CN106950571B - Indoor visible light positioning system and method based on non-angle measurement single image sensor - Google Patents
Indoor visible light positioning system and method based on non-angle measurement single image sensor Download PDFInfo
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Classifications
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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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
- G01S17/02—Systems using the reflection of electromagnetic waves other than radio waves
- G01S17/06—Systems determining position data of a target
- G01S17/42—Simultaneous measurement of distance and other co-ordinates
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
- Y02D30/00—Reducing energy consumption in communication networks
- Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks
Abstract
The invention relates to a system and a method for positioning indoor visible light based on a non-angle measurement single image sensor. Comprising the following steps: the transmitting end comprises a plurality of light sources which are arranged on the same plane and provided with unique beacons and position coordinates; the receiving end comprises a lens group and an image sensor which are coaxially arranged, wherein the plane where the lens group is arranged is parallel to the sensing plane of the image sensor, the distance between the plane and the sensing plane is the focal length of the lens, and the lens group is arranged between the image sensor and the transmitting end. The invention greatly simplifies the structure of the positioning system, greatly improves the positioning precision of the system, can realize high-precision 3-dimensional positioning with the precision magnitude within centimeters, and greatly expands the application field of the positioning system.
Description
Technical Field
The invention relates to a visible light positioning method and a visible light positioning system, belongs to the technical field of visible light communication, and particularly relates to a single-image sensor indoor visible light positioning system and a single-image sensor indoor visible light positioning method based on non-angle measurement.
Background
The visible light communication positioning technology based on the LED green illumination light source has the outstanding advantages of wide indoor coverage, energy conservation, safety, simple arrangement, low cost, good electromagnetic compatibility and the like. The positioning methods adopted at present mainly comprise an indoor positioning method based on visible light signal intensity, an indoor positioning method based on code division multiple access, an indoor positioning method based on frequency division multiple access, a geometric center positioning method of visible light multiple receiving points and an indoor positioning method based on image sensor imaging, and besides, the positioning methods are combined together by different indoor visible light positioning methods.
The indoor positioning method based on image sensor imaging generally requires two image sensors, more than three LEDs are imaged by the image sensors, the geometrical relationship and the angular relationship between the obtained light source and the connection line of the imaging point or surface are determined by a certain algorithm, and the space coordinates of the position to be measured are determined. The imaging positioning method of the image sensor is used for measuring the azimuth angle and the pitch angle of the signal receiving end in the three-dimensional space and the distance from the light source to the imaging point, so that the position coordinate of the to-be-measured point can be determined according to the corresponding algorithm. Therefore, the signal receiving end of the method generally comprises an image sensor, an angle identification module and an imaging positioning algorithm processing module.
Because the indoor positioning method based on image sensor imaging needs accurate measurement angle, the indoor positioning method is complex compared with the common indoor positioning method of visible light signal intensity, the accurate measurement of the angle is difficult, and the adoption of more than two image sensors can increase hardware cost and can also bring problems of stability and reliability of a positioning system and the like.
Aiming at the problems of the existing image sensor imaging positioning method, the invention provides a single image sensor indoor visible light positioning system and method based on non-angle measurement of an LED illumination light source, indoor positioning is carried out through a single image sensor, angle value measurement and distance measurement are not needed, and the system structure is greatly simplified.
Disclosure of Invention
The invention mainly solves the problems existing in the prior art and provides a system and a method for positioning indoor visible light of a single image sensor based on non-angle measurement. The system starts from the main factors for generating the reflected light, and suppresses the interference of the reflected light through the LED illumination light source distribution and light source emission angle optimization design and the receiver receiving view field angle optimization design, so that the influence of the reflected light on the positioning system can be greatly reduced, and the positioning precision of the positioning system is improved.
The technical problems of the invention are mainly solved by the following technical proposal:
a single image sensor indoor visible light positioning system based on non-angular measurements, comprising:
the transmitting end comprises a plurality of light sources which are arranged on the same plane and provided with unique beacons and position coordinates;
the receiving end comprises a lens group and an image sensor which are coaxially arranged, wherein the plane where the lens group is arranged is parallel to the sensing plane of the image sensor, the distance between the plane and the sensing plane is the focal length of the lens, and the lens group is arranged between the image sensor and the transmitting end.
Wherein a filter film is arranged between the lens group and the image sensor.
Wherein the light sources are arranged in the same rectangular plane by adopting a regular hexagonal honeycomb structure, the distance between adjacent light sources is a, the distance between the wall-leaning light source and the wall surface is a/2, one side length of the rectangular plane is m multiplied by a, and the other side length ism and n are natural numbers.
Wherein, the light emission angle of the light source adjacent to the wall body is psi=2 arctan (a/h), and the light emission angles of the rest light sources are psi=2 arctan (1.5 a/h).
Wherein, the receiving field angle of the receiving end is omega=90°.
Therefore, the invention has the following advantages: the invention only needs to receive signals through a single image sensor, and the receiving device has simple structure; the angle value of the light beam is not required to be measured, so that positioning errors caused by low angle measurement precision are avoided, and meanwhile, the problem of system complexity caused by the use of additional angle measurement devices is also reduced; the invention does not need distance measurement, avoids the problem of lower distance measurement precision caused by the influence of various factors in the distance measurement process, and is one of the main difficulties in improving the indoor positioning precision at present; the invention greatly simplifies the structure of the positioning system, greatly improves the positioning precision of the system, can realize high-precision 3-dimensional positioning with the precision magnitude within centimeters, and greatly expands the application field of the positioning system.
Drawings
Fig. 1 is a diagram of a honeycomb distribution structure of an LED light source.
Fig. 2-a shows a first LED light source honeycomb pattern with a reduced number of light sources.
Fig. 2-b shows a second LED light source honeycomb profile with a reduced number of light sources.
Fig. 3-a is a first LED light source profile with a minimum number of light sources.
Fig. 3-b shows a second LED light source distribution diagram with a minimum number of light sources.
Fig. 4 is a schematic view of the light emission angle determined according to the first row light source distribution of fig. 2-b.
Fig. 5 is a schematic view showing the light emission angle determined according to the first column of light source distribution of fig. 2-b.
Fig. 6 is a schematic view of the light emission angle determined according to the second row light source distribution of fig. 2-b.
FIG. 7 is a schematic diagram of a positioning system according to an embodiment.
Fig. 8 is a schematic diagram of the positioning principle.
Fig. 9 is a schematic diagram of the relationship between the image sensing plane and the Si length and the unit pixel area.
Fig. 10-a is a sender workflow diagram of the present invention.
Fig. 10-b is a receiver-side workflow diagram of the present invention.
Detailed Description
The technical scheme of the invention is further specifically described below through examples and with reference to the accompanying drawings.
Examples:
1. light source planning
Geometric measurement and imaging methods require ranging and measuring the angle of emitted light, and in indoor environments, the accuracy and stability of positioning can be affected due to multipath reflection of signals, fluctuation of luminous intensity and shielding of signal light, and the influence of reflected light is the greatest. Particularly, a positioning system adopting a signal strength (RSS) ranging method is more remarkably interfered by reflected light.
The invention starts from the main factors for generating the reflected light, and adopts two methods for inhibiting the interference of the reflected light: optimally designing the distribution and the emission angle of an LED illumination light source; the receiver receives the field angle optimization design.
The indoor LED illumination light sources are distributed on the ceiling plane in the mode of figure 1, the light sources are distributed in a regular hexagonal honeycomb structure, the distance between adjacent LED light sources is a, the distance between two rows and two columns of light sources close to the wall and the wall surface is a/2, and the indoor area isThe general expression of indoor area can be written as +.>The natural numbers of m and n are equal to or greater than 2, and the uniform distribution of illumination intensity can be ensured to the maximum extent through calculating the light source distribution design. The LED illumination light source distribution design can be suitable for any indoor area and flexibly increase and decrease the number of the light sources, and the method is to adjust the sizes of a, m and n.
As shown in FIG. 2-a and FIG. 2-b, when a is unchanged, the indoor area is expressed asWhen the light sources are distributed, the figure 2-a and the figure 2-b are honeycomb structures, and the difference is that the figure 2-b can better cover four corners.
The indoor areas of FIGS. 3-a and 3-b are shown asThe distribution of the light source is also a local structure of the honeycomb. Because the light sources are few, the light source distribution is only a part of a single honeycomb, so that the signal coverage is uneven, and particularly, the signal quality of the corner is poor and the positioning error is large. The improvement method is that the area formula is->By reducing a and increasing the number of light sources, the positioning accuracy of the corner and the wall-following accessories can be effectively improved. It is apparent that the smaller a, the more illumination sources per unit area, the more uniform the signal coverage, but the more signals the receiver receives, the more severe the interference that produces adjacent signals, so the proper choice of a size is also required.
In order to suppress the interference of the reflected light, it is necessary to select a proper size of the light emission angle of the LED light source, and the larger the light emission angle is, the larger the coverage of the signal light emitted by the light source is, but the larger the corresponding wall reflection is, the smaller the light emission angle is, and the intensity of the wall reflection can be reduced, but the signal coverage is reduced, so that the number of light sources received by the receiver is small, the number of receiving light sources is more than 3, the three-dimensional positioning can be performed, the number of receiving light sources is 2, and the two-dimensional positioning cannot be performed when the number of receiving light sources is less than 2. Therefore, the light emission angle of the LED light source needs to be optimally set.
FIG. 4 is a graph of a calculation method for determining an optimized light emission angle based on the light source distribution of FIG. 2-b, the LED light source distribution of FIG. 4 being the first row light source distribution of FIG. 2-b. The light emission angle of the first row of light sources determined by the invention is phi=2-arctan (a/h), wherein h is the distance between the plane of the receiver and the light source distribution plane.
The LED light source distribution shown in fig. 5 is the first column light source distribution of fig. 2-b. The light emission angle of the first column of light sources determined by the present invention is ψ=2-arctan (a/h).
The LED light source distribution shown in fig. 6 is the second row light source distribution of fig. 2-b. The light emission angle of the second row of light sources determined by the invention is psi=2-arctan (1.5 a/h).
For the light source distribution of fig. 2, the light emission angles determined by the present invention are respectively that the two rows and the two columns of light sources closest to the wall are respectively ψ=2-arctan (a/h), and the rest are respectively ψ=2-arctan (1.5 a/h).
In the case of the light source distribution of fig. 2, according to fig. 4, fig. 5 and fig. 6, the receiving view field angle of the receiver determined by the present invention is Ω=90°.
For fig. 2-a and 2-b, the spacing between adjacent LED light sources is a=1.5 meters, corresponding to 27.9 square meters for the indoor area, and a=2 meters, corresponding to 47.5 square meters for the indoor area. The number of LED light sources is 12 or 13. If the number of the light sources needs to be increased, referring to fig. 1, the number of the honeycombs is only increased, namely m and n are increased, that is, the same indoor area can be provided with a distribution design of different LED light source numbers. The same number of LED light sources can also correspond to different indoor areas, and only the size of the interval a between adjacent LED light sources is required to be adjusted. Therefore, the invention provides a flexible specific implementation method for the LED light source distribution design according to different requirements and specific conditions.
As can be seen from fig. 4, 5 and 6, the optimized design of the light source distribution, the light emission angle and the receiving view field angle of the invention ensures that the light reflected by the wall surface is less from the position with the distance of more than a/2 of the four wall surfaces, and the interference of the reflected light on the positioning system is less, so the positioning accuracy is high and can be within the order of magnitude of centimeters. The interference of reflected light at the wall-following position which is smaller than a/2 from the four wall surfaces cannot be ignored, and the positioning accuracy is inferior to the order of magnitude of centimeters.
Fig. 7 is a specific application example of the present invention. The system consists of a transmitting end and a receiving end:
and the transmitting end: the LED light source is composed of a transmitting signal modulation module and an LED light source. The LED illumination light sources are arranged on the plane of the indoor suspended ceiling, and at least 3 LED illumination light sources, such as more than three light sources, can preferably determine 3 positioning light sources through the light sources, and each LED light source is assigned a unique beacon and has coordinates corresponding to the unique beacon.
The receiving end: the system consists of a lens group, an optical filtering film, an image sensor or a photodiode array and a signal processing and positioning calculation module, wherein the lens group and the image sensor or the photodiode array form an imaging system. The receiving end has the functions of light source imaging, filtering, demodulating the broadcasting signal of the transmitting end, calculating the position coordinates of the to-be-positioned point and the like.
The lens group is used for imaging the light source, the optical filtering film filters out background light and other stray light, and the image sensor or the photodiode array receives the LED light signals to complete the function of photoelectric conversion. The signal processing and positioning calculation module completes signal amplification, filtering, signal demodulation and decoding, LED imaging point position determination and s i Value calculation, positioning point coordinate calculation and the like. In addition, if more than 3 LED illumination light sources are arranged in the room, the signal processing and positioning calculation module also has the function of optimizing the light sources so as to select 3 optimal light sources as positioning light sources. The receiving end lens group plane and the image sensor or the photodiode array plane are parallel to each other by adopting a static parallel method, namely a method of fixing the receiving end lens group plane and the image sensor or the photodiode array plane to be parallel to each other and then finely adjusting the whole receiver to enable the receiving plane to be parallel to the LED illumination light source distribution plane. Since the positioning signal processing is different from the image processing, it is necessary to perform processing such as demodulation and decoding on the received signal as well as reading the imaging point position, and thus it is necessary for the signal processing and positioning calculation module to have these functions. If a CCD image sensor is used, the color of the image is not needed, so that the color filter layer of the CCD can be removed to improve the intensity of the electric signal after the photoelectric conversion of the incident light. The invention can use the photodiode array to replace the function of the image sensor, and can be applied to actual positioning.
In this embodiment, as shown in fig. 1 to 3-b, for a given indoor area size, the formula is usedThe number of light sources and the distance between the light sources can be flexibly selected.
In this embodiment, the light emission angles of the light sources are optimally designed, and two rows and two columns of light sources close to the wall are both ψ=2-arctan (a/h), and the rest are both ψ=2-arctan (1.5 a/h). In this application embodiment, the determined receiver reception field angle is Ω=90°.
In this embodiment, the angle of the receiving field of view of the receiver is Ω=90°, but in an alternative, the angle Ω of the receiving field of view of the receiver may be flexibly set according to the specific light source distribution density. Given a given distribution of light sources, a smaller angle of the receiving field can better suppress the interference of reflected light, while ensuring that a sufficient number of light sources can be received. A specifically optimized received field angle value is determined according to the method of the present invention.
In this embodiment, the indoor area is about 36 square meters, the receiver is spaced from the plane h=3 meters of the LED light source, the receiver receives the field angle Ω=90°, the distance between adjacent LED light sources is optionally a=1 meter, the light emission angles of two rows and two columns of light sources close to the wall are ψ=2-arctan (1/3) =36.9°, and the light emission angles of the remaining light sources are ψ=2-arctan (1/2) =53.1 °. Choosing an indoor area of a=2 meters, also 36 square meters, the number of light sources will be reduced by more than half.
The image sensor image of the present invention is not limited to the image sensor in general, and an array of photodiodes and other similar photoelectric conversion devices may be used instead of the image sensor. The special design aiming at the positioning function is not needed for the finished image sensor or the photodiode array, and the positioning function is realized by processing the signals acquired by the sensor through the signal processing and positioning calculation module.
The scheme that the LED illumination light source distribution plane, the receiving end lens group plane and the image sensor or photodiode array plane are parallel to each other in the embodiment can be completed by adopting a dynamic parallel adjustment method besides a static parallel method.
2. Positioning method
The principle of the positioning algorithm of the present embodiment is described below.
As shown in fig. 8, the coordinate value of the to-be-positioned point L is calculated and determined by using the geometric relationship formed by connecting any 3 non-collinear LED illumination lamps and the imaging points on the sensor plane of the imaging system and combining the signal receiving plane area of the image sensor or the photodiode array and the pixel density.
As shown in FIG. 8, the coordinates of the 3 non-collinear LED lamps are L respectively 1 (x 1 ，y 1 ,z 1 )、L 2 (x 2 ，y 2 ,z 2 )、L 3 (x 3 ，y 3 ,z 3 ) The distances from the lens plane center L to the sensing plane center N are respectively D1, D2 and D3, L is the lens center which is the to-be-positioned point, the lens plane passing through the L is parallel to the sensor plane, the vertical distance from the lens plane center L to the sensing plane center N is the lens focal length f, and M is the LED illuminating lamp L 1 Through imaging of the lens on the plane of the image sensor or the photodiode array, H is the LED illuminating lamp L 1 The perpendicular distance to the lens plane, point a, is on the lens plane. Clearly right triangle ΔL 1 AL is similar to the right triangle ΔLNM, so D 1 ＝H(f 2 +s 1 2 ) 1/2 /f,s 1 The distance from N to M is the same as the distance from other LED illuminating lamps to the locating point L, and the same expression D can be obtained i ＝H(f 2 +s i 2 ) 1/2 And/f. Typically, the three locating LED light sources are all in a plane parallel to the image sensor or photodiode array, so z 1 ＝z 2 ＝z 3 Three equations are obtained:
(x-x i ) 2 +(y-y i ) 2 ＝D i 2 -H 2 ,i＝1,2,3
three unknowns x, y and H can be determined from the three equations above, and only the distance s from the imaging point of each LED light source on the sensor screen to the center N is measured i I.e. the position coordinates (x, y, z) of the site to be located, where z=z, can be solved i -H。
s i Is calculated by the following steps:FIG. 9 is a schematic diagram showing the relationship between the plane of an image sensor or photodiode array and the Si length and unit pixel area, assuming the sensor plane area is w 2 If the pixel is T, the area of the unit pixel is w 2 The pixel coordinates of/T, N in the plane of the image sensor or photodiode array are (x) 0 ′,y 0 '), M has the coordinates of (x) m ′,y m '), x-direction pixel count a, y-direction pixel count b, so S i ＝[(a 2 +b 2 )w 2 /T] 1/2 。
The algorithm is completed through a signal processing and positioning calculation module of the receiving end.
In addition, the optical filter film at the receiving end is used for filtering interference of stray light on a received signal, and the reliability of the system is improved. The signal modulation module at the transmitting end may employ a common technical method of a communication system, such as frequency division, wavelength division, code division, time division, or other techniques. The indoor has more than 3 LED illumination light sources, and the signal processing and positioning calculation module also has the function of optimizing the light sources so as to select 3 optimal light sources as positioning light sources. The basis of the preferred light sources is mainly: imaging quality, received signal to noise ratio, imaging non-collinear.
The working flow of the transmitting end is as shown in the figure 10-a: the signal modulation module is powered on and initialized, the background configures the luminous intensity of the LED light source and sets relevant parameters of each LED light source beacon and coordinates, if the background is originally configured with relevant parameters, the next step is automatically carried out after a certain time delay without being modified, the LEDs are driven to emit light, relevant information of positioning is broadcast, the state detection finds that the configuration or the setting data is wrong, if the coordinate reconfiguration or the illumination light intensity is not in a normal range, the background is returned to reconfigure and set the relevant parameters, if the background is detected to be normal, the broadcast information is circularly retransmitted, and when the operation time outside the system setting is detected, for example, after 12 hours at night, the illumination and the broadcasting of the positioning information are finished.
The receiver workflow is as shown in fig. 10-b: the method comprises the steps of initializing a signal processing and positioning calculation module, converting a sensor plane of an imaging system into electric signals through a photosensitive device, amplifying each received electric signal, filtering by a filter, demodulating and decoding the signals by using a technology corresponding to a transmitting end, selecting three non-collinear imaging points as a data source for positioning calculation according to comparison of received signal quality, extracting position information of the three imaging points and coordinate values of a light source, calculating a positioning parameter Si, calculating and determining coordinates of a to-be-positioned point, outputting a positioning result, updating the former output, and repeating the positioning process to obtain the coordinate information of an original positioning point or a new positioning point.
The embodiment can realize three-dimensional positioning, if the height is known, two-dimensional positioning of the plane point can be completed by only 2 light sources, and the method is the same as the three-dimensional positioning principle of the invention. The scheme that the LED illumination light source distribution plane, the receiving end lens group plane and the image sensor or the photodiode array plane are parallel to each other can adopt a dynamic parallel adjustment method besides a static parallel method.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (3)
1. A single image sensor indoor visible light positioning system based on non-angle measurement, comprising:
the transmitting end comprises a plurality of light sources which are arranged on the same plane and provided with unique beacons and position coordinates;
the light sources are arranged in the same rectangular plane by adopting a regular hexagonal honeycomb structure, wherein the distance between adjacent light sources is a, the distance between the wall-leaning light source and the wall surface is a/2, one side length of the rectangular plane is m multiplied by a, and the other side length ism and n are natural numbers; the light emission angles of the light sources adjacent to the wall body are psi=2 arctan (a/h), and the light emission angles of the rest light sources are psi=2 arctan (1.5 a/h);
the receiving end comprises a lens group and an image sensor which are coaxially arranged, wherein the plane of the lens group is parallel to the sensing plane of the image sensor, the distance between the lens group and the sensing plane of the image sensor is the focal length of the lens, and the lens group is positioned between the image sensor and the transmitting end; the receiving field angle of the receiving end is Ω=90°.
2. The non-angle measurement based single image sensor indoor visible light positioning system of claim 1, wherein a filter film is disposed between the lens group and the image sensor.
3. A method for locating visible light in a single image sensor room based on non-angular measurement, comprising the locating system of any one of the preceding claims.
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Application publication date: 20170714 Assignee: Guangxi Baixin New Materials Co.,Ltd. Assignor: BAISE University Contract record no.: X2023980046196 Denomination of invention: Indoor visible light positioning system and method based on non angle measurement single image sensor Granted publication date: 20230908 License type: Common License Record date: 20231108 |