CN107295479A - A kind of inexpensive indoor orientation method - Google Patents
A kind of inexpensive indoor orientation method Download PDFInfo
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- CN107295479A CN107295479A CN201710494208.7A CN201710494208A CN107295479A CN 107295479 A CN107295479 A CN 107295479A CN 201710494208 A CN201710494208 A CN 201710494208A CN 107295479 A CN107295479 A CN 107295479A
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- infrared
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- infrared beacon
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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Abstract
A kind of inexpensive indoor orientation method, the one or more infrared beacon of roof setting indoors；Subpoint with an infrared beacon on ground is set to the origin of coordinates, sets up indoor coordinate system, while demarcating the coordinate information of other infrared beacons according to the indoor coordinate system；When being positioned terminal positioning, initialization first is positioned the alignment sensor set in terminal；Then, it is positioned terminal to follow the trail of by its camera set and be directed at the infrared beacon on roof, identification, the sequence number information for obtaining, recording infrared beacon；Meanwhile, the alignment sensor for being positioned terminal reads orientation angle angle value；Finally, by the sequence number information of the infrared beacon of acquisition, orientation angle angle value that alignment sensor is read and the spatial relationship being positioned between terminal and infrared beacon calculate the position coordinates for being positioned terminal.Do not influenceed by electromagnetic induction or electromagnetic interference and barrier or building, positioning precision is high, algorithm is easy, application cost is low.
Description
Technical field
The present invention relates to indoor positioning technologies field, more specifically to a kind of inexpensive indoor orientation method.
Background technology
With the development of computer networking technology, wireless sensor technology, and social every profession and trade is to intelligentized demand,
Indoor positioning technologies are with a wide range of applications in the numerous areas such as mall shopping, restaurant service, the research of indoor positioning
Also the focus studied both at home and abroad is turned into.
At present, the research to positioning mainly uses the technologies such as GPS, RFID, ultrasonic wave, bluetooth and WLAN.However, adopting
It is used for outdoor with GPS location, for indoor environment, is influenceed by barrier and building, its positioning precision declines serious.Though
The positioning precision from several meters to tens centimetres so can be provided for technologies such as RFID, ultrasonic wave, the WLAN of indoor positioning, still
Radio system is sensitive to electromagnetic induction, can not be used in many occasions, there is significant limitation；Determining for wireless signal is relied in addition
Position system, by electromagnetic interference influence, it is impossible to give and be accurately positioned.And above positioning method location algorithm is complicated, application cost
It is higher, it is difficult to be promoted.
The content of the invention
In view of situation above, in order to which the environmental impact factor for solving above-mentioned existing indoor positioning technologies presence is more, algorithm is multiple
The high problem of miscellaneous, application cost, the present invention proposes a kind of inexpensive indoor orientation method.
A kind of inexpensive indoor orientation method, its step is：Roof sets one or more infrared indoors
Beacon；Subpoint with an infrared beacon on ground is set to the origin of coordinates, sets up indoor coordinate system, if provided with multiple infrared letters
Mark, while demarcating the coordinate information of other infrared beacons according to the indoor coordinate system；When being positioned terminal positioning, first initially
Change the alignment sensor for being positioned and being set in terminal；Then, terminal is positioned to follow the trail of by its camera set and be directed at room
Infrared beacon on top, identification, the sequence number information for obtaining, recording infrared beacon；Meanwhile, it is positioned the alignment sensor of terminal
Read orientation angle angle value；Finally, by the sequence number information of the infrared beacon of acquisition, the orientation angle that alignment sensor is read
The spatial relationship for being worth and being positioned between terminal and infrared beacon, calculates the position coordinates for being positioned terminal.
In the inexpensive indoor orientation method according to the present invention, it is preferable that the infrared beacon includes some infrared
LED, which part infrared LED keeps often bright state as the identification point for being positioned terminal tracing and alignment infrared beacon；In addition
Infrared LED as the characteristic point of infrared beacon, turning on/off state by it is used to encode different ID values, and different ID values are correspondingly
Different coordinate informations.
In the inexpensive indoor orientation method according to the present invention, it is preferable that each infrared beacon is comprising 9 by pros
The infrared LED of shape arrangement, the wherein infrared LED in the upper left corner and the lower right corner are as being positioned terminal tracing, alignment infrared beacon
Identification point, keeps often bright state；Remaining infrared LED is as the characteristic point of infrared beacon, and the ID value different for encoding is different
The different coordinates of correspondence are used for positioning and demarcating by ID values.
In the inexpensive indoor orientation method according to the present invention, it is preferable that the infrared beacon is arranged on roof and wall
The intersection of wall.
According to the present invention inexpensive indoor orientation method in, it is preferable that it is described with an infrared beacon on ground
Subpoint is set to the origin of coordinates, sets up indoor coordinate system, including select some mounted infrared beacon, with it perpendicular to the ground
Subpoint is as the origin of coordinates, using the sideline parallel to wall rib where the point as X-axis, to cross the subpoint on ground and hang down
The straight line of straight X-axis is as Y-axis, using the line of infrared beacon and its subpoint as Z axis, sets up indoor coordinate system.
In the inexpensive indoor orientation method according to the present invention, it is preferable that described to be demarcated according to the indoor coordinate system
The coordinate information of other infrared beacons, is included in the indoor coordinate system established, marks mounted other infrared beacons,
The Z axis coordinate of other infrared beacons is the height h of indoor wall；X-axis, Y-axis coordinate are the distance of relative coordinate origin.
According to the present invention inexpensive indoor orientation method in, it is preferable that the alignment sensor include camera and
Angular transducer；The initialization is positioned the alignment sensor set in terminal, including initialization camera and initialization angle
Spend sensor；Camera is initialized to correct including camera imaging, and camera imaging data transfer prepares；Initialize angle
The value that sensor includes the sensor by horizontal and vertical angle is measured is initialized as zero.
In the inexpensive indoor orientation method according to the present invention, it is preferable that described to be positioned what terminal was set by it
Camera is followed the trail of and is directed at the infrared beacon on roof, identification, the sequence number information for obtaining, recording infrared beacon, if camera
An infrared beacon is only perceived, camera is to be directed at the infrared beacon center, and recognizes the ID values of the infrared beacon, and obtaining should
The position coordinates of infrared beacon；If camera perceives multiple infrared beacons, the ID values of multiple infrared beacons will be first recognized, are selected
The minimum infrared beacon of ID values is this localizer beacon, is then directed at the minimum infrared beacon center of ID values, records the infrared letter
Target position coordinates.
In the inexpensive indoor orientation method according to the present invention, it is preferable that be positioned terminal and following the trail of, be directed at infrared letter
During target, be positioned terminal read by angular transducer itself be used as relative to the space angle coordinate of infrared beacon it is fixed
Parallactic angle angle value.
In the inexpensive indoor orientation method according to the present invention, it is preferable that be positioned terminal and turn round or turn around each time,
Space angle calibrating coordinates are all carried out to correct orientation angle angle value.
After technology proposed by the present invention is taken, according to the present invention inexpensive indoor orientation method, by first indoors
Infrared beacon is installed on roof, and the installation number of beacon depends on the size of indoor environment, and beacon is arranged on the friendship of roof and wall
Meet place.Some beacon in beacon has been installed in selection, using its ground subpoint as the origin of coordinates, so as to set up interior
Coordinate system, the relative co-ordinate information of remaining beacon is demarcated according to this coordinate system, and initialization is positioned the alignment sensor in terminal.
It is positioned terminal tracing, is directed at the infrared beacon of indoor location, identification, the physical message for obtaining, recording infrared beacon.It is positioned
The alignment sensor of terminal reads orientation angle angle value.According to the physical message of the infrared beacon recognized, alignment sensor is read
To orientation angle angle value and the spatial relationship that is positioned between terminal and infrared beacon, calculate and be positioned the position of terminal and sit
Mark.
After technology proposed by the present invention is taken, according to the present invention inexpensive indoor orientation method, indoors roof pacify
Right quantity infrared beacon is filled, the subpoint according to a certain infrared beacon on ground sets up indoor three-dimensional system of coordinate, demarcation is all
Infrared beacon, in the coordinate value of the coordinate, is that the camera for being positioned terminal recognizes, follows the trail of, is directed at infrared letter by mobile object
Mark, what reading angular sensor was measured is positioned terminal space angle coordinate, according to physical relations, realizes mobile object
Positioning function indoors.
After technology proposed by the present invention is taken, according to the inexpensive indoor orientation method of the present invention, not by electromagnetic induction
Or the influence of electromagnetic interference and barrier or building, positioning precision is high, and algorithm is easy, and application cost is low.
Brief description of the drawings
Fig. 1 shows infrared beacon structural representation in the inexpensive indoor orientation method according to the present invention；
Fig. 2 shows establishment of coordinate system schematic diagram in the inexpensive indoor orientation method room according to the present invention；
Fig. 3 shows that perceiving multiple beacons according to the inexpensive indoor orientation method camera of the present invention judges signal
Figure；
Fig. 4 is shown realizes schematic diagram according to the inexpensive indoor orientation method of the present invention；
Fig. 5 is shown calibrates schematic diagram according to the inexpensive indoor orientation method angular transducer of the present invention.
Embodiment
Below with reference to accompanying drawings to the present invention each be preferred embodiment described.There is provided referring to the drawings
Description, to help the understanding of the example embodiment of the invention to being limited by appended claims and their equivalents.It includes side
Assistant solution various details, but they can only be counted as it is exemplary.Therefore, it would be recognized by those skilled in the art that
Embodiment described herein can be made various changes and modifications, without departing from scope and spirit of the present invention.Moreover, in order to
Make specification more clear succinct, will omit pair it is well known that function and the detailed description of construction.
A kind of inexpensive indoor orientation method, first has to make infrared beacon, and environment installs infrared beacon indoors.
As shown in figure 1, each infrared beacon includes 9 infrared LEDs, these infrared LEDs press square arrangement, wherein
The infrared LED in the upper left corner and the lower right corner is used as the identification point for being positioned terminal tracing and alignment infrared beacon, Chang Liang；Remaining is red
Outer LED is as the characteristic point of infrared beacon, and the ID value different for encoding, different ID values will correspond to different coordinates, this 7 infrared
If LED is bright to be designated as 1, go out and be designated as 0, it will produce the different result in 2^7=128 kind, 128 different ID of correspondence are 128 differences
Position coordinates.So the infrared beacon that the artificial beacon of the set can at most produce/set 128 kinds of difference ID values is used to position mark
It is fixed.
An appropriate number of infrared beacon is installed in actual size selection according to indoor environment.
Some mounted infrared beacon is selected, its subpoint perpendicular to the ground is as the origin of coordinates, with where the point
Parallel to wall rib sideline as X-axis, the straight line of the subpoint and vertical X axis is crossed using on ground as Y-axis, with infrared beacon and
The line of its subpoint sets up indoor coordinate system, as shown in Figure 2 as Z axis.
In the indoor coordinate system established, mounted infrared beacon is marked, the Z axis coordinate of infrared beacon is interior
The height h of wall；X-axis, Y-axis coordinate is the distance of relative coordinate origin.
Camera is initialized, camera imaging correction is completed, camera imaging data transfer prepares.
Angular transducer is initialized, the value that will measure the sensor of horizontal and vertical angle is initialized as zero.
It is positioned terminal and indoor mounted infrared beacon is perceived by camera, including following two situations can be selected
Select：
If camera only perceives an infrared beacon, camera is directed at the beacon center, and the ID values of identification beacon, obtains letter
Target position coordinates；
If camera perceives multiple infrared beacons, the ID values of multiple beacons, the minimum infrared beacon of selection ID values will be first recognized
For this localizer beacon, the minimum beacon center of ID values is then directed at, the position coordinates of the beacon is recorded, as shown in Figure 3.
It is positioned terminal and itself space angle coordinate relative to infrared beacon is read by angular transducer, such as Fig. 4 institute
Show.
By infrared beacon sequence number information, the space angle coordinate and space geometry relation of terminal itself are positioned,
The locus coordinate for being positioned terminal can be calculated.
Circular is as follows.
It is positioned terminal to move along the L lines in Fig. 4, camera perceives the infrared beacon a of indoor environment, is positioned terminal
Instruction is sent, camera follows the trail of infrared beacon a, and the imaging of beacon center is fallen at the center of camera.
During instruction is issued to camera alignment infrared beacon a, the measured value of angular transducer changes, and works as shooting
Head alignment beacon, and when no longer movement, angular transducer, which is read, is positioned space angle of the terminal with respect to infrared beacon a
It is worth for α, β in Fig. 4；Wherein α is vertical angle, and β is level angle.
The space coordinate of infrared beacon is known as that (0,0, h), being positioned terminal, to read itself by angular transducer relative
In the space angle coordinate (α, β) of infrared beacon, according to infrared beacon a and the space geometry relational expression being positioned between terminal：
Can be in the hope of being positioned the position coordinates (x, y) of terminal indoors.In relational expression (X, Y h) are any one infrared letter
Target space coordinate, infrared beacon a X-coordinate and Y-coordinate is all 0 in this example.
In addition, when being positioned, terminal occurs to turn round or behavior of turning around is calibrated, it is necessary to carry out space angle calibrating coordinates
The measured value of angular transducer.Moved as shown in figure 5, being positioned terminal along dotted line, such as after A points are turned right, it is necessary to
The measured value of horizontal angle sensor subtracts 90 degree automatically；, it is necessary to the measurement of horizontal angle sensor after B points turn left
Value is automatic to add 90 degree.
According to the inexpensive indoor orientation method of the invention described above one embodiment, by the way that first roof installs appropriate indoors
Quantity infrared beacon, the installation number of beacon depends on the size of indoor environment, and beacon is arranged on the junction of roof and wall.
Some beacon in beacon has been installed in selection, using its ground subpoint as the origin of coordinates, set up according to this subpoint
Indoor three-dimensional system of coordinate, demarcates coordinate value of all infrared beacons in the coordinate.In positioning, first initialization is positioned in terminal
Alignment sensor, by mobile object be positioned terminal camera recognize, follow the trail of, alignment indoor location infrared letter
Mark, identification, the sequence number information for obtaining, recording infrared beacon.Meanwhile, the alignment sensor for being positioned terminal reads orientation angle
Value.According to the sequence number information of the infrared beacon recognized, orientation angle angle value and be positioned end that alignment sensor is read
Spatial relationship between end and infrared beacon, according to space geometry relational expression, calculates the position coordinates for being positioned terminal, realizes
The positioning function of mobile object indoors.
According to the inexpensive indoor orientation method of the invention described above one embodiment, not by electromagnetic induction or electromagnetic interference with
And the influence of barrier or building, positioning precision is high, and algorithm is easy, and application cost is low.
The present invention is described in detail above, principle and embodiment party of the specific case used herein to the present invention
Formula is set forth, and the explanation of above example is only intended to the method and its core concept for helping to understand the present invention；Meanwhile, it is right
In those of ordinary skill in the art, according to the thought of the present invention, change is had in specific embodiments and applications
Part, in summary, this specification content should not be construed as limiting the invention.
Through the above description of the embodiments, those skilled in the art can be understood that the present invention can be real
Apply.Certainly, above listed situation is merely illustrative, and the present invention is not limited to this.It should be appreciated by those skilled in the art root
According to other deformations or simplified of technical solution of the present invention, the present invention can be suitably applied to, and this hair should be included in
In bright scope.
Claims (10)
1. a kind of inexpensive indoor orientation method, it is characterised in that roof sets one or more infrared letter indoors
Mark；Subpoint with an infrared beacon on ground is set to the origin of coordinates, sets up indoor coordinate system, if provided with multiple infrared letters
Mark, while demarcating the coordinate information of other infrared beacons according to the indoor coordinate system；When being positioned terminal positioning, first initially
Change the alignment sensor for being positioned and being set in terminal；Then, terminal is positioned to follow the trail of by its camera set and be directed at room
Infrared beacon on top, identification, the sequence number information for obtaining, recording infrared beacon；Meanwhile, it is positioned the alignment sensor of terminal
Read orientation angle angle value；Finally, by the sequence number information of the infrared beacon of acquisition, the orientation angle that alignment sensor is read
The spatial relationship for being worth and being positioned between terminal and infrared beacon, calculates the position coordinates for being positioned terminal.
2. a kind of inexpensive indoor orientation method according to claim 1, it is characterised in that if the infrared beacon includes
Dry infrared LED, which part infrared LED keeps Chang Liangzhuan as the identification point for being positioned terminal tracing and alignment infrared beacon
State；Other infrared LED is as the characteristic point of infrared beacon, and turning on/off state by it is used to encode different ID values, different ID
The different coordinate information of value correspondence.
3. a kind of inexpensive indoor orientation method according to claim 2, it is characterised in that each infrared beacon is included
9 press square arrangement infrared LED, wherein the infrared LED in the upper left corner and the lower right corner as be positioned terminal tracing, be aligned it is red
The identification point of outer beacon, keeps often bright state；Remaining infrared LED as infrared beacon characteristic point, it is different for encoding
The different coordinates of correspondence are used for positioning and demarcating by ID values, different ID values.
4. a kind of inexpensive indoor orientation method according to claim 1, it is characterised in that the infrared beacon is arranged on
The intersection on roof and wall.
5. a kind of inexpensive indoor orientation method according to claim 1, it is characterised in that described with an infrared beacon
Subpoint on ground is set to the origin of coordinates, sets up indoor coordinate system, including selects some mounted infrared beacon, is hung down with it
The subpoint on straight ground is as the origin of coordinates, using the sideline parallel to wall rib where the point as X-axis, to cross the throwing on ground
The straight line of shadow point and vertical X axis is as Y-axis, using the line of infrared beacon and its subpoint as Z axis, sets up indoor coordinate system.
6. a kind of inexpensive indoor orientation method according to claim 5, it is characterised in that described according to the indoor seat
The coordinate information of other infrared beacons is demarcated by mark system, is included in the indoor coordinate system established, marks mounted other
Infrared beacon, the Z axis coordinate of other infrared beacons is the height h of indoor wall；X-axis, Y-axis coordinate are relative coordinate origin
Distance.
7. a kind of inexpensive indoor orientation method according to claim 1, it is characterised in that the alignment sensor includes
Camera and angular transducer；The initialization is positioned the alignment sensor that is set in terminal, including initialization camera and
Initialize angular transducer；Camera is initialized to correct including camera imaging, and camera imaging data transfer prepares；Just
The value that beginningization angular transducer includes the sensor by horizontal and vertical angle is measured is initialized as zero.
8. a kind of inexpensive indoor orientation method according to claim 7, it is characterised in that be positioned terminal following the trail of,
During being directed at infrared beacon, it is positioned terminal and itself space angle relative to infrared beacon is read by angular transducer
Coordinate is used as orientation angle angle value.
9. a kind of inexpensive indoor orientation method according to claim 2, it is characterised in that the terminal that is positioned passes through
Its camera set is followed the trail of and is directed at the infrared beacon on roof, identification, the sequence number information for obtaining, recording infrared beacon,
If camera only perceives an infrared beacon, camera is to be directed at the infrared beacon center, and recognizes the ID of the infrared beacon
Value, obtains the position coordinates of the infrared beacon；If camera perceives multiple infrared beacons, multiple infrared beacons will be first recognized
ID values, the minimum infrared beacon of selection ID values is this localizer beacon, is then directed at the minimum infrared beacon center of ID values, record
The position coordinates of the infrared beacon.
10. a kind of inexpensive indoor orientation method according to claim 1, it is characterised in that be positioned terminal each time
Turn round or turn around, all carry out space angle calibrating coordinates to correct orientation angle angle value.
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| CN201710494208.7A CN107295479A (en) | 2017-06-26 | 2017-06-26 | A kind of inexpensive indoor orientation method |
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| CN201710494208.7A CN107295479A (en) | 2017-06-26 | 2017-06-26 | A kind of inexpensive indoor orientation method |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414980A (en) * | 2018-02-12 | 2018-08-17 | 东南大学 | A kind of indoor positioning device based on dotted infrared laser |
| CN108507470A (en) * | 2018-03-08 | 2018-09-07 | 东莞市光劲光电有限公司 | A method of measuring LED light source spatial coordinate location |
| CN108873032A (en) * | 2018-05-15 | 2018-11-23 | 重庆邮电大学 | Indoor orientation method based on GPS network and ground coordinate net |
| CN109471124A (en) * | 2018-12-06 | 2019-03-15 | 熵智科技(深圳)有限公司 | Indoor Global localization system and method based on line laser rotary scanning |
| CN109615638A (en) * | 2018-11-30 | 2019-04-12 | 北京三快在线科技有限公司 | Positioning device, method, apparatus used for positioning and unmanned equipment |
| CN111829579A (en) * | 2020-06-02 | 2020-10-27 | 深圳全景空间工业有限公司 | Indoor space reconstruction method |
| CN111854753A (en) * | 2020-06-02 | 2020-10-30 | 深圳全景空间工业有限公司 | Indoor space modeling method |
| CN113739803A (en) * | 2021-08-30 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Indoor and underground space positioning method based on infrared datum point |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108414980A (en) * | 2018-02-12 | 2018-08-17 | 东南大学 | A kind of indoor positioning device based on dotted infrared laser |
| CN108507470A (en) * | 2018-03-08 | 2018-09-07 | 东莞市光劲光电有限公司 | A method of measuring LED light source spatial coordinate location |
| CN108873032A (en) * | 2018-05-15 | 2018-11-23 | 重庆邮电大学 | Indoor orientation method based on GPS network and ground coordinate net |
| CN109615638A (en) * | 2018-11-30 | 2019-04-12 | 北京三快在线科技有限公司 | Positioning device, method, apparatus used for positioning and unmanned equipment |
| CN109471124A (en) * | 2018-12-06 | 2019-03-15 | 熵智科技(深圳)有限公司 | Indoor Global localization system and method based on line laser rotary scanning |
| CN111829579A (en) * | 2020-06-02 | 2020-10-27 | 深圳全景空间工业有限公司 | Indoor space reconstruction method |
| CN111854753A (en) * | 2020-06-02 | 2020-10-30 | 深圳全景空间工业有限公司 | Indoor space modeling method |
| CN113739803A (en) * | 2021-08-30 | 2021-12-03 | 中国电子科技集团公司第五十四研究所 | Indoor and underground space positioning method based on infrared datum point |
| CN113739803B (en) * | 2021-08-30 | 2023-11-21 | 中国电子科技集团公司第五十四研究所 | Indoor and underground space positioning method based on infrared datum points |
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Application publication date: 20171024 |