CN105824010B - Indoor locating system and localization method based on feature light source and spherical lighting equipment - Google Patents
Indoor locating system and localization method based on feature light source and spherical lighting equipment Download PDFInfo
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Abstract
The present invention relates to indoor positioning fields, and in particular to a kind of high-precision indoor locating system based on feature light source and spherical lighting equipment and corresponding method.Described is positioned as three dimension location.Present system includes feature light source, spherical lighting equipment and processor these three component parts, and the method for the present invention includes light source arrangement, data input, selects daylighting, characteristic matching and position and calculate this five steps.Compared to traditional indoor locating system, indoor positioning technologies precision provided by the invention is high, at low cost, and real-time is good, is provided simultaneously with outstanding scalability and portability.
Description
Technical field
The present invention relates to indoor positioning fields, and in particular to a kind of high-precision based on feature light source and spherical lighting equipment
Indoor locating system and corresponding method.
Background technique
In recent years, with the progress of science and technology, location technology is also concerned and quickly grows.Now, based on GPS's
Outdoor positioning technology is highly developed and starts to be widely used, but the end as location technology, indoor positioning technologies
Development is relatively slow always.Existing indoor positioning technologies or by means such as infrared ray, ultrasonic waves to the position of indoor object
It sets and movement is perceived, or carry out data friendship by the wireless telecommunications means such as Wi-Fi, bluetooth or ZigBee and object under test
Mutually.Technological means used by the former is able to achieve higher accuracy, but also considerably increases the complexity of indoor arrangement,
And it is at high cost, penetrability, anti-interference are poor；Although the latter reduces costs, have certain penetration capacity, but accuracy
Decline therewith.
Summary of the invention
It is an object of the invention to be directed to the deficiency of existing indoor positioning technologies, provide a kind of based on feature light source and spherical shape
The indoor locating system of lighting equipment, and provide the method that indoor positioning is realized based on the system.It is of the present invention indoor fixed
Position system can be realized the high-precision interior three dimension location based on angle, and dispose simple, small power consumption, at low cost, in real time
Property is good.Meanwhile indoor locating system of the present invention and method can be combined with indoor navigation technology, for indoor navigation
Technology provides accurate, real-time three-dimensional spatial position information, and scalability is strong.In addition, indoor locating system and side of the invention
Method can be combined with existing intelligent terminal, especially mobile intelligent terminal, have outstanding portability.
The technical solution adopted by the present invention is as follows：A kind of indoor positioning system based on feature light source and spherical lighting equipment
System, described is positioned as three dimension location, which includes feature light source, spherical lighting equipment and processor, wherein：
The feature light source is made of 3 or 3 or more the light sources with different characteristic, is had for generating and issuing
The optical signal of different characteristic；The feature is frequency and/or coding；
The spherical lighting equipment is made of beaded support, multifiber and data transmission module, the more light
For each optical fiber one end in fibre to be embedded in beaded support perpendicular to the angle on beaded support surface, intersection point is daylighting point, another
End leads to data transmission module；The daylighting point limits the incidence angle of light, for acquiring the spy of special angle incidence
The optical signal that sign light source issues simultaneously is transmitted through the fiber to data transmission module, and the data transmission module is by collected light
Signal characteristic and the light spot position of adopting for collecting the optical signal are transferred to processor by wired or wireless way；
The feature and position indoors that the processor is used to record each feature light source, and according to each characteristic light
The feature and daylighting of the collected light of each daylighting point of the feature in source and position and spherical lighting equipment transmitting indoors
Position of the point on spherical lighting equipment, calculates the location of spherical lighting equipment, to realize indoor positioning；Described
Processor be embedded in inside spherical lighting equipment or and spherical shape lighting equipment separate and in a wired or wireless fashion with spherical daylighting
Device realizes data transmission.
The feature quantity of light source is at least 3, to guarantee that subsequent calculating can carry out, to realize the indoor overall situation
Positioning then needs to guarantee indoor every bit at least can to receive 3 or optical signal that features above light source is issued.Meanwhile
It can be by arranging wider scope, greater number of feature light source to improve the accuracy of indoor positioning.
The multifiber quantity depending on accuracy needed for indoor positioning, get over by accuracy needed for indoor positioning
Height, required number of fibers are more.Meanwhile in order to guarantee limitation of the daylighting point to angle of light, the incidence of selected optical fiber
Critical angle should control in a certain range, to realize the screening function to special angle incident light.
The processor is at least one terminal with photoelectric signal transformation and data-handling capacity.That is, described
For processor either a terminal with photoelectric signal transformation and data-handling capacity, such as one is furnished with the notebook of CCD
Computer；It is also possible to the more combinations for being respectively provided with the terminal of photoelectric signal transformation ability and data-handling capacity, such as a light
The combination of electric signal transducer and the smart phone that can be communicated with one.Preferably, the processor can be one
Platform mobile intelligent terminal.
The indoor locating system can be combined with indoor navigation technology, with for indoor navigation technology provide it is accurate,
Real-time three-dimensional spatial position information.I.e. user can use the indoor locating system and obtain oneself accurate position indoors
It sets, in conjunction with the target position of required arrival, finds route using airmanship to approach, still can lead to during approaching
It crosses the indoor locating system and obtains oneself real time position indoors, feedback is realized with the result of continuous correction navigation.
The present invention also provides a kind of indoor orientation method based on feature light source and spherical lighting equipment, including following step
Suddenly：
(1) light source is arranged：The feature light source for arranging 3 or 3 or more indoors is opened the feature light source arranged and is enabled
It shines；
(2) data input：By the feature and position typing processor of each feature light source arranged in step (1)；
(3) daylighting is selected：The position of sound production spherical shape lighting equipment positioned needed for selection carries out daylighting, by spherical lighting equipment
Location information of the feature and daylighting point of the upper collected light of each daylighting point on spherical lighting equipment is transferred to processor；
(4) characteristic matching：The collected light of each daylighting point that processor transmits lighting equipment spherical in step (3)
The feature of each feature light source of typing is matched in feature and step (2), therefrom chooses 3 highest " light of matching degree
Source-daylighting point " is right, wherein 3 selected feature light sources are different two-by-two, and 3 selected daylighting points are also different two-by-two；
(5) position calculates：According to the position of 3 feature light sources and 3 daylighting points, calculate locating for spherical lighting equipment
Position, to realize indoor positioning.
In the step (1), when arrangement of features light source, should make to be arranged as far as possible according to indoor specific deployment scenarios
The luminous energy that is issued of feature light source cover indoor each position, to guarantee the effect of indoor positioning.The feature is frequency
Rate and/or coding.When the feature is frequency, the frequency for the light that feature light source issues is different, is presented as visible light
Different colours；When the feature is coding, the coding for the light that feature light source issues is different, is presented as light according to not
It is flashed with light and shade interval, the flicker frequency is higher therefore human eye can not identify, but can be had photoelectric signal transformation
It is identified with data-handling capacity processor.
In the step (2), the concrete mode of data input processor can be determined according to actual scene, including
But it is not limited to be manually entered, the modes such as remote download, two-dimensional code scanning, NFC near field communication.The spy of each feature light source
Seek peace position can according to " light source number-light source frequency-light source position " or " light source number-light source coding-light source position " or
Format as " light source number-light source frequency-light source coding-light source position " is recorded in processor.Due to follow-up location meter
The relative position between selected light source is only needed when calculation, so in this step, when recording light source position selected ginseng
According to being to be arbitrary.
In the step (4), each daylighting point of spherical lighting equipment transmitting is adopted in processor analytical procedure first (3)
The feature of the light collected, when collected light have different frequencies when, then by its successively in step (2) typing it is each
The frequency of the light of feature light source compared to pair；When collected light have different codings when, then by it successively and in step (2)
The coding of the light of each feature light source of typing compared to pair；When collected light both there is different frequencies or had different
When coding, then it is successively compared again with the frequency of the light of each feature light source of typing in step (2) and coding respectively
Its comprehensive result；The sequence of matching degree from high to low is obtained with this." light source-daylighting point " chosen is selected to must satisfy
3 feature light sources different and selected 3 daylighting points also the two different conditions two-by-two two-by-two, to guarantee that subsequent calculating can
To carry out.
The step (5) is specially：Distance therebetween is calculated according to the position of feature light source；Light spot position is adopted according to three
Calculate the angle between three lines of and the spherical lighting equipment centre of sphere at this 3 points；Judge whether three daylighting points are in same plane
It is interior；According to the spatial relation of three daylighting points, the spatial position of spherical lighting equipment is calculated, realizes indoor positioning.
The beneficial effects of the invention are as follows：
(1) indoor locating system of the invention and method can be realized the indoor three dimension location based on angle, compare
Traditional indoor positioning technologies have higher accuracy.
(2) indoor locating system of the invention need to only increase feature light source in existing indoor deployment, or use characteristic light
The indoor original lighting installation of source replacement, deployment is simple, small power consumption, at low cost, is with a wide range of applications.
(3) indoor orientation method step of the invention is simple, low to the data-handling capacity requirement of processor, without complexity
It calculates, position fixing process real-time is good.
(4) indoor locating system of the invention and method can be combined with indoor navigation technology, for indoor navigation skill
Art provides accurate, real-time three-dimensional spatial position information, and scalability is strong.
(5) indoor locating system of the invention and method can be with existing intelligent terminals, especially mobile intelligent terminal
It combines, has outstanding portability.
Detailed description of the invention
Fig. 1 is present system composition figure.
Fig. 2 is the method for the present invention flow chart.
Fig. 3 is that position calculates in step, schematic diagram when daylighting point a, b, c are in same plane.
Fig. 4 is that position calculates in step, schematic diagram when daylighting point a, b, c are not in same plane.
Fig. 5 is that positioning system and airmanship of the invention combine the schematic diagram for realizing that book is sought in library.
Specific embodiment
In order to which the indoor locating system of the invention based on feature light source and spherical lighting equipment is described in more detail and determines
Position method, below according to attached drawing, the present invention will be described in detail.
As shown in Figure 1, the indoor locating system of the invention based on feature light source and spherical lighting equipment, the positioning
For three dimension location, including feature light source, spherical lighting equipment and processor, wherein：
The feature light source is made of 3 or 3 or more the light sources with different characteristic, is had for generating and issuing
The optical signal of different characteristic；The feature is frequency and/or coding；
The spherical lighting equipment is made of beaded support, multifiber and data transmission module, the more light
Each optical fiber one end in fibre is to be embedded in beaded support perpendicular to the angle on beaded support surface, and intersection point is known as daylighting point, separately
One end leads to data transmission module；The daylighting point limits the incidence angle of light, for acquiring special angle incidence
The optical signal of feature light source sending is simultaneously transmitted through the fiber to data transmission module, and the data transmission module will be collected
Optical signal feature and the light spot position of adopting for collecting the optical signal are transferred to processor by wired or wireless way；
The feature and position indoors that the processor is used to record each feature light source, and according to each characteristic light
The feature and daylighting of the collected light of each daylighting point of the feature in source and position and spherical lighting equipment transmitting indoors
Position of the point on spherical lighting equipment, calculates the location of spherical lighting equipment, to realize indoor positioning；Described
Processor be embedded in inside spherical lighting equipment or and spherical shape lighting equipment separate and in a wired or wireless fashion with spherical daylighting
Device realizes data transmission.
Embodiment 1：
Below by indoor positioning for the application in terms of underground garage, illustrate it is of the invention based on feature light source and
The indoor locating system and localization method of spherical lighting equipment.In the present embodiment, using one piece of low profile edge processor conduct
The processor of positioning system, and be integrated in inside spherical lighting equipment, pass through the number of wired mode and spherical lighting equipment
It is communicated according to transmission module.Feature light source is using different codings as feature.
(1) light source is arranged：The arrangement of features light source in underground garage room, in order to guarantee the effect of positioning, 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 3 or 3
The light that a above feature light source issues；After arranging light source, the exact position of each light source is measured；It opens and has arranged later
Feature light source enable its shine.Since feature light source is characterized by different codings, the coding of the light issued is different, body
It is now flashed for light according to different light and shade intervals, the flicker frequency is higher therefore human eye can not identify, but can be small-sized
Embeded processor is identified.
(2) data input：By the feature and position typing low profile edge of each feature light source arranged in step (1)
Processor, the feature of each feature light source and position can be according to " light source numbers-light source coding-light source position " in this way
Format be stored in low profile edge processor.
(3) daylighting is selected：As certain user, when driving to enter underground garage such as first, staff provides and has integrated inside it
The spherical lighting equipment of low profile edge processor.First takes out spherical lighting equipment, is placed in car body after underground garage has stopped vehicle
A part (the left front corner in such as parking stall) carries out daylighting, and each daylighting point collects Partial Feature light source hair on spherical lighting equipment
After light out, encoded and daylighting point be transferred in the location information on spherical lighting equipment it is small inside spherical lighting equipment
Type embeded processor.
(4) characteristic matching：In the present embodiment characterized by the coding of light, therefore low profile edge processor is set only to volume
Code is compared processing, processor by the collected light with different coding successively each spy with typing in step (2)
The coding of the light of light source is levied compared to pair, obtains the sequence of matching degree from high to low." light source-daylighting point " chosen is to must expire
Different and selected 3 daylighting points also the two different conditions two-by-two two-by-two of 3 feature light sources selected by foot, after guaranteeing
Continuous calculating can carry out.Such as there are this 7 daylighting points of a, b, c, d, e, f, g to adopt on the position of first parking, spherical lighting equipment
Collected the light from this 5 feature light sources of A, B, C, D, E, in all " light source-daylighting point " centerings, matching degree from height to
Low sequence is：" A-a ", " A-b ", " B-b ", " D-b ", " C-c " ... then choose 3 matching degrees again, and highest " light source-is adopted
Luminous point " clock synchronization, " A-b " because being given up with the repetition of " A-a " feature light source, " D-b " with " B-b " daylighting point because repeat also to give
To give up, finally obtained 3 matching degrees highest " light source-daylighting point " are to should be："A-a","B-b","C-c".
(5) position calculates：It is right that 3 matching degrees highest " light source-daylighting point " have been selected in step (4), according to this 3
The position of a feature light source and 3 daylighting points brings formula into and calculates the location of spherical lighting equipment, specifically calculates step
It is as follows：
1. calculating distance L therebetween according to the position of feature light source A, B, CAB、LBC、LCA, when in processor use space right-angle
When coordinate system records typical source position, the position of feature light source A, B, C are respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,
yC,zC), distance is respectively therebetween：
2. according to the position of daylighting point a, b, c calculate these three points and spherical the lighting equipment centre of sphere O line Oa, Ob, Oc its
Between angle γab、γbc、γca, when using spherical coordinate system record to adopt light spot position in processor, the position of daylighting point a, b, c
Respectively a (ra,θa,φa), b (rb,θb,φb), c (rc,θc,φc), then the angle of Oa, Ob, Oc therebetween is respectively：
γab=arccos [cos θacosθbcos(φb-φa)+sinθasinθb]
γbc=arccos [cos θbcosθccos(φc-φb)+sinθbsinθc]
γca=arccos [cos θccosθacos(φa-φc)+sinθcsinθa]
3. utilizing γab、γbc、γcaJudge whether daylighting point a, b, c are in same plane, works as γab+γbc+γca=
360 °, determine that a, b, c are in same plane；Work as γab+γbc+γca360 ° of >, determine that a, b, c are not in same plane.
4. (i) if a, b, c are in same plane, as shown in figure 3, in △ ABO, △ BCO, △ CAO respectively more than
String theorem obtains equation：
AO2+BO2-LAB 2=2AO BOcos γab
BO2+CO2-LBC 2=2BO COcos γbc
CO2+AO2-LCA 2=2CO AOcos γca
Xie Zhi obtains AO, BO, CO numerical value, because O is located in △ ABC plane, solution is uniquely to adopt to get having arrived spherical shape
The location of electro-optical device；
(ii) if a, b, c are not in same plane, as shown in figure 4, in △ ABO, △ BCO, △ CAO respectively more than
String theorem obtains equation：
AO2+BO2-LAB 2=2AO BOcos γab
BO2+CO2-LBC 2=2BO COcos γbc
CO2+AO2-LCA 2=2CO AOcos γca
Xie Zhi obtains AO, BO, CO numerical value, because O is not located in △ ABC plane, there are two groups in mirror position
Solution, at this time can be with excluding one group therein, the location of same available spherical lighting equipment.
By above step, first has just obtained the specific location oneself to be stopped in underground garage.First remembers the position, returns
Also staff's spherical shape lighting equipment.It can be navigated according to the location information when he picks up the car back after a period of time, simply just
The vehicle oneself stopped is found promptly.
Embodiment 2：
Below again by indoor positioning for the application in terms of library bookshelf, illustrate of the invention based on characteristic light
The indoor locating system and localization method in source and spherical lighting equipment.In the present embodiment, using the smart phone of user as at
Device is managed, wirelessly the data transmission module with spherical lighting equipment is communicated.Feature light source is made with different codings
It is characterized.The application of indoor orientation method of the invention is mounted in smart phone in advance, while smart phone is mounted with have
The software of homing capability.
(1) light source is arranged：The arrangement of features light source in library, in order to guarantee the effect of positioning, in the present embodiment, feature
Light source is arranged in each corner in library, and each position that can guarantee that the position of every book and reader may be passed through can
Receive the light that 3 or 3 or more feature light sources issue；After arranging light source, the exact position of each light source is measured；Later
Opening the feature light source arranged enables it shine.Since feature light source is characterized by different codings, the volume of the light issued
Code is different, is presented as that light is flashed according to different light and shade intervals, and the flicker frequency is higher therefore human eye can not identify, but
Being can be by smart phone processing and identification.
(2) data input：By the coding and position typing library networks of each feature light source arranged in step (1)
Platform, when certain user, such as second come library, need to seek book using the positioning system, he can be by logging in library master
The modes such as page remote download or the two dimensional code for scanning library doorway are incited somebody to action, the coding of each feature light source and position in the network platform
In the smart phone for setting data input oneself.The feature of each feature light source and position can be according to " light source numbers-light
The storage of format as source code-light source position ".
(3) daylighting is selected：Staff provides second spherical shape lighting equipment.Second takes out spherical lighting equipment and carries out daylighting, ball
After each daylighting point collects the light that Partial Feature light source issues on shape lighting equipment, is encoded and daylighting point is in spherical daylighting
Location information on device is wirelessly transferred to the smart phone of second.
(4) characteristic matching：The smart phone of second analyzes the collected light of institute, finds other frequencies having the same
Processing only is compared to coding it is thus determined that the feature of light source is coding with different codings.Smart phone will be collected
The light with different coding successively compared with the coding of the light of each feature light source of typing in step (2) pair, matched
The sequence of degree from high to low." light source-daylighting point " chosen to must satisfy 3 selected feature light sources it is different two-by-two and
3 selected daylighting points also the two different conditions two-by-two, to guarantee that subsequent calculating can carry out.Such as the position locating for second
It sets, there are this 7 daylighting points of a, b, c, d, e, f, g to collect from this 5 characteristic lights of A, B, C, D, E on spherical lighting equipment
The light in source, in this 35 all " light source-daylighting point " centering, the sequence of matching degree from high to low is："A-a","A-b","B-
B ", " D-b ", " C-c " ... then choose highest " light source-daylighting point " clock synchronization of 3 matching degrees again, and " A-b " is because of and " A-a "
Feature light source repeats to be given up, and " D-b " with the repetition of " B-b " daylighting point because also given up, finally obtained 3 matchings journey
Highest " light source-daylighting point " is spent to should be："A-a","B-b","C-c".
(5) position calculates：(4) it is right that 3 matching degrees highest " light source-daylighting point " have been selected in, according to this 3 spies
The position for levying light source and 3 daylighting points, brings formula into and calculates the location of spherical lighting equipment, specific to calculate step such as
Under：
1. calculating distance L therebetween according to the position of feature light source A, B, CAB、LBC、LCA, when in processor use space right-angle
When coordinate system records typical source position, the position of feature light source A, B, C are respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,
yC,zC), distance is respectively therebetween：
2. according to the position of daylighting point a, b, c calculate these three points and spherical the lighting equipment centre of sphere O line Oa, Ob, Oc its
Between angle γab、γbc、γca, when using spherical coordinate system record to adopt light spot position in processor, the position of daylighting point a, b, c
Respectively a (ra,θa,φa), b (rb,θb,φb), c (rc,θc,φc), then the angle of Oa, Ob, Oc therebetween is respectively：
γab=arccos [cos θacosθbcos(φb-φa)+sinθasinθb]
γbc=arccos [cos θbcosθccos(φc-φb)+sinθbsinθc]
γca=arccos [cos θccosθacos(φa-φc)+sinθcsinθa]
3. utilizing γab、γbc、γcaJudge whether daylighting point a, b, c are in same plane, works as γab+γbc+γca=
360 °, determine that a, b, c are in same plane；Work as γab+γbc+γca360 ° of >, determine that a, b, c are not in same plane.
4. (i) if a, b, c are in same plane, as shown in figure 3, in △ ABO, △ BCO, △ CAO respectively more than
String theorem obtains equation：
AO2+BO2-LAB 2=2AO BOcos γab
BO2+CO2-LBC 2=2BO COcos γbc
CO2+AO2-LCA 2=2CO AOcos γca
Xie Zhi obtains AO, BO, CO numerical value, because O is located in △ ABC plane, solution is uniquely to adopt to get having arrived spherical shape
The location of electro-optical device realizes indoor positioning；
(ii) if a, b, c are not in same plane, as shown in figure 4, in △ ABO, △ BCO, △ CAO respectively more than
String theorem obtains equation：
AO2+BO2-LAB 2=2AO BOcos γab
BO2+CO2-LBC 2=2BO COcos γbc
CO2+AO2-LCA 2=2CO AOcos γca
Xie Zhi obtains AO, BO, CO numerical value, because O is not located in △ ABC plane, there are two groups in mirror position
Solution, at this time can be with excluding one group therein, and the location of same available spherical lighting equipment, it is indoor fixed to realize
Position.
By above step, second has just obtained specific location where oneself in library, such as position A.Later, second passes through figure
Book shop books inquiry system obtains the position of oneself certain desired books, seeks book such as position X, then by airmanship.Second can be with
By navigation, voluntarily book is sought in walking, i.e., the route map of A-X is obtained by the navigation software of smart phone, and go to according to route map
Seek book, at the same second can repeat the above steps in the way for seeking book (3)-(5) with the position of real-time update oneself, correct navigation
As a result.In addition, second can also be using navigation one kinetic control system of driving, such as a motor-driven carrier with mechanical arm, according to leading
Route map determined by navigating voluntarily takes book, which can equally repeat the above steps (3)-in the way for seeking book
(5) with the position of real-time update oneself, the result of navigation is corrected.Since three-dimensional space may be implemented in indoor locating system of the invention
Between position, can also be by navigating and correcting by the bookshelf position where system books required for not only available
Learn its height (such as in which layer of bookshelf), it is simple and convenient to seek book process, as shown in Figure 5.After books required for second is found,
Staff's spherical shape lighting equipment is given back, check out books formality.
To one skilled in the art it should be understood that various modifications can be carried out according to design requirement and other factors,
Combination is combined certainly and is changed, as long as they all fall in appended claims and its equivalent scheme limited range.
Claims (5)
1. a kind of indoor locating system based on feature light source and spherical lighting equipment, described is positioned as three dimension location,
It is characterized in that, the system includes feature light source, spherical lighting equipment and processor, wherein：
The feature light source is made of 3 or 3 or more the light sources with different characteristic, has difference for generating and issuing
The optical signal of feature；The feature is frequency and/or coding；When the feature is frequency, the light of feature light source sending
Frequency it is different, be presented as the different colours of visible light；When the feature is coding, the light of feature light source sending
It encoding different, is presented as that light is flashed according to different light and shades interval, the flicker frequency is higher therefore human eye can not identify,
But can be had photoelectric signal transformation and data-handling capacity processor identifies；
The spherical lighting equipment is made of beaded support, multifiber and data transmission module, in the multifiber
Each optical fiber one end to be embedded in beaded support perpendicular to the angle on beaded support surface, intersection point is daylighting point, and the other end draws
To data transmission module；The daylighting point limits the incidence angle of light, for acquiring the characteristic light of special angle incidence
The optical signal that source issues simultaneously is transmitted through the fiber to data transmission module, and the data transmission module is by collected optical signal
Feature and the light spot position of adopting for collecting the optical signal are transferred to processor by wired or wireless way；
The feature and position indoors that the processor is used to record each feature light source, and according to each feature light source
The feature and daylighting point of the collected light of each daylighting point of feature and position and spherical lighting equipment transmitting indoors exist
Position on spherical lighting equipment calculates the location of spherical lighting equipment, to realize indoor positioning；The processing
Device be embedded in inside spherical lighting equipment or and spherical shape lighting equipment separate and in a wired or wireless fashion with spherical lighting equipment
Realize data transmission.
2. a kind of indoor locating system based on feature light source and spherical lighting equipment according to claim 1, feature
It is：The processor is at least one terminal with photoelectric signal transformation and data-handling capacity.
3. a kind of indoor locating system based on feature light source and spherical lighting equipment according to claim 1, feature
It is：The indoor locating system can be combined with indoor navigation technology, specially：User utilizes the indoor positioning
System obtains oneself exact position indoors, in conjunction with the target position of required arrival, finds route using airmanship to force
Closely, oneself real time position indoors can be obtained, by the indoor locating system still during approaching with not
The result of disconnected correction navigation realizes feedback.
4. a kind of positioning side using the indoor locating system based on feature light source and spherical lighting equipment described in claim 1
Method, which is characterized in that this method includes following 5 steps：
(1) light source is arranged：The feature light source for arranging 3 or 3 or more indoors opens the feature light source arranged and enables its hair
Light；
(2) data input：By the feature and position typing processor of each feature light source arranged in step (1)；
(3) daylighting is selected：The position of sound production spherical shape lighting equipment positioned needed for selection carries out daylighting, will be each on spherical lighting equipment
Location information of the feature and daylighting point of the collected light of a daylighting point on spherical lighting equipment is transferred to processor；
(4) characteristic matching：The feature for the collected light of each daylighting point that processor transmits lighting equipment spherical in step (3)
It is matched with the feature of each feature light source of typing in step (2), therefrom choosing 3 matching degrees, highest " light source-is adopted
Luminous point " is right, wherein 3 selected feature light sources are different two-by-two, and 3 selected daylighting points are also different two-by-two；Specially：
The feature of the collected light of each daylighting point of spherical lighting equipment transmitting in processor analytical procedure first (3), when being acquired
When the light arrived has different frequencies, then it is successively compared with the frequency of the light of each feature light source of typing in step (2)
It is right；When collected light there is different codings when, then by its successively light with each feature light source of typing in step (2)
Coding compared to pair；When collected light both there is different frequency or there are different codings when, then successively and step by it
Suddenly the frequency of the light of each feature light source of typing and coding are compared integrate its result again respectively in (2)；It is obtained with this
Sequence with degree from high to low；
(5) position calculates：According to the position of 3 feature light sources and 3 daylighting points, the location of spherical lighting equipment is calculated,
To realize indoor positioning.
5. indoor orientation method according to claim 4, which is characterized in that the step (5) is specially：
1. calculating distance therebetween according to the position of feature light source；
2. adopting light spot position according to three calculates angle between three lines of and the spherical lighting equipment centre of sphere at this 3 points；
3. judging whether three daylighting points are in same plane；
4. calculating the spatial position of spherical lighting equipment according to the spatial relation of three daylighting points, indoor positioning is realized.
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| CN101825697A (en) * | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Light intensity based location method and system |
| CN102967307A (en) * | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
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| CN101825697A (en) * | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Light intensity based location method and system |
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