CN107465459A - A kind of indoor visible light localization method based on color space intensity distribution - Google Patents
A kind of indoor visible light localization method based on color space intensity distribution Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
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- G—PHYSICS
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- 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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- H—ELECTRICITY
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
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- H04B10/502—LED transmitters
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Abstract
The invention discloses a kind of indoor visible light localization method based on color space intensity distribution, belong to indoor visible light positioning field；Specially：The lamp group region of certain room is divided first, forms region layout viewing；Then, each regional characteristic value is defined, and carries out the ranks name in each region, the mapping table of structure realm code and characteristic value；The light intensity that master controller carries out redgreenblue to each region and each ranks changes control；Specific region of the user in position to be measured first according to belonging to determining blue light color road；Then, green glow light intensity measurement and feux rouges light intensity measurement are received respectively；According to the Strength Changes characteristic of color space, the lateral separation and fore-and-aft distance between position to be measured and each region the first row first row lamp group are calculated；The particular location of user is oriented according to mapping table contrast matching.By the way that the intensity signal of color space is contained into positional information, to realize, rapid and convenient positions the present invention under indoor visible light environment, has very strong operability.
Description
Technical field
It is specifically a kind of based on the indoor visible of color space intensity distribution the invention belongs to indoor visible light positioning field
Light-seeking method.
Background technology
With the development of wireless technology and mobile interchange, in order to meet the locating guide under indoor environment, public safety and
Many demands such as emergency response, social activity and marketing, the importance of indoor positioning increasingly highlight.Defended except application is wider
Outside star location technology and cellular localization technology, the location technology such as WIFI, bluetooth, infrared, the ultra wide band and RFID side of positioning indoors
Face has considerable application.
Indoor visible light location technology, as the application of visible light communication technology positioning field indoors, using existing
Expansion is carried out on the basis of interior illumination fixture and realizes positioning function, it is lighter to system and environmental pressure, possess very good
Development prospect.
In the prior art in terms of indoor positioning algorithms, it is roughly divided into based on unrelated two major class of ranging and ranging.Based on ranging
Basic skills have using trilateration, triangulation or maximum likelihood estimate, utilize arrival time (TOA), reach
The information realizations such as time difference (TDOA), angle of arrival (AOA) and received signal strength (RSSI) position.The unrelated algorithm root of ranging
Realized there is centroid algorithm and subtriangular interior method of testing etc. to information such as the general characters according to network.
What the indoor positioning algorithms based on ranging utilized is tested point and parameter meter of multiple observation stations under different distance
Distance is calculated, so as to draw the specific positioning result of tested point.Such as need to establish using the method for received signal strength huge
Database or the stable complicated decay drawn according to environment model formula to be positioned, and utilize arrival time or arrival time
The method of difference needs tested point accurately to receive the signal with temporal information that observation station known at least three sends to realize
Positioning, high transmitting Receiver Precision is then needed to be positioned to angular surveying so as to realize using the method for angle of arrival.These sides
The ranging characteristic of method causes requirement of the system to accuracy of observation higher, affected by environment larger, and on the positioning plane position with
The mapping relations of distance are more complicated.
It is by several such as centroid algorithm and subtriangular interior method of testing for the indoor positioning algorithms that ranging is unrelated
What theory depends on numerous theoretical foundations the method that positions, algorithm.If nodes number deficiency or node were both in love
Condition is bad, the problems such as Node distribution is irregular such as be present, then localization method can be made very big error in positioning precision to be present, fixed
Position precise decreasing, can not even complete to position, be unfavorable for promoting and use.
The content of the invention
The present invention is directed in measurement process set forth above between tested point and observation station to the accuracy requirement of measurement data
The problem of very high, and Algorithm mapping is carried out by measured value and calculates the process too complex of specific positioning result, it is proposed that it is a kind of
Indoor visible light localization method based on color space intensity distribution, simple easily deployment, locating speed is fast and precision is high；Pass through association
With the transmitting pattern of control multichannel visible light source, color space intensity distribution is constructed in whole area of space to realize interior
Rapid and convenient positions under visible light environment.
The described indoor visible light localization method based on color space intensity distribution, is comprised the following steps that：
Step 1: being directed to certain room, plane where LED is divided into by equal-sized squared region according to indoor environment and purposes
Domain, each region are uniformly arranged the lamp group of identical quantity；
First, the lamp in the quantity of the illumination brightness according to needed for user and LED specification zoning and region
Group quantity；
Each region includes M × N number of LED light group, and m rows the n-th row lamp group is expressed as Lm,n, each LED light group is comprising red
Turquoise three Ge Se roads；Connected on each color road the RGB-LED lamp beads that several shape rules are uniformly arranged；The M rows N in each region
Array structure is identical, compositing area lamp group pattern, and each color road is respectively seen as spot light, and ranks adjacent lamps group distance is D, array
The lamp group at edge is from being D/2 with a distance from this zone boundary；
Step 2: each region is numbered in order, and Binary Conversion is corresponding only into region code CI, each region
One region code, form region layout viewing；
Region code CI is changed using plain code, carries out Binary Conversion to zone number, while be subject to filler code to make each area
Domain pattern dutycycle reaches definite value.
Step 3: analyzed area layout viewing, a regional characteristic value SI is respectively defined to each region, and to the row in each region
Row are named；
Regional characteristic value SI scopes are 1,2,3 and 4；
Region on the basis of the region that characteristic value SI is 1, ranks are named as：It is the 1st row successively from top to bottom, the 2nd row ...,
M rows；It is the 1st row successively from left to right, the 2nd arranges ..., Nth column.
The region ranks nomenclature rule that characteristic value SI is 2 and the region that characteristic value SI is 1 are lateral symmetry, i.e., from top to bottom according to
Secondary is the 1st row, the 2nd row ..., M rows；It is Nth column successively from left to right, N-1 row ..., the 1st arranges.
The region ranks nomenclature rule that characteristic value SI is 3 and the region that characteristic value SI is 1 are longitudinally asymmetric, i.e., from top to bottom according to
Secondary is M rows, M-1 rows ..., the 1st row；It is the 1st row successively from left to right, the 2nd arranges ..., Nth column.
The region transverse and longitudinal both direction that region ranks nomenclature rule and the characteristic value SI that characteristic value SI is 4 are 1 is symmetrical, i.e.,
It is M rows successively from top to bottom, M-1 rows ..., the 1st row；It is Nth column successively from left to right, N-1 row ..., the 1st arranges.
SI=1 region and SI=2 region are laterally adjacent, and SI=3 region and SI=4 region are laterally adjacent, and
In adjacent side both sides, row name is all N or 1, and the change of lengthwise rows name is consistent.SI=1 region and SI=3 region are longitudinally adjacent, SI
=2 region and SI=4 region are longitudinally adjacent, and are all M or 1 in the skidding name of adjacent side two, and horizontal row name change is consistent.
The lamp group pattern ranks arrangement rule in same characteristic features value region is identical and non-conterminous.The lamp group in different characteristic value region
One of ranks arrangement is identical between array ranks arrangement rule difference but neighboring region, ensures its half monotonicity.
Step 4: the regional characteristic value SI, each region code CI of storage regional correspond to unique regional characteristic value, shape
Into mapping table CI → SI of region code and characteristic value；
Step 5: all lamp groups in each region are connected on respective zone controller, all areas controller connects
It is connected on master controller.
It is furnished with a region master controller C in each regionCOWith three regions color road controller：Region red light color road controls
Device CCR, the green controller C of region green light colorCGWith region blue light color road controller CCB；
Region red light color road controller CCRIt is connected with the red light color road of all lamp groups in region；Region green light color road controller
CCGIt is connected with the green light color road of all lamp groups in region；Region blue light color road controller CCBWith the blue light of all lamp groups in region
Color road is connected；
All areas controller is connected to space master controller C.
Step 6: General controller issues the characteristic value SI in control signal and each region respectively, control the color in each region empty
Between possess Strength Changes characteristic rule.
Specially：
I), General controller issues control signal, the blue light color road controller C in each regionCBControl all lamp groups in the region
Blue light color road, in the form of broadcast send one's respective area region code CI；
II), master controller issues respective regional characteristic value SI to each zone controller, and each zone controller is according to each
From ranks name, control in one's respective area green light color road to be expert on the direction of increase intensity along graded, red light color Lu Lie
Intensity is along graded on the direction of increase；
For certain region, control in the region green light color road intensity on augment direction of being expert at specific along the process of graded
For：
First, green light color road controller CCGThe 1st row in the region is set to be set to a as reference duty cycleG%, row gradient
Dutycycle is tG%；Then the green road signal dutyfactor of m portable lighters group is [aG+tG(m-1)] %；
Then, the underface of the 1st portable lighter group monochromatic light light intensity is set to row benchmark light intensity AG, adjacent portable lighter group underface should
Monochromatic light light intensity difference is that row gradient-intensity is TG, i.e. the underface of m portable lighters group monochromatic light light intensity is [AG+TG(m-1)]；
Finally, reach green light intensity character symbol in field color space and close monotonic functional relationship：Green light intensity magnitude with
The line number monotonic increase of region name.
Control in the region that intensity is specially along the process of graded on red light color Lu Lie augment directions：
First, red light color road controller CCRSet the 1st of the region to arrange and be used as reference duty cycle, be set to aR%, row gradient
Dutycycle is tR%, then the red light color road signal dutyfactor of the n-th row lamp group is [aR+tR(n-1)] %；
Then, the underface of the 1st row lamp group monochromatic light light intensity is set to row benchmark light intensity AR, adjacent column lamp group underface should
Monochromatic light light intensity difference is that row gradient-intensity is TR, i.e. the underface of the n-th row lamp group monochromatic light light intensity is [AR+TR(n-1)]。
Finally, reach red light intensity character symbol in field color space and close monotonic functional relationship：Red light intensity magnitude with
The columns monotonic increase of region name.
III), the color space in each region red light intensity periodicity monotone increasing or monotone decreasing in row change direction, row become
Change green intensity periodicity monotone increasing or monotone decreasing on direction, the cycle is two zone lengths.
IV), in the color space in certain region, the green light color road of colleague and the red light color road pattern dutycycle one of same column
Cause, and interregional arrangement rule is consistent, therefore the change of each field color spatial-intensity is consistent；
For the row lamp group L of the 1st row the 1st of region name1,1Under green glow light intensity value AG1With feux rouges light intensity value AR1, M
Row Nth column lamp group LM,NUnder green glow light intensity value AGMWith feux rouges light intensity value ARN；Green red road pattern accounts on ranks augment direction
Sky obtains A than increaseG1<AGM, AR1<ARN。
V the intensity maxima and minimum of respective color at measured zone boundary line respectively), be present.
Characteristic value is 1 and 2 region：Green glow light intensity changes identical, feux rouges light intensity cyclically-varying, the feux rouges at boundary line
Intensity maxima is ARmaxIt is A with minimumRmin, characteristic value is 1 and 3 region：The change of feux rouges light intensity is identical, green glow light intensity week
Phase property changes, and the green glow intensity maxima at boundary line is AGmaxIt is A with minimumGmin；
Magnitude relationship is A between light intensity valueGmax>AGM>AG1>AGmin, ARmax>ARN>AR1>ARmin。
Step 7: user receives the communications codes that blue light color road is sent in region in position to be measured, region code CI is extracted
Obtain affiliated specific region；
It is divided into three kinds of situations：
I) if, user receive single region code CI, illustrate that user is located at immediately below certain area lights group pattern, Yong Huzhi
Obtain and take specific region corresponding to CI；
II) if, user receive two region code CI；First determine whether, whether user position to be measured is on the side in two regions
Immediately below boundary line, if it is, it is specific region that the user, which selects any region,；Otherwise, user position to be measured is located at two regions
The inside of boundary line, the light intensity variation tendency in its a direction is obtained by the traverse measurement of tested point to determine place
Region；
Specially：Compared according in regional distribution chart and mapping table CI-SI, obtain the characteristic value SI in two regions, be divided into eight
Kind situation：(1,2), (2,1), (3,4), (4,3), (1,3), (3,1), (2,4) and (4,2)；Obtain simultaneously under each case
The extreme cases of boundary feux rouges or green glow light intensity；
If the position to be measured of user is located inside feux rouges or boundary line residing for green glow intensity maxima, two cross-connecting areas
It is region that feux rouges or green glow light intensity value, which have the direction of reduction trend signified, in domain；If the position to be measured of user is positioned at red
Inside boundary line residing for light or green glow light intensity minimum, then feux rouges or green glow light intensity value become with increase in two handover regions
The signified direction of gesture is region.
III) if, user receive four region code CI, illustrate that user is located at four region intersections；First determine whether, should
User position to be measured whether immediately below the boundary line in four regions, if it is, any region of selection boundary line both sides for
Specific region；Otherwise, user position to be measured obtains it positioned at the inside of four region boundary lines by the traverse measurement of tested point
Light intensity variation tendency in a direction determines region；
Specially：Compared according in regional distribution chart and mapping table CI-SI, four-range characteristic value SI is obtained, by up time
Pin four kinds of situations of order point：(1,2,4,3), (2,1,3,4), (3,4,2,1), (4,3,1,2)；
If user is located at (1,2,4,3), then the trend direction institute that feux rouges light intensity value reduces and green glow light intensity value reduces is selected
It is region to refer to；
If user is located in the case of (2,1,3,4), then the trend of the increase of feux rouges light intensity value and the reduction of green glow light intensity value is selected
Signified direction is region；
If user is located in the case of (3,4,2,1), then the trend that feux rouges light intensity value reduces and green glow light intensity value increases is selected
Signified direction is region；
If user is located in the case of (4,3,1,2), then the trend of the increase of feux rouges light intensity value and the increase of green glow light intensity value is selected
Signified direction is region.
Step 8: obtain the lamp group L of user's affiliated area1,1Underface coordinate (X0(CI), Y0(CI))；
Step 9: user receives green glow and feux rouges respectively in position to be measured by light intensity receiver, the survey of green glow light intensity is obtained
Value AGxWith feux rouges light intensity measurement ARx；
Step 10: according to the Strength Changes characteristic of color space, position to be measured and lamp group L are obtained1,1Between lateral separation
Δ x and fore-and-aft distance Δ y；
When the position to be measured of user is in the underface of lamp group, it is calculated as follows：
From the lamp group L of the zone location1,1Start, each row 0-1 pattern duties on the direction increased according to green light color curb row
Than increasing for gradient, each row 0-1 patterns dutycycle increases for gradient on the direction of red light color curb row increase, therefore in color space
Green glow light intensity linearly increase in the row direction, feux rouges light intensity linearly increases in a column direction, and transverse direction is calculated by linear relationship
Distance, delta x and fore-and-aft distance Δ y.
When the position to be measured of user is in the outer ledge region of lamp group pattern, divide situation discussion：
For green light color road, lamp group L1,1Lateral distance delta x be calculated as follows：
If AG1<AGx<AGM, then
If AGmin<AGx<AG1, then
If AGM<AGx<AGmax, then
For red light color road, lamp group L1,1Fore-and-aft distance Δ y be calculated as follows：
If AR1<ARx<ARN, then
If ARmin<ARx<AR1, then
If ARN<ARx<ARmax, then
Step 11: inquiry mapping table CI → SI draws the characteristic value SI in specific region belonging to user, according to treating location
Put and lamp group L1,1The distance between, the particular location (X, Y) of user is oriented in contrast matching；
If positioned at the region that characteristic value is 1, because of L1,1Positioned at the region upper left corner, then X=X0(CI)+Δ x, Y=Y0(CI)+Δ
y；
If positioned at the region that characteristic value is 2, because of L1,1Positioned at the region upper right corner, then X=X0(CI)-Δ x, Y=Y0(CI)+Δ
y；
If positioned at the region that characteristic value is 3, because of L1,1Positioned at the region lower left corner, then X=X0(CI)+Δ x, Y=Y0(CI)-Δ
y；
If positioned at the region that characteristic value is 4, because of L1,1Positioned at the region lower right corner, then X=X0(CI)-Δ x, Y=Y0(CI)-Δ
y。
The advantage of the invention is that：
1) a kind of, indoor visible light localization method based on color space intensity distribution, will be one-dimensional fixed on ordinary meaning
Position or two-dimensional localization spatialization are three-dimensional, and indoors in the illumination basis of visible ray, the face in space is realized by controlling light source
Intensity of colour changes, so that the intensity signal of color space contains positional information so as to realize positioning.
2), a kind of indoor visible light localization method based on color space intensity distribution, for different purposes and different essences
It the environment of degree demand, can flexibly select color intensity density and gradient to be arranged, there is very strong operability.
Brief description of the drawings
Fig. 1 is a kind of flow chart of the indoor visible light localization method based on color space intensity distribution of the present invention；
Fig. 2 is the Local Area Network ranks nomenclature rule figure after zoning of the present invention and defined feature value；
Fig. 3 is the connected mode and control structure of lamp group pattern in the single region of the present invention；
Fig. 4 is the region division and control framework of overall region lamp group pattern of the present invention.
Embodiment
Below in conjunction with the accompanying drawings, the specific implementation method of the present invention is described in detail.
It is empty to construct color by the transmitting pattern of Collaborative Control multichannel visible light source in whole area of space by the present invention
Between intensity distribution, to realize under indoor visible light environment that rapid and convenient positions.Assuming that all LED light groups have identical category
Property；Receiver can receive pattern and luminous intensity (illumination), as shown in figure 1, comprising the following steps that：
Step 1: being directed to certain room, plane where LED is divided into by equal-sized squared region according to indoor environment and purposes
Domain, each region are uniformly arranged the lamp group of identical quantity；
First, the lamp in the quantity of the illumination brightness according to needed for user and LED specification zoning and region
Group quantity；All lamp groups are located on same physical plane, to illuminate.
Each region arranges comprising structure identical M rows N, common M × N number of redgreenblue LED light group, with identical structure group
Into area lights group pattern；M rows the n-th row lamp group is expressed as Lm,n, each LED light group sends three kinds of colors of RGB, is divided into red
Turquoise three Ge Se roads；Connected on each color road the RGB-LED lamp beads that several shape rules are uniformly arranged, homochromy road series connection；Three
Ge Se roads are equivalent in position, are independent of each other independently of one another in logic, each lamp group specification is the same.Each color road is respectively seen as a little
Light source, colleague or same column lamp group spacing are D, and the lamp groups of array edges is from being D/2 with a distance from this zone boundary；
Step 2: each region is numbered in order, and Binary Conversion is corresponding only into region code CI, each region
One region code, region layout viewing is formed, obtains interregional arrangement and syntople.
Region code CI is changed using plain code, and to zone number 1,2 ..., S carries out Binary Conversion, while is subject to filler code
Each region pattern dutycycle is set to reach definite value, to meet LED driving illumination purposes.
Step 3: analyzed by region layout viewing, to all areas definition region characteristic value SI, to distinguish difference
The different control modes and ranks naming method in region；
Each regional characteristic value SI values are 1,2,3 or 4；The lamp group pattern ranks arrangement rule in same characteristic features value region is identical
It is and non-conterminous.One of ranks arrangement phase between the lamp group pattern ranks arrangement rule difference but neighboring region in different characteristic value region
Together, its half monotonicity is ensured.
As shown in Fig. 2 region on the basis of the region that characteristic value SI is 1, ranks are named as：From top to bottom (y-axis is reverse) according to
Secondary is the 1st row, the 2nd row ..., M rows；(x-axis is positive) is the 1st row successively from left to right, and the 2nd arranges ..., Nth column.
The region ranks nomenclature rule that characteristic value SI is 2 and the region that characteristic value SI is 1 are lateral symmetry, i.e., (y from top to bottom
Axle is reverse) it is the 1st row successively, the 2nd row ..., M rows；(x-axis is positive) is Nth column successively from left to right, and N-1 is arranged ..., the 1st
Row.
The region ranks nomenclature rule that characteristic value SI is 3 and the region that characteristic value SI is 1 are longitudinally asymmetric, i.e., (y from top to bottom
Axle is reverse) it is M rows successively, M-1 rows ..., the 1st row；(x-axis is positive) is the 1st row successively from left to right, and the 2nd arranges ..., N
Row.
The region transverse and longitudinal both direction that region ranks nomenclature rule and the characteristic value SI that characteristic value SI is 4 are 1 is symmetrical, i.e.,
(y-axis is reverse) is M rows successively from top to bottom, M-1 rows ..., the 1st row；(x-axis is positive) is Nth column successively from left to right, the
N-1 is arranged ..., the 1st row.
SI=1 region and SI=2 region are laterally adjacent, and SI=3 region and SI=4 region are laterally adjacent, and
In adjacent side both sides, row name is all N or 1, and the change of lengthwise rows name is consistent.SI=1 region and SI=3 region are longitudinally adjacent, SI
=2 region and SI=4 region are longitudinally adjacent, and are all M or 1 in the skidding name of adjacent side two, and horizontal row name change is consistent.
Step 4: the regional characteristic value SI, each region code CI of storage regional correspond to unique regional characteristic value, shape
Into mapping table CI → SI of region code and characteristic value；
Step 5: all lamp groups in each region are connected on respective zone controller, all areas controller connects
It is connected on master controller.
As shown in figure 3, it is furnished with a region master controller C in each regionCOWith three regions color road controller：Region is red
Photochromic road controller CCR, the green controller C of region green light colorCGWith region blue light color road controller CCB；
Region red light color road controller CCRIt is connected with the red light color road of all lamp groups in region；Region green light color road controller
CCGIt is connected with the green light color road of all lamp groups in region；Region blue light color road controller CCBWith the blue light of all lamp groups in region
Color road is connected；To control three Ge Se roads.
As shown in figure 4, all areas controller is connected to C on the master controller of space, reach the purpose of master control.
Step 6: General controller issues the characteristic value SI in control signal and each region respectively, control the color in each region empty
Between possess Strength Changes characteristic rule.
Specially：
I), General controller issues control signal, the blue light color road controller C in each regionCBControl all lamp groups in the region
Blue light color road, in the form of broadcast send one's respective area region code CI；
II), master controller issues respective regional characteristic value SI to each zone controller, and each zone controller is according to each
From ranks name, control in one's respective area green light color road to be expert on the direction of increase intensity along graded, red light color Lu Lie
Intensity is along graded on the direction of increase；
Zone controller is according to the pattern of lamp group pattern in the regional characteristic value SI control areas received, to reach region
Lower space is expert at green intensity graded on augment direction, red light intensity graded on row augment direction.
For certain region, control in the region green light color road intensity on augment direction of being expert at specific along the process of graded
For：
Green light color road controller CCGThe 1st row in the region is set to be set to a as reference duty cycleG%, row gradient dutycycle
For tG%；Then the green road signal dutyfactor of m portable lighters group is [aG+tG(m-1)] %；With the green light color road dutycycle of portable lighter group
Unanimously.In the regional color space of composition, the underface of the 1st portable lighter group monochromatic light light intensity is set to row benchmark light intensity AG, it is adjacent
The monochromatic light light intensity difference is that row gradient-intensity is T immediately below portable lighter groupG, i.e. the underface of m portable lighters group monochromatic light light intensity is
[AG+TG(m-1)]；Reach green light intensity character symbol in field color space and close monotonic functional relationship, i.e. region green light intensity magnitude
The line number monotonic increase named with the region.
Control in the region that intensity is specially along the process of graded on red light color Lu Lie augment directions：
Red light color road controller CCRSet the 1st of the region to arrange and be used as reference duty cycle, be set to aR%, row gradient dutycycle
For tR%, then the red light color road signal dutyfactor of the n-th row lamp group is [aR+tR(n-1)] %；With the green light color road duty of portable lighter group
Than consistent.In the regional color space of composition, the underface of the 1st row lamp group monochromatic light light intensity is set to row benchmark light intensity AR, phase
The monochromatic light light intensity difference is that row gradient-intensity is T immediately below adjacent column lamp groupR, i.e. the underface of the n-th row lamp group monochromatic light light intensity
For [AR+TR(n-1)].Reach red light intensity character symbol in field color space and close monotonic functional relationship：I.e. red light intensity magnitude with
The columns monotonic increase of region name.
III), each Region control, which is realized, is completed, and color space is formed in whole space, possesses Strength Changes spy in space
Property rule.
The color space in each region is in laterally red light intensity cyclically-varying on (row change) direction, longitudinal direction (row change) side
Upward green intensity cyclically-varying, the cycle is two zone lengths；Therefore the horizontal direction red light intensity in single region
Monotone increasing or monotone decreasing, longitudinal direction green intensity monotone increasing or monotone decreasing.
IV), in the color space in certain region, the green light color road of colleague and the red light color road pattern dutycycle one of same column
Cause, and interregional arrangement rule is consistent, therefore the change of each field color spatial-intensity is consistent；
Therefore correct measurement any region data；For the row lamp group L of the 1st row the 1st of region name1,1Under it is green
Light light intensity value AG1With feux rouges light intensity value AR1, M row Nth column lamp groups LM,NUnder green glow light intensity value AGMWith feux rouges light intensity value ARN；
Green red road pattern dutycycle increase, obtains A on ranks augment directionG1<AGM, AR1<ARN。
V the intensity maxima and minimum of respective color at measured zone boundary line respectively), be present.
Characteristic value is that 1 its row augment direction is consistent with 2 region, therefore green glow light intensity on its row augment direction (longitudinal direction in figure)
Gradient increases, also such on boundary line.And the row augment direction in two regions on the contrary, therefore on its row augment direction () in figure laterally
Feux rouges light intensity cyclically-varying；Therefore the feux rouges light intensity under regional edge boundary line is maximum ARmax(left region SI=1 is right i.e. in figure
Under region SI=2 boundary line) and minimum ARmin(i.e. in figure under the left right region SI=1 of region SI=2 boundary line).Similarly
Characteristic value is the green glow intensity maxima A under 1 and 3 regional edge boundary linesGmaxWith minimum AGmin。
Specially：Characteristic value is the feux rouges intensity maxima A under 1 and 2 regional edge boundary lineRmaxWith minimum ARmin；Feature
It is worth for the green glow intensity maxima A under 1 and 3 regional edge boundary linesGmaxWith minimum AGmin。
There is the intensity maxima and minimum of respective color in color space, size between light intensity value at regional edge boundary line
Relation is AGmax>AGM>AG1>AGmin, ARmax>ARN>AR1>ARmin。
Step 7: user receives the communications codes that blue light color road is sent in region in position to be measured, region code CI is extracted
Obtain affiliated specific region；
It is divided into three kinds of situations：
I) if, user receive single region code CI, illustrate that user is located at immediately below certain area lights group pattern, Yong Huzhi
Obtain and take specific region corresponding to CI；
II) if, user receive two region code CI；Then illustrate that user is located at two zone boundaries, first determine whether, the use
Whether family position to be measured is immediately below the boundary line in two regions, if it is, it is specific region that the user, which selects any region,；It is no
Then, user position to be measured is located at the inside in two regional edge boundary lines, is obtained by the traverse measurement of tested point in its a direction
Light intensity variation tendency determines region；
First, compared according in regional distribution chart and mapping table CI-SI, obtain the characteristic value SI in two regions, be divided into eight kinds
Situation：(1,2), (2,1), (3,4), (4,3), (1,3), (3,1), (2,4) and (4,2), the former side in its bracket
The regional characteristic value of on the left of boundary or upside, the latter represents the regional characteristic value of on the right side of the border or downside in bracket, can now obtain
Going out this boundary has the extreme cases of feux rouges (or green glow) light intensity；
If the position to be measured of user is located inside feux rouges or boundary line residing for green glow intensity maxima, two cross-connecting areas
It is region that feux rouges or green glow light intensity value, which have the direction of reduction trend signified, in domain；If the position to be measured of user is positioned at red
Inside boundary line residing for light or green glow light intensity minimum, then feux rouges or green glow light intensity value become with increase in two handover regions
The signified direction of gesture is region.
III) if, user receive four region code CI, illustrate that user is located at four region intersections, first determine whether, should
User position to be measured whether immediately below the boundary line in four regions, if it is, any region of selection boundary line both sides for
Specific region；Otherwise, user position to be measured obtains it positioned at the inside of four region boundary lines by the traverse measurement of tested point
Light intensity variation tendency in a direction determines region；
Compared by four region codes in regional distribution chart and CI-SI mapping graphs and obtain four-range characteristic value SI, shared
Four kinds of situations are (1,2,4,3), (2,1,3,4), (3,4,2,1), (4,3,1,2) respectively, its bracket four be respectively this four
Four regional characteristic values of region intersection clock-wise order.
Now localization method is similar with two regions, is summarized as the reduction of feux rouges light intensity value, green glow light in the case of (1,2,4,3)
The signified trend direction that intensity values reduce is region, the increase of feux rouges light intensity value, green glow light intensity value in the case of (2,1,3,4)
The signified trend direction of reduction is region, and feux rouges light intensity value reduces in the case of (3,4,2,1), green glow light intensity value increases
Trend direction it is signified be region, in the case of (4,3,1,2) feux rouges light intensity value increase, the increase of green glow light intensity value becomes
Signified gesture direction is region.
Step 8: obtain the lamp group L of user's affiliated area1,1Underface coordinate (X0(CI), Y0(CI))；
Because the L of different zones1,1Position of the lamp group in region is different, so its transverse and longitudinal coordinate and area identity are straight
Correlation is connect, abscissa is expressed as X0(CI), ordinate is expressed as Y0(CI)。
Step 9: user receives green glow and feux rouges respectively in position to be measured by light intensity receiver, the survey of green glow light intensity is obtained
Value AGxWith feux rouges light intensity measurement ARx；
The reception head of light intensity receiver loads green glow and feux rouges filter plate respectively, and the green glow light intensity that can obtain position to be measured is surveyed
Value AGxWith feux rouges light intensity measurement ARx。
Step 10: according to the Strength Changes characteristic of color space, position to be measured and lamp group L are obtained1,1Between lateral separation
Δ x and fore-and-aft distance Δ y；
When the position to be measured of user is in the underface of lamp group, it is calculated as follows：
From the lamp group L of the zone location1,1Start, each row 0-1 pattern duties on the direction increased according to green light color curb row
Than increasing for gradient, each row 0-1 patterns dutycycle increases for gradient on the direction of red light color curb row increase, therefore in color space
Green glow light intensity linearly increase in the row direction, feux rouges light intensity linearly increases in a column direction, and transverse direction is calculated by linear relationship
Distance, delta x and fore-and-aft distance Δ y.
When the position to be measured of user is weaker than in array in the outer ledge region of lamp group pattern, its linear characteristic, divide situation
Discuss：
For green light color road, lamp group L1,1Lateral distance delta x be calculated as follows：
If AG1<AGx<AGM, then
If AGmin<AGx<AG1, then
If AGM<AGx<AGmax, then
For red light color road, lamp group L1,1Fore-and-aft distance Δ y be calculated as follows：
If AR1<ARx<ARN, then
If ARmin<ARx<AR1, then
If ARN<ARx<ARmax, then
Step 11: inquiry mapping table CI → SI draws the characteristic value SI in specific region belonging to user, according to treating location
Put and lamp group L1,1The distance between, the particular location (X, Y) of user is oriented in contrast matching；
If positioned at the region that characteristic value is 1, because of L1,1Positioned at the region upper left corner, then X=X0(CI)+Δ x, Y=Y0(CI)+Δ
y；
If positioned at the region that characteristic value is 2, because of L1,1Positioned at the region upper right corner, then X=X0(CI)-Δ x, Y=Y0(CI)+Δ
y；
If positioned at the region that characteristic value is 3, because of L1,1Positioned at the region lower left corner, then X=X0(CI)+Δ x, Y=Y0(CI)-Δ
y；
If positioned at the region that characteristic value is 4, because of L1,1Positioned at the region lower right corner, then X=X0(CI)-Δ x, Y=Y0(CI)-Δ
y。
Claims (7)
1. a kind of indoor visible light localization method based on color space intensity distribution, it is characterised in that comprise the following steps that：
Step 1: being directed to certain room, plane where LED is divided into by equal-sized square region according to indoor environment and purposes, often
Individual region is uniformly arranged the lamp group of identical quantity；
Step 2: each region is numbered in order, and Binary Conversion corresponds to unique into region code CI, each region
Region code, form region layout viewing；
Region code CI is changed using plain code, carries out Binary Conversion to zone number, while be subject to filler code；
Step 3: analyzed area layout viewing, respectively defines a regional characteristic value SI, and the ranks in each region are entered to each region
Row name；
Regional characteristic value SI scopes are 1,2,3 and 4；
Region on the basis of the region that regional characteristic value SI is 1, ranks are named as：It is the 1st row successively from top to bottom, the 2nd row ...,
M rows；It is the 1st row successively from left to right, the 2nd arranges ..., Nth column；
The region ranks nomenclature rule that regional characteristic value SI is 2 and the region that characteristic value SI is 1 are lateral symmetry, i.e., from top to bottom according to
Secondary is the 1st row, the 2nd row ..., M rows；It is Nth column successively from left to right, N-1 row ..., the 1st arranges；
The region ranks nomenclature rule that regional characteristic value SI is 3 and the region that characteristic value SI is 1 are longitudinally asymmetric, i.e., from top to bottom according to
Secondary is M rows, M-1 rows ..., the 1st row；It is the 1st row successively from left to right, the 2nd arranges ..., Nth column；
The region transverse and longitudinal both direction that region ranks nomenclature rule and the characteristic value SI that regional characteristic value SI is 4 are 1 is symmetrical, i.e.,
It is M rows successively from top to bottom, M-1 rows ..., the 1st row；It is Nth column successively from left to right, N-1 row ..., the 1st arranges；
SI=1 region and SI=2 region are laterally adjacent, and SI=3 region and SI=4 region are laterally adjacent, and in neighbour
Edge fit both sides row name is all N or 1, and the change of lengthwise rows name is consistent；SI=1 region and SI=3 region are longitudinally adjacent, SI=2
Region and SI=4 region it is longitudinally adjacent, and be all M or 1 in the skidding name of adjacent side two, horizontal row name change is consistent；
Step 4: the regional characteristic value SI, each region code CI of storage regional correspond to unique regional characteristic value, area is formed
Mapping table CI → SI of domain code and characteristic value；
Step 5: all lamp groups in each region are connected on respective zone controller, all areas controller is connected to
On master controller；
Step 6: General controller issues the characteristic value SI in control signal and each region respectively, the color space in each region is controlled to have
Standby Strength Changes characteristic rule；
Specially：
I), General controller issues control signal, the blue light color road controller C in each regionCBControl the indigo plant of all lamp groups in the region
Photochromic road, the region code CI of one's respective area is sent in the form of broadcast；
II), master controller issues respective regional characteristic value SI to each zone controller, and each zone controller is according to respective
Ranks are named, and control in one's respective area green light color road to be expert on the direction of increase intensity along graded, red light color Lu Lie increases
Direction on intensity along graded；
III), the color space in each region red light intensity periodicity monotone increasing or monotone decreasing in row change direction, row change side
Upward green intensity periodicity monotone increasing or monotone decreasing, cycle are two zone lengths；
IV), in the color space in certain region, the green light color road of colleague is consistent with the red light color road pattern dutycycle of same column,
And interregional arrangement rule is consistent, therefore the change of each field color spatial-intensity is consistent；
For the row lamp group L of the 1st row the 1st of region name1,1Under green glow light intensity value AG1With feux rouges light intensity value AR1, M rows N
Row lamp group LM,NUnder green glow light intensity value AGMWith feux rouges light intensity value ARN；Green red road pattern dutycycle increases on ranks augment direction
Greatly, A is obtainedG1<AGM, AR1<ARN；
V the intensity maxima and minimum of respective color at measured zone boundary line respectively), be present；
Step 7: user receives the communications codes that blue light color road is sent in region in position to be measured, extract region code CI and obtain
Affiliated specific region；
Step 8: obtain the lamp group L of user's affiliated area1,1Underface coordinate (X0(CI), Y0(CI))；
Step 9: user receives green glow and feux rouges respectively in position to be measured by light intensity receiver, green glow light intensity measurement is obtained
AGxWith feux rouges light intensity measurement ARx；
Step 10: according to the Strength Changes characteristic of color space, position to be measured and lamp group L are obtained1,1Between lateral distance delta x
And fore-and-aft distance Δ y；
When the position to be measured of user is in the underface of lamp group, it is calculated as follows：
From the lamp group L of the zone location1,1Start, each row 0-1 pattern dutycycles are on the direction increased according to green light color curb row
Gradient increases, and each row 0-1 patterns dutycycle increases for gradient on the direction of red light color curb row increase, therefore green in color space
Light light intensity linearly increases in the row direction, and feux rouges light intensity linearly increases in a column direction, and lateral separation is calculated by linear relationship
Δ x and fore-and-aft distance Δ y；
When the position to be measured of user is in the outer ledge region of lamp group pattern, divide situation discussion：
For green light color road, lamp group L1,1Lateral distance delta x be calculated as follows：
If AG1<AGx<AGM, then
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If AR1<ARx<ARN, then
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Step 11: inquiry mapping table CI → SI draws the characteristic value SI in specific region belonging to user, according to position to be measured and
Lamp group L1,1The distance between, the particular location (X, Y) of user is oriented in contrast matching.
2. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step one is specially：
Lamp group quantity in the quantity of the specification zoning of illumination brightness and LED according to needed for user and region；
Each region includes M × N number of LED light group, and m rows the n-th row lamp group is expressed as Lm,n, each LED light group includes RGB
Three Ge Se roads；Connected on each color road the RGB-LED lamp beads that several shape rules are uniformly arranged；The M rows N row knots in each region
Structure is identical, compositing area lamp group pattern, and each color road is respectively seen as spot light, and ranks adjacent lamps group distance is D, array edges
Lamp group from being D/2 with a distance from this zone boundary.
3. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step five is specially：
It is furnished with a region master controller C in each regionCOWith three regions color road controller：Region red light color road controller
CCR, the green controller C of region green light colorCGWith region blue light color road controller CCB；
Region red light color road controller CCRIt is connected with the red light color road of all lamp groups in region；Region green light color road controller CCGWith
The green light color road of all lamp groups is connected in region；Region blue light color road controller CCBWith the blue light color road phase of all lamp groups in region
Even；
All areas controller is connected to space master controller C.
4. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step six II) in, for certain region, control in the region green light color road to be expert on augment direction intensity along gradient
The process of change is specially：
First, green light color road controller CCGThe 1st row in the region is set to be set to a as reference duty cycleG%, row gradient duty
Than for tG%；Then the green road signal dutyfactor of m portable lighters group is [aG+tG(m-1)] %；
Then, the underface of the 1st portable lighter group monochromatic light light intensity is set to row benchmark light intensity AG, the adjacent portable lighter group underface monochrome
Light light intensity difference is that row gradient-intensity is TG, i.e. the underface of m portable lighters group monochromatic light light intensity is [AG+TG(m-1)]；
Finally, reach green light intensity character symbol in field color space and close monotonic functional relationship：Green light intensity magnitude is with the area
The line number monotonic increase of domain name；
Control in the region that intensity is specially along the process of graded on red light color Lu Lie augment directions：
First, red light color road controller CCRSet the 1st of the region to arrange and be used as reference duty cycle, be set to aR%, row gradient duty
Than for tR%, then the red light color road signal dutyfactor of the n-th row lamp group is [aR+tR(n-1)] %；
Then, the underface of the 1st row lamp group monochromatic light light intensity is set to row benchmark light intensity AR, the adjacent column lamp group underface monochrome
Light light intensity difference is that row gradient-intensity is TR, i.e. the underface of the n-th row lamp group monochromatic light light intensity is [AR+TR(n-1)]；
Finally, reach red light intensity character symbol in field color space and close monotonic functional relationship：Red light intensity magnitude is with the area
The columns monotonic increase of domain name.
5. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step six V) in, regional characteristic value is 1 and 2 region：The change of green glow light intensity is identical, and feux rouges light intensity periodically becomes
Change, the feux rouges intensity maxima at boundary line is ARmaxIt is A with minimumRmin；
Regional characteristic value is 1 and 3 region：Feux rouges light intensity changes identical, green glow light intensity cyclically-varying, the green glow at boundary line
Intensity maxima is AGmaxIt is A with minimumGmin；
Magnitude relationship is A between light intensity valueGmax>AGM>AG1>AGmin, ARmax>ARN>AR1>ARmin。
6. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step seven is divided for three kinds of situations：
I) if, user receive single region code CI, illustrate that user is located at immediately below certain area lights group pattern, user directly obtains
Take specific region corresponding to CI；
II) if, user receive two region code CI；First determine whether, whether user position to be measured is in the boundary line in two regions
Underface, if it is, it is specific region that the user, which selects any region,；Otherwise, user position to be measured is located at two zone boundaries
The inside of line, the light intensity variation tendency in its a direction is obtained by the traverse measurement of tested point to determine location
Domain；
Specially：Compared according in regional distribution chart and mapping table CI-SI, obtain the characteristic value SI in two regions, be divided into eight kinds of feelings
Condition：(1,2), (2,1), (3,4), (4,3), (1,3), (3,1), (2,4) and (4,2)；The border under each case is obtained simultaneously
Locate the extreme cases of feux rouges or green glow light intensity；
If the position to be measured of user is located inside feux rouges or boundary line residing for green glow intensity maxima, in two handover regions
It is region that feux rouges or green glow light intensity value, which have the direction of reduction trend signified,；If the position to be measured of user be located at feux rouges or
Inside boundary line residing for green glow light intensity minimum, then feux rouges or green glow light intensity value have increase tendency in two handover regions
Signified direction is region；
III) if, user receive four region code CI, illustrate that user is located at four region intersections；First determine whether, the user
Whether position to be measured is immediately below the boundary line in four regions, if it is, any region of selection boundary line both sides is specific
Region；Otherwise, it is a certain to obtain its positioned at the inside of four region boundary lines by the traverse measurement of tested point for user position to be measured
Light intensity variation tendency on direction determines region；
Specially：Compared according in regional distribution chart and mapping table CI-SI, obtain four-range characteristic value SI, by suitable clockwise
Four kinds of situations of sequence point：(1,2,4,3), (2,1,3,4), (3,4,2,1), (4,3,1,2)；
If user is located at (1,2,4,3), then the trend direction meaning that selection feux rouges light intensity value reduces and green glow light intensity value reduces is
For region；
If user is located in the case of (2,1,3,4), then the trend direction of the increase of feux rouges light intensity value and the reduction of green glow light intensity value is selected
Meaning is region；
If user is located in the case of (3,4,2,1), then the trend direction that feux rouges light intensity value reduces and green glow light intensity value increases is selected
Meaning is region；
If user is located in the case of (4,3,1,2), then the trend direction of the increase of feux rouges light intensity value and the increase of green glow light intensity value is selected
Meaning is region.
7. a kind of indoor visible light localization method based on color space intensity distribution as claimed in claim 1, its feature exist
In described step ten one is specially：
If positioned at the region that characteristic value is 1, because of L1,1Positioned at the region upper left corner, then X=X0(CI)+Δ x, Y=Y0(CI)+Δy；
If positioned at the region that characteristic value is 2, because of L1,1Positioned at the region upper right corner, then X=X0(CI)-Δ x, Y=Y0(CI)+Δy；
If positioned at the region that characteristic value is 3, because of L1,1Positioned at the region lower left corner, then X=X0(CI)+Δ x, Y=Y0(CI)-Δy；
If positioned at the region that characteristic value is 4, because of L1,1Positioned at the region lower right corner, then X=X0(CI)-Δ x, Y=Y0(CI)-Δy。
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