bit signal is corresponding.After opening application, allow photographic head shooting at close range LED, it is thus achieved that picture be used for determining the width of fringe that single-bit signal is corresponding.
After previous step obtains fringe area, every a line is sought average gray, it is possible to obtain gray value sequence.This sequence is made to deduct ensemble average value, it is possible to obtain the signal similar with audio port digital signal.The difference is that, on the occasion of representing " 0 " in audio port signal, negative value represents " 1 ", and in the signal that photographic head picture obtains, on the occasion of representing " 1 ", negative value represents " 0 ".The method same with audio port scheme is utilized to can determine that all widths of fringe.Encoding characteristics according to BCH code, in these stripeds, necessarily contains the striped of single persistence level, and the width of this striped reflects the width of fringe that single-bit signal is corresponding, the sampling ratio in corresponding audio port decoding.And this width is in all widths of fringe, it is presented as the minima in all widths of fringe.
But owing to noise exists, simply pick the minima of width of fringe as width of fringe very inaccuracy corresponding to single-bit signal.The method that the present invention proposes, using this minimum pulse width as reference value, fluctuate certain limit, generates a series of " possible single-bit widths of fringe " with fixed interval.Then it is decoded with these " possible single-bit widths of fringe ", it can be seen that, have chosen single-bit width of fringe more accurately and be capable of detecting when more frame head, obtain more packet.The present invention chooses the frame head making to detect maximum " possible single-bit width of fringe " as the single-bit signal correspondence width of fringe under current photographic head parameter.Then by this width buffer memory, repeatedly calculate, remove exceptional value, be averaged as the final single-bit signal correspondence width of fringe under parameter current.Thereafter the picture shot, does not suffer from this process, directly completes decoding with the single-bit signal correspondence width of fringe determined.
Fringe area each row is averaged after determining by single-bit signal correspondence width of fringe, obtains row gray value sequence, then deducts the average of all row, obtains the digital signal of similar audio port.In remaining step, use the method identical with audio port decoding scheme to complete decoding, it is achieved location navigation, do not repeat them here.
Embodiment three
Embodiment three gives another detailed description of the invention that a kind of mobile intelligent terminal indoor positioning based on visible light communication of present invention proposition is navigated.
In the present embodiment, ID length is 16, and coding adopts RS code, and ID is piecemeal not, it is not necessary to add block number.The present embodiment obtains receiving terminal 1 and the information of receiving terminal 2 acquisition simultaneously, after two parts of information are completed signal reconstruction, uses maximum-ratio combing, is then decoded again, obtains ID, it is achieved location.Specific implementation process is described in detail in embodiment one and embodiment two, does not repeat them here.
The mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to embodiments of the present invention, visible light communication and indoor positioning are merged into one, utilizes the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate.Use identical transmitting terminal, it is provided that audio port and first two mobile intelligent terminal receiving side signal formula of shooting, two kinds of reception modes can be assisted mutually, improves the accuracy of indoor positioning simultaneously.The present invention provides multiple block encoding framing scheme, it is possible to adapts to different applied environments and equipment, and has broad application prospects in Internet of Things, smart city, wired home, i.e. applied range, application prospect is good.
Further embodiment of the present invention additionally provides a kind of mobile intelligent terminal indoor positioning guider based on visible light communication.
Figure 11 is the structured flowchart of mobile intelligent terminal indoor positioning guider based on visible light communication according to an embodiment of the invention.As shown in figure 11, this device 100 includes: initiator block 110 and receiving terminal module 120.
Wherein, initiator block 110 is for arranging corresponding ID sequence number for each LED, and all ID sequence numbers are carried out piecemeal, the ID sequence number after piecemeal carries out Error Correction of Coding, and according to default frame structure framing, obtains signal to be sent to drive LED to light.
Wherein, default frame structure such as includes frame head, ID block number, piecemeal id information.
Further, embodiments of the invention can provide plurality of optional framing arrangement, and wherein, the product of ID block number and piecemeal id information figure place is equal to ID total length, to adapt to different mobile intelligent terminals and applied environment.
Wherein, in above process, for instance by Manchester code or BCH code, the ID sequence number after packet is carried out Error Correction of Coding.
Receiving terminal module 120 is for, after the signal to be sent received is decoded, obtaining the ID sequence number of the LED of correspondence, according to this ID sequence number by searching the ID sequence number prestored and location diagram determines the position of LED, to realize location navigation.Wherein, ID sequence number and location diagram comprise ID sequence number and the corresponding relation of LED physical location.
Further, receiving terminal module 120 includes: memory module the 121, first decoder module 122 and/or the second decoder module 123.
Specifically, receiving terminal memory module 121 is used for storing ID sequence number and location diagram.First decoder module 121 is for receiving optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after digital signal decoding, and determined the position of LED by lookup ID sequence number and position relationship schematic diagram according to this ID sequence number.Second decoder module 122 obtains striped picture the ID sequence number to the LED obtaining correspondence after the decoding of striped picture for shooting LED by photographic head, and is determined the position of LED by lookup ID sequence number and position relationship schematic diagram according to this ID sequence number.It is to say, the information that two kinds of coding/decoding methods that the first decoder module 122 and the second decoder module 123 provide obtain can be combined merging, including maximum-ratio combing, it is added the modes such as merging, to improve detection accuracy.Namely, the coding/decoding method decoding that embodiments of the invention can provide separately through the first decoder module 122 or the second decoder module 123, the coding/decoding method decoding that can also be simultaneously provided by the first decoder module 122 and the second decoder module 123, thus improving detection accuracy.
Wherein, the first decoder module 122 such as uses the signal decoding method calculated based on pulsewidth.Specifically, by fast Fourier transform fft filters wiping out background optical noise, and complete decoding by calculating pulsewidth reconstruction signal.
Second decoder module 123 is such as by choosing several striped pictures, and determines, according to the fringe area in several striped pictures, the width of fringe that single-bit signal is corresponding, and completes decoding according to width of fringe, it is possible to decrease algorithm complex, improves detection accuracy simultaneously.
It should be noted that, the specific implementation of the mobile intelligent terminal indoor positioning guider based on visible light communication of the embodiment of the present invention is similar with the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication of the embodiment of the present invention, referring specifically to the description of method part.
The mobile intelligent terminal indoor positioning guider based on visible light communication according to embodiments of the present invention, visible light communication and indoor positioning are merged into one, utilizes the being widely present property of LED, low cost to realize indoor positioning navigation cheap, convenient, high coverage rate.Use identical transmitting terminal, it is provided that audio port and first two mobile intelligent terminal receiving side signal formula of shooting, two kinds of reception modes can be assisted mutually, improves the accuracy of indoor positioning simultaneously.The present invention provides multiple block encoding framing scheme, it is possible to adapts to different applied environments and equipment, and has broad application prospects in Internet of Things, smart city, wired home, i.e. applied range, application prospect is good.
In the description of this specification, specific features, structure, material or feature that the description of reference term " embodiment ", " some embodiments ", " example ", " concrete example " or " some examples " etc. means in conjunction with this embodiment or example describe are contained at least one embodiment or the example of the present invention.In this manual, the schematic representation of above-mentioned term is not necessarily referring to identical embodiment or example.And, the specific features of description, structure, material or feature can combine in an appropriate manner in any one or more embodiments or example.
Although an embodiment of the present invention has been shown and described, it will be understood by those skilled in the art that: these embodiments can being carried out multiple change, amendment, replacement and modification when without departing from principles of the invention and objective, the scope of the present invention is by claim and equivalency thereof.
Claims (9)
1. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication, it is characterised in that comprise the following steps:
S1: arrange corresponding ID sequence number for each LED, and all ID sequence numbers are carried out piecemeal, carries out Error Correction of Coding to the ID sequence number after piecemeal, and according to default frame structure framing, obtains signal to be sent to drive LED to light；And
S2: after the signal described to be sent received is decoded by described mobile intelligent terminal, obtains the ID sequence number of LED of correspondence, according to this ID sequence number by searching the ID sequence number prestored and location diagram determines the position of described LED, to realize location navigation.
2. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to claim 1, described S2 farther includes:
S21: receive optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after described digital signal decoding, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number；And/or
S22: shoot described LED by photographic head and obtain striped picture the ID sequence number to the LED obtaining correspondence after the decoding of described striped picture, and determined the position of described LED according to this ID sequence number by the described ID sequence number of lookup and position relationship schematic diagram.
3. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to claim 1, it is characterised in that described default frame structure includes frame head, ID block number, piecemeal id information.
4. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to claim 3, it is characterised in that the product of described ID block number and piecemeal id information figure place is equal to ID total length.
5. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to claim 1, it is characterised in that the ID sequence number after packet is carried out Error Correction of Coding by Manchester code or BCH code.
6. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to right 2, it is characterized in that, in described S21, also include: by fast Fourier transform wave filter wiping out background optical noise, and complete decoding by calculating pulsewidth reconstruction signal.
7. the mobile intelligent terminal indoor positioning air navigation aid based on visible light communication according to claim 1, it is characterized in that, in described S22, also include: choose several striped pictures, and determine, according to the fringe area in several striped pictures described, the width of fringe that single-bit signal is corresponding, and complete decoding according to described width of fringe.
8. the mobile intelligent terminal indoor positioning guider based on visible light communication, it is characterised in that including:
Initiator block, described initiator block is for arranging corresponding ID sequence number for each LED, and all ID sequence numbers are carried out piecemeal, the ID sequence number after piecemeal carries out Error Correction of Coding, and according to default frame structure framing, obtains signal to be sent to drive LED to light；And
Receiving terminal module, described receiving terminal module is for after being decoded the signal described to be sent received, obtain the ID sequence number of LED of correspondence, according to this ID sequence number by searching the ID sequence number prestored and location diagram determines the position of described LED, to realize location navigation.
9. the mobile intelligent terminal indoor positioning guider based on visible light communication according to claim 8, it is characterised in that described receiving terminal module includes:
Memory module, described receiving terminal memory module is used for storing described ID sequence number and location diagram；
First decoder module and/or the second decoder module, described first decoder module is for receiving optical signal by photo-detector, and the digital signal by obtaining after audio interface transmission Sampling with sound card, ID sequence number to the LED obtaining correspondence after described digital signal decoding, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number, described second decoder module obtains striped picture for shooting described LED by photographic head, and after described striped picture is decoded, obtain the ID sequence number of the LED of correspondence, and determined the position of described LED by the described ID sequence number of lookup and position relationship schematic diagram according to this ID sequence number.
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