CN105824009A - Indoor positioning system and positioning method based on characteristic light source and small hole lighting device - Google Patents
Indoor positioning system and positioning method based on characteristic light source and small hole lighting device Download PDFInfo
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Abstract
The present invention relates to the field of indoor positioning and particularly relates to a high precision indoor positioning system and corresponding method based on a characteristic light source and a small hole lighting device. The positioning is three-dimensional spatial positioning. The system comprises the characteristic light source, the small hole lighting device and a processor. The method comprises the steps of light source arrangement, information inputting, position selection and lighting, characteristic matching, and position calculation. Compared with a traditional indoor positioning system, the indoor positioning technology provided by the invention has the advantages of high accuracy, low cost, good real-time performance, and excellent scalability and portability.
Description
Technical field
The present invention relates to indoor positioning field, be specifically related to a kind of feature based light source and the high accuracy indoor locating system of aperture lighting equipment and corresponding method.
Background technology
In recent years, along with the progress of science and technology, location technology also receives much concern and quickly grows.Now, outdoor positioning technology based on GPS is the most highly developed and starts to be widely used, but as the end of location technology, indoor positioning technologies development is the slowest.Existing indoor positioning technologies or position and the motion of indoor object are carried out perception by the means such as infrared ray, ultrasound wave, or carry out data interaction by the wireless telecommunications means such as Wi-Fi, bluetooth or ZigBee and object under test.The technological means that the former is used can realize higher degree of accuracy, but also considerably increases the complexity of indoor arrangement, and cost is high, and penetrance, anti-interference are poor；Although the latter reduces cost, possess certain penetration capacity, but degree of accuracy declines the most therewith.
Summary of the invention
Present invention aims to the deficiency of existing indoor positioning technologies, it is provided that a kind of feature based light source and the indoor locating system of aperture lighting equipment, and provide the method realizing indoor positioning based on this system.Indoor locating system of the present invention is capable of high accuracy indoor three-dimensional fix based on angle, and deployment is simple, power consumption is little, low cost, and real-time is good.Meanwhile, indoor locating system of the present invention and method can combine with indoor navigation technology, think that indoor navigation technology provides accurate, real-time three-dimensional space position information, and extensibility is strong.Additionally, the indoor locating system of the present invention and method can combine with existing intelligent terminal, especially mobile intelligent terminal, possesses outstanding portability.
The technical solution used in the present invention is as follows: a kind of feature based light source and the indoor locating system of aperture lighting equipment, and described orientates three-dimensional fix as, and this system includes feature light source, aperture lighting equipment and processor, wherein:
Described feature light source is made up of 3 or more than 3 light sources with different characteristic, for producing and sending the optical signal with different characteristic；Described feature is frequency and/or coding；
Described aperture lighting equipment is made up of shell with holes, photographic plate and data transmission module, described shell with holes is a rigid post body case,, there is an aperture at the upper end, go to the bottom and photographic plate combines, photographic plate has the one of photoperceptivity facing to aperture, and vertical dimension between photographic plate and aperture known (on shell the most with holes, the end and the distance between going to the bottom deduct photographic plate thickness) and record are in processor；Gather accurate photo-sensitive cell on described photographic plate surface, the feature of the energy accurately optical signal of perception incidence photographic plate and the position on photographic plate；The feature of the optical signal collected and the position on photographic plate are transferred to processor by wired or wireless mode by described data transmission module；
Described processor is for recording the feature of each and every one feature light source and in indoor position, and according to the feature of each feature light source and the position on indoor position and the feature of the optical signal collected of aperture lighting equipment transmission and each comfortable photographic plate, calculate aperture lighting equipment location, thus realize indoor positioning；Described processor realizes data transmission in a wired or wireless fashion with aperture lighting equipment.
Described feature quantity of light source is at least 3, to ensure that subsequent calculations can be carried out, to realize indoor Global localization, then needs to ensure the optical signal that indoor every bit at least can receive 3 or features above light source is sent.It is also possible to by arranging that wider scope, greater number of feature light source are to improve the degree of accuracy of indoor positioning.
Described indoor locating system can combine with indoor navigation technology, thinks that indoor navigation technology provides accurate, real-time three-dimensional space position information.I.e. user can utilize described indoor locating system to obtain oneself in indoor exact position, in conjunction with the required target location arrived, airmanship is utilized to find route to approach, during approaching, still can obtain oneself real time position in indoor by described indoor locating system, realize feedback with the result of continuous correction navigation.
Described processor is at least one terminal with photoelectric signal transformation and data-handling capacity.That is, described processor both can be a terminal with photoelectric signal transformation and data-handling capacity, and Ru Yitai is furnished with the notebook computer of CCD；Can also be the multiple stage combination that is respectively provided with the terminal of photoelectric signal transformation ability and data-handling capacity, as a photoelectric signal converter and with one can the combination of smart mobile phone of communication.As preferably, described processor can be a mobile intelligent terminal.
The present invention also provide for a kind of feature based light source and aperture lighting equipment indoor orientation method, described orientates three-dimensional fix as, and the method comprises the following steps:
(1) light source is arranged: at 3 or 3 features above light sources of indoor layout, opens the feature light source arranged and makes it luminous；Described feature is frequency and/or coding；
(2) Data Enter: by the feature of each feature light source arranged in step (1) and position typing processor；
(3) selecting a daylighting: select the position of sound production aperture lighting equipment of required location to carry out daylighting, the positional information in the feature of the optical signal collected by aperture lighting equipment and each comfortable photographic plate is transferred to processor；
(4) characteristic matching: in the feature of the optical signal that aperture lighting equipment photographic plate in step (3) is collected by processor and step (2), the feature of each feature light source of record is mated, therefrom choose 3 matching degrees the highest " light source-optical signal " right, wherein, 3 selected feature light sources are the most different, and 3 selected optical signals are the most different；
(5) position calculation: according to 3 feature light sources and the position of 3 optical signals, calculates aperture lighting equipment location, thus realizes indoor positioning.
In described step (1), should be according to indoor concrete deployment scenarios during arrangement of features light source, the luminous energy as far as possible making arranged feature light source be sent covers each indoor position, to ensure the effect of indoor positioning.Described feature is frequency and/or coding.When described feature is frequency, the frequency of the light that feature light source sends is different, is presented as the different colours of visible ray；When described feature is for coding, the coding of the light that feature light source sends is different, be presented as light according to different light and shades interval flickers, the higher therefore human eye None-identified of this flicker frequency, but can be possessed photoelectric signal transformation and data-handling capacity processor identifies.
In described step (2), the concrete mode of Data Enter processor can be determined according to actual scene, include but not limited to be manually entered, the scanning of remote download, Quick Response Code, the mode such as NFC.The feature of each described feature light source and position can be according to " light source numbering-light source frequency-light source position " or " light source numbering-light source code-light source position " or " light source numbering-light source frequency-light source code-light source position " such form record in processors.Owing to only needing the relative position between selected light source when follow-up location calculates, so in this step, reference frame selected during recording light source position is arbitrary.
In described step (4), first processor analyzes the feature of the optical signal that the photographic plate of aperture lighting equipment transmission is collected in (3), when the light collected has different frequencies, then by its successively with the frequency phase comparison of the light of each feature light source of typing in step (2)；When the light collected has different codings, then by its successively with the coding phase comparison of the light of each feature light source of typing in step (2)；When the light collected both had different frequencies also there is different codings time, then its result comprehensive of it being compared respectively with the frequency of the light of each feature light source of typing in step (2) and coding successively again；Matching degree sequence from high to low is obtained with this." light source-optical signal " chosen is to must being fulfilled for 3 the most different and selected optical signals of selected 3 feature light source the most different the two conditions, to ensure that subsequent calculations can be carried out.
Described step (5) is particularly as follows: according to the position calculation distance therebetween of feature light source；These three point is calculated on photographic plate to the distance of aperture according to vertical dimension between position and aperture and photographic plate on three optical signal photographic plates；According to the distance of three points calculated to aperture, calculate these three point to the angle between three lines of aperture；The angle between three lines according to these three point to aperture, obtains three feature light sources to the angle between three lines of aperture；The angle between three lines according to three feature light sources to aperture, in conjunction with the distance between three feature light sources, calculates the locus of aperture lighting equipment, it is achieved indoor positioning.
The invention has the beneficial effects as follows:
(1) indoor locating system and the method for the present invention is capable of indoor three-dimensional fix based on angle, compares traditional indoor positioning technologies, has higher degree of accuracy.
(2) indoor locating system of the present invention only need to increase feature light source in existing indoor deployment, or replaces indoor original lighting installation with feature light source, and deployment is simple, power consumption is little, low cost, is with a wide range of applications.
(3) the indoor orientation method step of the present invention is simple, requires low to the data-handling capacity of processor, it is not necessary to complicated calculations, position fixing process real-time is good.
(4) indoor locating system and the method for the present invention can combine with indoor navigation technology, thinks that indoor navigation technology provides accurate, real-time three-dimensional space position information, and extensibility is strong.
(5) indoor locating system and the method for the present invention can combine with existing intelligent terminal, especially mobile intelligent terminal, has possessed outstanding portability.
Accompanying drawing explanation
Fig. 1 is present system composition diagram.
Fig. 2 is the inventive method flow chart.
Fig. 3 is the schematic diagram of position calculation step.
Fig. 4 is the alignment system of the present invention and airmanship combines realizes library and seeks the schematic diagram of book.
Detailed description of the invention
In order to illustrate in greater detail the feature based light source of the present invention and the indoor locating system of aperture lighting equipment and localization method, describe the present invention in detail below according to accompanying drawing.
As it is shown in figure 1, the feature based light source of the present invention and the indoor locating system of aperture lighting equipment, described orientates three-dimensional fix as, including feature light source, aperture lighting equipment and processor, wherein:
Described feature light source is made up of 3 or more than 3 light sources with different characteristic, for producing and sending the optical signal with different characteristic；Described feature is frequency and/or coding；
Described aperture lighting equipment is made up of shell with holes, photographic plate and data transmission module, described shell with holes is a rigid post body case,, there is an aperture at the upper end, go to the bottom and photographic plate combines, photographic plate has the one of photoperceptivity facing to aperture, and vertical dimension between photographic plate and aperture known (on shell the most with holes, the end and the distance between going to the bottom deduct photographic plate thickness) and record are in processor；Gather accurate photo-sensitive cell on described photographic plate surface, the feature of the energy accurately optical signal of perception incidence photographic plate and the position on photographic plate；The feature of the optical signal collected and the position on photographic plate are transferred to processor by wired or wireless mode by described data transmission module；
Described processor is for recording the feature of each and every one feature light source and in indoor position, and according to the feature of each feature light source and the position on indoor position and the feature of the optical signal collected of aperture lighting equipment transmission and each comfortable photographic plate, calculate aperture lighting equipment location, thus realize indoor positioning；Described processor realizes data transmission in a wired or wireless fashion with aperture lighting equipment.
Embodiment 1:
Below as a example by indoor positioning application in terms of underground garage, illustrate the feature based light source of the present invention and the indoor locating system of aperture lighting equipment and localization method.In the present embodiment, use one piece of low profile edge processor as the processor of alignment system, and be integrated in aperture lighting equipment outside bottom surface, carry out communication by the data transmission module of wired mode and aperture lighting equipment.Feature light source is using different codings as feature.
(1) light source is arranged: at underground garage indoor arrangement of features light source, in order to ensure the effect of location, in the present embodiment, feature light source is arranged in each corner in underground garage, and can guarantee that each parking stall of underground garage can receive the light that the feature light source of 3 or more than 3 sends；After arranging light source, measure the exact position of each light source；Opening the feature light source arranged afterwards makes it luminous.Owing to feature light source is encoded to feature with different, the coding of its light sent is different, is presented as that light flashes according to different light and shade intervals, the higher therefore human eye None-identified of this flicker frequency, but can be identified by low profile edge processor.
(2) Data Enter: feature and position typing low profile edge processor, the feature of each described feature light source and the position of each feature light source arranged in step (1) can be stored in low profile edge processor according to " light source numbering-light source code-light source position " such form.
(3) daylighting is selected: as certain user, when driving to enter underground garage such as first, staff provides the aperture lighting equipment of its outside bottom surface integration of compact flush bonding processor.First is after underground garage has stopped car, take out aperture lighting equipment, it is placed in car body a part (corner as left front in parking stall) and carries out daylighting, after the photographic plate of aperture lighting equipment collects the light that Partial Feature light source sends, encoded and positional information on photographic plate is transferred to the low profile edge processor of aperture lighting equipment outside bottom surface by data transmission module.
(4) characteristic matching: be encoded to feature with light in the present embodiment, therefore set low profile edge processor only coding to be compared process, processor by the optical signal with different coding that collected successively with the coding phase comparison of the light of each feature light source of typing in step (2), obtain matching degree sequence from high to low." light source-optical signal " chosen is to must being fulfilled for 3 the most different and selected optical signals of selected 3 feature light source the most different the two conditions, to ensure that subsequent calculations can be carried out.The position such as stopped in first, collect on the photographic plate of aperture lighting equipment and come from A, B, C, D, the a of these 5 feature light sources of E, b, c, d, e, f, these 7 optical signals of g, in all " light source-optical signal " centerings, matching degree sequence from high to low is: " A-a ", " A-b ", " B-b ", " D-b ", " C-c " ... when choosing the highest " light source-optical signal " pair of 3 matching degrees the most again, " A-b " is because repeating to be given up with " A-a " feature light source, " D-b " is because repeating also to be given up with " B-b " optical signal, the highest " light source-optical signal " of 3 matching degrees finally giving is to being: " A-a ", " B-b ", " C-c ".
(5) position calculation: selected 3 matching degrees the highest " light source-optical signal " in step (4) right, according to this 3 feature light sources and the position of 3 optical signals, substitute into formula and calculate aperture lighting equipment location, here optical signal a, b, c position on photographic plate is denoted as A ', B ', C ' respectively, and concrete calculation procedure is as follows:
1. according to position calculation distance AB therebetween, BC, CA of feature light source A, B, C, when using rectangular coordinate system in space recording feature light source position in processor, the position of feature light source A, B, C is respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,yC,zC) therebetween distance be respectively as follows:
The length of ' O, C ' O that 2. calculates line A ' O, B of A ', B ', C ' these three point to aperture O according to vertical dimension OH between position and aperture and the photographic plate of a, b, c on photographic plate, owing to OH is perpendicular to A ' H, B ' H, C ' H, therefore:
3. according to A ' O, B calculated ' O, C ' O length, in conjunction with A ' B ', B ' C ', C ' A ' length, the cosine law is used to obtain angle ∠ A ' OB ' therebetween, ∠ B ' OC ', the size of ∠ C ' OA ' cosine value in △ A ' OB ', △ B ' OC ', △ C ' OA ' respectively:
4., in tetrahedron ABCO, owing to vertical angles are equal, have:
∠ AOB=∠ A ' OB '
∠ BOC=∠ B ' OC '
∠ COA=∠ C ' OA '
That is:
Cos ∠ AOB=cos ∠ A ' OB '
Cos ∠ BOC=cos ∠ B ' OC '
Cos ∠ COA=cos ∠ C ' OA '
5. in △ ABO, △ BCO, △ CAO, equation is obtained according to the cosine law respectively:
AO2+BO2-AB2=2AOBOcos ∠ AOB
BO2+CO2-BC2=2BOCOcos ∠ BOC
CO2+AO2-CA2=2COAOcos ∠ COA
Xie Zhi, obtains AO, BO, CO numerical value, in conjunction with O in space relative to the position of plane ABC, can get unique solution, i.e. determines aperture lighting equipment location.
By above step, first has just obtained the particular location oneself stopped in underground garage.First remembers this position, gives back staff aperture lighting equipment.Can navigate according to this positional information when he returns to pick up the car after a period of time, find the car that oneself is stopped simply and easily.
Embodiment 2:
The most again as a example by indoor positioning application in terms of library bookshelf, illustrate the feature based light source of the present invention and the indoor locating system of aperture lighting equipment and localization method.In the present embodiment, using the smart mobile phone of user as processor, wirelessly the data transmission module with aperture lighting equipment carries out communication.Feature light source is using different codings as feature.Being mounted with the application of the indoor orientation method of the present invention in smart mobile phone in advance, smart mobile phone is mounted with the software possessing homing capability simultaneously.
(1) light source is arranged: arrangement of features light source in library, in order to ensure the effect of location, in the present embodiment, feature light source is arranged in each corner in library, and can guarantee that each position of position and the reader institute possibility process of every book can receive the light that the feature light source of 3 or more than 3 sends；After arranging light source, measure the exact position of each light source；Opening the feature light source arranged afterwards makes it luminous.Owing to feature light source is encoded to feature with different, the coding of its light sent is different, is presented as that light flashes according to different light and shade intervals, the higher therefore human eye None-identified of this flicker frequency, but can be processed by smart mobile phone and identify.
(2) Data Enter: by the coding of each feature light source arranged in step (1) and position typing library networks platform, as certain user, as second comes library, when needing to utilize this alignment system to seek book, he can by log in Library Frontpage remote download or scanning library doorway the mode such as Quick Response Code will, in this network platform in the coding of each feature light source and the smart mobile phone of positional information typing oneself.The feature of each described feature light source and position can store according to " light source numbering-light source code-light source position " such form.
(3) daylighting is selected: staff provides second aperture lighting equipment.Second is taken out aperture lighting equipment and is carried out daylighting, after the photographic plate of aperture lighting equipment collects the light that Partial Feature light source sends, is encoded and positional information on photographic plate is transferred to the smart mobile phone of second by data transmission module.
(4) characteristic matching: the light collected is analyzed by the smart mobile phone of second, finds that other have identical frequency and different codings, it is thus determined that the feature of light source is coding, process of only comparing coding.Smart mobile phone by the light with different coding that collected successively with the coding phase comparison of the light of each feature light source of typing in step (2), obtain matching degree sequence from high to low." light source-optical signal " chosen is to must being fulfilled for 3 the most different and selected optical signals of selected 3 feature light source the most different the two conditions, to ensure that subsequent calculations can be carried out.Such as in second location, collect on the photographic plate of aperture lighting equipment and come from A, B, C, D, the a of these 5 feature light sources of E, b, c, d, e, f, these 7 optical signals of g, in all " light source-optical signal " centerings, matching degree sequence from high to low is: " A-a ", " A-b ", " B-b ", " D-b ", " C-c " ... when choosing the highest " light source-optical signal " pair of 3 matching degrees the most again, " A-b " is because repeating to be given up with " A-a " feature light source, " D-b " is because repeating also to be given up with " B-b " optical signal, the highest " light source-optical signal " of 3 matching degrees finally giving is to being: " A-a ", " B-b ", " C-c ".
(5) position calculation: selected 3 matching degrees the highest " light source-optical signal " in step (4) right, according to this 3 feature light sources and the position of 3 optical signals, substitute into formula and calculate aperture lighting equipment location, here optical signal a, b, c position on photographic plate is denoted as A ', B ', C ' respectively, and concrete calculation procedure is as follows:
1. according to position calculation distance AB therebetween, BC, CA of feature light source A, B, C, when using rectangular coordinate system in space recording feature light source position in processor, the position of feature light source A, B, C is respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,yC,zC) therebetween distance be respectively as follows:
The length of ' O, C ' O that 2. calculates line A ' O, B of A ', B ', C ' these three point to aperture O according to vertical dimension OH between position and aperture and the photographic plate of a, b, c on photographic plate, owing to OH is perpendicular to A ' H, B ' H, C ' H, therefore:
3. according to A ' O, B calculated ' O, C ' O length, in conjunction with A ' B ', B ' C ', C ' A ' length, the cosine law is used to obtain angle ∠ A ' OB ' therebetween, ∠ B ' OC ', the size of ∠ C ' OA ' cosine value in △ A ' OB ', △ B ' OC ', △ C ' OA ' respectively:
4., in tetrahedron ABCO, owing to vertical angles are equal, have:
∠ AOB=∠ A ' OB '
∠ BOC=∠ B ' OC '
∠ COA=∠ C ' OA '
That is:
Cos ∠ AOB=cos ∠ A ' OB '
Cos ∠ BOC=cos ∠ B ' OC '
Cos ∠ COA=cos ∠ C ' OA '
5. in △ ABO, △ BCO, △ CAO, equation is obtained according to the cosine law respectively:
AO2+BO2-AB2=2AOBOcos ∠ AOB
BO2+CO2-BC2=2BOCOcos ∠ BOC
CO2+AO2-CA2=2COAOcos ∠ COA
Xie Zhi, obtains AO, BO, CO numerical value, in conjunction with O in space relative to the position of plane ABC, can get unique solution, i.e. determines aperture lighting equipment location.
By above step, second has just obtained oneself place particular location in library, such as position A.Afterwards, second obtains the position of certain books oneself wanted by books in libraries inquiry system, such as position X, relends and helps airmanship to seek book.Second can seek book by walking voluntarily of navigating, the i.e. navigation software by smart mobile phone obtains the route map of A-X, and go to according to route map and to seek book, second can correct the result of navigation with repeat the above steps (3)-(5) with the position of real-time update oneself in the way seek book simultaneously.In addition, second can also utilize navigation to drive a kinetic control system, such as a motor-driven carrier with mechanical arm, book is taken voluntarily according to route map determined by navigation, this kinetic control system equally repeat the above steps (3)-(5) in the way seek book, with the position of real-time update oneself, correct the result of navigation.Owing to the indoor locating system of the present invention can realize three-dimensional fix, it is possible not only to obtain the bookshelf position at required books place by this system, its height (which layer as at bookshelf) can also be learnt by navigation and correction, seek book process simple and convenient, as shown in Figure 4.After second finds required books, giving back staff spherical lighting equipment, check out books formality.
Should be understood that to one skilled in the art and require to carry out various amendment, combination, certainly combination and change, as long as they all fall within claims and equivalents limited range thereof with other factors according to design.
Claims (6)
1. feature based light source and an indoor locating system for aperture lighting equipment, described orientates three-dimensional fix as, it is characterised in that include feature light source, aperture lighting equipment and processor, wherein:
Described feature light source is made up of 3 or more than 3 light sources with different characteristic, for producing and sending the optical signal with different characteristic；Described feature is frequency and/or coding；
Described aperture lighting equipment is made up of shell with holes, photographic plate and data transmission module, described shell with holes is a rigid post body case,, there is an aperture at the upper end, go to the bottom and photographic plate combines, photographic plate has the one of photoperceptivity facing to aperture, and the vertical dimension record between photographic plate and aperture is in processor；Gather accurate photo-sensitive cell on described photographic plate surface, the feature of the energy accurately optical signal of perception incidence photographic plate and the position on photographic plate；The feature of the optical signal collected and the position on photographic plate are transferred to processor by wired or wireless mode by described data transmission module；
Described processor is for recording the feature of each and every one feature light source and in indoor position, and according to the feature of each feature light source and the position on indoor position and the feature of the optical signal collected of aperture lighting equipment transmission and each comfortable photographic plate, calculate aperture lighting equipment location, thus realize indoor positioning；Described processor realizes data transmission in a wired or wireless fashion with aperture lighting equipment.
A kind of feature based light source the most according to claim 1 and the indoor locating system of aperture lighting equipment, it is characterised in that: described processor is at least one terminal with photoelectric signal transformation and data-handling capacity.
A kind of feature based light source the most according to claim 1 and the indoor locating system of aperture lighting equipment, it is characterized in that: described indoor locating system can combine with indoor navigation technology, particularly as follows: user utilizes described indoor locating system to obtain oneself in indoor exact position, in conjunction with the required target location arrived, airmanship is utilized to find route to approach, during approaching, still can obtain oneself real time position in indoor by described indoor locating system, realize feedback with the result of continuous correction navigation.
4. one kind utilizes the method that the indoor locating system of feature based light source and aperture lighting equipment described in claim 1 carries out indoor positioning, it is characterised in that include following 5 steps:
(1) light source is arranged: at 3 or 3 features above light sources of indoor layout, opens the feature light source arranged and makes it luminous；
(2) Data Enter: by the feature of each feature light source arranged in step (1) and position typing processor；
(3) selecting a daylighting: select the position of sound production aperture lighting equipment of required location to carry out daylighting, the positional information in the feature of the optical signal collected by aperture lighting equipment and each comfortable photographic plate is transferred to processor；
(4) characteristic matching: in the feature of the optical signal that aperture lighting equipment photographic plate in step (2) is collected by processor and step (1), the feature of each feature light source of record is mated, therefrom choose 3 matching degrees the highest " light source-optical signal " right, wherein, 3 selected feature light sources are the most different, and 3 selected optical signals are the most different；
(5) position calculation: according to 3 feature light sources and the position of 3 optical signals, calculates aperture lighting equipment location, thus realizes indoor positioning.
The method of indoor positioning the most according to claim 4, it is characterized in that, described step (4) is particularly as follows: first processor analyzes the feature of the optical signal that the photographic plate of aperture lighting equipment transmission is collected in (3), when the light collected has different frequencies, then by its successively with the frequency phase comparison of the light of each feature light source of typing in step (2)；When the light collected has different codings, then by its successively with the coding phase comparison of the light of each feature light source of typing in step (2)；When the light collected both had different frequencies also there is different codings time, then its result comprehensive of it being compared respectively with the frequency of the light of each feature light source of typing in step (2) and coding successively again；Matching degree sequence from high to low is obtained with this.
The method of indoor positioning the most according to claim 4, it is characterised in that described step (5) particularly as follows:
1. according to the position calculation distance therebetween of feature light source；
2. these three point is calculated on photographic plate to the distance of aperture according to vertical dimension between position and aperture and photographic plate on three optical signal photographic plates；
3. according to the distance of three points calculating to aperture, these three point is calculated to the angle between three lines of aperture；
4. according to the angle between three lines of these three point to aperture, three feature light sources are obtained to the angle between three lines of aperture；
5. according to the angle between three lines of three feature light sources to aperture, in conjunction with the distance between three feature light sources, the locus of aperture lighting equipment is calculated, it is achieved indoor positioning.
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| CN107144833A (en) * | 2017-06-30 | 2017-09-08 | 电子科技大学 | A kind of device and method positioned with laser to object |
| CN113791377A (en) * | 2021-09-09 | 2021-12-14 | 中国科学院微小卫星创新研究院 | Positioning method based on angle measurement |
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Inventor after: Meng Jun Inventor after: Yu Jiezhou Inventor after: Huang Jiyang Inventor after: Fu Youping Inventor after: Zhang Jun Inventor before: Meng Jun Inventor before: Huang Jiyang Inventor before: Fu Youping Inventor before: Zhang Jun |