CN107796400A - Indoor 3-D positioning method based on visible light communication - Google Patents
Indoor 3-D positioning method based on visible light communication Download PDFInfo
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- CN107796400A CN107796400A CN201710914940.5A CN201710914940A CN107796400A CN 107796400 A CN107796400 A CN 107796400A CN 201710914940 A CN201710914940 A CN 201710914940A CN 107796400 A CN107796400 A CN 107796400A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The present invention provides a kind of indoor 3-D positioning method based on visible light communication, comprises the following steps：Step 1, N number of LED is equidistantly spaced from ceiling indoors, M LED is equidistantly spaced from side wall indoors, photoelectricity testing part is respectively configured to receive optical signal in the bottom of target terminal and top, wherein, the three-dimensional coordinate of top photodetector part is (x, y, z), the three-dimensional coordinate of bottom photoelectricity testing part is (x, y, 0)；Step 2, the three-dimensional coordinate (x, y, 0) of bottom photoelectricity testing part is calculated using the non-linear TDOA optimized algorithms based on object function；Step 3, it is (x, y, z) to calculate the three-dimensional coordinate of top photodetector part based on RSSI technologies.
Description
Technical field
The present invention relates to visible light communication location technology, specifically, relate to a kind of interior based on visible light communication
3-D positioning method.
Background technology
In recent years, location technology aspect has carried out substantial amounts of research to people indoors, has emerged in large numbers many new technologies, wherein,
Visible ray indoor positioning technologies are the indoor positioning technologies based on visible light communication, by being controlled with eye recognition high frequency not
LED processed luminous intensity, and then propagate the id information of positioning, have positioning precision high, good confidentiality and without electromagnetic radiation, not by
The advantages that electromagnetic interference.
Visible ray indoor positioning technologies are mainly three side positioning modes, are determined by calculating the distance of multiple receiving terminals and target
Position, this method need the absolute location coordinates information of multiple receiving terminals, it is assumed that the height of target terminal is, it is known that only for it
Remaining two-dimensional coordinate is positioned, and is needed using exhaustive or iterative algorithm, and system-computed amount is larger, and in target terminal
Highly unknown situation can not carry out the positioning of target terminal.
In order to solve the problem present on, people are seeking a kind of preferable technical solution always.
The content of the invention
The purpose of the present invention is in view of the shortcomings of the prior art, so as to provide a kind of interior three based on visible light communication
Tie up localization method.
To achieve these goals, the technical solution adopted in the present invention is：A kind of interior three based on visible light communication
Localization method is tieed up, is comprised the following steps：
Step 1, N number of LED is equidistantly spaced from ceiling indoors, is equidistantly spaced from M LED in side wall indoors,
Photoelectricity testing part is respectively configured to receive optical signal in the bottom and top of target terminal, wherein, top photodetector part
Three-dimensional coordinate is (x, y, z), and the three-dimensional coordinate of bottom photoelectricity testing part is (x, y, 0)；
Step 2, the three-dimensional of bottom photoelectricity testing part is obtained using the non-linear TDOA optimized algorithms based on object function
Coordinate (x, y, 0)；
Step 3, it is (x, y, z) to calculate the three-dimensional coordinate of top photodetector part based on RSSI technologies.
Based on above-mentioned, the step 2 concretely comprises the following steps：
Step 2.1, the coordinate for making i-th of LED in indoor ceiling is (xi,yi, H), wherein H is heights of ceilings, then bottom
Distance d of portion's photoelectricity testing part to i-th of LED in indoor ceilingiFor:
Step 2.2,4 LED that rectangular or square is formed in indoor ceiling are chosen, calculate this 4 LED respectively on earth
The distance d of portion's photoelectricity testing parti(i=1,2,3,4)；
Step 2.3, this 4 LED are calculated respectively to the difference of the distance of bottom photoelectricity testing part：
d21=d2-d1,d31=d3-d1,d41=d4-d1；
Step 2.4, object function J (x, y) is constructed
MinJ (x, y)=(d21-R21)2+(d31-R31)2+(d41-R41)2,s.t{0≤x≤dL,0≤y≤dw；
Wherein, dL、dwThe respectively length and width of localization region, R21、R31、R41Respectively second LED, the 3rd
LED, the 4th LED to first LED distance；
Coordinate (x is calculated according to constructed fuctionkk,ykk), (k=1,2,3,4)；
Step 2.5, make
Weighted factor is
The accurate coordinates that the three-dimensional coordinate F (x, y, 0) of bottom photoelectricity testing part is obtained using barycenter weighting algorithm are
Based on above-mentioned, the step 3 concretely comprises the following steps：
Step 3.1, the LED in 3 stronger indoor side walls of the RSSI signals that receive of selection top photodetector part,
Three LED are respectively A (0, yA,zA), B (0, yB,zB), C (0, yC,zC), the RSSI value according to corresponding to these three LED obtains this
Euclidean distance Rs of three LED to top photodetector partj, j=A, B, C；
Step 3.2, the height of top photodetector part is calculated according to equation below and j-th of LED three-dimensional coordinate, is obtained
Obtain ZjE(j=A, B, C)：
x2+(yj-y)2+(zj-zjE)2=Rj 2,
Wherein, x, y are the coordinate value obtained in step 2, ZjE(j=A, B, C) is the three-dimensional coordinate according to j-th of LED
The height of the top photodetector part of acquisition；
Step 3.3, makeThe z values of top photodetector part E three-dimensional coordinate (x, y, z) can be obtained.
Based on above-mentioned, N number of LED in indoor ceiling is different from the color of M LED in indoor side wall.
The present invention is compared with the prior art with prominent substantive distinguishing features and significantly progressive, specifically, of the invention to exist
Indoor ceiling and the first-class interval setting LED of indoor side wall, the x, y of photelectric receiver are determined using the LED in indoor ceiling
Coordinate, the z coordinate of photelectric receiver is determined with space side LED, both are merged to the three-dimensional seat that can obtain photelectric receiver
Mark, solve the problems, such as that three-dimensional localization can not be carried out to target terminal in the case where target terminal is highly unknown, there is design
The advantages of science, accurate positioning.
Brief description of the drawings
Fig. 1 is the schematic layout pattern of the present invention.
Fig. 2 is the schematic diagram of step 2 of the present invention.
Fig. 3 is the schematic diagram of step 3 of the present invention.
Embodiment
Below by embodiment, technical scheme is described in further detail.
As shown in figure 1, a kind of indoor 3-D positioning method based on visible light communication, comprises the following steps：
Step 1, N number of LED is equidistantly spaced from ceiling indoors, is equidistantly spaced from M LED in side wall indoors,
Photoelectricity testing part is respectively configured to receive optical signal in the bottom and top of target terminal, wherein, top photodetector part E's
Three-dimensional coordinate is (x, y, z), bottom photoelectricity testing part F three-dimensional coordinate (x, y, 0)；LED in side wall can be according to reality
Environment is arranged, if spatial altitude is relatively low, three layers of LED can be arranged in side wall；, can be with side if spatial altitude is higher
Four layers of LED are arranged in face；
Preferably, N number of LED in indoor ceiling is different from the color of M LED in indoor side wall；Such as indoor ceiling
For LED on plate to be blue, M LED in indoor side wall is red；
Step 2, bottom photoelectricity testing part F three-dimensional is obtained using the non-linear TDOA optimized algorithms based on object function
Coordinate (x, y, 0)；
Step 3, it is (x, y, z) to calculate top photodetector part E three-dimensional coordinate based on RSSI technologies.
Specifically, as shown in Fig. 2 the step 2 concretely comprises the following steps：
Step 2.1, the coordinate for making i-th of LED in indoor ceiling is (xi, yi, H), 1≤i≤N, wherein H are ceiling
Highly, then distance d of the bottom photoelectricity testing part to i-th of LED in indoor ceilingiFor:
Step 2.2,4 LED that rectangular or square is formed in indoor ceiling are chosen, calculate this 4 LED respectively on earth
The distance d of portion's photoelectricity testing parti(i=1,2,3,4)；
Step 2.3, this 4 LED are calculated respectively to the difference of the distance of bottom photoelectricity testing part：
d21=d2-d1,d31=d3-d1,d41=d4-d1；
Step 2.4, object function J (x, y) is constructed
MinJ (x, y)=(d21-R21)2+(d31-R31)2+(d41-R41)2,s.t{0≤x≤dL,0≤y≤dw；
Wherein, dL、dwThe respectively length and width of localization region, R21、R31、R41Respectively second LED, the 3rd
LED, the 4th LED to first LED distance；
Coordinate (x is calculated according to constructed fuctionkk,ykk), (k=1,2,3,4)；
Step 2.5, make
Weighted factor is
The accurate coordinates that the three-dimensional coordinate F (x, y, 0) of bottom photoelectricity testing part is obtained using barycenter weighting algorithm are
The present invention utilizes the bottom photoelectricity testing part measured to the side of the difference sets target function of each LED distance
Method, location estimation coordinate is drawn using the problem of nonlinear restriction, substantially reduces position error；It is and mixed using barycenter weighting
Close location algorithm and optimize positioning result, further reduce position error.
Specifically, as shown in figure 3, the step 3 concretely comprises the following steps：
Step 3.1, the LED in 3 stronger indoor side walls of the RSSI signals that receive of selection top photodetector part,
Three LED are respectively A (0, yA, zA), B (0, yB,zB), C (0, yC, zC), the RSSI value according to corresponding to these three LED obtains this
Euclidean distance Rs of three LED to top photodetector partj, j=A, B, C；
Step 3.2, the height of top photodetector part is calculated according to equation below and j-th of LED three-dimensional coordinate, is obtained
Obtain ZjE(j=A, B, C)：
x2+(yj-y)2+(zj-zjE)2=Rj 2,
Wherein, x, y are the coordinate value obtained in step 2, ZjE(j=A, B, C) is the three-dimensional coordinate according to j-th of LED
The height of the top photodetector part of acquisition；
Step 3.3, makeThe z values of top photodetector part E three-dimensional coordinate (x, y, z) can be obtained.
Finally it should be noted that:The above embodiments are merely illustrative of the technical scheme of the present invention and are not intended to be limiting thereof；To the greatest extent
The present invention is described in detail with reference to preferred embodiments for pipe, those of ordinary skills in the art should understand that：Still
The embodiment of the present invention can be modified or equivalent substitution is carried out to some technical characteristics；Without departing from this hair
The spirit of bright technical scheme, it all should cover among the claimed technical scheme scope of the present invention.
Claims (4)
1. a kind of indoor 3-D positioning method based on visible light communication, it is characterised in that comprise the following steps：
Step 1, N number of LED is equidistantly spaced from ceiling indoors, M LED is equidistantly spaced from side wall indoors, in target
Photoelectricity testing part is respectively configured to receive optical signal in the bottom and top of terminal, wherein, the three-dimensional of top photodetector part
Coordinate is (x, y, z), and the three-dimensional coordinate of bottom photoelectricity testing part is (x, y, 0)；
Step 2, the three-dimensional coordinate of bottom photoelectricity testing part is obtained using the non-linear TDOA optimized algorithms based on object function
(x, y, 0)；
Step 3, it is (x, y, z) to calculate the three-dimensional coordinate of top photodetector part based on RSSI technologies.
2. the indoor 3-D positioning method according to claim 2 based on visible light communication, it is characterised in that the step
2 concretely comprise the following steps：
Step 2.1, the coordinate for making i-th of LED in indoor ceiling is (xi, yi, H), 1≤i≤N, wherein H are heights of ceilings,
Then distance d of the bottom photoelectricity testing part to i-th of LED in indoor ceilingiFor:
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Step 2.2,4 LED that rectangular or square is formed in indoor ceiling are chosen, calculate this 4 LED respectively to bottom light
The distance d of electric detectori(i=1,2,3,4)；
Step 2.3, this 4 LED are calculated respectively to the difference of the distance of bottom photoelectricity testing part：
d21=d2-d1,d31=d3-d1,d41=d4-d1；
Step 2.4, object function J (x, y) is constructed
MinJ (x, y)=(d21-R21)2+(d31-R31)2+(d41-R41)2,s.t{0≤x≤dL,0≤y≤dw；
Wherein, dL、dwThe respectively length and width of localization region, R21、R31、R41Respectively second LED, the 3rd LED,
Four LED to first LED distance；
Coordinate (x is calculated according to constructed fuctionkk,ykk), (k=1,2,3,4)；
Step 2.5, make
Weighted factor is
The accurate coordinates that the three-dimensional coordinate F (x, y, 0) of bottom photoelectricity testing part is obtained using barycenter weighting algorithm are
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3. the indoor 3-D positioning method according to claim 2 based on visible light communication, it is characterised in that the step
3 concretely comprise the following steps：
Step 3.1, the LED in 3 stronger indoor side walls of the RSSI signals that receive of selection top photodetector part, three
LED is respectively A (0, yA, zA), B (0, yB,zB), C (0, yC, zC), the RSSI value according to corresponding to these three LED obtains these three
Euclidean distance Rs of the LED to top photodetector partj, j=A, B, C；
Step 3.2, the height of top photodetector part is calculated according to equation below and j-th of LED three-dimensional coordinate, obtains ZjE
(j=A, B, C)：
x2+(yj-y)2+(zj-zjE)2=Rj 2,
Wherein, x, y are the coordinate value obtained in step 2, ZjE(j=A, B, C) is to be obtained according to j-th of LED three-dimensional coordinate
Top photodetector part height；
Step 3.3, makeThe z values of top photodetector part E three-dimensional coordinate (x, y, z) can be obtained.
4. the indoor 3-D positioning method based on visible light communication according to claim any one of 1-3, it is characterised in that
N number of LED in indoor ceiling is different from the color of M LED in indoor side wall.
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| CN110493868A (en) * | 2019-07-16 | 2019-11-22 | 中山大学 | Visible light localization method based on Aperture receiving machine and weighted mass center positioning mode |
| CN111220950A (en) * | 2020-03-13 | 2020-06-02 | 江苏师范大学 | Indoor positioning method based on LED visible light |
| CN111796238A (en) * | 2020-07-15 | 2020-10-20 | 长春奥普光电技术股份有限公司 | Positioning method and positioning system for indoor environment navigation |
| CN112698339A (en) * | 2020-12-31 | 2021-04-23 | 中国人民解放军战略支援部队信息工程大学 | Target detection method, device and system |
| CN112834985A (en) * | 2020-12-30 | 2021-05-25 | 吉林化工学院 | Visible light positioning method and system based on reverse learning self-adaptive flower pollination |
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| CN113405551A (en) * | 2021-06-09 | 2021-09-17 | 北京科技大学 | Adaptive visible light indoor positioning method based on region division |
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