CN106610490A - Optical positioning method, system and device based on LED and image sensor - Google Patents
Optical positioning method, system and device based on LED and image sensor Download PDFInfo
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- CN106610490A CN106610490A CN201611252541.9A CN201611252541A CN106610490A CN 106610490 A CN106610490 A CN 106610490A CN 201611252541 A CN201611252541 A CN 201611252541A CN 106610490 A CN106610490 A CN 106610490A
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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
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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Abstract
The invention relates to an optical positioning method, system and device based on an LED and an image sensor, and the method, system and device just employ one LED and one image sensor. The image sensor can measure the spatial relative angle between the LED and a receiver, also can sample the intensity of an optical signal in a mode similar to a single photodiode, demodulates a received signal, and measure the intensity of the received signal. Through a signal attenuation model, the method, system and device solve the distance between the LED and the receiver, and can achieve the high-precision position through two-dimensional information: angle and distance.
Description
Technical field
The present invention relates to visible ray location technology, is related more specifically to one kind and is passed based on light emitting diode (LED) and image
The light projection mthods, systems and devices of sensor.
Background technology
Construction and the high speed development of roboticses with the large-scale indoor venue such as airport, station, shopping center, room
The also sustainable growth of the demand of interior positioning.The indoor positioning technologies such as existing Wi-Fi, bluetooth adopt wireless radio-frequency mostly, in room
In interior complex environment, disturbed by multipath effect, position error is larger.LED has higher luminous effect compared to conventional light source
Rate, is the green energy conservation luminaire of a new generation, and main lighting source is just progressively being become at present.It can be seen that light projection is using new
White light frequency spectrum resource, framing signal is loaded onto on room lighting white light LEDs, and by the change of intensity of illumination data biography is carried out
It is defeated；In receiving terminal, framing signal is obtained after opto-electronic conversion, the position of receiver can be solved after resolving.Visible ray
Positioning permits that will not also introduce the electromagnetic interference to other equipment, indoor multipath reflected signal is weaker without the need for new electromagnetic spectrum,
Very high positioning precision can be reached.Presently, there are several visible ray localization methods：Using the visible light projection of imageing sensor
Method and the localization method using received signal strength etc..
Imitated using the Rolling shutter of imageing sensor (CMOS or CCD) using the visible ray localization method of imageing sensor
Should, the numbering and identity of different LED are recognized according to the different stripeds of image, when simultaneously multiple LED can be photographed, profit
With the position of the projection model and LED of camera lens hot spot on the image sensor, the angle that each LED reaches receiver is measured,
Using triangle polyester fibre method, the position of receiver can be solved.The method when LED and receiver it is distant when, LED institutes Cheng Guang
Speckle is less, it becomes difficult to distinguish different candy strips, therefore located space area size is restricted.
Using the localization method of received signal strength, receiver is generally photodiode, when the pole of photoelectricity two of receiver
Pipe can measure the signal intensity of each LED for receiving, under the transmission signal intensity of known each LED, by LED's
Signal space attenuation model, can be in the hope of the distance of receiver to each LED, when measurement obtains receiver to more than three known bits
After the distance between LED for putting, using three side positioning principles, the position of receiver can be solved.
Existing great majority are all based on three sides positioning or triangle polyester fibre using the indoor visible light localization method of LED, need
The common transmission signals of multiple LED are wanted, is positioned for receiver, but when blocking, receiver is located at corner or reception
When machine is in special attitude, when it is only capable of receiving a LED, then cannot position.
The positioning precision of existing single led alignment system is relatively low or structure is complex.For example in the system having,
Its specific identity numbering of LED emission or unique optical flare frequency, receiver is received and can be positioned at after the signal LED
Vicinity, such single LED alignment systems be only capable of provide LED coverage ranks positioning precision, be mostly meter level.For example have again
System multiple photodetectors are separately fixed on the orthogonal face of cube, connect using different photodetectors
Difference between the signal intensity for receiving solves the position of receiver.Also scheme at an angle fixes photodetector
On a platform that can be rotated, during positioning, photodetector measures at different angles received signal strength, using multigroup
Measurement amount, solves the position of receiver.The structure of receiver is complex or positioning precision is relatively low in existing targeting scheme.
Therefore, how accurately visible light projection is carried out based on single led, is the technical problem to be solved in the present invention.
The content of the invention
To allow to carry out accurately visible light projection based on single led, the invention provides a kind of be based on LED and image
The light projection mthods, systems and devices of sensor.The method is simultaneously using the angle and distance two between transmitter and receiver
The information of individual dimension, can overcome and be difficult in prior art based on the single led defect for carrying out accurately visible light projection.
In order to achieve the above object, according to an aspect of the present invention, there is provided a kind of light based on LED and imageing sensor is determined
Position method, the method is comprised the following steps：
Light emitting step：Optical signal is sent by the LED of transmitter；
Distance determines step：The light signal strength received by the imageing sensor sensing in receiver, sending out according to LED
Light intensity, LED luminous beams distribution character and the light signal strength for receiving, obtain between receiver and the LED of transmitter
Distance, wherein described image sensor front be provided with optical lens；
Angle-determining step：Position coordinateses of the LED imaging faculas center in image sensor plane are determined, according to optical frames
The optical projection model of head, obtains the space relative angle between transmitter and receiver；
Positioning step：The distance between LED-based locus coordinate, receiver and transmitter and relative angle,
Calculate the locus of receiver.
Preferably, the spatial positional information of the luminous intensity of the LED, LED luminous beams distribution character and LED is advance
Storage is in the receiver.
Preferably, the locus of the luminous intensity of the LED, LED luminous beams distribution character and LED are included in
In the optical signal that LED sends；
Methods described also includes：
Framing signal produces step：Framing signal is produced by the positioning signal generator of transmitter, to use the framing signal
The luminous intensity of modulation LED, so that LED launches the optical signal for carrying framing signal in light emitting step, wherein, the positioning
Spatial positional information of the signal packet containing LED, the luminous intensity information of LED and LED luminous beam distribution characters；And
Optical signal senses step：LED is shot in image sensor plane with default frame frequency by described image sensor
Imaging facula, using the gray value of each frame LED image for obtaining as a sampled value, obtains and receives waveform, and according to reception
Waveform demodulates framing signal, wherein, the default frame frequency is more than 2 times of LED emission signal highest frequency.
Preferably, the framing signal includes positioning message and distance measuring signal, space bit of the positioning message comprising LED
Confidence breath, LED luminous intensity informations and LED luminous beam distribution characters etc..
Preferably, the distance measuring signal can be the distance measuring signal of sine wave, square wave, direct current signal or other forms.
Preferably, the space relative angle include LED and camera lens photocentre line relative to camera lens normal angle of incidence with
And LED is relative to the azimuth of receiver, and the space relative angle between transmitter and receiver is obtained according to equation below
Degree：
Wherein, ω is the angle of incidence of LED and camera lens photocentre line relative to camera lens normal；It is LED relative to receiver
Azimuth；(u, v) is the position coordinateses of the launching spot center in image sensor plane of LED；(ou,ov) it is imageing sensor
The centre coordinate of plane；
Also, the positioning step includes：
Based on the distance between receiver and transmitter and space relative angle and positions of the LED in camera coordinates system
The relation of coordinate calculates position coordinateses of the LED in camera coordinates system；And
The position coordinateses of LED-based locus coordinate and LED in camera coordinates system are sat to receiver in camera
Position coordinateses in mark system enter line translation, obtain the locus coordinate of receiver.
According to a further aspect in the invention, also provide a kind of based on LED and the light projection system of imageing sensor, the system
Including transmitter and receiver,
The transmitter includes：
LED, it is used for the optical signal for sending；
The receiver includes optical lens, imageing sensor and position solving unit：
The optical lens are arranged at imageing sensor front；
Described image sensor is used for the optical signal received through optical lens and senses light signal strength；And
The position solving unit is used for：Luminous intensity, LED luminous beams distribution character according to LED and receive
Light signal strength, obtain the distance between LED of receiver and transmitter；Determine LED imaging faculas center in image sensing
The position coordinateses of device plane, according to optical projection model, obtain the space relative angle between transmitter and receiver；And it is based on
The distance between the locus coordinate of LED, receiver and transmitter and space relative angle calculate the space bit of receiver
Put.
Preferably, the transmitter also includes：
Positioning signal generator, it is used to producing framing signal, spatial positional information of the framing signal comprising LED,
The luminous intensity information and LED luminous beam distribution characters of LED；And
LED drive circuit, it uses the framing signal to modulate the luminous intensity of LED；
Described image sensor shoots imaging faculas of the LED in image sensor plane to preset frame frequency, by what is obtained
The gray value of each frame LED image is obtained and receives waveform as a sampled value, to demodulate positioning letter according to reception waveform
Number, wherein, the default frame frequency is more than 2 times of LED emission signal highest frequency.
According to a further aspect in the invention, also provide a kind of based on LED and the light projection device of imageing sensor, the device
Including optical lens, imageing sensor and position solving unit；
The optical lens are arranged at imageing sensor front, for receiving the optical signal that LED sends；
Described image sensor receives the optical signal through optical lens and senses light signal strength；And
Position solving unit, it is used for：Luminous intensity, LED luminous beams distribution character according to LED and receive
Signal intensity, obtains the distance between LED of receiver and transmitter；Determine that LED imaging faculas center is flat in imageing sensor
The position coordinateses in face, according to optical projection model, obtain the space relative angle between transmitter and receiver；And based on LED
The distance between locus coordinate, receiver and transmitter value and space relative angle calculate the space bit of receiver
Put.
Above-mentioned light projection device can be receiver.
Preferably, the optical signal that the LED sends carries framing signal, space bit of the framing signal comprising transmitter
Confidence breath, LED luminous intensity informations and LED luminous beam distribution characters；
Described image sensor is additionally operable to shoot imaging faculas of the LED in image sensor plane to preset frame frequency, will
The gray value of each frame LED image for obtaining is obtained and receives waveform as a sampled value, wherein the default frame frequency is LED
More than 2 times of transmission signal highest frequency；
The position solving unit is additionally operable to demodulate framing signal according to reception waveform.
According to a further aspect in the invention, also provide a kind of based on LED and the light projection method of imageing sensor, the method
Comprise the following steps：
Light emitting step：Optical signal is sent by the LED of transmitter；
Received signal strength measurement step：The light signal strength received by the imageing sensor sensing in receiver；Really
Determine position coordinateses of the LED imaging faculas center in image sensor plane；
With received signal strength, LED imaging faculas center image sensor plane position coordinateses as fingerprint, and record
Receiver is moved to the fingerprint during diverse location of space, sets up fingerprint base；
In positioning stage, obtain the fingerprint of receiver position, and with fingerprint base in fingerprint matches, with similarity
Receiver space position corresponding to highest point is used as positioning result.
Preferably, the locus of the luminous intensity of the LED, LED luminous beams distribution character and LED are included in
In the optical signal that LED sends；
Methods described also includes：
Framing signal produces step：Framing signal is produced by the positioning signal generator of transmitter, to use the framing signal
The luminous intensity of modulation LED, so that LED launches the optical signal for carrying framing signal in light emitting step, wherein, the positioning
Spatial positional information of the signal packet containing LED, the luminous intensity information of LED and LED luminous beam distribution characters；And
Optical signal senses step：LED is shot in image sensor plane with default frame frequency by described image sensor
Imaging facula, using the gray value of each frame LED image for obtaining as a sampled value, obtains and receives waveform, and according to reception
Waveform demodulates framing signal, wherein, the default frame frequency is more than 2 times of LED emission signal highest frequency.
The present invention is used up to signal angle and received signal strength phase using visible illumination LED and imageing sensor
With reference to localization method, angle and distance relation between Integrated Receiver and transmitter obtained between transmitter and receiver
Relative position relation, so as to merely with single led and imageing sensor, so that it may realize hi-Fix；Certainly the present invention also may be used
Using multiple LED transmitters, to solve the position of receiver.
Attendant advantages, the purpose of the present invention, and feature will will partly be illustrated by the following description, and will be right
Partly become obvious after research hereafter in those of ordinary skill in the art, or can be obtained with practice of the invention
Know.Objectives and other advantages of the present invention can be by specifically noting in written explanation and its claims and accompanying drawing
Structure is realized and obtained.
It will be appreciated by those skilled in the art that it is concrete to be not limited to the above with the objects and advantages of present invention realization
It is described, and the above and other purpose that the present invention can be realized will be more clearly understood according to described further below.
Description of the drawings
With reference to the following drawings, many aspects of the present invention are better understood with.In accompanying drawing：
Fig. 1 is the flow chart of light projection method in one embodiment of the invention；
Fig. 2 is the example of two kinds of framing signal structures in the present invention；
Fig. 3 is the example of framing signal structure in the present invention；
Fig. 4 is the schematic block diagram of transmitter in the embodiment of the present invention；
Fig. 5 is the schematic block diagram of receiver in the embodiment of the present invention；
Fig. 6 is that imageing sensor carries out the schematic diagram that high frame frequency shoots the image for obtaining in the embodiment of the present invention；
Fig. 7 is the schematic diagram of imageing sensor and camera lens projection model in the embodiment of the present invention；
Fig. 8 is the flow chart of light projection method in another embodiment of the present invention.
Specific embodiment
Below, the preferred embodiment of the present invention is described in detail.The example of these preferred implementations is in accompanying drawing
In illustrated.What the embodiments of the present invention for describing shown in accompanying drawing and with reference to the accompanying drawings were merely exemplary, and this
The technical spirit and its primary operational of invention is not limited to these embodiments.
Here, also, it should be noted that in order to avoid having obscured the present invention because of unnecessary details, in the accompanying drawings only
The structure and/or process step closely related with scheme of the invention is shown, and is eliminated little with relation of the present invention
Other details.
This patent provide it is a kind of new based on single LED and imageing sensor localization method, be using transmitter with connect
The distance between receipts machine realizes positioning with the information of two dimensions of angle.The present invention can only use LED and image
Sensor, imageing sensor can either measure the space relative angle between LED and receiver, again can be similar to single photoelectricity
The mode of diode is sampled to receiving light signal strength, demodulates reception signal, and measures received signal strength, using letter
Number attenuation model calculates the distance between LED and receiver, while using the information of two dimensions of angle and distance, being capable of achieving
Hi-Fix.
Positioning transmitter and location receiver two large divisions are included using the alignment system of the localization method of the present invention.Transmitting
Machine can include positioning signal generator, LED drive circuit and LED, and the locus coordinate of transmitter can be included in framing signal
(namely locus coordinate of LED), LED luminous intensity informations, the luminous beam distribution character of LED are (such as the luminous model of lambert
Parameter), in addition framing signal can also include geometric features etc. of LED；Framing signal is generated by positioning signal generator
Afterwards, Jing puts LED drive circuit and is loaded onto LED, and framing signal is converted to the change of the luminous intensity of LED, and by LED emission to sky
Between in.Receiver adopts imageing sensor, such as CMOS or CCD camera.In position fixing process, imageing sensor can be surveyed simultaneously
The angle of arrival of amount transmitter LED and the luminous intensity of the LED for receiving.Imageing sensor is both using LED in imageing sensor
The position of hot spot and imageing sensor optics geometry imaging model, can obtain the angle position of transmitter and receiver in plane
Put relation；Can sample to receiving light signal strength similar to single photodiode again, demodulate transmission signal, measurement
LED signal intensity is received, the distance between transmitter and receiver are measured by signal attenuation model.Imageing sensor leads to
Too high frame frequency is continuously shot LED, and the gray value of each frame picture LED is formed and receive waveform as a sampled value, and demodulation is set out
The framing signal that the machine of penetrating sends.Locus coordinate, the angle between transmitter and receiver with reference to transmitter and distance letter
Breath, can solve the locus coordinate of receiver.The method that the present invention can also adopt fingerprint location is strong to receive optical signal
On the image sensor image space constitutes fingerprint for degree and LED, sets up fingerprint base, the method reality matched with fingerprint base during positioning
Now position.
The present invention is described below in greater detail below.
Fig. 1 is the flow chart of the light projection method in one embodiment of the invention based on single led and imageing sensor.As schemed
Shown in 1, the method comprising the steps of S110 is to step S150.
In step S110 (framing signal generation step), framing signal is produced by transmitter, with framing signal modulation LED
Luminous intensity so that LED emission carries the optical signal of the framing signal.
As shown in figure 4, transmitter may include positioning signal generator 400, LED drive circuit 410 and LED420.Positioning letter
Locus coordinate, LED luminous intensity informations, the LED luminous beam distribution characters of transmitter can be included in number, additionally, may be used also
Geometric features comprising LED etc., framing signal can include all of the above or partial content.Framing signal is by positioning
After signal generator is produced, the luminous intensity of LED is modulated Jing after LED drive circuit, framing signal is converted to the luminous strong of LED
Degree, and be transmitted in space in the form of light intensity change by LED.
Positioning signal generator can produce positioning message and distance measuring signal.By positioning message and distance measuring signal, or only by
Positioning message constitutes framing signal.Positioning message information includes or part includes that the locus coordinate of transmitter, LED are luminous strong
Degree information, LED luminous beams spatial characteristics and LED tool geometric features.Distance measuring signal can be sine wave, rectangle
The distance measuring signal of ripple, direct current signal or other forms.
Positioning message is arranged with distance measuring signal with certain frame structure.
In embodiments of the present invention, the content positioned in message can be obtained by LED emission to receiver by receiver demodulation
, can also be obtained before positioning by receiver by other means, the method reality such as example it is built in receiver in advance
It is existing.
(a) and (b) shows 2 kinds of framing signal forms in Fig. 2：A () framing signal is by positioning message and distance measuring signal group
Into；B () framing signal is only made up of positioning message.
The luminous intensity information and beam distribution characteristic (such as the parameter of the luminous model of lambert) of LED can be surveyed through in advance
Amount, will survey measured information and inserts positioning message in advance.For example can measure in advance at LED1 rice, with LED light axle into not
The characteristics such as the luminous intensity and beam distribution with LED such as the illuminance at angle.
LED is typically all placed in specific fitting structure, therefore positions the shape spy that can also include LED tools in message
Levy, the information such as the diameter of such as circular luminaire, length of side of square light fixture.
Positioning message passes through specific such as on-off keying (OOK), pulse-amplitude modulation (PAM) modulator approach, with distance measuring signal
After constituting specific frame structure, the driving current of directly modulation LED changes sending out for LED by the Strength Changes of driving current
Light intensity.Modulated signal should have sufficiently high frequency so that people's naked eyes cannot perceive the light and shade change of lamp.Fig. 3 is positioning letter
The citing of number form.
Distance measuring signal can adopt but be not limited to sine wave, square wave, direct current signal etc., add such special range finding letter
Number in order to receiver accurate measurement received signal strength, can further improve the positioning precision of system.
Framing signal is mainly loaded onto LED by LED drive circuit.For using the on-off modulated signals of OOK, LED drives
Galvanic electricity road can directly control the break-make of LED direct driving currents, and switching signal is changed into into the light on and off of lamp.And for using company
The signal of continuous ripple modulation, LED drive circuit is amplified the small-signal that positioning signal generator is produced, amplified signal
Can directly drive or be superimposed and LED is driven after direct current biasing.The major function of LED drive circuit is to be loaded onto framing signal
LED, for other modulation systems, its driving circuit structure is no longer described in detail one by one.
The luminous intensity of LED is driven by framing signal modulation, so that LED emission carries the optical signal of framing signal.LED
The optical signal for being sent is Jing after spatial transmission to receiver.The present invention is capable of achieving positioning merely with single led.
In step S120 (optical signal sensing step), LED is shot with default frame frequency by the imageing sensor in receiver and is existed
Imaging facula in image sensor plane, using the gray value of each frame LED image for obtaining as a sampled value, acquisition connects
Receive waveform.
Wherein, default frame frequency is preferably more than 2 times of LED emission signal highest frequency.
Receiver may include optical lens 500, imageing sensor 510 and position solving unit 520, using imageing sensor
(such as CMOS or CCD camera) is positioned, and optical lens 500 corresponding with imageing sensor are general before imageing sensor
End, as shown in Figure 5.
Optical lens 500 receive optical signal, and imageing sensor 510 receives the optical signal through optical lens and senses light letter
Number intensity.Imageing sensor 510 senses first location of pixels of the LED on imaging surface, continuously with high frame frequency shoots the picture afterwards
One pixel included in the zonule of LED pictures of output is only read in plain zonule, i.e. imageing sensor, to improve photographed frame
Frequently.When it shoots more than 2 times that frame frequency reaches LED emission signal highest frequency, according to nyquist sampling theorem, in each frame
The waveform that the gray value of same pixel is constituted can completely recover transmission signal waveform.According to the waveshape signal, docking
The collection of letters number is demodulated, and can obtain message information, believes so as to obtain the locus coordinate of transmitter, the luminous intensity of LED
The geometry of breath, LED luminous beams distribution character and LED tool.This type of information in positioning message is the position of next step
Solving unit 520 solves the distance between receiver and transmitter and provides known conditions.
Fig. 6 carries out the high frame frequency in local and shoots schematic diagram for imageing sensor, and wherein speck is LED imagings, around it
Square frame is high frame frequency shooting area.
After imageing sensor obtains reception waveform, performing location algorithm by position solving unit carries out determining for receiver
Position.
In step S130 (distance determines step), position solving unit is according to the luminous intensity of LED, LED in framing signal
Luminous beam distribution character and the signal intensity for receiving, obtain the distance between LED of receiver and transmitter.
Specifically, the space attenuation model of LED luminous energies conforms generally to the luminous model of lambert, its channel response function
For：
Wherein ARIt is receiver receiving area, d is the distance between LED and receiver, and φ is between LED and receiver
Radiation angle, ψ is the angle of incidence of light, ψcIt is the maximum field of view angle of receiver, m is and half-power angle φ1/2Related bright Bochang
Number, m=-In2/In (cos φ1/2).ψ can pass through projection relations of the LED in image sensing face and obtain.By imageing sensor
Opto-electronic conversion, imageing sensor output distance measuring signal amplitude be：
V=RHd(0)·A (2)
Wherein, the amplitude of the distance measuring signal that A sends for transmitter, R be conversion coefficient known to, with reference to receiver with send out
The space geometry information of machine is penetrated, can obtain one group of equation group is：
Then can be in the hope of：
When measurement receives signal amplitude, when distance measuring signal is included in the transmission signal of transmitter, then can measure
The amplitude of distance measuring signal is used as reception signal amplitude.And when in the transmission signal of transmitter not comprising there is distance measuring signal, can be with
Direct measurement positions the amplitude of message signals, used as reception signal amplitude.
In step S140 (angle-determining step), position solving unit determines LED imaging faculas center in imageing sensor
The position coordinateses of plane, according to the projection model of imageing sensor front camera lens, obtain the space between transmitter and receiver
Relative angle.
Space relative angle between transmitter and receiver for example may include LED with camera lens photocentre line relative to camera lens
Azimuth of the angle of incidence and LED of normal relative to receiver.
Photocentre with camera lens establishes a camera coordinates system being fixedly connected with camera as origin, in camera coordinates system, connects
The position of receipts machine is (0,0,0)T, the position of LED for (cxi,cyi,czi)T, as shown in Figure 7.
For the imageing sensor camera lens preposition with it, LED entering relative to camera lens normal with camera lens photocentre line
Firing angle ω and LED light speckle 710 meet specific between sensitive face centre distance on the sensitive face of sensor between ρ
Projection model, can there is following expression：
ω=f (ρ) (4)
Function expression between the two typically can be determined by the demarcation in advance to camera lens and imageing sensor.
In camera coordinates system, as shown in fig. 7, according to geometrical relationship, angle of incidence can be expressed as：
LED is relative to the azimuth expression formula of receiver：
And in imaging plane U-V coordinate systems, imaging point is apart from the expression formula apart from ρ of optical center：
Wherein, (u, v) is the position coordinateses of the launching spot center in image sensor plane of LED；(ou,ov) it is image
The centre coordinate of sensor plane.
Corresponding azimuth is：
Above-mentioned steps S130 (distance determines step) and S140 (angle-determining step) can be carried out simultaneously.
In step S150 (positioning step), the LED-based locus coordinate of position solving unit, receiver and transmitter
The distance between and space relative angle calculate receiver locus.
This step is primarily based on the distance between receiver and transmitter and space relative angle with LED in camera coordinates
The relation of the position coordinateses in system calculates position coordinateses of the LED in camera coordinates system, is then based on the locus coordinate of LED
And position coordinateses of position coordinateses of the LED in camera coordinates system to receiver in camera coordinates system enter line translation, obtain
The locus coordinate of receiver.
Positions of the LED in camera coordinates system is calculated first, according to the projection model of camera lens, (5) (7) two formula is substituted into
(4) formula then has：
Orientation angular dependence then hasI.e.
And the distance between LED and receiver expression formula is：
By the equation group of the three groups of independence in (9)-(11), positions of the LED in camera coordinates system (cxi,cyi,czi)TIt is contained within
Three unknown numbers, then can with simultaneous (9-11) equation group, can solve obtain positions of the LED in camera coordinates system (cxi,cyi,czi)T。
Obtain positions of the LED in camera coordinates system (cxi,cyi,czi)TAfterwards, by the space of acquired LED before
Position coordinateses (wxi,wyi,wzi)T, according to coordinate system transformation rule, then can obtain the locus coordinate of receiver, that is, determine
The position of receiver, completes positioning.
The present invention is used up to signal angle and received signal strength phase using visible illumination LED and imageing sensor
With reference to localization method, angle and distance relation between Integrated Receiver and transmitter obtained between transmitter and receiver
Relative position relation, so as to merely with single led and imageing sensor, so that it may realize hi-Fix；Certainly the present invention also may be used
Using multiple LED transmitters, to solve the position of receiver.In the case of multiple transmitters, can also work.Multiple transmittings
The LED of machine has on the image sensor multiple imaging faculas.For each transmitter, can obtain one group of shape as (9)-
(11) equation group, when there is N number of transmitter, can obtain altogether 3N equation group, and unknown number now is still receiver
Locus (wxi,wyi,wzi)TIn three unknown numbers, now can estimate reception using the computational methods such as least square
Machine locus coordinate (wxi,wyi,wzi)T。
The present invention can also be suitable for use with fingerprint location method, with (receive light signal strength, LED on a sensor into
Image position) to combine, as fingerprint.Fingerprint base is initially set up, fingerprint-position grouping has been recorded in fingerprint base.
Fig. 8 show in one embodiment of the invention the stream based on single led and imageing sensor using fingerprint positioning method
Cheng Tu.
In Fig. 8, step S610- step S620 is with step S110- step S120.
In step S630 (received signal strength measurement step), the light received by the imageing sensor sensing in receiver
Signal intensity.
In step S640, receiver determines position coordinateses of the LED imaging faculas center in image sensor plane.
In step S650, repeat step S630, S640 is flat in imageing sensor with received signal strength, LED imaging faculas
The position coordinateses in face are fingerprint, and record fingerprint when receiver is moved to space diverse location, background devices are uploaded to, rear
Fingerprint base is set up in platform equipment.
In step S660, i.e., in positioning stage, receiver calculate first reception light signal strength and LED on a sensor
Image space, obtains the fingerprint at this, afterwards by the fingerprint matches in the fingerprint and fingerprint base, with the fingerprint that similarity is maximum
Or the position corresponding to several fingerprints of similarity maximum is used as positioning result.
Fingerprint location method in the present invention is equally merely with single led and imageing sensor, so that it may realize hi-Fix；
Certainly the present invention can also utilize multiple LED transmitters, solve the position of receiver.
The each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.In above-mentioned embodiment
In, software that multiple steps or method can in memory and by suitable instruction execution system be performed with storage or firmware come
Realize.For example, if realized with hardware, and in another embodiment, the following technology that can be altogether known with this area
Any one of or their combination realizing：With for data signal is realized logic function logic gates from
Scattered logic circuit, the special IC with suitable combinational logic gate circuit, programmable gate array (PGA), scene can compile
Journey gate array (FPGA) etc..
Logic and/or step that in flow charts expression or here are otherwise described, for example, are considered
For realizing the order list of the executable instruction of logic function, in may be embodied in any computer-readable medium, with
For instruction execution system, device or equipment (as computer based system, the system including processor or other can be from instruction
The system of execution system, device or equipment instruction fetch and execute instruction) use, or with reference to these instruction execution systems, device or
Equipment and use.
In the present invention, for an embodiment description and/or the feature for illustrating, can be in one or more other realities
Apply in mode and use in the same manner or in a similar manner, and/or in combination with the feature of other embodiment or replace other
The feature of embodiment.
It should be noted that above-described embodiment is only the scope of the claims for illustrating the present invention without limiting the present invention, Ren Heji
In the equivalents technology of the present invention, all should be in the scope of patent protection of the present invention.
Claims (12)
1. it is a kind of based on LED and the light projection method of imageing sensor, it is characterised in that the method is comprised the following steps：
Light emitting step：Optical signal is sent by the LED of transmitter；
Distance determines step：The light signal strength received by the imageing sensor sensing in receiver, according to the luminous strong of LED
Degree, LED luminous beams distribution character and the light signal strength that receives, obtain between receiver and the LED of transmitter away from
From wherein described image sensor front is provided with optical lens；
Angle-determining step：Position coordinateses of the LED imaging faculas center in image sensor plane are determined, according to optical lens
Optical projection model, obtains the space relative angle between transmitter and receiver；
Positioning step：The distance between LED-based locus coordinate, receiver and transmitter and space relative angle,
Calculate the locus of receiver.
2. method according to claim 1, it is characterised in that：
The spatial positional information of the luminous intensity, LED luminous beams distribution character and LED of the LED is stored in advance in described
In receiver.
3. method according to claim 1, it is characterised in that：
The locus of the luminous intensity, LED luminous beams distribution character and LED of the LED are included in the light letter that LED sends
In number；
Methods described also includes：
Framing signal produces step：Framing signal is produced by the positioning signal generator of transmitter, to be modulated with the framing signal
The luminous intensity of LED, so that LED launches the optical signal for carrying framing signal in light emitting step, wherein, the framing signal
Spatial positional information comprising LED, the luminous intensity information of LED and LED luminous beam distribution characters；And
Optical signal senses step：Imagings of the LED in image sensor plane is shot by described image sensor to preset frame frequency
Hot spot, using the gray value of each frame LED image for obtaining as a sampled value, obtains and receives waveform, with according to reception waveform
Framing signal is demodulated, wherein, the default frame frequency is more than 2 times of LED emission signal highest frequency.
4. method according to claim 3, it is characterised in that the framing signal includes positioning message and distance measuring signal,
The spatial positional information of the positioning message comprising LED, LED luminous intensity informations and LED luminous beam distribution characters.
5. method according to claim 4, it is characterised in that the distance measuring signal is sine wave, square wave or direct current letter
Number.
6. method according to claim 1, it is characterised in that the space relative angle includes that LED connects with camera lens photocentre
Line relative to camera lens normal angle of incidence and LED relative to the azimuth of receiver, and launched according to equation below
Space relative angle between machine and receiver：
Wherein, ω is the angle of incidence of LED and camera lens photocentre line relative to camera lens normal；For LED relative to receiver orientation
Angle；(u, v) is the position coordinateses of the launching spot center in image sensor plane of LED；(ou,ov) it is image sensor plane
Centre coordinate；
Also, the positioning step includes：
Based on the distance between receiver and transmitter and space relative angle and position coordinateses of the LED in camera coordinates system
Relation calculate position coordinateses of the LED in camera coordinates system；And
The position coordinateses of LED-based locus coordinate and LED in camera coordinates system are to receiver in camera coordinates system
Interior position coordinateses enter line translation, obtain the locus coordinate of receiver.
7. a kind of light projection system of the method using as described in any one in claim 1-6, the system includes transmitter
And receiver, it is characterised in that：
The transmitter includes：
LED, it is used to send optical signal；
The receiver includes optical lens, imageing sensor and position solving unit：
The optical lens are arranged at imageing sensor front；
Described image sensor receives the optical signal through optical lens and senses light signal strength；And
The position solving unit is used for：Luminous intensity, LED luminous beams distribution character according to LED and the light for receiving
Signal intensity, obtains the distance between LED of receiver and transmitter；Determine that LED imaging faculas center is flat in imageing sensor
The position coordinateses in face, according to optical projection model, obtain the space relative angle between transmitter and receiver；And based on LED
The distance between locus coordinate, receiver and transmitter and space relative angle calculate the locus of receiver.
8. system according to claim 7, it is characterised in that：
The transmitter also includes：
Positioning signal generator, it is used to producing framing signal, spatial positional information of the framing signal comprising LED, LED
Luminous intensity information and LED luminous beam distribution characters；And
LED drive circuit, it uses the framing signal to modulate the luminous intensity of LED；
Described image sensor shoots imaging faculas of the LED in image sensor plane to preset frame frequency, each by what is obtained
The gray value of frame LED image is obtained and receives waveform as a sampled value, to demodulate framing signal according to reception waveform, its
In, the default frame frequency is more than 2 times of LED emission signal highest frequency.
9. it is a kind of based on LED and the light projection device of imageing sensor, it is characterised in that the device includes optical lens, image
Sensor and position solving unit；
The optical lens are arranged at imageing sensor front, for receiving the optical signal that LED sends；
Described image sensor receives the optical signal through optical lens and senses light signal strength；And
Position solving unit, it is used for：Luminous intensity, LED luminous beams distribution character according to LED and the signal for receiving
Intensity, obtains the distance between LED of receiver and transmitter；Determine LED imaging faculas center in image sensor plane
Position coordinateses, according to optical projection model, obtain the space relative angle between transmitter and receiver；And LED-based sky
Between the distance between position coordinateses, receiver and transmitter value and space relative angle calculate the locus of receiver.
10. light projection device according to claim 9, it is characterised in that：
The optical signal that the LED sends carries framing signal, spatial positional information, LED of the framing signal comprising transmitter
Luminous intensity information and LED luminous beam distribution characters；
Described image sensor is additionally operable to shoot imaging faculas of the LED in image sensor plane to preset frame frequency, will obtain
Each frame LED image gray value as a sampled value, obtain and receive waveform, wherein the default frame frequency is LED emission
More than 2 times of signal highest frequency；
The position solving unit is additionally operable to demodulate framing signal according to reception waveform.
11. is a kind of based on LED and the light projection method of imageing sensor, it is characterised in that the method is comprised the following steps：
Light emitting step：Optical signal is sent by the LED of transmitter；
Received signal strength measurement step：The light signal strength received by the imageing sensor sensing in receiver；
Determine position coordinateses of the LED imaging faculas center in image sensor plane；
With received signal strength, LED imaging faculas center image sensor plane position coordinateses as fingerprint, and record reception
Machine is moved to the fingerprint during diverse location of space, sets up fingerprint base；
In positioning stage, obtain the fingerprint of receiver position, and with fingerprint base in fingerprint matches, with similarity highest
Point corresponding to receiver space position as positioning result.
12. methods according to claim 11, it is characterised in that
The locus of the luminous intensity, LED luminous beams distribution character and LED of the LED are included in the light letter that LED sends
In number；
Methods described also includes：
Framing signal produces step：Framing signal is produced by the positioning signal generator of transmitter, to be modulated with the framing signal
The luminous intensity of LED, so that LED launches the optical signal for carrying framing signal in light emitting step, wherein, the framing signal
Spatial positional information comprising LED, the luminous intensity information of LED and LED luminous beam distribution characters；And
Optical signal senses step：Imagings of the LED in image sensor plane is shot by described image sensor to preset frame frequency
Hot spot, using the gray value of each frame LED image for obtaining as a sampled value, obtains and receives waveform, and according to reception waveform
Framing signal is demodulated, wherein, the default frame frequency is more than 2 times of LED emission signal highest frequency.
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| CN111212474A (en) * | 2020-01-09 | 2020-05-29 | 安徽理工大学 | Visible light indoor positioning method for regenerated fingerprint |
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| CN111762237A (en) * | 2020-06-29 | 2020-10-13 | 交控科技股份有限公司 | Rail transit train positioning method, device and system |
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