CN107462248A - A kind of indoor optical positioning system and its application method - Google Patents
A kind of indoor optical positioning system and its application method Download PDFInfo
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- CN107462248A CN107462248A CN201710708953.7A CN201710708953A CN107462248A CN 107462248 A CN107462248 A CN 107462248A CN 201710708953 A CN201710708953 A CN 201710708953A CN 107462248 A CN107462248 A CN 107462248A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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Abstract
The invention discloses a kind of indoor optical positioning system, including：Light source, located at interior, light source control device is additionally provided with, quantity of light source is set according to the interior space；Light polarization and modulating apparatus, using module built in LED, for the device located at light source periphery, the light that light source is sent is modulated its backward outside projection；Sensor devices, located at light polarization and modulating apparatus periphery, the light intensity after modulation is perceived as signal output；Digital demodulator, it is connected with sensor devices, receives the signal that sensor devices are sent, changes into positional information output.The present invention is high using optical positioning system and its application method reliability, both multipath effect caused by radio frequency positioning method can be overcome, the shortcomings that vision positioning scheme environmental suitability difference can also be alleviated, further, light-weighted light sensitive device, can conveniently complete the positioning of small article.
Description
Technical field
The invention belongs to technical field of photo communication, and in particular to a kind of system that indoor optical alignment is carried out using room light
And the application method of the system.
Background technology
With developing rapidly with people to the continuous growth based on location-based service demand, indoor positioning technologies for network technology
Importance and potential market be continuously increased.Due to being influenceed by transmission loss and multipath effect, traditional GPS positioning technology
It can not be efficiently used indoors.Therefore, engendered a series of based on Wi-Fi, bluetooth, ultrasound, infrared and ultra wide band
The indoor locating system of principle.But because the limitation of positioning precision and cost, these localization methods are not used widely.
Compared with widely used GPS location, it is seen that light-seeking technology can be used under environment indoors, compensate for the blind area of GPS location.
The shortcomings that existing location technology is applied in indoor positioning is specific as follows：
Location technology based on radio frequency：The general principle of the localization methods such as ultra wide band is positioned based on RF-wise, by
Influenceed in by indoor environment complicated and changeable, signal multipath effect is obvious, and positioning result is unstable, and precision is not high.
The location technology of view-based access control model：Such as vision radar, realized by more mesh cameras or depth camera, main lacks
It is that distance of reaction is limited to fall into, and is usually no more than 8 meters, in order to which the located space for covering larger needs to arrange many cameras, leads
System cost is caused to steeply rise；The system of vision system positioning simultaneously requires harsh to environmental lighting conditions, when causing onsite application
System is more fragile.
In the case of above-mentioned prior art Shortcomings, indoors environmental positioning field visible ray location technology meet the tendency of and
It is raw, and continue to develop, compared with widely used GPS location, it is seen that light-seeking technology can be used under environment indoors, compensate for
The blind area of GPS location.Compared with the location technology based on Wi-Fi and bluetooth, it is seen that light-seeking technology have by multipath effect and
The influence of other equipment interference is much smaller than radiofrequency signal.Therefore its positioning precision is much larger than and is based on Wi-Fi and bluetooth location technology
Positioning precision.And compared with the indoor positioning technologies based on ultrasonic, infrared and ultra wide band (UWB), it is seen that light-seeking technology
Interior can directly be utilized, and for the light fixture illuminated, on the premise of normal indoor illumination is not influenceed while realization accurately positions.
Therefore it is lower to set up cost for it, it is easier to promotes and practical.
The Chinese patent of Application No. 201610060105.5, which proposes a kind of indoor visible light based on light source imaging, to be determined
Position method.Because this method in receiving terminal uses image capture device, it is main the drawbacks of include：（1）Cost is higher；（2）Image
Collection and image procossing are affected by environment big, in place of real-time Shortcomings；（3）Because receiving terminal uses image capture device,
Volume is larger, limitation in the extension of application scenarios be present, can not apply in the positioning of small-sized object.Application No.
201210290193.X Chinese patent proposes the WLAN indoor orientation methods based on matrix correlation, and limitation part is to gather room
Interior environment characteristic fingerprint needs substantial amounts of manpower and materials, and because indoor environment is complicated, multipath effect is obvious, wireless signal easily by
Influence, final positioning precision is not high.
The content of the invention
In order to solve the deficiencies in the prior art, the invention provides a kind of indoor optical alignment system based on visible ray
The application method of system and the system, the present invention is high using optical positioning system and its application method reliability, can both overcome and penetrate
Multipath effect caused by frequency localization method, the shortcomings that vision positioning scheme environmental suitability difference can also be alleviated, further, gently
The light sensitive device of quantization can conveniently complete the positioning of small article.
The technique effect of the invention to be reached is realized by following scheme：
A kind of indoor optical positioning system is provided in the present invention, including：
Light source, located at interior, light source control device is additionally provided with, quantity of light source is set according to the interior space；
Light polarization and modulating apparatus, using module built in LED, located at light source periphery, the light that light source is sent enters the device
Its backward outside projection of row modulation；
Sensor devices, located at light polarization and modulating apparatus periphery, the light intensity after modulation is perceived as signal output；
Digital demodulator, it is connected with sensor devices, receives the signal that sensor devices are sent, changes into positional information output.
Further, the light source is LED, and the sensor devices are light sensor.
Further, the light polarization and modulating apparatus by camera lens and convex lens group into.
A kind of application method of above-mentioned indoor optical positioning system is also provided in the present invention, comprised the following steps：
S01：Different locating periodically T is divided into time scale, the hair of light source is set according to locating periodically T different time
Light changes, and one locating periodically inner light source light intensity of setting is by dying down by force；
S02：The light that light polarization and modulating apparatus launch light source is modulated backward outside projection, that is, passes through pulse position
Put modulation criterion and describe pixel（X, y）Positional information, the positional information is then reached into sensor devices, the pulse position
Modulating criterion is, wherein t is the time, and T is locating periodically,To pass through liquid crystal
Angle between the polarization direction of the light of array and second polarizer, the angle can be by filling to light polarization and signal modulation
The voltage between two-stage is put to control；
S03：When sensor devices receive most strong high pulse signal, at the beginning of being a locating periodically, sensor devices are received in S02
Optical signal transmission after modulation is to digital demodulator；
S04：Digital demodulator carries out digital demodulation to the optical signal of reception and then carried out the positional information obtained after demodulation defeated
Go out；Its position solution formula is,, wherein, K is that modulation intelligence projects to located space
Scale factor（K ＞ 1）, x1 and x2 are any position by modulated pixels point 1 and 2, and d is the distance between x1 and x2, and P is space
A bit, its coordinate is labeled as Px, Py.
The present invention has advantages below：Alignment system and localization method in the present invention is based on visible ray, Neng Goushi
Existing interior is accurately positioned, and the present invention is high using optical positioning system and its application method reliability, can both overcome radio frequency to position
Multipath effect caused by method, it is the shortcomings that vision positioning scheme environmental suitability difference can also be alleviated, further, light-weighted
Light sensitive device can conveniently complete the positioning of small article.
Brief description of the drawings
Fig. 1 is the operating diagram of indoor optical positioning system in the present invention；
Fig. 2 is the light perspective view of indoor optical positioning system in the present invention；
Fig. 3 is the principle schematic of indoor optical positioning system in the present invention；
Fig. 4 is the practical application schematic diagram of indoor optical positioning system in the present invention.
Embodiment
The present invention will be described in detail with reference to the accompanying drawings and examples.
The present invention be the indoor optical positioning system provided in embodiment as shown in Figure 1, including light source 101, light polarization
And modulating apparatus, sensor devices 105 and digital demodulator（Do not indicated in figure）.Light source in the present embodiment is using in LED
Module is put, the light source is additionally provided with light source control device in the required interior space positioned, light source, can such as use LED luminance
Adjusting means is controlled, and quantity of light source carries out the setting of adaptability according to the size of the interior space, without being set to fixed number.
Light polarization and modulating apparatus use liquid crystal module, and module label 102 in light source periphery, accompanying drawing is
Lens in liquid crystal module, label 103 are the LCD in liquid crystal module, and the light that both jointly send light source is modulated to fixed
Projected, be projected on different anchor points on bit plane 104（Square indicates）.From simplify angle consider, light polarization and
Modulating apparatus also can be by camera lens and convex lens group into can reach the effect of similar projection shadow.Sensor devices 105 are light
Sensor, located at light polarization and modulating apparatus periphery, the light intensity after modulation is perceived as signal output.With sensor devices phase
Digital demodulator even considers in actual location system for structure optimization, preferably molded-in inside digital demodulator, receives
The signal that sensor devices are sent, change into positional information output.
The application method of alignment system is as follows in above-described embodiment：
S01：Different locating periodically T is divided into time scale, the hair of light source is set according to locating periodically T different time
Light changes, and one locating periodically inner light source light intensity of setting is by dying down by force；
S02：As shown in Figure 2, the light that light polarization and modulating apparatus launch light source is modulated backward outside projection,
Pixel is described by pulse position modulation criterion（X, y）Positional information, the positional information is then reached into sensor devices,
The pulse position modulation criterion is,
Wherein t is the time, and T is locating periodically,For by the polarization direction of the light of liquid crystal array and second polarizer it
Between angle, the angle can be by controlling the voltage between light polarization and modulating apparatus two-stage；
S03：When sensor devices receive most strong high pulse signal, at the beginning of being a locating periodically, sensor devices are received in S02
Optical signal transmission after modulation is to digital demodulator；
S04：As shown in Figure 3, digital demodulator carries out digital demodulation and then the position that will be obtained after demodulation to the optical signal of reception
Confidence breath is exported；Its position solution formula is,, wherein P be space a bit, its coordinate
It is labeled as（Px, Py）；K is the scale factor that modulation intelligence projects to located space（K ＞ 1）, x1 and x2 are any by modulation picture
The position of vegetarian refreshments 1 and 2, d are the distance between x1 and x2.
Fig. 4 is the practical application schematic diagram of indoor optical positioning system in the present invention, with the Interior Space of 50 square meters
Between complete depending on exemplified by on-the-spot test.In the located space, floor height is 3 meters, and space orientation Choice of Origin is on the left side in the space
Inferior horn, " cross hairs " respective coordinates value in Fig. 4 is P（3.00 2.00）Point, unit is rice.The coordinate of the point is as a comparison
The benchmark of test, it is the coordinate data obtained by indoor laser rangefinder.
First, light source is fixed on to 3 meters high of layer top, it is then that optical modulation device is preposition immediately below light source.In order to
Reach bigger covering space and more preferable locating effect, it is necessary to optical modulation device keep level.It is embedding in optics generating means
Enter a miniature level meter, the levelness of installation can be measured in real time.It is then electrified to, optical modulation device is started working, and to
Scattering modulation light in space.
Optical sensor is placed on position P, while USB line is turned by serial ports and is connected on computer.Actually using
Modulation period can be adjusted according to location requirement in journey, by adjusting LED luminance adjusting means, the tune in the present embodiment
Cycle processed is set to 100 milliseconds of digital demodulators and carries out digital demodulation according to position solution formula to the optical signal of reception and then will solve
The positional information obtained after tune is exported, and solution formula is：,, wherein P be space a bit,
Its coordinate is labeled as（Px, Py）；K is the scale factor that modulation intelligence projects to located space（K ＞ 1）, x1 and x2 are any quilt
The position of modulated pixels point 1 and 2, d are the distance between x1 and x2.Scale factor K has with covering space size and positioning precision
Relation, factor of influence is defined as, in the present embodiment to be set to 5.X1, x2 be when hardware circuit control LED flicker when,
Differ a cycle T two light emitting pixel points.Compared according to the method described in patent, and reference position measurement, the position of P points
Deviation is put at positive and negative 2 centimetres.With the expansion of spatial dimension, located space remotely located precision with the decay meeting of light intensity
Decline.Application No. 201210290193.X Chinese patent proposes the WLAN indoor orientation methods based on matrix correlation,
This method is slightly complicated in system hardware arrangement；Simultaneously in the lab space, due to corner be present, the measurement accuracy of P points is inclined
Difference is larger, has reached positive and negative 20 centimetres.
It is identical with above-mentioned localization method, carry out one group of assignment test again in above-mentioned located space, comparative example is to above-mentioned right
Method in ratio is identical, and test result is as follows：
Contrasted from above-mentioned experimental data, positioning precision is more defined in the located space of the localization method in the present invention indoors
Really.
Mobile robot application scenarios are, it is necessary to which two Dimensional XY positions indoors.In other application scene, for example, it is virtual existing
The Entertainment such as reality, human-computer interaction occasion is, it is necessary to which three-dimensional XYZ is positioned；At this moment in configuration, 2 sets of positioners are at least needed.
It is last it should be noted that above example is only illustrating the technical scheme of the embodiment of the present invention rather than it is entered
Row limitation, although the embodiment of the present invention is described in detail with reference to preferred embodiment, one of ordinary skill in the art
It should be understood that can still be modified to the technical scheme of the embodiment of the present invention or equivalent substitution, and these modifications or wait
The scope of amended technical scheme disengaging technical scheme of the embodiment of the present invention can not also be made with replacement.
Claims (4)
- A kind of 1. indoor optical positioning system, it is characterised in that including：Light source, located at interior, light source control device is additionally provided with, quantity of light source is set according to the interior space；Light polarization and modulating apparatus, using module built in LED, located at light source periphery, the light that light source is sent enters the device Its backward outside projection of row modulation；Sensor devices, located at light polarization and modulating apparatus periphery, the light intensity after modulation is perceived as signal output；Digital demodulator, it is connected with sensor devices, receives the signal that sensor devices are sent, changes into positional information output.
- 2. indoor optical positioning system as claimed in claim 1, it is characterised in that：The light source is LED, the sensor devices For light sensor.
- 3. indoor optical positioning system as claimed in claim 1, it is characterised in that：The light polarization and modulating apparatus are by mirror Head with convex lens group into.
- 4. the application method of indoor optical positioning system as described in claim 1-3 is any, it is characterised in that comprise the following steps：S01：Different locating periodically T is divided into time scale, the hair of light source is set according to locating periodically T different time Light changes, and one locating periodically inner light source light intensity of setting is by dying down by force；S02：The light that light polarization and modulating apparatus launch light source is modulated backward outside projection, that is, passes through pulse position Put modulation criterion and describe pixel（X, y）Positional information, the positional information is then reached into sensor devices, the pulse position Modulating criterion is,Wherein t is the time, and T is locating periodically,For by between the polarization direction of the light of liquid crystal array and second polarizer Angle, the angle can be by controlling the voltage between light polarization and modulating apparatus two-stage；S03：When sensor devices receive most strong high pulse signal, at the beginning of being a locating periodically, sensor devices are received in S02 Optical signal transmission after modulation is to digital demodulator；S04：Digital demodulator carries out digital demodulation to the optical signal of reception and then carried out the positional information obtained after demodulation defeated Go out；Its position solution formula is,, wherein, K be modulation intelligence project to the yardstick of located space because Son（K ＞ 1）, x1 and x2 are any position by modulated pixels point 1 and 2, and d is the distance between x1 and x2, P be space a bit, Its coordinate is labeled as Px, Py.
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| CN201710708953.7A CN107462248A (en) | 2017-08-17 | 2017-08-17 | A kind of indoor optical positioning system and its application method |
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Cited By (4)
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| CN108489494A (en) * | 2018-03-21 | 2018-09-04 | 西安科技大学高新学院 | A kind of indoor visible light positioning circuit and method |
| CN109859165A (en) * | 2018-12-24 | 2019-06-07 | 新绎健康科技有限公司 | A kind of localization method and device taking arteries and veins point |
| CN110865388A (en) * | 2019-11-28 | 2020-03-06 | 芜湖汽车前瞻技术研究院有限公司 | Combined calibration method and device for camera and laser radar and storage medium |
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