CN106970354A - A kind of 3-D positioning method based on multiple light courcess and photosensor array - Google Patents
A kind of 3-D positioning method based on multiple light courcess and photosensor array Download PDFInfo
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- CN106970354A CN106970354A CN201710231207.3A CN201710231207A CN106970354A CN 106970354 A CN106970354 A CN 106970354A CN 201710231207 A CN201710231207 A CN 201710231207A CN 106970354 A CN106970354 A CN 106970354A
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- 238000000034 method Methods 0.000 title claims abstract description 22
- 238000005259 measurement Methods 0.000 claims description 6
- 238000005457 optimization Methods 0.000 claims description 5
- 238000013528 artificial neural network Methods 0.000 claims description 3
- 238000011478 gradient descent method Methods 0.000 claims description 3
- 238000005070 sampling Methods 0.000 abstract 1
- 238000010586 diagram Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 238000003384 imaging method Methods 0.000 description 3
- 238000003491 array Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000205 computational method Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000004807 localization Effects 0.000 description 1
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
- 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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- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Length Measuring Devices By Optical Means (AREA)
Abstract
The invention discloses a kind of 3-D positioning method based on multiple light courcess and photosensor array.This method is directed to indoor positioning, navigation, game station demand, and the angle of light source and photosensor array axis can be obtained from the data that photosensor array is collected；Based on the angle, the angle of angle information of any two light source on photosensitive array, i.e. the sensor array light source 2 of light source 1 can be obtained, is designated as " arrival angular difference ".Arrival angular difference based on multiple light sources, can uniquely determine receiver location.Its advantage is：Due to reaching angular difference not with receiver tilt angle varied, therefore sampling angle is arbitrary, centimeter-level positioning precision, the low computing of algorithm, and cost is lower compared with radio-positioning.
Description
Technical field
The present invention relates to be a kind of indoor positioning, the three-dimensional localization based on multiple light courcess and photosensor array of navigation system
Method, belongs to Information locating technical field.
Background technology
Existing indoor positioning technologies are mostly based on low-frequency electromagnetic wave, such as WiFi, bluetooth.These location technology precision
It is relatively low, it can only achieve several meters of precision.Although the alignment system precision based on ultra-broadband signal increases, cost is held high
It is expensive.
Existing visible ray alignment system can reach a centimetre class precision, but wherein most requirement receiver is towards one
Individual known angle, the hypothesis is for handheld device, sports equipment and unrealistic.
Visible ray alignment system requirement based on received signal strength (received signal strength, RSS) is
Know the light distribution of all directions of light source, generally use Lambertian models；And the model is in wide-angle orientation
The radiance estimate of light intensity and non-standard round end light source is inaccurate.What this directly results in RSS visible ray alignment systems can not
Lean on.
Part system using the auxiliary equipment such as gyroscope coordinate photosensor array or photodiode (Photodiode,
PD) array completes visible light-seeking, so not only increases cost, introduces more power consumptions, also increases measurement noise, reduces
Positioning precision.
The content of the invention
In order to overcome the above-mentioned deficiencies of the prior art, passed the invention provides one kind based on multiple light sources and unknown angular light
The 3 D positioning system of sensor array.Visible ray orientation problem when photosensor array angle is unknown is aimed to solve the problem that, and is disobeyed
Rely the servicing units such as gyroscope.
The technical solution adopted in the present invention is：
1st, using the sampled value of sensor array, folder of the incident light of each light source on photosensor array axis is estimated
The angle theta of angle, such as m-th light source and photosensor array center vertical linem', in m-th of light source and photosensor array level
The angle of axisSpecifically, the incident light of different directions can form bright spot in the diverse location of sensor array, because
This counter can just release the angle of incident ray by measuring the position of bright spot.Possible method include geometrical relationship analytic approach and
Look-up table etc..
2nd, according to angle measured valueWithEstimate the angle of arrival difference γ of m-th and n-th light sourcem,n, the angle
Degree difference does not change with photosensor array towards change.Specifically, angle of arrival is poorIt can be estimated by equation below
If total number of light sources amount K ＞ 2, the vector being made up of differential seat angle estimate
3rd, the vector constituted according to the differential seat angle of measurementEstimate the three-dimensional seat of photosensor array
Mark (xU,yU,zU).Solve following optimization problem：
Wherein γm,n(xU,yU,zU) it is in sensor array coordinate (xU,yU,zU) place when, angle of arrival difference γm,nStandard
Value.Solving the possibility mode of the optimization problem includes the method for exhaustion, gradient descent method, artificial neural network or other optimization sides
Method.
Beneficial effect
The photosensor array angle of the present invention can be unknown and arbitrary, as long as photosensor array can be adopted simultaneously
Collect the information of two or more light sources, and independent of the device beyond the photosensor arrays such as gyroscope.
Brief description of the drawings
Fig. 1 is the schematic diagram that light source relative angle is obtained based on location of pixels；
Fig. 2 is parameter f/ δpMeasuring table；
Fig. 3 is schematic diagram of the angle of arrival difference under absolute coordinate system；
Fig. 4 is the schematic diagram that angle of arrival difference is calculated by light source relative angle.
Embodiment
The present invention is further described below in conjunction with the accompanying drawings.
As shown in figure 1, the incident light of m-th of light source can focus on out a point P on photosensitive array；According to where point P
Position can estimate angleComputational methods are
Wherein δpFor the length of side of each square imaging unit, NP,x'For the off-center point O of x' directions glazing source imagecPicture
Plain number, NP,y'For the off-center point O of y' directions glazing source imagecNumber of pixels, function atan2 () is defined as
Estimate inclination angle thetam' method be
Wherein f is the focal length of lens.
ParameterIt can be measured as an entirety by method shown in Fig. 2, wherein Oc'F'、Oc' O' length can
Measured, therefore can be obtained according to similar triangles by ruler
Wherein NF,x'And NF,y'Respectively point F is upwardly deviated from the pixel quantity and point F at imaging plane center in x' side in y' side
It is upwardly deviated from the pixel quantity at imaging plane center.So according to (3) and (4), θm' can estimate in the following way
When system does not equip lens, it can also be estimated by the signal intensity received on the different sensor devices in inclination angle
MeterWithPossible scheme includes tabling look-up, least-squares estimation etc..
Pass through the angle measurement obtained in (1) and (5)WithThe angle of arrival shown in Fig. 3, Fig. 4 can be estimated
Degree is poor.For example, the arrival angular difference estimate of m and n-th of light source is
User coordinates (x according to Fig. 3U,yU,zU) and light source coordinates (xl,n,yl,n,zl,n) relation, can obtain
Estimate to user coordinates can be obtained by (6) and (7), and method is
, can be by γ by taking the method for exhaustion as an examplem,n(xU,yU,zU) data it is precalculated be saved as database, its variable for three-dimensional
Coordinate (xU,yU,zU), numerical value is that m-th and light of n-th of light source in the position reach angular difference γ in databasem,n(xU,yU,
zU), wherein m ＜ n ＜ K.The measured value of angular difference is reached by comparingAnd database, you can to determine measured valueIt is corresponding
Measurement position, i.e. customer location.
In addition to the method for exhaustion, the methods such as gradient descent method, artificial neural network search measurement position can also be used.
Claims (5)
1. a kind of 3-D positioning method based on multiple light courcess and photosensor array, it is characterised in that comprise the following steps：
1) using the sampled value of sensor array, angle of the incident light of each light source on photosensor array axis is estimated,
Specifically, the incident light of different directions can form bright spot in the diverse location of sensor array, by the position for measuring bright spot
Put the anti-angle for releasing incident ray；
2) according to angle measured valueWithEstimate the angle of arrival difference γ of m-th and n-th light sourcem,n, the differential seat angle is not
Change with photosensor array towards change；
3) vector constituted according to the differential seat angle of measurementEstimate the three-dimensional coordinate of photosensor array
(xU,yU,zU), that is, solve following optimization problem：
Wherein γm,n(xU,yU,zU) it is in sensor array coordinate (xU,yU,zU) place when, angle of arrival difference γm,nStandard value.
2. the method as described in claim 1, it is characterised in that step 1) in, the angle of the photosensor array axis is
The angle theta of m-th of light source and photosensor array center vertical linem', m-th of light source and photosensor array horizontal median axis
Angle
3. the method as described in claim 1, it is characterised in that step 2) in, the angle of arrival is poorPass through equation below
Estimation
If total number of light sources amount K ＞ 2, the vector being made up of differential seat angle estimate
4. the method as described in claim 1, it is characterised in that step 1) in, release incidence by the way that the position for measuring bright spot is counter
The method of the angle of light includes geometrical relationship analytic approach and look-up table.
5. the method as described in claim 1, it is characterised in that step 3) in, solving the mode of the optimization problem is included thoroughly
Act method, gradient descent method, artificial neural network or other optimal methods.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710231207.3A CN106970354B (en) | 2017-04-10 | 2017-04-10 | A kind of 3-D positioning method based on multiple light courcess and photosensor array |
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|---|---|---|---|
| CN201710231207.3A CN106970354B (en) | 2017-04-10 | 2017-04-10 | A kind of 3-D positioning method based on multiple light courcess and photosensor array |
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| Publication Number | Publication Date |
|---|---|
| CN106970354A true CN106970354A (en) | 2017-07-21 |
| CN106970354B CN106970354B (en) | 2019-07-26 |
Family
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| CN201710231207.3A Active CN106970354B (en) | 2017-04-10 | 2017-04-10 | A kind of 3-D positioning method based on multiple light courcess and photosensor array |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741225A (en) * | 2017-08-31 | 2018-02-27 | 天津大学 | A kind of passive type alignment system based on solar cell |
| CN109991519A (en) * | 2019-03-08 | 2019-07-09 | 上海交通大学 | Shelf depreciation direction-finding method and system based on neural network and wireless sensing array |
| CN110044256A (en) * | 2018-01-16 | 2019-07-23 | 爱信精机株式会社 | From truck position estimation device |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
| CN111751784A (en) * | 2020-06-23 | 2020-10-09 | 上海申核能源工程技术有限公司 | Three-dimensional optical positioning system of nuclear power station |
| CN112924931A (en) * | 2021-01-27 | 2021-06-08 | 东南大学 | Light source position estimation system and method based on arrival angle estimator |
| CN113359087A (en) * | 2021-06-07 | 2021-09-07 | 东南大学 | Accurate indoor positioning method based on LED array |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107741225A (en) * | 2017-08-31 | 2018-02-27 | 天津大学 | A kind of passive type alignment system based on solar cell |
| CN110044256A (en) * | 2018-01-16 | 2019-07-23 | 爱信精机株式会社 | From truck position estimation device |
| CN110044256B (en) * | 2018-01-16 | 2022-02-08 | 爱信精机株式会社 | Self-parking position estimation device |
| CN109991519A (en) * | 2019-03-08 | 2019-07-09 | 上海交通大学 | Shelf depreciation direction-finding method and system based on neural network and wireless sensing array |
| CN109991519B (en) * | 2019-03-08 | 2021-11-16 | 上海交通大学 | Partial discharge direction-finding method and system based on neural network and wireless sensor array |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
| CN111751784A (en) * | 2020-06-23 | 2020-10-09 | 上海申核能源工程技术有限公司 | Three-dimensional optical positioning system of nuclear power station |
| CN111751784B (en) * | 2020-06-23 | 2023-11-21 | 上海申核能源工程技术有限公司 | Three-dimensional light positioning system of nuclear power station |
| CN112924931A (en) * | 2021-01-27 | 2021-06-08 | 东南大学 | Light source position estimation system and method based on arrival angle estimator |
| CN113359087A (en) * | 2021-06-07 | 2021-09-07 | 东南大学 | Accurate indoor positioning method based on LED array |
| CN113359087B (en) * | 2021-06-07 | 2024-04-16 | 东南大学 | Accurate indoor positioning method based on LED array |
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| CN106970354B (en) | 2019-07-26 |
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Effective date of registration: 20180815 Address after: 210015 building 6, Greentown garden, 57 Jianning Road, Nanjing, Jiangsu. Applicant after: Zhu Bingcheng Address before: 210003 9 Wen Yuan Road, Ya Dong new town, Nanjing, Jiangsu. Applicant before: Nanjing Post & Telecommunication Univ. |
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