CN107153188A - A kind of indoor orientation method and system - Google Patents
A kind of indoor orientation method and system Download PDFInfo
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- CN107153188A CN107153188A CN201710352089.1A CN201710352089A CN107153188A CN 107153188 A CN107153188 A CN 107153188A CN 201710352089 A CN201710352089 A CN 201710352089A CN 107153188 A CN107153188 A CN 107153188A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C11/00—Photogrammetry or videogrammetry, e.g. stereogrammetry; Photographic surveying
- G01C11/04—Interpretation of pictures
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
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Abstract
This application discloses a kind of indoor orientation method and system, including：Set up frequency coordinate database；According to frequency coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency；Light source is shot, the frequency values of at least three selected light sources are obtained；Camera imaging plane for shooting is parallel to each other with plane where light source, and at least three selected light sources are not arranged on the same straight line；According to frequency values and frequency coordinate database, it is determined that the position coordinates of selected light source；According to the position coordinates of selected light source, and the light source selected imaging and relative position of imaging plane central point on imaging plane, determine the position coordinates of imaging plane central point subpoint of plane where light source.The above-mentioned indoor orientation method that the application is provided is simple and easy to apply, is easy to implement being accurately positioned indoors, and its positioning precision is high, can be accurately positioned the position being currently located, complexity is low, and the exploitativeness of system is preferable.
Description
Technical field
The present invention relates to visible light communication and image processing field, more particularly to a kind of indoor orientation method and system.
Background technology
According to statistics the time of the people 80% of modern society be it is movable indoors, for example megastore, underground parking,
The large-scale indoor carry out activity such as library, museum.The indoor locating system of current main flow rely primarily on wireless network (WiFi),
Infrared, ultrasonic wave, ultra wide band, radio frequency identification (Radio Frequency Identification, abbreviation RFID) technology etc., by
In use it is mostly be radiofrequency signal, in the air propagate when be easily disturbed and can not be used in same microwave circuit, same direction
Same frequency, special screne such as aircraft, hospital's radiofrequency signal use by control, gradually expose radio communication system
The limitation of system.
Therefore, how to provide a kind of more effective, precision, in meter level or even higher indoor orientation method and system, is ability
Field technique personnel technical problem urgently to be resolved hurrily.
The content of the invention
In view of this, it is an object of the invention to provide a kind of indoor orientation method and system, it is easy to implement indoors
It is accurately positioned, its positioning precision is high, and complexity is low, and the exploitativeness of system is preferable.Its concrete scheme is as follows：
A kind of indoor orientation method, including：
Set up frequency-coordinate database；
According to the frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency；
The light source is shot, the frequency values of at least three selected light sources are obtained；Shooting for shooting
Head imaging plane is parallel to each other with plane where the light source, and at least three selected light sources are not in same straight line
On；
According to the frequency values and the frequency-coordinate database, it is determined that the position coordinates of the selected light source；
According to the position coordinates of the selected light source, and the selected light source is formed on the imaging plane
As the relative position with the imaging plane central point, the throwing of imaging plane central point plane where the light source is determined
The position coordinates of shadow point.
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the light source is shot, obtained
The frequency values of at least three selected light sources, are specifically included：
The light source is shot, stripe pattern is formed；
The stripe pattern is handled, the frequency values of at least three selected light sources are obtained.
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the stripe pattern is handled,
The frequency values of at least three selected light sources are obtained, are specifically included：
The stripe pattern is pre-processed, noise is removed；
Each light source subregion is partitioned into the stripe pattern after removing noise；
At least three selected light source subregions are handled, the striped of the selected light source subregion is obtained
Width；
According to the selected width of fringe, the frequency of the light source corresponding with the width of fringe selected is calculated
Value.
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, calculate and select using following formula
The frequency values of the corresponding light source of the fixed width of fringe：
F=PT/W
Wherein, F represents the frequency values of the light source, and W represents that the light source subregion is formed in a flicker cycle
A light and dark width of fringe, P represents the height of single pixel, and T is the cycle of Rolling shutter.
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, when selected light source is three, root
According to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with it is described into
The relative position of image plane central point, determines the position of imaging plane central point subpoint of plane where the light source
Coordinate, is specifically included：
By three light sources and three light sources, the imaging on the imaging plane is linked to be triangle respectively, meter
Calculate each length of side for two triangles being linked to be；
According to each length of side for two triangles being linked to be, and the selected light source is formed on the imaging plane
As the relative position with the imaging plane central point, the throwing of imaging plane central point plane where the light source is determined
Shadow point is respectively to the distance of three light sources；
According to the subpoint respectively to three light sources position coordinates distance and the position coordinates of the light source,
The position coordinates of the subpoint is calculated using trilateration location algorithm.
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the frequency values of the light source are more than
50Hz。
Preferably, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the light source is light emitting diode.
The embodiment of the present invention additionally provides a kind of indoor locating system, including：
Database module, for setting up frequency-coordinate database；
Light source driver module, for according to frequency-coordinate database, driving the light source of several diverse location coordinates to send
The light of different frequency；
Image capture module, for being shot to the light source；The imaging plane of described image acquisition module with it is described
Plane where light source is parallel to each other；
Frequency acquisition module, the frequency values for obtaining at least three selected light sources；At least three selected institutes
Light source is stated to be not arranged on the same straight line；
Light source coordinates determining module, for according to the frequency values and the frequency-coordinate database, it is determined that selected institute
State the position coordinates of light source；
Point coordinates determining module is projected, for the position coordinates according to the selected light source, and the selected light
Source imaging and relative position of the imaging plane central point on the imaging plane, determine the imaging plane center
The position coordinates of point subpoint of plane where the light source.
Preferably, in above-mentioned indoor locating system provided in an embodiment of the present invention,
Described image acquisition module, specifically for being shot to the light source, forms stripe pattern；
The frequency acquisition module, specifically for handling the stripe pattern, obtains at least three selected institutes
State the frequency values of light source.
A kind of indoor orientation method provided by the present invention and system, including：Set up frequency-coordinate database；According to frequency
Rate-coordinate database, drives the light source of several diverse location coordinates to send the light of different frequency；Light source is shot, obtained
Take the frequency values of at least three selected light sources；Camera imaging plane for shooting is parallel to each other with plane where light source,
And at least three selected light source be not arranged on the same straight line；According to frequency values and frequency-coordinate database, it is determined that selected light
The position coordinates in source；According to the position coordinates of selected light source, and selected light source on imaging plane imaging with into
The relative position of image plane central point, determines the position coordinates of imaging plane central point subpoint of plane where light source.This
Invent that the above-mentioned indoor orientation method that is provided is simple and easy to apply, be easy to implement being accurately positioned indoors, its positioning precision is high, can
The position being currently located is accurately positioned, complexity is low, and the exploitativeness of system is preferable.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is the accompanying drawing used required in technology description to be briefly described, it should be apparent that, drawings in the following description are only this
The embodiment of invention, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is the flow chart of indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is the particular flow sheet of indoor orientation method provided in an embodiment of the present invention；
Fig. 3 is the schematic diagram of a scenario of indoor orientation method provided in an embodiment of the present invention；
Fig. 4 is the schematic diagram of stripe pattern provided in an embodiment of the present invention；
The rectangle frame and rectangle frame center that Fig. 5 is formed for the border provided in an embodiment of the present invention for obtaining each striped are obtained
Image；
Fig. 6 is the structure chart of indoor locating system provided in an embodiment of the present invention.
Embodiment
Below in conjunction with 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
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
The present invention provides a kind of indoor orientation method, as shown in figure 1, comprising the following steps：
S101, set up frequency-coordinate database；
S102, according to frequency-coordinate database, drive the light source of several diverse location coordinates to send different frequency
Light；
S103, light source is shot, obtain the frequency values of at least three selected light sources；For shooting camera into
Image plane is parallel to each other with plane where light source, and at least three selected light sources are not arranged on the same straight line；
S104, according to frequency values and frequency-coordinate database, it is determined that the position coordinates of selected light source；
S105, the position coordinates according to selected light source, and selected light source on imaging plane imaging with into
The relative position of image plane central point, determines the position coordinates of imaging plane central point subpoint of plane where light source.
In above-mentioned indoor orientation method provided in an embodiment of the present invention, frequency-coordinate database is initially set up；According to frequency
Rate-coordinate database, drives the light source of several diverse location coordinates to send the light of different frequency；Then light source is clapped
Take the photograph, obtain the frequency values of at least three selected light sources；Camera imaging plane and plane where light source for shooting is mutual
It is parallel, and at least three selected light sources are not arranged on the same straight line；Afterwards according to frequency values and frequency-coordinate database, really
Surely the position coordinates for the light source selected；Finally according to the position coordinates of selected light source, and the light source selected is in imaging plane
Upper imaging and the relative position of imaging plane central point, determine the subpoint of imaging plane central point plane where light source
Position coordinates.The indoor orientation method is simple and easy to apply, is easy to implement being accurately positioned indoors, and its positioning precision is high, can essence
It is determined that the position that position is currently located, complexity is low, and the exploitativeness of system is preferable.
It should be noted that the frequency of light source is determined by frequency-coordinate database.Frequency-coordinate database is represented
Frequency and coordinate are one-to-one relations.
Most of cameras for being used to shoot that generally we use are all based on cmos image sensor, such sensor
Using Rolling shutter Exposure mode, pixel exposes line by line.For moving object, image can produce twist distortion, be referred to as " jelly effect
Should ".In normal shoot, such case will be avoided, but we can realize communication process using this mechanism.When
When camera shoots the light source of high frequency flicker on ceiling, due to the time difference of each row exposure of pixel, just generate light and dark
Stripe pattern, then passes through image procossing, you can realize that the detection of optical signal frequency completes communication.
Therefore, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, step S103 is to light
Source is shot, and the frequency values of at least three selected light sources is obtained, as shown in Fig. 2 specifically may comprise steps of：
S201, light source is shot, form stripe pattern；
S202, stripe pattern is handled, obtain the frequency values of at least three selected light sources.
Further, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, step is performed
S202 is handled stripe pattern, is obtained the frequency values of at least three selected light sources, specifically be may comprise steps of：
Step 1: being pre-processed to stripe pattern, noise is removed；
Step 2: being partitioned into each light source subregion in the stripe pattern after removing noise；
Step 3: handling at least three selected light source subregions, the striped of selected light source subregion is obtained
Width；
Step 4: according to selected width of fringe, calculating the frequency values of light source corresponding with the width of fringe selected.
As shown in figure 3, the light source of several different frequencies is generally embedded in the ceiling of localization region, under its light is in
Formula is penetrated, when camera 1 shoots the light source of high frequency flicker on ceiling 2, due to the time difference of each row exposure of pixel, figure is just produced
The light and dark stripe pattern shown in 4, chooses at least three selected light source subregion (light source sub-districts i.e. interested
Domain), it is handled, the width of fringe of selected light source subregion can be obtained from Fig. 5.
Specifically, in the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, for above-mentioned step
Rapid four, the frequency values of light source corresponding with the width of fringe selected are calculated using following formula：
F=PT/W
Wherein, F represents the frequency values (i.e. the time of the every row pixel exposure of imaging sensor) of light source, and W represents light source sub-district
The light and dark width of fringe that domain is formed in a flicker cycle, P represents the height of single pixel, and T is roller shutter
The cycle of shutter.
Because the height P of single pixel and the cycle T of Rolling shutter are the intrinsic parameter of camera, therefore, the frequency of light source
Quantitative relation is there is with the inversely proportional relation of width of fringe, the i.e. frequency of light source and width of fringe.
In addition, the height P of single pixel and the value of cycle T of Rolling shutter can be obtained by calibrating, specifically, phase is allowed
Machine recognizes a frequency known signal, such as 1kHz draws corresponding width of fringe, is closed according to width of fringe and frequency are proportional
System calculates the product value of the height P of single pixel and the cycle T of Rolling shutter；Then the striped obtained in above-mentioned formula is utilized
Width, finally calculates the frequency of now light source.
In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, when selected light source is three
When individual, according to the position coordinates of selected light source, and selected light source on imaging plane imaging with imaging plane
The relative position of heart point, determines the position coordinates of imaging plane central point subpoint of plane where light source, can specifically wrap
Include following steps：
First, three light sources and three light source imagings on imaging plane are linked to be triangle respectively, the company of calculating
Into two triangles each length of side；
Then, according to each length of side for two triangles being linked to be, and the light source selected imaging on imaging plane
With the relative position of imaging plane central point, determine the subpoint of imaging plane central point plane where light source respectively to three
The distance of light source；
Finally, according to subpoint respectively to three light sources position coordinates distance and the position coordinates of light source, utilize three
Side measurement and positioning algorithm calculates the position coordinates of subpoint.
Specifically, by taking Fig. 2 as an example, through the coordinate bit for performing three selected light source A, B, C being determined after step S103
Put, respectively A (x1, y1)、B(x2, y2)、C(x3, y3), three light sources are linked to be triangle, the length of side AB, AC, BC can be calculated
Length；
Three light source imaging A on imaging plane known to againi、Bi、CiCoordinate bit in imaging plane coordinate system
Put, respectively Ai(u1, v1)、Bi(u2, v2)、Ci(u3, v3), three light source imagings on imaging plane are linked to be triangle,
Length of side A can be calculatediBi、AiCi、BiCiLength；
And then K values can be obtained, it is as follows：
Imaging plane central point O known to againiPosition coordinates O in imaging plane coordinate systemi(u, v), can be calculated
OiAi、OiBi、OiCiLength；
Imaging plane central point O is calculated according to following equationiThe subpoint O of plane is respectively to three light sources where light source
A, B, C apart from OA, OB, OC：
According to OA, OB, OC length and light source A, B, C position coordinates, throwing is calculated using trilateration location algorithm
The position coordinates O (x, y) of shadow point：
(x-x1)2+(y-y1)2=OA2
(x-x2)2+(y-y2)2=OB2
(x-x3)2+(y-y3)2=OC2
In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, the frequency of light source can be big
In 50Hz, the frequency behaviour eye can't see the flicker of light, and because too high frequency can allow video camera to photograph clearly bar
Line, so frequency range also needs to be determined according to the acquisition parameters of the mobile terminal for shooting etc..
In the specific implementation, in above-mentioned indoor orientation method provided in an embodiment of the present invention, light source can be luminous two
The light source of pole pipe or other energy high frequency flickers.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of indoor locating system, because the system is solved
The principle of problem is similar to a kind of foregoing indoor orientation method, therefore the implementation of the system may refer to the reality of indoor orientation method
Apply, repeat part and repeat no more.
In the specific implementation, indoor locating system provided in an embodiment of the present invention, as shown in fig. 6, including：
Database module 11, for setting up frequency-coordinate database；
Light source driver module 12, for according to frequency-coordinate database, driving the light source of several diverse location coordinates to send out
Go out the light of different frequency；
Image capture module 13, for being shot to light source；The imaging plane of image capture module where light source with putting down
Face is parallel to each other；
Frequency acquisition module 14, the frequency values for obtaining at least three selected light sources；At least three is selected described
Light source is not arranged on the same straight line；
Light source coordinates determining module 15, for according to frequency values and frequency-coordinate database, it is determined that the position of selected light source
Put coordinate；
Project point coordinates determining module 16, for the position coordinates according to selected light source, and selected light source into
Imaging and the relative position of imaging plane central point, determine imaging plane central point plane where light source in image plane
The position coordinates of subpoint.
Further, in the specific implementation, in above-mentioned indoor locating system provided in an embodiment of the present invention,
Image capture module 13, specifically for being shot to light source, forms stripe pattern；
Frequency acquisition module 14, specifically for handling stripe pattern, obtains the frequency of at least three selected light sources
Rate value.
A kind of indoor orientation method provided in an embodiment of the present invention and system, including：Set up frequency-coordinate database；Root
According to frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency；Light source is clapped
Take the photograph, obtain the frequency values of at least three selected light sources；Camera imaging plane and plane where light source for shooting is mutual
It is parallel, and at least three selected light sources are not arranged on the same straight line；According to frequency values and frequency-coordinate database, it is determined that choosing
The position coordinates of fixed light source；According to the position coordinates of selected light source, and selected light source is formed on imaging plane
As the relative position with imaging plane central point, determine that the position of imaging plane central point subpoint of plane where light source is sat
Mark.Above-mentioned indoor orientation method provided by the present invention is simple and easy to apply, is easy to implement being accurately positioned indoors, its positioning precision
Height, can be accurately positioned the position being currently located, and complexity is low, and the exploitativeness of system is preferable.
Finally, in addition it is also necessary to explanation, herein, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between there is any this actual relation or order.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of key elements not only include that
A little key elements, but also other key elements including being not expressly set out, or also include be this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except also there is other identical element in the process including the key element, method, article or equipment.
Indoor orientation method provided by the present invention and system are described in detail above, it is used herein specifically
Individual example is set forth to the principle and embodiment of the present invention, and the explanation of above example is only intended to help and understands the present invention
Method and its core concept；Simultaneously for those of ordinary skill in the art, according to the thought of the present invention, in specific implementation
It will change in mode and application, in summary, this specification content should not be construed as limiting the invention.
Claims (9)
1. a kind of indoor orientation method, it is characterised in that including：
Set up frequency-coordinate database；
According to the frequency-coordinate database, the light source of several diverse location coordinates is driven to send the light of different frequency；
The light source is shot, the frequency values of at least three selected light sources are obtained；For shooting camera into
Image plane is parallel to each other with plane where the light source, and at least three selected light sources are not arranged on the same straight line；
According to the frequency values and the frequency-coordinate database, it is determined that the position coordinates of the selected light source；
According to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with
The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source
Position coordinates.
2. indoor orientation method according to claim 1, it is characterised in that shot to the light source, is obtained at least
The frequency values of three selected light sources, are specifically included：
The light source is shot, stripe pattern is formed；
The stripe pattern is handled, the frequency values of at least three selected light sources are obtained.
3. indoor orientation method according to claim 2, it is characterised in that handle the stripe pattern, obtain
The frequency values of at least three selected light sources, are specifically included：
The stripe pattern is pre-processed, noise is removed；
Each light source subregion is partitioned into the stripe pattern after removing noise；
At least three selected light source subregions are handled, the striped for obtaining the selected light source subregion is wide
Degree；
According to the selected width of fringe, the frequency values of the light source corresponding with the width of fringe selected are calculated.
4. indoor orientation method according to claim 3, it is characterised in that the institute for calculating and selecting using following formula
State the frequency values of the corresponding light source of width of fringe：
F=PT/W
Wherein, F represents the frequency values of the light source, and W represents one that the light source subregion is formed in a flicker cycle
Individual light and dark width of fringe, P represents the height of single pixel, and T is the cycle of Rolling shutter.
5. the indoor orientation method according to claim any one of 1-4, it is characterised in that when selected light source is three
When, according to the position coordinates of the selected light source, and the selected light source on the imaging plane imaging with
The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source
Position coordinates, specifically include：
By three light sources and three light sources, the imaging on the imaging plane is linked to be triangle respectively, calculates
Each length of side for two triangles being linked to be；
According to each length of side for two triangles being linked to be, and the selected light source on the imaging plane imaging with
The relative position of the imaging plane central point, determines the subpoint of imaging plane central point plane where the light source
Respectively to the distance of three light sources；
According to the subpoint respectively to three light sources position coordinates distance and the position coordinates of the light source, utilize
Trilateration location algorithm calculates the position coordinates of the subpoint.
6. indoor orientation method according to claim 1, it is characterised in that the frequency values of the light source are more than 50Hz.
7. indoor orientation method according to claim 1, it is characterised in that the light source is light emitting diode.
8. a kind of indoor locating system, it is characterised in that including：
Database module, for setting up frequency-coordinate database；
Light source driver module, for according to the frequency-coordinate database, driving the light source of several diverse location coordinates to send
The light of different frequency；
Image capture module, for being shot to the light source；The imaging plane of described image acquisition module and the light source
Place plane is parallel to each other；
Frequency acquisition module, the frequency values for obtaining at least three selected light sources；At least three selected light
Source is not arranged on the same straight line；
Light source coordinates determining module, for according to the frequency values and the frequency-coordinate database, it is determined that the selected light
The position coordinates in source；
Point coordinates determining module is projected, is existed for the position coordinates according to the selected light source, and the selected light source
Imaging and the relative position of the imaging plane central point, determine that the imaging plane central point exists on the imaging plane
The position coordinates of the subpoint of plane where the light source.
9. indoor locating system according to claim 8, it is characterised in that
Described image acquisition module, specifically for being shot to the light source, forms stripe pattern；
The frequency acquisition module, specifically for handling the stripe pattern, obtains at least three selected light
The frequency values in source.
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| CN110542419A (en) * | 2019-08-16 | 2019-12-06 | 中国电子科技集团公司电子科学研究院 | Indoor positioning method and device based on visible light, electronic equipment and storage medium |
| CN110954066A (en) * | 2019-12-19 | 2020-04-03 | 陕西长岭电子科技有限责任公司 | Helicopter hanging swing monitoring system and method based on ultra wide band positioning |
| CN112033377A (en) * | 2019-06-03 | 2020-12-04 | 海信视像科技股份有限公司 | Method for determining indicator light identifier, positioning method and positioning system |
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| CN105430289A (en) * | 2015-11-19 | 2016-03-23 | 广东顺德中山大学卡内基梅隆大学国际联合研究院 | Method for detecting flicker frequency of LED based on CMOS image sensor |
| CN106338712A (en) * | 2016-10-21 | 2017-01-18 | 泉州装备制造研究所 | Visible light indoor positioning method and system based on camera communication |
| CN106597374A (en) * | 2016-11-09 | 2017-04-26 | 北京大学 | Indoor visible positioning method and system based on camera shooting frame analysis |
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| CN107734449B (en) * | 2017-11-09 | 2020-05-12 | 陕西外号信息技术有限公司 | Outdoor auxiliary positioning method, system and equipment based on optical label |
| CN112033377A (en) * | 2019-06-03 | 2020-12-04 | 海信视像科技股份有限公司 | Method for determining indicator light identifier, positioning method and positioning system |
| CN110542419A (en) * | 2019-08-16 | 2019-12-06 | 中国电子科技集团公司电子科学研究院 | Indoor positioning method and device based on visible light, electronic equipment and storage medium |
| CN110954066A (en) * | 2019-12-19 | 2020-04-03 | 陕西长岭电子科技有限责任公司 | Helicopter hanging swing monitoring system and method based on ultra wide band positioning |
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