CN106646367A - Visible light positioning method, system and device - Google Patents
Visible light positioning method, system and device Download PDFInfo
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- CN106646367A CN106646367A CN201611252482.5A CN201611252482A CN106646367A CN 106646367 A CN106646367 A CN 106646367A CN 201611252482 A CN201611252482 A CN 201611252482A CN 106646367 A CN106646367 A CN 106646367A
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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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Abstract
The invention relates to a visible light positioning method, system and device. The positioning device comprises a plurality of transmitters, wherein each transmitter generates a positioning signal containing a positioning message and an LED (Light Emitting Diode) transmits a light signal carrying the positioning signal, wherein each positioning message comprises space position information of each transmitter, light emitting strength information of the LED and distribution characteristics of LED light-emitting light beams; a receiver is used for receiving the light signal, converting the light signal into an electric signal, demodulating the positioning messages and obtaining a low-precision distance value between the receiver and the corresponding transmitter according to light emitting strength of the LED, received signal strength and the distribution characteristics of the LED light-emitting light beams; a carrier phase of the received signal is demodulated, and integral circumference ambiguity of the carrier phase is eliminated by utilizing the low-precision distance value; a high-precision distance value between each transmitter and the receiver is calculated by utilizing phase information without the integral circumference ambiguity; and position information of the receiver is calculated based on space position information of each transmitter and the high-precision distance value between the receiver and the different transmitters.
Description
Technical field
The present invention relates to visible ray location technology, relates more specifically to a kind of visible ray localization method, system and device.
Background technology
Construction and the high speed development of robot technology 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.White light emitting diode (LED) is compared to conventional light source
It is the green energy conservation lighting apparatus of a new generation with higher luminous efficiency, main lighting source is just progressively being become at present.Can
See that positioning, using new white light frequency spectrum resource, framing signal is loaded onto on room lighting white light LEDs, by the change of intensity of illumination
Change to carry out data transmission；In receiving terminal, framing signal is obtained after opto-electronic conversion, receiver can be solved after resolving
Position.It can be seen that light-seeking is permitted without the need for new electromagnetic spectrum, the electromagnetic interference to other equipment, indoor multipath will not be also introduced
Reflected signal is weaker, can reach very high positioning precision.Presently, there are several visible ray localization methods：Using fingerprint matching skill
The visible ray localization method of art, using the visible ray localization method and the localization method using received signal strength of imageing sensor
Deng.
Additionally, in propagation time of the measurement optical signal between emitter and receiver, typically adopt accurate measurement receiver
Carrier phase difference between emitter, it is possible to achieve high-precision positioning.But measure carrier phase when, carrier phase with this
Phase difference has integer unknown cycle between ground reference phase place, commonly referred to as integral circumference ambiguity, needs true by ad hoc approach
The fixed unknown number of cycles.Compared to present visible ray location technology, the method for measuring arrival time is not directly dependent on reception
The size of the luminous power that machine is received, when the aging decay of LED, will not be to positioning accurate when luminous energy spatial distribution model is undesirable
Degree produces impact.
Therefore, integral circumference ambiguity how is eliminated, it is more accurate and carry out visible light-seeking at low cost, it is that the present invention urgently will be solved
Technical problem certainly.
The content of the invention
To make indoor visible light positioning reach higher positioning precision, the invention provides a kind of visible based on white light LEDs
The visible ray localization method of lightray propagation, alignment system and positioner.The method adopts two step localization methods, first with
The method of received signal strength measures roughly the distance between transceiver, and second step is based on optical signal carrier phase measurement transceiver
Between carrier signal phase difference, using the rough measurement result of the first step, the integral circumference ambiguity in second step measurement can be eliminated,
Obtain accurate positioning result.
In order to achieve the above object, according to an aspect of the present invention, there is provided a kind of visible ray localization method, the method includes
Following steps：
Light emitting step, the LED of each emitter sends optical signal；
Low precision distance determines step, and receiver receives the optical signal, luminous intensity according to LED, the light for receiving
Signal strength signal intensity and LED luminous beam distribution characters, obtain the low precision distance value between receiver and emitter；
High accuracy distance determines step, demodulates the carrier phase of received signal, is eliminated using low precision distance value
The integral circumference ambiguity of carrier phase, and utilization eliminates the height that the phase information of integral circumference ambiguity is calculated between transmitter and receiver
Precision distance value；
Positioning step, based on the high accuracy distance value between receiver and different transmitters and the space bit of each emitter
Confidence breath calculates the positional information of receiver.
Preferably, the space bit confidence of the luminous intensity of the LED, LED luminous beams distribution character and each emitter
Breath is prestored in the receiver.
Preferably, the locus bag of the luminous intensity of the LED, LED luminous beams distribution character and each emitter
In being contained in the optical signal that LED sends；
Methods described is further comprising the steps of：Framing signal produces step：Each emitter produces determining comprising positioning message
Position signal, with the framing signal luminous intensity of LED is modulated, so that LED launches in light emitting step carries framing signal
Optical signal, wherein, the spatial positional information of the positioning message comprising emitter, LED luminous intensity informations and the luminous light of LED
Beam distribution character；And demodulation step, the optical signal of reception is converted to electric signal by receiver, and demodulates positioning message.
Preferably, the positioning message can also include signal sending time.
Preferably, the framing signal is superimposed with pseudo-random sequence and modulates carrier signal for positioning message.
Preferably, the LED luminous beams distribution character is expressed by equation below：
Pr=Pt·α·D-m
Wherein, PtFor the optical signal power that emitter sends, PrFor the optical signal power that receiver is received, α is constant, and D is
The distance between receiver and emitter, m is the space attenuation factor relevant with the beam angle characteristic of LED；It is described to be received
The step of low precision distance value between machine and emitter, includes calculating D values based on the formula, using the D values for calculating as institute
State low precision distance value.
Preferably, it is described to include the step of calculate propagation time of the optical signal between emitter and receiver：According to public affairs
FormulaTo utilize the low precision distance value to calculate integral circumference ambiguity value, wherein, λ is the carrier wavelength for receiving signal, []
To round symbol；Carrier phase and the integral circumference ambiguity value based on received signal using equation below obtain it is described propagate away from
From：Wherein, f is frequency of carrier signal,For the carrier phase of received signal, Δ N is described whole
All fuzzy values, c is the light velocity.
According to a further aspect in the invention, a kind of visible ray alignment system is also provided, the system includes：Multiple emitters with
And receiver；
Each emitter includes：
LED, it is used for the optical signal for sending；
LED drive circuit, for driving the ELD lamps；
The receiver includes：
Photoelectric conversion module, for receiving the optical signal, by the optical signal of reception electric signal is converted to；
Signal processing module, for according to the luminous intensity of LED, the light signal strength for receiving and LED luminous beams
Distribution character, obtains the low precision distance value between receiver and emitter, using the carrier phase and low essence of received signal
Degree distance value calculates high accuracy distance value of the optical signal between emitter and receiver, so as to according to the space bit of each emitter
Confidence breath and the high accuracy distance value between receiver and different transmitters calculate the positional information of receiver.
Preferably, each emitter also includes：
Positioning signal generator, for producing the framing signal comprising positioning message, the positioning message includes emitter
Spatial positional information, the luminous intensity information of LED and LED luminous beam distribution characters；Wherein, the LED drive circuit
The luminous intensity of the LED is modulated with the framing signal, so that LED emission carries the optical signal of framing signal；The letter
Number processing module obtains the carrier phase of received signal according to the electric signal, and demodulates positioning report from the electric signal
Text.
According to a further aspect in the invention, a kind of visible ray positioner is also provided, it is characterised in that device includes；
Photoelectric conversion module, for receiving the optical signal of the LED from multiple emitters, the optical signal of reception is converted to
Electric signal；And
Signal processing module, for obtaining the carrier phase of received signal, and sending out according to LED according to the electric signal
Luminous intensity, the signal strength signal intensity for receiving and LED luminous beam distribution characters, obtain the low precision between receiver and emitter
Distance value, using the carrier phase and low precision distance value calculating optical signal of received signal between emitter and receiver
High accuracy distance value, so as to the high accuracy between the spatial positional information and receiver and different transmitters according to each emitter
Distance value calculates the positional information of receiver.
Preferably, carrying package contains the framing signal of positioning message in the optical signal, and the positioning message includes transmitting
The spatial positional information of machine, LED luminous intensity informations and LED luminous beam distribution characters；Signal processing module is from the electricity
Signal demodulates positioning message；Or it is previously stored with the luminous intensity of the LED, LED luminous beams point in the receiver
The spatial positional information of cloth characteristic and each emitter.
The visible ray positioner can be receiver.
Compared with prior art, the targeting scheme that the present invention is blended using signal strength signal intensity and optical signal carrier phase place, carries
High accuracy visible ray localization method is supplied, phase place in optical signal carrier phase method has been eliminated using signal strength signal intensity localization method and is surveyed
The integral circumference ambiguity problem of amount, has obtained more accurate positional information.
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 schematic block diagram of indoor visible light alignment system in the embodiment of the present invention；
Fig. 2 is the indicative flowchart of indoor visible light localization method in the embodiment of the present invention；
Fig. 3 (a) and Fig. 3 (b) is the producing method schematic diagram of framing signal in the embodiment of the present invention.
Specific embodiment
Below, the preferred embodiment of the present invention is described in detail.The example of these preferred embodiments 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.
Fig. 1 is the schematic block diagram of indoor visible light alignment system in the embodiment of the present invention.As shown in figure 1, the present invention
Indoor visible light alignment system can include：Multiple transmitter and receivers.
Each emitter may include high steady clock module, positioning signal generator, LED drive circuit and LED.High steady clock mould
Block produces High-precision carrier signal.Positioning signal generator produces the framing signal comprising positioning message, framing signal Jing LED
The luminous intensity of drive circuit directly modulation LED, LED broadcast positioning signals while illumination.
Receiver may include photoelectric conversion module, signal processing module and output interface, and photoelectric conversion module is used to carry out
Opto-electronic conversion, signal processing module can be used to carry out the capture of multichannel visible light signal, tracking, carrier phase difference calculating, reception
Signal strength measurement etc..Output interface can be used for exporting positioning result, for example, can directly provide display content or data are passed
Defeated interface.
Visible ray is described with reference to the structure of visible ray alignment system determine localization method.Fig. 3 show of the invention real
Apply the schematic flow sheet of the visible ray localization method in example.As shown in figure 3, the method is comprised the following steps：
Step S310, each emitter produces the framing signal comprising positioning message, based on sending out for the framing signal modulation LED
Luminous intensity simultaneously carries the optical signal of framing signal via LED emission.
Specifically, positioning signal generator produces framing signal, and the framing signal is superimposed with pseudorandom sequence for positioning message
Arrange and modulate carrier signal.Wherein pseudo-random sequence is to distinguish the signal that different emitters are sent.Such as Fig. 3 (a) and Fig. 3
B shown in (), positioning message modulates carrier wave after being superimposed with pseudo random sequence code, carrier wave can be sine wave (see Fig. 3 (a)) or square
Shape ripple (see Fig. 3 (b)) etc., you can obtain framing signal.Wherein, position message can include emitter spatial positional information and
LED luminous powers, additionally, can also be comprising information such as signal sending time, LED luminous beam distribution characters.
LED drive circuit utilizes the luminous intensity of framing signal Jing directly modulation LED.LED is broadcasted while illumination
The framing signal, i.e. LED emission carries the optical signal of framing signal.
Step S320, receiver receives optical signal, converts optical signals to electric signal, demodulates positioning message.
Receiver is foremost photoelectric conversion module (such as photodetector), and usually photodiode adds transmission or anti-
Microscope group is penetrated into, the optical signal in the photoelectric conversion module collection space, and converts light signals into electric signal.The signal of receiver
There is multichannel treatment channel in processing module, can simultaneously receive the converted electric signal from different transmitters, it is every to locate all the way
Reason module captures first, tracks the electric signal of an emitter, and the carrier phase for receiving signal is obtained by signal processing technology；
Afterwards the signal to receiving is demodulated, and the positioning message that the emitter is sent independently is solved, including emitter
The information such as spatial positional information, LED luminous powers, the distribution of LED luminous beams.
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, for example can be by being built in advance in receiver etc.
Method is realized.The letters such as spatial positional information, LED luminous powers, the distribution of LED luminous beams of emitter are known in advance in receiver
In the case of breath, framing signal can not be carried in the optical signal that LED sends.
Step S330, luminous intensity according to LED, the signal strength signal intensity for receiving and LED luminous beam distribution characters, meter
Calculate the low precision distance value between receiver and emitter.
This step be calculated based on signal strength signal intensity using signal strength signal intensity localization method it is thick between receiver and emitter
Slightly distance (low precision distance), i.e., receive the power of signal, according to visible light signal Strength degradation model, Yi Jifa by measurement
Signal power is penetrated, the rough distance between emitter and receiver is calculated.
In this step, by measuring received signal strength, and using the LED emission signal obtained by demodulation positioning message
Intensity (such as LED luminous powers) and LED luminous beam distributed intelligences (such as LED light signal Strength degradation model), solve receiver
Rough distance between emitter.
The signal intensity attenuation model of visible ray typically can be expressed by following formula：
Pr=Pt·α·D-m
Wherein, PtFor the optical signal power that emitter sends, PrOptical signal power is received for receiver, α is constant, generally
The factors such as attitude, the receiver Photoresponse of vertical height, receiver between receiver and emitter are relevant.D is to connect
The distance between receipts machine and emitter, m is the space attenuation factor, has substantial connection with the beam angle characteristic of LED.
α, the m parameter of system can be determined in advance.By the optical signal received in different known location measuring receivers
Power and combine emitter transmitting luminous power, α, the m parameter of system can be measured.Intrinsic ginseng of the parameter as emitter
Number after determination, can be sent to receiver by message data by emitter.
Afterwards multiple passages of receiver can respectively measure each passage after the signal that emitter is launched is captured
The signal strength signal intensity for receiving, the signal strength signal intensity may correspond to receiver and receive signal light power from different transmitters.And
The transmission power of LED, the parameter of signal intensity attenuation model can be solved from message in each emitter.
After emitter transmission power, receiver receiving power and signal intensity attenuation model is obtained, emitter with connect
The distance between receipts machine can be calculated by following formula：
The distance value based on optical signal space Strength degradation model measurement obtained by, by photodetector noise and
LED component is aging etc., and factor affects, and the accuracy of D, typically in several tens cm, is the rough measure between receiver and emitter
Value.
Step S340, the carrier phase of demodulated received signal eliminates the complete cycle mould of carrier phase using low precision distance value
Paste, and utilization eliminates the high accuracy distance value that the phase information of integral circumference ambiguity is calculated between transmitter and receiver；
The step is that the high accuracy distance value between transmitter and receiver is calculated using carrier phase information；
Based on the carrier phase information for receiving, can obtain accurate distance between emitter and receiver (in high precision away from
From value), the computational methods of the accurate distance areWherein d is the accurate distance between transceiver, c
For the light velocity, f is frequency of carrier signal,For the carrier phase at receiver, Δ N is integral circumference ambiguity value.Here utilizes above-mentioned step
The rough measure value calculated in rapid S330, can eliminate the uncertainty of integral circumference ambiguity, draw the concrete numerical value of Δ N, calculate
Journey is as follows：
Wherein, D is the rough distance value measured in step S330, and λ is carrier information wavelength, and [] is to round symbol.
It is determined that after integral circumference ambiguity number Δ N, the accurate distance d between emitter and receiver can be solved, d accuracy is up to number milli
Rice.
Above-mentioned to understand, the visible ray localization method in the present invention is by common based on signal strength signal intensity and optical signal carrier phase place
Positioned, signal strength signal intensity localization method, as the first step (step S330), is second step (step based on carrier phase localization method
Rapid S340), the distance between receiver and emitter can be gone out with rough measure by signal strength methods, can be used for elimination the
The integral circumference ambiguity that phase measurement is produced in two steps.Because carrier phase and integral circumference ambiguity value can reflect the light propagation time, therefore, change
Sentence is talked about, and the visible ray localization method of the present invention is also to be positioned jointly by signal strength signal intensity and lightray propagation time.
Step S350, the high accuracy between spatial positional information and receiver and different transmitters based on each emitter
Distance value calculates the positional information of receiver.
Receiver is being obtained with multiple emitters apart from diAfterwards, such as solve equation below group to obtain by solution procedure
The locus of receiver：
Wherein, (xi,yi,zi) for the locus coordinate of emitter i, (x, y, z) is receiver locus to be solved
Coordinate.When receiver can simultaneously receive the signal of multiple emitters, the locus coordinate of receiver can be solved.
The positional information of the final receiver for determining can by the output interface of receiver export to display screen or other answer
With.The interface can be the hardware interface such as software class interface or serial ports, USB interface.
Receiver in the present invention can be realized in mobile phone, PAD or other portable terminals.
Compared with prior art, the localization method that the present invention is blended using signal strength signal intensity and optical signal carrier phase place, carries
High accuracy visible ray localization method is supplied, operand has been reduced, and ensure that low cost.
In the alternative embodiment of the present invention, it is seen that light-seeking system may also include central controller, central controller
Synchronizing signal can be sent to each emitter.The clock module of each emitter can receive the synchronizing signal of central controller, and provide
High-precision carrier signal, makes each emitter be in synchronous regime.
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 (11)
1. a kind of visible ray localization method, it is characterised in that the method is comprised the following steps：
Light emitting step, the LED of each emitter sends optical signal；
Low precision distance determines step, and receiver receives the optical signal, luminous intensity according to LED, the optical signal for receiving
Intensity and LED luminous beam distribution characters, obtain the low precision distance value between receiver and emitter；
High accuracy distance determines step, demodulates the carrier phase of received signal, and using low precision distance value carrier wave is eliminated
The integral circumference ambiguity of phase place, and utilization eliminates the high accuracy that the phase information of integral circumference ambiguity is calculated between transmitter and receiver
Distance value；
Positioning step, based on the high accuracy distance value between receiver and different transmitters and the space bit confidence of each emitter
Breath calculates the positional information 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 each emitter of the LED is stored in advance in
In the receiver.
3. method according to claim 1, it is characterised in that：
The locus of the luminous intensity, LED luminous beams distribution character and each emitter of the LED is included in LED and sends
Optical signal in；
Methods described is further comprising the steps of：
Framing signal produces step：Each emitter produces the framing signal comprising positioning message, with framing signal modulation LED's
Luminous intensity, so that LED launches the optical signal for carrying framing signal in light emitting step, wherein, the positioning message is included
The spatial positional information of emitter, LED luminous intensity informations and LED luminous beam distribution characters；And
The optical signal of reception is converted to electric signal by demodulation step, receiver, and demodulates positioning message.
4. method according to claim 3, it is characterised in that the framing signal is superimposed with pseudorandom sequence for positioning message
Arrange and modulate the signal obtained after carrier wave.
5. method according to claim 1, it is characterised in that the LED luminous beams distribution character is by equation below table
Reach：
Pr=Pt·α·D-m
Wherein, PtFor the optical signal power that emitter sends, PrFor the optical signal power that receiver is received, α is constant, and D is reception
The distance between machine and emitter, m is the space attenuation factor relevant with the beam angle characteristic of LED；
It is described obtain between receiver and emitter low precision distance value the step of include based on the formula calculate D values, general
The D values for calculating are used as the low precision distance value.
6. method according to claim 5, it is characterised in that the calculating optical signal is between emitter and receiver
The step of propagation distance, includes：
Using the low precision distance value, according to formulaTo calculate integral circumference ambiguity value, wherein, λ is the load for receiving signal
Ripple wavelength, [] is to round symbol；
Carrier phase and the integral circumference ambiguity value based on received signal obtains the propagation distance using equation below：
Wherein, f is frequency of carrier signal,For the carrier phase of received signal, Δ N is described
Integral circumference ambiguity value, c is the light velocity.
7. a kind of visible ray alignment system, it is characterised in that the system includes：Multiple emitters and receiver；
Each emitter includes：
LED, it is used for the optical signal for sending；
LED drive circuit, for driving the ELD lamps；
The receiver includes：
Photoelectric conversion module, for receiving the optical signal, by the optical signal of reception electric signal is converted to；
Signal processing module, for being distributed according to the luminous intensity of LED, the light signal strength for receiving and LED luminous beams
Characteristic, obtains the low precision distance value between receiver and emitter, using received signal carrier phase and low precision away from
High accuracy distance value of the optical signal between emitter and receiver is calculated from value, so as to according to the space bit confidence of each emitter
Breath and the high accuracy distance value between receiver and different transmitters calculate the positional information of receiver.
8. system according to claim 7, it is characterised in that each emitter also includes：
Positioning signal generator, for producing the framing signal comprising positioning message, sky of the positioning message comprising emitter
Between positional information, the luminous intensity information of LED and LED luminous beam distribution characters；
Wherein, the LED drive circuit modulates the luminous intensity of the LED with the framing signal, so that LED emission is carried
The optical signal of framing signal；
The signal processing module obtains the carrier phase of received signal according to the electric signal, and from electric signal demodulation
Go out to position message.
9. a kind of visible ray positioner, it is characterised in that device includes；
Photoelectric conversion module, for receiving the optical signal of the LED from multiple emitters, by the optical signal of reception telecommunications is converted to
Number；And
Signal processing module, for obtaining the carrier phase of received signal according to the electric signal, and according to the luminous strong of LED
Degree, the signal strength signal intensity for receiving and LED luminous beam distribution characters, obtain the low precision distance between receiver and emitter
Value, calculates optical signal high-precision between emitter and receiver using the carrier phase and low precision distance value of received signal
Degree distance value, so as to the high accuracy distance between the spatial positional information and receiver and different transmitters according to each emitter
Value calculates the positional information of receiver.
10. visible ray positioner according to claim 9, it is characterised in that
Carrying package contains the framing signal of positioning message, locus of the positioning message comprising emitter in the optical signal
Information, LED luminous intensity informations and LED luminous beam distribution characters；It is fixed that signal processing module is demodulated from the electric signal
Position message；Or
Luminous intensity, LED luminous beams distribution character and each emitter of the LED are previously stored with the receiver
Spatial positional information.
11. visible ray positioners according to claim 9, it is characterised in that the LED luminous beams distribution character by
Equation below is expressed：
Pr=Pt·α·D-m
Wherein, PtFor the optical signal power that emitter sends, PrFor the optical signal power that receiver is received, α is constant, and D is reception
The distance between machine and emitter, m is the space attenuation factor relevant with the beam angle characteristic of LED；
The signal processing module calculates D values based on the formula, using the D values for calculating as the low precision distance value；
The receiver is according to formulaTo utilize the low precision distance value to calculate integral circumference ambiguity value, wherein, λ is to connect
The carrier wavelength of the collection of letters number, [] is to round symbol；And
Carrier phase and the integral circumference ambiguity value of the signal processing module based on received signal is obtained using equation below
The propagation distance：
Wherein, f is frequency of carrier signal,For the carrier phase of received signal, Δ N is described whole
All fuzzy values, c is the light velocity.
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| CN111551182A (en) * | 2020-06-08 | 2020-08-18 | 中国人民解放军战略支援部队信息工程大学 | Visible light indoor terminal positioning method and visible light positioning system |
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| CN106646367B (en) | 2019-05-10 |
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