CN106338712A - Visible light indoor positioning method and system based on camera communication - Google Patents

Visible light indoor positioning method and system based on camera communication Download PDF

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Publication number
CN106338712A
CN106338712A CN201610917365.XA CN201610917365A CN106338712A CN 106338712 A CN106338712 A CN 106338712A CN 201610917365 A CN201610917365 A CN 201610917365A CN 106338712 A CN106338712 A CN 106338712A
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China
Prior art keywords
position
led lamp
information
receiving terminal
camera
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CN201610917365.XA
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Chinese (zh)
Inventor
林邦姜
汤璇
张士灏
李艺伟
林春
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泉州装备制造研究所
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Priority to CN201610917365.XA priority Critical patent/CN106338712A/en
Publication of CN106338712A publication Critical patent/CN106338712A/en

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    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

Abstract

The invention discloses a visible light indoor positioning method and system based on camera communication. The system comprises a signal transmitting end, which loads modulated position information on an LED lamp, and transmits the position information into an air channel in the form of visible light; a receiving end camera for taking and obtaining the optical information pictures; and an image processing device for demodulating the received optical information, obtaining the position coordinate of the LED lamp, and estimating the position information of the receiving end camera according to images created on the receiving end camera and the geometric relationship between the receiving end camera and the LED lamp on the ceiling to realize the purpose of positioning. Through the visible light indoor positioning method and system, indoor positioning reliability can effectively enhanced and the positioning accuracy can be improved.

Description

A kind of visible ray indoor orientation method based on camera communication and system

Technical field

The present invention relates to the communications field, in particular to a kind of visible ray indoor positioning based on camera communication it is System.

Background technology

With the continuous development of the emerging fields such as sensor network and Internet of Things, indoor locating system level requirement gradually carries High.Global positioning system (global positioning system, abbreviation gps) is the positioning skill being most widely used at present Art, but, because signal is affected by building, very faint during gps framing signal arrival ground, positioning precision is relatively low, no Method realizes the requirement of indoor positioning, and the cost using gps localizer terminal is very high.Based on infra-red radiation and ultrasonic room Interior alignment system needs extra infrastructure.Indoor locating system based on radio frequency (rf) is greatly reduced due to multipath fading Positioning precision.

Content of the invention

It is an object of the invention to provide a kind of visible ray indoor orientation method based on camera communication and system, to solve phase In the technology of pass, positioning precision is low, alignment system configuration underaction the problems such as.

To achieve these goals, the present invention adopts the following technical scheme that

A kind of visible ray indoor orientation method based on camera communication, is achieved by the steps of:

Step 1: by three LED lamp a positioned at ceiling, according to triangular structure layout, signal transmitting terminal is to every for b, c The binary location information of LED lamp is modulated, and obtains modulation positions information;

Step 2: the modulation positions uploaded information of step 1 gained is entered signal generator by transmitting terminal, and by signal generator Export the signal of telecommunication comprising positional information to the t type bias device being loaded with DC source;

Step 3:t type bias device drives LED lamp after receiving the signal of telecommunication comprising positional information that signal generator exports Send optical signal, air inlet channel;

Step 4: receiving terminal camera carries out image-receptive to the optical signal through air passage;

Step 5: send into demodulation module via the optical signal that receiving terminal camera receives and be demodulated;Demodulation mode passes through setting Two threshold values, determine three decision region, if rgb value be greater than first threshold value, be judged to 1, if above or Person is equal to second threshold value, is less than first threshold value simultaneously, it is determined that the first of a frame bit, remaining situation, sentences It is set to 0, obtain three LED lamp a, the location coordinate information of b, c;

Step 6: carry out receiving terminal camera bat while carrying out step 5 demodulation via the optical signal that receiving terminal camera receives The analysis of LED lamp position o ' in the image taken the photograph, is obtained relative position in the image shooting for three LED lamps, is demodulated with step 5 Ceiling in LED lamp a, b, c positional information joint, be calculated on the position o of the lens of receiving terminal camera and ceiling with The vertical position o of position o1Between vertical dimension h be position o z-axis coordinate, thus calculating position o1With LED lamp a, b, c it Between distance

Step 7: the distance value being calculated by step 6Carry out positioning meter using trilateration Calculate, its formula is as follows:

d o 1 a 2 = ( x a - x ) 2 + ( y a - y ) 2 d o 1 b 2 = ( x b - x ) 2 + ( y b - y ) 2 d o 1 c 2 = ( x c - x ) 2 + ( y c - y ) 2

X, y are respectively position o1Location coordinate information, be known variables, using three in method of least square solution formula Linear equation, now can calculate out position o1X, y location coordinate information, obtain final product position o1The x-axis y-axis coordinate of point;Further according to The position o and position o of step 6 gained1Between vertical dimension h be position o z-axis coordinate, just obtain the concrete coordinate of position o Information.

A kind of visible ray indoor locating system based on camera communication, including signal transmitting terminal and receiving terminal camera, signal Transmitting terminal is provided with multiple, all by air duct between each signal transmitting terminal and receiving terminal camera corresponding to each small cup LED lamp Transmission information;

Signal generator module that each signal transmitting terminal includes being sequentially connected, manipulator, signal generator, t type bias device And LED lamp, wherein:

Signal generator module, produces the binary location information corresponding to corresponding LED lamp;

Manipulator, is modulated to the binary location information of described LED lamp, obtains modulation positions information;

Signal generator, is processed to described modulation positions information, and output comprises the signal of telecommunication of positional information;

T type bias device, comprises the signal of telecommunication of positional information described in reception, drives described LED lamp to send optical signal;

LED lamp, sends optical signal, is sent to air passage in the form of optical illumination;

Receiving terminal camera includes image collection module and image processing module, wherein:

Image collection module, receives the optical information obtaining the optical signal that each described LED lamp sends by shooting image;

Image processing module, demodulates the optical information receiving, obtains the positional information of each described LED lamp, simultaneously according to figure As on acquisition module, the geometrical relationship between the image of establishment and receiving terminal camera and each described LED lamp estimates receiving terminal camera Positional information;

Described image processing module to demodulate described optical information by the way of hard decision, and the mode of described hard decision is concrete For: to three LED lamp a on ceiling, the positional information of b, c is demodulated, and sets two threshold values, determines three decision areas Domain, if rgb value is greater than first threshold value, is judged to 1;If above or be equal to second threshold value, simultaneously low In first threshold value, then it is determined that the first of a frame bit, remaining situation, be judged to 0, thus demodulate three The positional information of LED lamp;

The calculation of the position of described receiving terminal camera is: the position of lens setting receiving terminal camera as o, on ceiling The position vertical with position o is o1(x, y, 0), first, Pixel Information according to receiving terminal camera and the size of shot image Lai Calculate LED lamp in the magazine relative position of receiving terminal, using the positional information of relative position information and the led of demodulation and connect The focus information of receiving end camera, calculates position o and position o according to geometrical relationship1Vertical dimension h;Then according to apart from h with connect The proportionate relationship of the focal length f of receiving end camera, obtains position o1With LED lamp a, the distance of b, c WithThe position coordinateses of receiving terminal camera are finally obtained using three side positioning modes;

Wherein, position o and position o1The calculation of vertical dimension h be: the focal length assuming receiving terminal camera is f, connects The distance between each LED lamp on the ceiling that receiving end camera photographs is a ' b ' (da'b'),b’c’(db'c') and a ' c ' (da'c'), in the image of each LED lamp and shooting in image, the distance of the position o ' of receiving terminal camera is respectively o ' a ' (do'a'),o’ b’(do'b'),o’c’(do'c'), the size according to pixel coordinate and shot image calculates three LED lamps in the image shooting Relative position;The distance between each LED lamp d in ceilingab, dbc, dbcPosition letter by the captured demodulated acquisition of image Breath calculating is tried to achieve, and therefore passes throughEqual proportion relation calculates and obtains position o and position o1Vertical away from From h;

Wherein, position o1With LED lamp a, the distance of b, c With Calculating side Formula is: position o and position o1Vertical dimension h obtain through above-mentioned calculating, camera focus f information it is known that WithPass throughCalculate and obtain;

Wherein, trilateration positioning mode: using trying to achieveWithBuild With regard to position o1X-axis, the matrix of y-axis and LED lamp coordinate, solve x-axis, the value of y-axis using method of least square, obtain position o1 Coordinate information, the x now calculating, y-coordinate information be position o1The x-axis y-axis coordinate of point;Further according to step 6 gained Vertical dimension h between position o and position o1 is the z-axis coordinate of position o point, just obtains the concrete coordinate information of position o.

After such scheme, the present invention passes through ceiling mounted LED lamp, receiving terminal camera and location algorithm Jointly complete indoor visible light location technology, user passes through receiving terminal camera real-time positioning self-position.The present invention has as follows Beneficial effect:

1st, the indoor locating system of the present invention is the indoor orientation method of the green safety based on visible ray.

2nd, the indoor visible light alignment system of the present invention is not take up frequency spectrum resource, and for solving, existing frequency spectrum resource is in short supply Problem provide preferable approaches and methods.

3rd, the indoor visible light alignment system of the present invention using led illuminating lamp be prevalent in each big application places, There are ubiquitous, receiving terminal utilizes picture pick-up device in mobile phone, ancillary equipment that need not be extra is cost-effective, convenient realize.

4th, the indoor visible light Positioning System of the present invention reaches 0.1m, has higher reliability.

Brief description

Fig. 1 is the illustraton of model of signal transmitting terminal and receiving terminal camera in the present invention;

Fig. 2 is that in the present invention, objects in images relative position calculates schematic diagram;

Fig. 3 is the schematic block circuit diagram of the present invention.

Specific embodiment

To further describe embodiments of the present invention according to drawings and embodiments.

A kind of visible ray indoor locating system based on camera communication of the present invention, including signal transmitting terminal and receiving terminal phase Machine, signal transmitting terminal is provided with multiple, all by empty between each signal transmitting terminal and receiving terminal camera corresponding to each small cup LED lamp Gas channel transfer information.

As shown in figure 3, each signal transmitting terminal include being sequentially connected signal generator module, manipulator, signal generator, T type bias device and LED lamp, wherein:

Signal generator module, produces the binary location information corresponding to corresponding LED lamp;

Manipulator, is modulated to the binary location information of described LED lamp, obtains modulation positions information;

Signal generator, is processed to described modulation positions information, and output comprises the signal of telecommunication of positional information;

T type bias device, comprises the signal of telecommunication of positional information described in reception, drives described LED lamp to send optical signal;

LED lamp, sends optical signal, is sent to air passage in the form of optical illumination;

Receiving terminal camera includes image collection module and image processing module, wherein:

Image collection module, receives the optical information obtaining the optical signal that each described LED lamp sends by shooting image;

Image processing module, demodulates the optical information receiving, obtains the positional information of each described LED lamp, simultaneously according to figure As on acquisition module, the geometrical relationship between the image of establishment and receiving terminal camera and each described LED lamp estimates receiving terminal camera Positional information.

In the present embodiment, LED lamp has three, three LED lamp distributions triangular in shape on the ceiling, as shown in figure 1, coordinate It is respectively a (xa,ya,0),b(xb,yb,0),c(xc,yc,0).The position of receiving terminal camera is the coordinate of the lens of receiving terminal camera Center is set to o (x, y, z), is unknown quantity.

Described image processing module to demodulate described optical information by the way of hard decision, and the mode of described hard decision is concrete For: to three LED lamp a on ceiling, the positional information of b, c is demodulated, and sets two threshold values, determines three decision areas Domain, if rgb value is greater than first threshold value, is judged to 1;If above or be equal to second threshold value, simultaneously low In first threshold value, then it is determined that the first of a frame bit, remaining situation, be judged to 0, thus demodulate three The positional information of LED lamp.

For camera lens parallel to ceiling receiving terminal camera, on ceiling correspond to position o position (on ceiling with The vertical position of position o) it is o1(x, y, 0), in the image of shooting, the position of receiving terminal camera is o ', if receiving terminal camera shoots To ceiling on the distance of each LED lamp and position o ' be respectively o ' a ' (do'a'),o’b’(do'b'),o’c’(do'c'), if receiving The distance between three LED lamps that end camera photographs are respectively a ' b ' (da'b'),b’c’(db'c') and a ' c ' (da'c'), permissible Calculated according to the pixel coordinate of image shooting and the size of captured image.Calculating process is as shown in Fig. 2 with image side Edge is coordinate system, and according to the size of pixel, using geometrical relationship, (2 points of m, n represents act respectively can to calculate 2 points of mn in image Example in image midpoint position) relative position.

Now, position o and position o1The distance between h can by formula (1) calculate

h f = d a b d a ′ b ′ = d b c d b ′ c ′ = d a c d a ′ c ′ - - - ( 1 )

F is camera focus, is Given information, dab,dbc,dacLED lamp a respectively, ab in b, c, between bc and ac away from From the image information being shot by demodulating receiving terminal camera can be in the hope of position o and position o1The distance between h.

Now, position o1The distance between with three LED lampsWith Permissible Calculated by formula (2)

h f = d o 1 a d o ′ a ′ = d o 1 b d o ′ b ′ = d o 1 c d o ′ c ′ - - - ( 2 )

According to try to achieveWithUsing three side positioning modes, position o1X, the calculation of y-axis is:

d o 1 a 2 = ( x a - x ) 2 + ( y a - y ) 2 d o 1 b 2 = ( x b - x ) 2 + ( y b - y ) 2 d o 1 c 2 = ( x c - x ) 2 + ( y c - y ) 2 - - - ( 3 )

The matrix form of formula (3) can be written as

Mx=d (4)

In formula (4)

m = x b - x a y b - y a x c - x a y c - y a , x = x y ,

d = ( d o 1 a 2 - d o 1 b 2 + x b 2 + y b 2 - x a 2 - y a 2 ) / 2 ( d o 1 a 2 - d o 1 c 2 + x c 2 + y c 2 - x a 2 - y a 2 ) / 2

Formula (4) can be solved using linear least square, that is,

X=(mtm)-1mtd (5)

In above formula, t represents transposition computing, the x-axis calculating, and the value of y-axis is position o1X-axis y-axis coordinate information; It is the z-axis coordinate of position o point further according to vertical dimension h between the position o and position o1 of step 6 gained, just obtain position o's Concrete coordinate information.

Claims (2)

1. a kind of visible ray indoor orientation method based on camera communication is it is characterised in that be achieved by the steps of:
Step 1: by three LED lamp a positioned at ceiling, according to triangular structure layout, signal transmitting terminal is to every led for b, c The binary location information of lamp is modulated, and obtains modulation positions information;
Step 2: the modulation positions uploaded information of step 1 gained is entered signal generator by transmitting terminal, and is exported by signal generator The signal of telecommunication comprising positional information is to the t type bias device being loaded with DC source;
Step 3:t type bias device drives LED lamp to send after receiving the signal of telecommunication comprising positional information that signal generator exports Optical signal, air inlet channel;
Step 4: receiving terminal camera carries out image-receptive to the optical signal through air passage;
Step 5: send into demodulation module via the optical signal that receiving terminal camera receives and be demodulated;Demodulation mode passes through to arrange two Threshold value, determines three decision region, if rgb value be greater than first threshold value, be judged to 1, if above or wait In second threshold value, it is less than first threshold value simultaneously, it is determined that the first of a frame bit, remaining situation, is judged to 0, obtain three LED lamp a, the location coordinate information of b, c;
Step 6: carry out receiving terminal camera shooting while carrying out step 5 demodulation via the optical signal that receiving terminal camera receives The analysis of LED lamp position o ' in image, obtains relative position in the image shooting for three LED lamps, the sky with step 5 demodulation LED lamp a in card, b, c positional information joint, be calculated on the position o of the lens of receiving terminal camera and ceiling with position o Vertical position o1Between vertical dimension h be position o z-axis coordinate, thus calculating position o1With LED lamp a, between b, c away from From
Step 7: the distance value being calculated by step 6Carry out location Calculation using trilateration, Its formula is as follows:
d o 1 a 2 = ( x a - x ) 2 + ( y a - y ) 2 d o 1 b 2 = ( x b - x ) 2 + ( y b - y ) 2 d o 1 c 2 = ( x c - x ) 2 + ( y c - y ) 2
X, y are respectively position o1Location coordinate information, be known variables, linear using three in method of least square solution formula Equation, now can calculate out position o1X, y location coordinate information, obtain final product position o1The x-axis y-axis coordinate of point;Further according to step The position o and position o of 6 gained1Between vertical dimension h be position o z-axis coordinate, just obtain the concrete coordinate letter of position o Breath.
2. a kind of visible ray indoor locating system based on camera communication it is characterised in that: include signal transmitting terminal and receiving terminal Camera, signal transmitting terminal is provided with multiple corresponding to each small cup LED lamp, all passes through between each signal transmitting terminal and receiving terminal camera Air duct transmission information;
Each signal transmitting terminal includes signal generator module, manipulator, signal generator, t type bias device and the led being sequentially connected Lamp, wherein:
Signal generator module, produces the binary location information corresponding to corresponding LED lamp;
Manipulator, is modulated to the binary location information of described LED lamp, obtains modulation positions information;
Signal generator, is processed to described modulation positions information, and output comprises the signal of telecommunication of positional information;
T type bias device, comprises the signal of telecommunication of positional information described in reception, drives described LED lamp to send optical signal;
LED lamp, sends optical signal, is sent to air passage in the form of optical illumination;
Receiving terminal camera includes image collection module and image processing module, wherein:
Image collection module, receives the optical information obtaining the optical signal that each described LED lamp sends by shooting image;
Image processing module, demodulates the optical information receiving, obtains the positional information of each described LED lamp, obtained according to image simultaneously Geometrical relationship between the image creating on delivery block and receiving terminal camera and each described LED lamp estimates the position of receiving terminal camera Information;
Described image processing module to demodulate described optical information by the way of hard decision, the mode of described hard decision particularly as follows: To three LED lamp a on ceiling, the positional information of b, c is demodulated, and sets two threshold values, determines three decision region, such as Fruit rgb value is greater than first threshold value, is judged to 1;If above or be equal to second threshold value, simultaneously be less than first Individual threshold value, then it is determined that the first of a frame bit, remaining situation, be judged to 0, thus demodulates three LED lamps Positional information;
The calculation of the position of described receiving terminal camera is: the position of lens setting receiving terminal camera as o, with position on ceiling Putting the vertical position of o is o1(x, y, 0), first, Pixel Information according to receiving terminal camera and the size of shot image are calculating LED lamp in the magazine relative position of receiving terminal, using positional information and the receiving terminal of relative position information and the led of demodulation The focus information of camera, calculates position o and position o according to geometrical relationship1Vertical dimension h;Then according to apart from h and receiving terminal The proportionate relationship of the focal length f of camera, obtains position o1With LED lamp a, the distance of b, cWithThe position coordinateses of receiving terminal camera are finally obtained using three side positioning modes;
Wherein, position o and position o1The calculation of vertical dimension h be: the focal length assuming receiving terminal camera is f, receiving terminal phase The distance between each LED lamp on the ceiling that machine photographs isAnd a ' c ' (da'c'), figure In the image of each LED lamp and shooting in picture, the distance of the position o ' of receiving terminal camera is respectively o ' a ' (do'a'),o’b’(do'b'), o’c’(do'c'), the size according to pixel coordinate and shot image calculates relative position in the image shooting for three LED lamps; The distance between each LED lamp d in ceilingab, dbc, dbcAsked by the positional information calculation of the captured demodulated acquisition of image , therefore pass throughEqual proportion relation calculates and obtains position o and position o1Vertical dimension h;
Wherein, position o1With LED lamp a, the distance of b, cWithCalculation For: position o and position o1Vertical dimension h obtain through above-mentioned calculating, camera focus f information it is known thatWithPass throughCalculate and obtain;
Wherein, trilateration positioning mode: using trying to achieveWithBuild with regard to Position o1X-axis, the matrix of y-axis and LED lamp coordinate, solve x-axis, the value of y-axis using method of least square, obtain position o1Seat Mark information, the x now calculating, y-coordinate information are position o1The x-axis y-axis coordinate of point;Position o further according to step 6 gained Vertical dimension h and the o1 of position between is the z-axis coordinate of position o point, just obtains the concrete coordinate information of position o.
CN201610917365.XA 2016-10-21 2016-10-21 Visible light indoor positioning method and system based on camera communication CN106338712A (en)

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Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107153188A (en) * 2017-05-18 2017-09-12 广东工业大学 A kind of indoor orientation method and system
CN107588777A (en) * 2017-09-27 2018-01-16 京东方科技集团股份有限公司 Indoor locating system
CN107703485A (en) * 2017-09-16 2018-02-16 罗智荣 A kind of indoor visible light alignment system
WO2018214032A1 (en) * 2017-05-23 2018-11-29 华为技术有限公司 Data transmission method, device and system
WO2019174213A1 (en) * 2018-03-14 2019-09-19 Boe Technology Group Co., Ltd. Positioning method, positioning apparatus, and computer-program product

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CN105425210A (en) * 2015-11-27 2016-03-23 泉州装备制造研究所 Indoor visible light positioning system and method
CN205430245U (en) * 2016-02-02 2016-08-03 泉州装备制造研究所 Two -way pronunciation intercom system of visible light communication
CN105850113A (en) * 2014-01-06 2016-08-10 欧库勒斯虚拟现实有限责任公司 Calibration of virtual reality systems
CN105892373A (en) * 2016-06-06 2016-08-24 袁福德 Remote LBS positioning and navigation internet of things control system

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CN104243029A (en) * 2013-04-09 2014-12-24 珠海横琴华策光通信科技有限公司 Method and device for transmitting/obtaining identification information through visible light signals and method and device for carrying out positioning through visible light signals
CN105850113A (en) * 2014-01-06 2016-08-10 欧库勒斯虚拟现实有限责任公司 Calibration of virtual reality systems
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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107153188A (en) * 2017-05-18 2017-09-12 广东工业大学 A kind of indoor orientation method and system
WO2018214032A1 (en) * 2017-05-23 2018-11-29 华为技术有限公司 Data transmission method, device and system
CN107703485A (en) * 2017-09-16 2018-02-16 罗智荣 A kind of indoor visible light alignment system
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