CN106569173A - PD array for detecting angle of arrival of visible light and indoor visible light positioning method - Google Patents
PD array for detecting angle of arrival of visible light and indoor visible light positioning method Download PDFInfo
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- CN106569173A CN106569173A CN201610984499.3A CN201610984499A CN106569173A CN 106569173 A CN106569173 A CN 106569173A CN 201610984499 A CN201610984499 A CN 201610984499A CN 106569173 A CN106569173 A CN 106569173A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S3/00—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received
- G01S3/78—Direction-finders for determining the direction from which infrasonic, sonic, ultrasonic, or electromagnetic waves, or particle emission, not having a directional significance, are being received using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/165—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation combined with non-inertial navigation instruments
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO 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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-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
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- General Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Automation & Control Theory (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The present invention discloses a PD array for detecting the angle of arrival of visible light and an indoor visible light positioning method. The PD array of the invention comprises a plurality of PD basic unit sheets and a signal acquisition and processing device; the PD basic unit sheets are spliced together so as to form a PD hemisphere receiver; the PD basic unit sheets are connected with the signal acquisition and processing device; and the i-th PD basic unit sheet is corresponding to an azimuth angle phii and a pitch angle Thetai in a spherical coordinate system with the center of the PD hemisphere receiver adopted as the center. The positioning method includes the following steps that: (1) an indoor map and an indoor three-dimensional rectangular coordinate system are built; (2) when a positioning device is located at a certain point in a room, the PD array receives the information of three LED light sources located in different directions and calculates the angles of arrival of the three LED light sources and corresponding ID information; the PD array is located in a circular conical surface with the i-th LED light source adopted as a vertex, the taper angle of the circular conical surface being Thetai; and 3) the position of the PD array can be determined according to the intersection of three conical surfaces.
Description
Technical field
The invention belongs to visible light communication (VLC) field, being related to one kind can detect visible ray angle of arrival (Angle of
Arrival, AOA) new PD arrays, and based on this PD array and combine sensor fusion algorithm (mainly inertial navigation system)
Two kinds of (dynamic and static) AOA indoor visible light accurate positioning methods.
Technical background
In recent years, as LED is in the extensive application of the every field such as illumination, communication and sensing technology, it is seen that optic communication has
There is the advantage for being used to illuminate and communicate simultaneously, it is considered to be the technology of great development potentiality and application prospect.Based on each of VLC
In planting application, it is seen that light indoor locating system has many advantages that becoming study both at home and abroad people compared with existing location technology
The study hotspot of member.
Existing alignment system is based primarily upon global positioning system (GPS) and radio wave technologies.GPS can be applied well
In outdoor positioning, but because its positioning depends on radio propagation, in-door covering is little, causes to occur in environment indoors
Larger position error, therefore it is not suitable for indoor positioning.By contrast, VLC location technologies have the following advantages：First, VLC skills
Art makees light source using LED, and service can be provided where for illumination so as to be used for the VLC systems of indoor positioning purpose, and
And except some necessary signal transactings, almost it is not required to unnecessary power consumption.Secondly, the alignment system based on VLC will not be produced
Any Radio frequency interference, therefore can be deployed in the environment that radio-frequency radiation is strictly limited (such as hospital).Finally, because VLC systems
System is subject to multipath effect and less from the interference of other radio hand-held equipments, so can provide than radio wave higher determining
Position precision.
Indoors in visible ray alignment system, positional information is carried by the LED array transmitting of fixed position on ceiling
Optical signal, carries photo-detector and receives optical signal after encoded modulation by mobile target, after the signal transactings such as decoding, demodulation
Primary signal is recovered, then obtains moving the position of target by the analysis of corresponding location algorithm.Visible light communication in alignment system
Structured flowchart is as shown in Figure 1.
In traditional LED signal detection scheme, decimetre rank hi-Fix result of study is almost all based on many LED
Lamp, its Technology Ways can be divided into triangulation and imageing sensor method.The related algorithm of triangulation is based on many lamps and requirement
Stringent synchronization between lamp, causes the complicated network structure, poor operability；Imageing sensor method requires must have in same picture
Two and the LED of the above, cause positioning result to the attitude sensitivity of terminal and be limited to the visual angle of front-facing camera, actually should
There is larger performance loss with.
It is illumination in view of the major function of LED, next is only positioning.Therefore the primary of LED layout is determined in practice
Factor is illumination and the demand of energy-conservation, therefore within the visual range of PD or imageing sensor, only exists the probability of single led lamp
Will be very high.Therefore this programme (contains single light emitting diode or the battle array being made up of multiple light emitting diodes based on single led lamp
Row) or the wide ken multi-lamp completing positioning, and make full use of the sensors such as the acceleration of intelligent terminal, angular speed, it is real
Show Multi-sensor Fusion to lift positioning precision.
The content of the invention
In view of this, the present invention provides a kind of based on the alignment system of visible light communication, apparatus and method, positioning precision
Height, and realize simple.
For achieving the above object, the technical scheme that the present invention is provided is as follows：
A kind of PD arrays of detection visible ray angle of arrival, it is characterised in that including multiple PD elementary cells pieces and a signal
Collection and processing equipment, each PD elementary cells are spliced into a PD hemisphere receivers, each PD elementary cells piece respectively with
The Signal sampling and processing equipment connection；Wherein, the Signal sampling and processing equipment is used to receive the PD elementary cells piece
To visible light signal be converted to corresponding signal strength signal intensity and modulation intelligence, i-th PD elementary cells piece correspondence is with the PD hemisphere
An azimuth in spherical coordinate system centered on the centre of sphere of receiverWith pitching angle theta i.
Further, the PD elementary cells piece is to wait receiving area or the PD elementary cell pieces of receiving area such as not.
A kind of indoor visible light localization method, its step is：
1) the indoor three-dimensional cartesian coordinate system that indoor map and origin are located on horizontal plane is set up, each LED of interior is recorded
The corresponding relation of the ID of light source and its indoor coordinate (x, y, z), and height h of the LED/light source away from horizontal plane；By the PD arrays
It is arranged in location equipment；
2) when the location equipment is located at indoor certain point, the PD arrays in the location equipment choose three for receiving
The LED light source information of small cup different directions, and calculate angle of arrival θ 1, θ 2, θ 3 and the correspondence id information of three LED/light sources；Institute
State PD arrays to be located at i-th LED/light source as summit, cone angle is on the taper seat of θ i；I=1,2,3；
3) position (x, the y, 0), so as to obtain the location equipment of the PD arrays are determined according to the intersection point of three conical surfaces
The position (x, y) of map indoors.
Further, the method for calculating the angle of arrival θ i of LED/light source i：The location equipment calculates each in the PD arrays
The average light power P that PD elementary cell pieces are receivedr；According to the pitching angle theta meter of the maximum PD elementary cell pieces of average light power
Calculate angle of arrival θ i=pi/2-θ.
Further, the average light powerWherein, β is LED/light source center line
With the angle between the line of light source-detector face, gt(γ) it is LED/light source intensity distribution function, ArFor PD elementary cell piece significant surfaces
Product, α is the angle between receiving plane normal and light source-detector face line, and d is the distance between light source and receiving plane, γmaxFor
The maximum illumination half-angle of LED/light source, γ for LED/light source illumination half-angle, PtLaunch luminous power for LED/light source.
Further, according to formulaDetermine the PD arrays position (x,
y,0)；Wherein, the coordinate of three LED/light sources be (xi, yi, zi), wherein i=1,2,3.
A kind of indoor visible light localization method, its step is：
1) the indoor three-dimensional cartesian coordinate system that indoor map and origin are located on horizontal plane is set up, each LED of interior is recorded
The corresponding relation of the ID of light source and its indoor coordinate (x, y, z), and height h of the LED/light source away from horizontal plane；By the PD arrays
It is arranged in the location equipment with inertial navigation sensor；
2) when the t1 moment, the location equipment is located at interior certain point A, according to the PD battle arrays in the t1 moment location equipment
The LED light source signal that row are received, is calculated angle of arrival θ 1 of the LED/light source, and is obtained according to the id information of the LED/light source
The positional information of the LED/light source；
3) when the t2 moment, the PD arrays move to a point B, according to the LED light source signal that the t2 moment PD array receiveds are arrived,
Angle of arrival θ 2 of the LED/light source is calculated, and the positional information of the LED/light source is obtained according to the id information of the LED/light source；According to step
Displacement L and deflection φ of the rapid positional information calculation A point for 2), 3) obtaining to B points；T1 moment, the PD arrays are located at
With LED/light source as summit, cone angle is on the taper seat of θ 1, t, 2 moment, the PD arrays are located at LED/light source as summit, cone angle
On taper seat for θ 2；
4) according to step 2), the positional information of LED/light source that 3) obtains, and θ 1, θ 2, L, φ information are calculated t1
(xa, ya, 0) (0) xb, yb, complete the dynamic positioning to the mobile terminal to moment A point coordinates with t2 moment B point coordinates.
Further, the method for calculating angle of arrival θ i：The location equipment calculates each PD elementary cell in the PD arrays
The average light power P that piece is receivedr；Angle of arrival θ i is calculated according to the pitching angle theta of the maximum PD elementary cell pieces of average light power
=pi/2-θ.
Further, the average light powerWherein, β is LED/light source center line
With the angle between the line of light source-detector face, gt(γ) it is LED/light source intensity distribution function, ArFor PD elementary cell piece significant surfaces
Product, α is the angle between receiving plane normal and light source-detector face line, and d is the distance between light source and receiving plane, γmaxFor
The maximum illumination half-angle of LED/light source, γ for LED/light source illumination half-angle, PtLaunch luminous power for LED/light source.
Further, by solving a triangle, obtain coordinate (xa, xb, 0) and (xb, yb, 0).
Compared with prior art, the positive effect of the present invention is：
Hi-Fix is realized, existing algorithm only has triangulation and imageing sensor method；TOA in triangulation
(measurement arrival time), related algorithm needed stringent synchronization, and receiving device is complicated；Imageing sensor method is required in same picture
Must there are the LED of two and the above, poor operability；Therefore compared with prior art, Construction of A Model of the present invention is directly perceived, equipment
Portable, integrated level is high；Location algorithm is simple, and positioning precision is high, it is only necessary to which installing modulation module additional on the basis of having illumination LED is carried out
Upgrading, system cost is low；And merge other sensor technologies, with preferable application and development prospect；Sent out by appropriate design LED
Pattern is penetrated, can effectively suppress the interference of indoor other background noises, improve positioning precision, this is also traditional PD schemes cannot
Analogy.
Description of the drawings
Fig. 1 is indoor visible light positioning system structure figure；
Fig. 2 is that LED signal modulates schematic diagram；
Light schematic diagram after (a) modulation, (b) LED modulation modules；
Fig. 3 is positional information modulation；
Fig. 4 is the PD hemispherical arrays that can perceive visible ray orientation；
(a) top view；(b) side view；
Fig. 5 is spherical coordinate system and PD array co-ordinates system；
(a) spherical coordinate system, (b) spherical coordinate system of PD arrays half
Fig. 6 respectively illustrates directional diagram for PD arrays；
Fig. 7 is that angle of arrival resolves schematic diagram；
Fig. 8 is static state AOA algorithm schematic diagrames；
Fig. 9 is dynamic AOA algorithm schematic diagrames.
Specific embodiment
The present invention is explained in further detail below in conjunction with the accompanying drawings.
1st, LED modulation and transmission modules, reequip to existing LED, and in visible ray form the information such as positioning are sent.Such as Fig. 2
It is shown；
The specific coding scheme of modulation controller as shown in figure 3, only need in advance set up indoor map, and by cresset and LED
Coordinate correspond, cresset is demodulated during reception, you can draw the particular location of LED.
2nd, a kind of PD arrays of new computable light angle of arrival (AOA), and visible ray modulation intelligence can be detected；Such as Fig. 4
It is shown, it is PD hemisphere receiver (each side risked according to certain technique by the PD elementary cells piece of the receiving areas such as some
Lattice are a PD elementary cell pieces)；Signal sampling and processing equipment is terminated after each PD elementary cell piece, it is visible when receiving
During optical signal, just corresponding signal strength signal intensity and modulation intelligence can be obtained by signal processing technology.
Each PD elementary cells piece can correspond to the azimuth in the spherical coordinate system centered on this hemisphere centre of sphereAnd pitching
Angle θ (such as Fig. 5)；And the radius r of above-mentioned PD array receivers be far smaller than its relative to LED/light source apart from R (i.e. r ＜ ＜
R)；
When LED modulated signals are received, the basic pieces of each PD can demodulate the ID signals of LED/light source, and only method
Line direction is directed at the signal strength signal intensity maximum that the basic pieces of PD of corresponding LED are received.Calculating process is as follows：
When the chi footpath r of PD array receivers be far smaller than its relative to LED/light source apart from R when, LED reach PD arrays connect
Receiving the light of device can regard directional light as.What each PD elementary cell pieces (photelectric receiver) was received illuminates from LED visible light
The average light power of light source is
Wherein, β is the angle between light source center line and " light source-detector face " line, as the radius r of PD array receivers
Far smaller than its relative to LED/light source apart from R when, LED reach PD array receivers light can regard directional light as, each energy
The β angles for receiving the PD elementary cell pieces of light are approximately the same；gt(γ) it is LED/light source intensity distribution function, ArIt is substantially single for PD
First piece effective area, α is the angle between receiving plane normal and " light source-detector face " line, and d is between light source and receiving plane
Distance, γmaxFor the illumination half-angle that LED/light source is maximum, γ for LED/light source illumination half-angle, PtFor the launching light work(of LED/light source
Rate；The schematic diagram of α is as shown in Figure 6.
Mean power P that PD hemispherical array different azimuth PD elementary cell pieces are receivedrChange only with receiving plane normal with
Angle α between " light source-detector face " is relevant, i-th receiving power PriFor：
Pri=Kcos αi,
Therefore, the average light power that receives of PD elementary cell pieces received in model is：
Pr1=Kcos α1
Pr2=Kcos α2
Pr3=Kcos α3
......................
Prn=Kcos αn
It can be seen that, when α=0, receiving power is maximum, i.e. the normal direction of this PD elementary cell piece and " light source-detector face "
Direction overlaps, and now " light source-detector face " direction is perpendicular to this PD elementary cell piece.This is obtained by the method for back end signal process
The maximum PD unit pieces of average light power, then the complementary angle of its corresponding angle of pitch in PD array co-ordinates system be this LED light line
Angle of arrival θ i=pi/2-θ to PD arrays, in addition, when inertial navigation system is merged, moreover it is possible to obtain LED relative to PD arrays
AzimuthCertain angle of arrival θ i and azimuthTo resolve with the pitching of mobile terminal, azimuthal vector superposition.
By being demodulated signal transacting to the basic pieces of all PD, azimuth and the id information of corresponding LED is obtained.This side
Method avoids in traditional sense and the way for reaching angle (AOA) is resolved with light intensity distributions formula, only need to be by simply comparing
Signal strength signal intensity size, substantially increases the precision of resolving.
3rd, a kind of static AOA algorithms based on new PD arrays.Indoor three-dimensional cartesian coordinate system is set up, origin is located at level
On face.Known to the corresponding relation of the wherein ID of each LED/light source and its indoor coordinate (xi, yi, zi) (i=0,1,2,3 ...),
Height h of the LED away from ground is, it is known that schematic diagram is as shown in Figure 8.
When using, PD arrays are integrated in into mobile terminal or miscellaneous equipment.The coordinate of point to be determined O (i.e. PD positions)
Complete as follows to resolve, the Z-direction coordinate of wherein O is zero (being located at horizontal plane)：
A. certain point indoors, PD hemispherical arrays can receive the LED information of three different directions, then resolve available
The id information of corresponding angle of arrival θ 1 of three lamps, θ 2, θ 3 and LED, so as to obtain three LED correspondence position information (xi, yi,
Zi), wherein i=1,2,3.
B. PD hemispherical arrays receiver can be obtained by light distribution principle to be located at i-th LED as summit, cone angle is θ i (i=
1,2, on taper seat 3), the summit of circular cone is the corresponding position of LED for calculating ID；The intersection point of three conical surfaces is PD
Array receiver position,
C. so as to the position that the method for passing through analytic geometry calculates receiver, realize being accurately positioned；Due to the conical surface and ground
The intersection in face is circular, and radius is h2cot2θi, ranging formula is as follows：
This equation group is solved, x, the value of y, so as to the coordinate of PD hemisphere receivers is can be obtained：(x, y, 0), so as to complete positioning.
Because positioning realization by the state that PD arrays hemisphere receipts device only need to be connect by single point in time to be accurately positioned, therefore claim this
Algorithm is static state AOA algorithms；Certainly, code word (such as orthogonal code) is sent by appropriate design LED, can be fine by correlation technique
Ground recovers ID and positional information, weakens the impact of background noise, so as to further improve Position location accuracy.
4th, a kind of dynamic AOA algorithms based on mobile terminal.Indoor three-dimensional cartesian coordinate system is set up, origin is located at horizontal plane
On.Wherein known to the corresponding relation of the ID and coordinate (xi, yi, zi) of each LED/light source (i=0,1,2,3 ...), LED away from
The height h on ground is, it is known that schematic diagram is as shown in Figure 9.
When using, PD arrays are integrated in into mobile terminal or miscellaneous equipment.Point to be determined A (PD is in moment t1 position)
Coordinate (xa, ya, 0)) and the coordinate of point to be located B (PD is in moment t2 position) (0) xb, yb complete as follows
Resolve, the Z-direction coordinate of wherein A and B is zero (being located at horizontal plane)：
A. certain point A indoors, t1 moment PD hemispherical arrays can receive certain LED signal, then resolve and this is obtained
The id information of corresponding angle of arrival θ 1, LED of LED, so as to obtain this LED correspondence position information (x0, y0, z0)；
B. PD hemispherical arrays are moved to other point B, the moment for reaching B points is t2；PD hemispherical arrays can receive certain small cup
LED signal, then resolve the id information that corresponding angle of arrival θ 2, LED of this LED is obtained, so as to obtain this LED correspondences position
Confidence ceases (x0, y0, z0)；A points are obtained to B point displacements L and the deflection of AB with reference to the inertial navigation sensor of mobile terminal
φ。
C. PD hemispherical array receivers t1 can be obtained by light distribution principle to be located at this LED as summit, cone angle is the circle of θ 1
On the conical surface, t2 is located at this LED as summit, and cone angle is on the taper seat of θ 2；The summit of circular cone is the LED pair for calculating ID
The position answered.
D. by solving a triangle, be obtained t1 moment and t2 moment PD arrays accurate coordinates (xa, xb, 0) and (xb, yb,
0)；Ranging formula is as follows：
Solve this equation group, four independent equations, four independent position numbers, you can t1 moment A point coordinates (xa, ya, 0) and
T2 moment B point coordinates (xb, yb, 0), so as to complete positioning.
The method will be realized being accurately positioned by Qian Hou different time PD arrays relative to the position of a LED, therefore claim
For dynamic AOA algorithms；The method needs sensor fusion techniques, there is larger application prospect.Code is sent by appropriate design LED
Word (such as orthogonal code), can well recover ID and positional information by correlation technique, weaken the impact of background noise, so as to enter
One step improves Position location accuracy.
The radius of a ball of PD arrays is 2.5cm (far smaller than 5m), and hemisphere surface product is 39 square centimeters, is divided into 156 PD
Elementary cell piece, the size of each elementary cell piece is 0.5cm × 0.5cm, is uniformly spliced into dome-type.Each PD elementary cell
Piece is followed by signal handling equipment.
Above example only to illustrate technical scheme rather than be limited, the ordinary skill of this area
Personnel can modify or equivalent to technical scheme, without departing from the spirit and scope of the present invention, this
The protection domain of invention should be to be defined described in claim.
Claims (10)
1. it is a kind of detection visible ray angle of arrival PD arrays, it is characterised in that adopt including multiple PD elementary cells pieces and a signal
Collection and processing equipment, each PD elementary cells are spliced into a PD hemisphere receivers, each PD elementary cells piece respectively with this
Signal sampling and processing equipment connects；Wherein, the Signal sampling and processing equipment is used to receive the PD elementary cells piece
Visible light signal be converted to corresponding signal strength signal intensity and modulation intelligence, i-th PD elementary cells piece correspondence is connect with the PD hemisphere
Receive the azimuth in the spherical coordinate system centered on the centre of sphere of deviceWith pitching angle theta i.
2. PD arrays as claimed in claim 1, it is characterised in that the PD elementary cells piece for wait receiving area or
The PD elementary cell pieces of receiving area.
3. a kind of indoor visible light localization method based on PD arrays described in claim 1, its step is：
1) the indoor three-dimensional cartesian coordinate system that indoor map and origin are located on horizontal plane, indoor each LED/light source of record are set up
ID and its indoor coordinate (x, y, z) corresponding relation, and height h of the LED/light source away from horizontal plane；The PD arrays are arranged
In location equipment；
2) when the location equipment is located at indoor certain point, the PD arrays in the location equipment choose three for receiving not
Equidirectional LED light source information, and calculate angle of arrival θ 1, θ 2, θ 3 and the correspondence id information of three LED/light sources；The PD
Array is located at i-th LED/light source as summit, and cone angle is on the taper seat of θ i；I=1,2,3；
3) position (x, the y, 0), so as to obtain the location equipment in room of the PD arrays are determined according to the intersection point of three conical surfaces
The position (x, y) of interior map.
4. method as claimed in claim 3, it is characterised in that the method for calculating the angle of arrival θ i of LED/light source i：The positioning sets
It is standby to calculate the average light power P that each PD elementary cell piece is received in the PD arraysr；Maximum according to average light power
The pitching angle theta of PD elementary cell pieces calculates angle of arrival θ i=pi/2-θ.
5. method as claimed in claim 4, it is characterised in that the average light power
Wherein, β is the angle between LED/light source center line and light source-detector face line, gt(γ) it is LED/light source intensity distribution function,
ArFor PD elementary cell piece effective areas, α is the angle between receiving plane normal and light source-detector face line, and d is light source and connect
The distance between receipts face, γmaxFor the illumination half-angle that LED/light source is maximum, γ for LED/light source illumination half-angle, PtFor LED/light source
Transmitting luminous power.
6. method as claimed in claim 3, it is characterised in that according to formulaIt is determined that
Go out the PD arrays position (x, y, 0)；Wherein, the coordinate of three LED/light sources be (xi, yi, zi), wherein i=1,2,3.
7. a kind of indoor visible light localization method based on PD arrays described in claim 1, its step is：
1) the indoor three-dimensional cartesian coordinate system that indoor map and origin are located on horizontal plane, indoor each LED/light source of record are set up
ID and its indoor coordinate (x, y, z) corresponding relation, and height h of the LED/light source away from horizontal plane；The PD arrays are arranged
In the location equipment with inertial navigation sensor；
2) when the t1 moment, the location equipment is located at interior certain point A, is connect according to the PD arrays in the t1 moment location equipment
The LED light source signal for receiving, is calculated angle of arrival θ 1 of the LED/light source, and is somebody's turn to do according to the id information of the LED/light source
The positional information of LED/light source；
3) when the t2 moment, the PD arrays move to a point B, according to the LED light source signal that the t2 moment PD array receiveds are arrived, calculate
Angle of arrival θ 2 of the LED/light source, and the positional information of the LED/light source is obtained according to the id information of the LED/light source；According to step
2) displacement L and deflection φ of the positional information calculation A point for, 3) obtaining to B points；The t1 moment, the PD arrays be located at
LED/light source is summit, and cone angle is on the taper seat of θ 1, t, 2 moment, the PD arrays are located at LED/light source as summit, and cone angle is
On the taper seat of θ 2；
4) according to step 2), the positional information of LED/light source that 3) obtains, and θ 1, θ 2, L, φ information are calculated t1 moment A
(xa, ya, 0) (0) xb, yb, complete the dynamic positioning to the mobile terminal to point coordinates with t2 moment B point coordinates.
8. method as claimed in claim 7, it is characterised in that the method for calculating angle of arrival θ i：The location equipment calculates described
The average light power P that each PD elementary cell piece is received in PD arraysr；According to the PD elementary cell pieces that average light power is maximum
Pitching angle theta calculate angle of arrival θ i=pi/2-θ.
9. method as claimed in claim 8, it is characterised in that the average light power
Wherein, β is the angle between LED/light source center line and light source-detector face line, gt(γ) it is LED/light source intensity distribution function,
ArFor PD elementary cell piece effective areas, α is the angle between receiving plane normal and light source-detector face line, and d is light source and connect
The distance between receipts face, γmaxFor the illumination half-angle that LED/light source is maximum, γ for LED/light source illumination half-angle, PtFor LED/light source
Transmitting luminous power.
10. method as claimed in claim 7, it is characterised in that by solving a triangle, obtain coordinate (xa, xb, 0) and (xb,
yb,0)。
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| CN111413670A (en) * | 2020-04-02 | 2020-07-14 | 北京邮电大学 | Enhanced camera-assisted positioning method based on received signal strength ratio |
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| CN107276671B (en) * | 2017-06-21 | 2020-03-31 | 中国科学技术大学 | Method for optimizing indoor visible light communication system of spatial modulation |
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| CN108234018A (en) * | 2017-12-27 | 2018-06-29 | 广州广电计量检测股份有限公司 | A kind of visible light communication equipment receptivity measuring device and method |
| CN109001677A (en) * | 2018-06-05 | 2018-12-14 | 佛山市南海区广工大数控装备协同创新研究院 | A kind of mobile robot visible light localization method based on reckoning |
| CN109343000A (en) * | 2018-09-17 | 2019-02-15 | 中国电子科技集团公司电子科学研究院 | A kind of indoor visible light imaging positioning system and localization method |
| CN110261823A (en) * | 2019-05-24 | 2019-09-20 | 南京航空航天大学 | Visible light indoor communications localization method and system based on single led lamp |
| CN110261823B (en) * | 2019-05-24 | 2022-08-05 | 南京航空航天大学 | Visible light indoor communication positioning method and system based on single LED lamp |
| CN112399330A (en) * | 2019-08-16 | 2021-02-23 | 华为技术有限公司 | Positioning method and device based on relative angle |
| CN111413670A (en) * | 2020-04-02 | 2020-07-14 | 北京邮电大学 | Enhanced camera-assisted positioning method based on received signal strength ratio |
| CN111751784A (en) * | 2020-06-23 | 2020-10-09 | 上海申核能源工程技术有限公司 | Three-dimensional optical positioning system of nuclear power station |
| CN111751784B (en) * | 2020-06-23 | 2023-11-21 | 上海申核能源工程技术有限公司 | Three-dimensional light positioning system of nuclear power station |
| CN112164113A (en) * | 2020-09-17 | 2021-01-01 | 北京邮电大学 | Novel visible light communication auxiliary perspective four-line method in indoor positioning |
| CN112164113B (en) * | 2020-09-17 | 2022-02-25 | 北京邮电大学 | Novel visible light communication auxiliary perspective four-line method in indoor positioning |
| CN113359087A (en) * | 2021-06-07 | 2021-09-07 | 东南大学 | Accurate indoor positioning method based on LED array |
| CN113359087B (en) * | 2021-06-07 | 2024-04-16 | 东南大学 | Accurate indoor positioning method based on LED array |
| CN114189813A (en) * | 2021-11-30 | 2022-03-15 | 中国人民解放军战略支援部队信息工程大学 | Target positioning method and system based on visible light communication |
| CN117269888A (en) * | 2023-11-23 | 2023-12-22 | 北京科技大学 | Visible light mixed positioning method and system based on LED array |
| CN117269888B (en) * | 2023-11-23 | 2024-02-27 | 北京科技大学 | Visible light mixed positioning method and system based on LED array |
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