CN106855407A - A kind of indoor positioning navigation system comprising visible light attenuation piece - Google Patents
A kind of indoor positioning navigation system comprising visible light attenuation piece Download PDFInfo
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- CN106855407A CN106855407A CN201611218885.8A CN201611218885A CN106855407A CN 106855407 A CN106855407 A CN 106855407A CN 201611218885 A CN201611218885 A CN 201611218885A CN 106855407 A CN106855407 A CN 106855407A
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- visible light
- light attenuation
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- attenuation piece
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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
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- Radar, Positioning & Navigation (AREA)
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- Automation & Control Theory (AREA)
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Abstract
The invention discloses a kind of indoor positioning navigation system comprising visible light attenuation piece, including：Transmitting end module and reception end module；Wherein：Transmitting end module includes：Control unit and some LEDs；Described control unit produces feature character signal, and controls the light intensity of LED to change by the drive circuit of LED；Receiving end module includes：Camera, visible light attenuation piece, FPGA and host computer；The visible light attenuation piece is arranged on the front end of camera, perceives the linear zone of optical power change come amplifying camera head by visible light attenuation piece；The FPGA is used to control the working method of camera, and is sent to host computer after the image preprocessing collected to camera, realizes positioning with navigation by host computer.The system using reduce modulation depth and by visible light attenuation piece as auxiliary equipment by way of come realize commercial camera flicker free position, the manufacturing cost of system can be reduced.
Description
Technical field
The present invention relates to indoor positioning field of navigation technology, more particularly to a kind of indoor positioning comprising visible light attenuation piece
Navigation system.
Background technology
The range of application of current location technology is more and more extensive, for example, ground in common business activity, geological prospecting, science
Study carefully and speedily carry out rescue work search and rescue etc. field have important application.According to investigations, the time of people average 80%~90% is environment indoors
Middle activity, this allows for providing reliable indoor positioning service and seems even more important.But it is traditional based on radio communication
Indoor positioning technologies because its precision is low and interference free performance is poor, it is impossible to meet some specific demands.
Compared to the indoor positioning technologies based on radio wave, based on visible light communication (Visible Light
Communication, VLC) indoor positioning technologies have following advantage：(1) LED can both provide illumination, can provide again
Communication and positioning based on VLC etc. service kinetic energy, realize illumination communication service integration.(2) indoor locating system based on VLC
Will not produce Radio frequency interference, therefore those radio communications are limited the occasion that uses and can be used.(3) determining based on VLC
Position system is influenceed by multipath effect and interference from other wireless devices is smaller, so compared to based on radio wave
Alignment system can provide positioning precision higher.
Current visible ray alignment system is mainly using PD and camera as optical receiver, the visible ray based on camera
Alignment system can realize positioning precision higher.The Position Fixing Navigation System for being currently based on camera is mainly chosen by both sides
War, one is limited by resolution ratio of camera head using the method for CMOS camera roller shutter effect identification LED labels, because differentiating
The distance between the scope that size limit identification frequency of rate and sending and receiving end, while high-resolution camera certainly will bring height
Cost and high power consumption, this is unfavorable to economic benefit；Two is that the feature code word based on camera recognizes that the method for LED labels is received
To the limitation of camera frame per second, learn that human eye will not be perceived in the case that the frequency of signal is more than 200Hz according to research
The flicker of LED, but the frame per second of commercial camera is commonly 30~60 frames, it is this which results in being used on commercial camera
Localization method will certainly bring the problem that LED flashes.
The content of the invention
It is an object of the invention to provide a kind of indoor positioning navigation system comprising visible light attenuation piece, it is existing fixed to breach
The limitation of LED flicker problem methods is solved in the system of position using the camera of high-resolution and frame per second high, it is possible to decrease be manufactured into
This.
The purpose of the present invention is achieved through the following technical solutions：
A kind of indoor positioning navigation system comprising visible light attenuation piece, including：Transmitting end module and reception end module；Its
In：
Transmitting end module includes：Control unit and some LEDs；Described control unit produces feature character signal, and passes through
Cross the drive circuit of LED to control the optical power change of LED, so as to control light intensity to change；
Receiving end module includes：Camera, visible light attenuation piece, FPGA and host computer；The visible light attenuation piece is set
In the front end of camera, the linear zone of optical power change is perceived come amplifying camera head by visible light attenuation piece；The FPGA is used
In the working method of control camera, and host computer is sent to after the image preprocessing collected to camera, by host computer reality
Now positioning and navigation.
The frequency of the transmitting end module transmission signal sets according to the frame per second of camera, if camera frame per second is fr,
Each bit-time of feature character signal is ts, then fr=n/ts, so that it is guaranteed that each bit information of feature character signal is extremely
Few to be sampled once by camera, n therein is the integer more than or equal to 1.
It is described to be included come the linear zone that amplifying camera head perceives optical power change by visible light attenuation piece：
If the attenuation coefficient of visible light attenuation piece is α, then by optical power attenuation to 1/ original α, so as to pass through visible ray
Attenuator carrys out the linear zone that amplifying camera head perceives optical power change so that saturation region when not by visible light attenuation piece becomes
Into the linear zone in the case of by visible light attenuation piece；So as to use shallow in the range of the linear zone for meeting illumination constraints
The method of modulation is come the problem that avoids LED from flashing, and camera can be correctly decoded according to the grey scale change of capture images.
The method of the shallow modulation includes：Reduce the modulation depth of feature character signal.
Positioning method includes that single lamp positioning is positioned with many lamps；Wherein：
When single lamp is positioned, the reception end module according to the corresponding feature code word of image decoding of a certain LED of collection,
So as to obtain the position of corresponding LED, the precision of single lamp positioning is the radius of LED illumination region；
When many lamps are positioned, the quantity of LED need to be more than or equal to three, and three LEDs are not point-blank；The reception
The corresponding feature code word of image decoding of each LED that end module is positioned according to many lamps of participation, further according to the condition code for obtaining
Word simultaneously combines estimation of the localization method realization based on camera AOA to current geographic position information, and positioning precision is Centimeter Level.
Receive end module includes according to the corresponding feature code word of image decoding of the LED of collection：
The image of continuous capture is made difference processing by receiving terminal, then determine after Hough transformation the image of LED, and really
Determine region of interest ROI, then calculate the average gray value of ROI, compared with default gray threshold by by average gray value
Compared with so as to solve corresponding feature code word.
As seen from the above technical solution provided by the invention, without using high-resolution and the camera of frame per second high,
But using reduce modulation depth and by visible light attenuation piece as auxiliary equipment by way of realize commercial camera
Flicker free positioning, the manufacturing cost of system can be reduced.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will use needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill in field, on the premise of not paying creative work, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of signal of indoor positioning navigation system comprising visible light attenuation piece provided in an embodiment of the present invention
Figure；
Fig. 2 is the schematic diagram of shallow modulator approach provided in an embodiment of the present invention；
Fig. 3 is the process schematic of feature code word design provided in an embodiment of the present invention and differential decoding；
Fig. 4 is the VA characteristic curve figure of experiment test LED provided in an embodiment of the present invention；
Fig. 5 be experiment test provided in an embodiment of the present invention be not added with visible light attenuation piece and plus visible light attenuation piece hair
Penetrate the relation schematic diagram of end module voltage and gradation of image；
Fig. 6 is the attenuation characteristic schematic diagram of visible light attenuation piece NE20A provided in an embodiment of the present invention.
Specific embodiment
With reference to the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Ground description, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.Based on this
Inventive embodiment, the every other implementation that those of ordinary skill in the art are obtained under the premise of creative work is not made
Example, belongs to protection scope of the present invention.
The embodiment of the present invention provides a kind of indoor positioning navigation system comprising visible light attenuation piece, as shown in figure 1, it is led
Including：Transmitting end module (Transmitter components) and reception end module (Receiver components)；Its
In：
Transmitting end module includes：Control unit (Control Unit) and some LEDs (being designated as LED A~LED N)；Its
The particular number of middle LED can determine according to actual conditions.
In transmitting end module, control unit produces feature character signal, and controls LED by the drive circuit of LED
The optical power change of lamp, so as to control light intensity to change.
Receiving end module includes：Camera (Camera), visible light attenuation piece (ONDF), FPGA and host computer (PC)；Institute
The front end that visible light attenuation piece is arranged on camera is stated, optical power change is perceived come amplifying camera head by visible light attenuation piece
Linear zone；The FPGA is used to control the working method of camera, and is sent to after the image preprocessing collected to camera
Host computer, realizes positioning with navigation by host computer.
It will be understood by those skilled in the art that the light intensity of LED is directly proportional to luminous power.
In order to make it easy to understand, being elaborated below for the principle of system.
1) transmitting terminal module by signal design：The feature character signal for launching end module can use intensity modulated, transmission signal
Frequency can be set according to the frame per second of camera, if camera frame per second be fr, each bit-time of feature character signal is
ts, then fr=n/ts, so that it is guaranteed that each bit information of feature character signal is at least sampled once by camera, n therein is
Integer more than or equal to 1.
2) human eye perceives LED blinking characteristics：Found by experiment, if transmitting end module is using the square-wave signal of single-frequency,
So when signal frequency is more than 50Hz, human eye just substantially perceives the flicker less than LED.If originating terminal signal is loaded with spy
Levy character signal, then only when the frequency of signal is more than 200Hz, human eye will not just perceive the flicker of LED.
3) method of shallow modulation solves the flicker of LED：At present commercialization camera frame per second in 30~60 frames, according to foregoing hair
Penetrate from the point of view of the frequency of end module feature character signal, the flicker problem of LED will certainly be brought.Therefore, it can be considered as reducing
The method (i.e. shallow modulator approach) of feature code word signal modulation depth solves the flicker problem of LED, it is therefore an objective to allow human eye to perceive
Flicker less than LED, but, camera still can perceive the change of luminous power.
It is exemplary, the schematic diagram of shallow modulator approach as shown in Fig. 2 under conditions of illumination constraint is met, using difference
Low and high level represent logic 1 and 0, by reduce low and high level difference Δ, it is ensured that human eye perceive less than flicker.To ensure simultaneously
Luminous power under high-low voltage control responds the linear zone of luminous power in camera.Feature code word in the schematic diagram is
10010。
4) camera perceives the characteristic of optical power change：Found by experiment, camera perceives the linear of optical power change
Area's very little, under conditions of luminous power is more than certain luminous power, the perception of camera is just saturated.Simultaneously can by experiment
To find that the linear zone that camera perceives optical power change is in the state of glimmer in LED, if in the linear zone scope
The interior method using shallow modulation come solve the flicker problem of LED cannot meet illumination constraint condition.
5) visible light attenuation piece characteristic：Camera can be improved by visible light attenuation piece perceive the linear of optical power change
Area.Assuming that the attenuation coefficient of visible light attenuation piece is α, then by optical power attenuation to 1/ original α, so as to pass through visible light attenuation
Piece carrys out the linear zone that amplifying camera head perceives optical power change so that saturation region when not by visible light attenuation piece becomes
By the linear zone in the case of visible light attenuation piece；So as to use shallow modulation in the range of the linear zone for meeting illumination constraints
Method come the problem that avoids LED from flashing, and camera can be correctly decoded according to the grey scale change of capture images.
Be can see from above-mentioned principle, the system is by using reduction modulation depth and being used as by visible light attenuation piece auxiliary
The mode of equipment is helped to realize that the flicker free of commercial camera is positioned, thus without using the shooting of high-resolution and frame per second high
Head, it is possible to decrease the manufacturing cost of system.
In addition, the system positioning method can also be divided into single lamp positioning and many lamps positioning, two kinds tackle respectively it is different
Scene and different positioning precision demands, wherein：
When single lamp is positioned, the reception end module according to the corresponding feature code word of image decoding of a certain LED of collection,
So as to obtain the position of corresponding LED, the precision of single lamp positioning is the radius of LED illumination region；That is, the system is only
Ensure that receiving end module can correctly parse the feature code word of originator；If receiving end module by band visible light attenuation
Piece is realized with the intelligent terminal of camera, then corresponding location navigation software, phase can be directly developed on intelligent terminal
The LED positional information answered is loaded on location navigation interface.
When many lamps are positioned, the quantity of LED need to be more than or equal to three, and three LEDs are not point-blank；The reception
The corresponding feature code word of image decoding of each LED that end module is positioned according to many lamps of participation, further according to the condition code for obtaining
Word simultaneously combines estimation of the localization method realization based on camera AOA to current geographic position information, and positioning precision is Centimeter Level.
In position fixing process, to feature code word by the way of differential decoding.If the length of feature code word is N, then
By sending for the feature code word cycle period of this N-bit length.End module is being received, the image to continuous capture is poor
Office is managed, and is so, in order to reduce ambient noise, and to determine gray threshold.Hough transformation is done to difference image again, it is therefore an objective to be
Find the image district of LED and determine ROI (region of interest), finally calculate the average ash of difference image ROI
Angle value, by relatively solving feature code word with gray threshold.Therefore in order to guarantee correctly to distinguish the feature of initiator block
Codeword information, it is necessary to ensure that it is different that all feature code word differential coding Posterior circles shift the new code word to be formed.Fig. 3 shows spy
Levy code word design and differential decoding process, wherein feature code word 1101 can be decoded into 0110,1100,1001 and 0011 this
Four code words.
On the other hand, experiment test has also been carried out based on the system.
It is illustrated in figure 4 the VA characteristic curve figure of experiment test LED provided in an embodiment of the present invention.It is found through experiments that
When voltage is more than 9.9V, C-V characteristic is saturated.
Be illustrated in figure 5 experiment test provided in an embodiment of the present invention is not added with visible light attenuation piece and plus visible light attenuation
The transmitting terminal module voltage and the relation schematic diagram of gradation of image of piece；4 curves are respectively from left to right：It is not added with visible light attenuation
Piece, the attenuation coefficient of visible light attenuation piece are α=10%, the attenuation coefficient of visible light attenuation piece is α=1%, visible light attenuation
The attenuation coefficient of piece is α=0.1%.Visible attenuator use is the product of THORLABS companies, is found by experiment test,
The linear zone that camera responds luminous power, and the degree for improving can be improved with attenuation coefficient by adding visible attenuator
Reduce and increase.Under the LED, in the case that transmitting terminal module voltage is more than 8.5V, normal illumination can be just provided.But
In the case of more than 8.5V, the situation for being not added with attenuator is to be in saturation region, plus the situation of attenuator is in linear zone.Therefore
Can illustrate that by adding attenuator the linear zone that camera responds luminous power can be improved, illumination constraint bar is met in the linear zone
The flicker problem of LED can be solved in the range of part using the method for shallow modulation.
It is illustrated in figure 6 the attenuation characteristic schematic diagram of the visible light attenuation piece NE20A of THORLABS companies production.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art in the technical scope of present disclosure, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with the protection model of claims
Enclose and be defined.
Claims (6)
1. a kind of indoor positioning navigation system comprising visible light attenuation piece, it is characterised in that including：Transmitting end module and reception
End module；Wherein：
Transmitting end module includes：Control unit and some LEDs；Described control unit produces feature character signal, and by LED
The drive circuit of lamp controls the optical power change of LED, so as to control light intensity to change；
Receiving end module includes：Camera, visible light attenuation piece, FPGA and host computer；The visible light attenuation piece is arranged on to be taken the photograph
As the front end of head, the linear zone of optical power change is perceived come amplifying camera head by visible light attenuation piece；The FPGA is used to control
Host computer is sent to after the working method of camera processed, and the image preprocessing collected to camera, it is fixed to be realized by host computer
Position and navigation.
2. a kind of indoor positioning navigation system comprising visible light attenuation piece according to claim 1, it is characterised in that institute
The frequency for stating transmitting end module transmission signal sets according to the frame per second of camera, if camera frame per second is fr, feature code word letter
Number each bit-time be ts, then fr=n/ts, so that it is guaranteed that each bit information of feature character signal is at least by camera
Once, n therein is the integer more than or equal to 1 for sampling.
3. a kind of indoor positioning navigation system comprising visible light attenuation piece according to claim 1, it is characterised in that institute
State is included by visible light attenuation piece come the linear zone that amplifying camera head perceives optical power change：
If the attenuation coefficient of visible light attenuation piece is α, then by optical power attenuation to 1/ original α, so as to pass through visible light attenuation
Piece carrys out the linear zone that amplifying camera head perceives optical power change so that saturation region when not by visible light attenuation piece becomes
By the linear zone in the case of visible light attenuation piece；So as to use shallow modulation in the range of the linear zone for meeting illumination constraints
Method come the problem that avoids LED from flashing, and camera can be correctly decoded according to the grey scale change of capture images.
4. a kind of indoor positioning navigation system comprising visible light attenuation piece according to claim 3, it is characterised in that institute
The method for stating shallow modulation includes：Reduce the modulation depth of feature character signal.
5. a kind of indoor positioning navigation system comprising visible light attenuation piece according to claim 1, it is characterised in that fixed
Position mode includes that single lamp positioning is positioned with many lamps；Wherein：
When single lamp is positioned, the reception end module according to the corresponding feature code word of image decoding of a certain LED of collection so that
The position of corresponding LED is obtained, the precision of single lamp positioning is the radius of LED illumination region；
When many lamps are positioned, the quantity of LED need to be more than or equal to three, and three LEDs are not point-blank；The receiving terminal mould
The corresponding feature code word of image decoding of each LED that root tuber is positioned according to many lamps of participation, further according to the feature code word for obtaining simultaneously
The estimation to current geographic position information is realized with reference to the localization method based on camera AOA, positioning precision is Centimeter Level.
6. a kind of indoor positioning navigation system comprising visible light attenuation piece according to claim 5, it is characterised in that connect
Destination module includes according to the corresponding feature code word of image decoding of the LED of collection：
The image of continuous capture is made difference processing by receiving terminal, then carries out the image of determination LED after Hough transformation, and determines sense
Interest region ROI, then calculate the average gray value of ROI, by by average gray value and default gray threshold be compared from
And solve corresponding feature code word.
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| CN201611218885.8A CN106855407A (en) | 2016-12-26 | 2016-12-26 | A kind of indoor positioning navigation system comprising visible light attenuation piece |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113674362A (en) * | 2021-08-24 | 2021-11-19 | 北京理工大学 | Indoor imaging positioning method and system based on spatial modulation |
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| CN102967307A (en) * | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN105403879A (en) * | 2015-11-26 | 2016-03-16 | 电子科技大学 | Indoor-optical-signal-based positioning navigation system and positioning navigation method thereof |
Non-Patent Citations (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113674362A (en) * | 2021-08-24 | 2021-11-19 | 北京理工大学 | Indoor imaging positioning method and system based on spatial modulation |
| CN113674362B (en) * | 2021-08-24 | 2023-06-27 | 北京理工大学 | Indoor imaging positioning method and system based on spatial modulation |
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Application publication date: 20170616 |