CN107817473A - A kind of method for improving visible ray positioning precision - Google Patents

A kind of method for improving visible ray positioning precision Download PDF

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Publication number
CN107817473A
CN107817473A CN201711009323.7A CN201711009323A CN107817473A CN 107817473 A CN107817473 A CN 107817473A CN 201711009323 A CN201711009323 A CN 201711009323A CN 107817473 A CN107817473 A CN 107817473A
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transmitting terminal
mrow
transmitting
receiving terminal
terminal
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CN107817473B (en
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王子雄
徐义桐
刘沛熹
陈健
韩士莹
余长源
于晋龙
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Tianjin University
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Tianjin University
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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
    • 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

Abstract

The invention discloses a kind of method for improving visible ray positioning precision, including N number of transmitting terminal and a receiving terminal for being used to receive optical signal, N >=4, N number of optical signal of the transmitting terminal transmission with equal-wattage；The receiving terminal includes photodetector, the transmitting terminal is based on OFDMA technology and carries out transmission of visible light, the receiving terminal receives the optical signal of N number of transmitting terminal simultaneously, and operation extraction signal is timed respectively, estimate N number of transmitting terminal to the transmission range of receiving terminal by the mean power of the mean power and receiving terminal carrier block of analyzing transmitting terminal block of sub-carriers, pass through the transmission range estimated, give up N number of transmitting terminal to wherein larger 3 transmission ranges of N of the transmission range of receiving terminal, only retain 3 less distance parameters affected by noise on the basis of multiple transmitting terminal positioning or consider further that the power distribution of transmitting terminal corresponding with the distance parameter, to improve positioning precision.

Description

A kind of method for improving visible ray positioning precision
Technical field
The present invention relates to a kind of visible ray localization method, more particularly to a kind of method for improving visible ray positioning precision.
Background technology
LED has the characteristics that long lifespan, low in energy consumption, is widely recognized as.LED-based visible light communication passes through change LED drive current, modulation of the signal for LED output lights is completed, be the broadcast communication mode of function admirable, be to existing communication The useful supplement of mode.
Based on received signal strength (RSS) positioning method, two dimension location estimation to be measured is completed using least square method.By It is order dependent with selected equation in the number of the number redundant unknown of equation, positioning precision.
The transmission range of estimation is determined by received signal strength and transmission signal strength, and received signal strength is by noise Influence.Transmission range to be estimated is more remote, and the evaluated error of its distance is bigger.
The content of the invention
For prior art, a kind of method for improving visible ray positioning precision proposed by the present invention.
In order to solve the above-mentioned technical problem, a kind of method for improving visible ray positioning precision proposed by the present invention, including it is N number of Transmitting terminal and a receiving terminal for being used to receive optical signal, N >=4, the transmitting terminal is LED, and N number of transmitting terminal transmission has phase With the optical signal of power；The receiving terminal includes photodetector, and the transmitting terminal is based on OFDMA technology progress can See optical transport, the receiving terminal receives the optical signal of N number of transmitting terminal simultaneously, and is timed operation extraction signal respectively, passes through The mean power of the mean power and receiving terminal carrier block of analyzing transmitting terminal block of sub-carriers estimates N number of transmitting terminal to receiving terminal Transmission range, by the transmission range estimated, it is individual to the wherein larger N-3 of the transmission range of receiving terminal to give up N number of transmitting terminal Transmission range, positioning is realized according to remaining 3 transmission ranges.
The method that the present invention improves visible ray positioning precision, wherein, N=4, comprise the following steps that：
1) each transmitting terminal random number (1-N) is given, transmitting terminal numbering is converted into binary system, each bit enters Row Manchester's code, i.e., 1 is represented with 10, and 0 is represented with 01, a subcarrier of each corresponding frequency domain of the binary coding, 1 Represent that corresponding subcarrier carries information, 0 represents that corresponding subcarrier does not carry information, and obtaining transmitting terminal according to the binary coding adjusts The frequency domain information of the frame of signal first processed；Modulation intelligence on each transmitting terminal occupies 1/4 of non-overlapping copies in whole frequency band respectively Bandwidth；Quadrature amplitude modulation is carried out to transmitting terminal modulation intelligence, makes the power of information of each transmitting terminal transmitting identical, obtains frequency domain Information, the frequency domain information obtained is added in after the frequency domain information of first frame, forms complete transmitting terminal frequency domain information； Hermitian symmetry operation and inverse Fourier transform processing are carried out to transmitting terminal frequency domain information, produces temporal modulation signal, the time domain Modulated signal is real number signal；Temporal modulation signal is added in the DC driven of transmitting terminal, produces the optical signal of modulation；
2) optical signal of the N number of transmitting terminal received is converted into time domain electric signal by photodetector, and carries out n times timing Operation obtains timing information；The receiving terminal calculates institute after time domain electric signal progress Fourier transformation is recovered into frequency domain information Comprising each block of sub-carriers corresponding power；The frequency domain information of the first frame after recovering is obtained, each carrier power is analyzed and obtains Corresponding binary coding, binary coding is demodulated to obtain the respective coordinate of transmitting terminal；By analyzing each block of sub-carriers Corresponding power, estimate N number of transmitting terminal to the transmission range of receiving terminal according to formula (1)；
In formula (1), Di represents i-th of transmitting terminal to the transmission range of receiving terminal, i=1,2,3 ... N；
PRX,iI-th of transmitting terminal that expression receiving terminal is calculated corresponds to the corresponding power of block of sub-carriers；
PTX,iRepresent the power of information of i-th of transmitting terminal transmitting；
M represents Lambertian radiation exponent number；
A represents the area of photodetector；
H represents transmitting terminal to the vertical range of receiving terminal；
Give up N-3 wherein larger transmission range of the transmission range of N number of transmitting terminal to receiving terminal, only retain 3 smaller Transmission range；
3) seat of the transmitting terminal obtained according to the transmission range and step 2) of 3 transmitting terminals that estimation obtains to receiving terminal Mark, passes through the position of Least Square Method receiving terminal.
In order to obtain stable transmitting terminal to the transmission range of receiving terminal, can be carried out such as between step 2) and step 3) Lower processing：
21) power partition coefficient α is calculated with 3 transmission ranges retainedPA,i,k, according to the 3 of reservation transmitting terminals to reception The transmission range at end calculates power partition coefficient α according to formula (2)PA,i,k, wherein, corresponding to N-3 transmission range being rejected Transmitting terminal αPA,i,k=0；
Wherein, N ' represents the transmitting terminal number for participating in power distribution, herein N '=4；
αPA,i,kRepresent i-th of transmitting terminal kth time power partition coefficient, i=1,2,3 ... ..., N '；
GPA,i,kRepresent that i-th of transmitting terminal kth time power distribution reaches the power gain of receiving terminal, i=1,2,3 ... ..., N’；
According to power partition coefficient αPA, i, k,On the basis of the information general power of transmitting terminal transmitting is constant, transmitting terminal is believed Number it is multiplied by power partition coefficient and completes power distribution；
It is handled as follows after step 3)：
Repeat it is above-mentioned 1), 2), 21), 3) step, the number repeated is 10~50 times, the final position for obtaining receiving terminal Put.
Compared with prior art, the beneficial effects of the invention are as follows：
In the present invention mainly on the basis of the positioning of multiple transmitting terminals, based on OFDM (OFDMA) technology, only Retain 3 less distance parameters affected by noise or consider further that the power point of transmitting terminal corresponding with the distance parameter Match somebody with somebody, to improve positioning precision.
Brief description of the drawings
Fig. 1 is the system block diagram of embodiment 1 in the present invention；
Fig. 2 is the system block diagram of embodiment 2 in the present invention；
Fig. 3 is the transmitting terminal of one embodiment described in the invention and the spatial distribution of receiving terminal；
Fig. 4 is the frequency domain distribution of the transmitting terminal of one embodiment described in the invention.
Fig. 5 is the frequency domain distribution of the receiving terminal of one embodiment described in the invention.
Embodiment
Technical solution of the present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, described is specific Only the present invention is explained for embodiment, is not intended to limit the invention.
A kind of method for improving visible ray positioning precision proposed by the present invention, by retaining less 3 affected by noise Transmission range improves visible ray positioning precision, as shown in figure 1, the reception for being used to receive optical signal including N number of transmitting terminal and one End, N >=4, the transmitting terminal is LED, N number of optical signal of the transmitting terminal transmission with equal-wattage；The receiving terminal includes light Electric explorer；The transmitting terminal is based on OFDMA technology and carries out transmission of visible light, and the receiving terminal receives N number of hair simultaneously The optical signal at end is penetrated, and is timed operation extraction signal respectively, by analyzing the mean power of transmitting terminal block of sub-carriers and connecing The mean power of receiving end block of sub-carriers estimates that N number of transmitting terminal to the transmission range of receiving terminal, passes through the transmission range estimated, house N-3 wherein larger transmission range of the transmission range of N number of transmitting terminal to receiving terminal is abandoned, is realized according to remaining 3 transmission ranges Positioning.
The present invention is by retaining less 3 transmission ranges affected by noise to improve the method for visible ray positioning precision One embodiment is：4 LED are set with the space of selection as transmitting terminal, it in Fig. 3 is highly 1m that the arrangement of receiving terminal, which is, Any point for (being labeled with multiple points) on horizontal plane, its specific steps are as shown in Figure 1：
1) each transmitting terminal random number (1-N) is given, transmitting terminal numbering is converted into binary system, each bit enters Row Manchester's code, i.e., 1 is represented with 10, and 0 is represented with 01, a subcarrier of each corresponding frequency domain of the binary coding, 1 Represent that corresponding subcarrier carries information, 0 represents that corresponding subcarrier does not carry information, and obtaining transmitting terminal according to the binary coding adjusts The frequency domain information of the frame of signal first processed；Modulation intelligence on each transmitting terminal occupies 1/4 of non-overlapping copies in whole frequency band respectively Bandwidth, as shown in Figure 4；Quadrature amplitude modulation is carried out to transmitting terminal modulation intelligence, makes the power of information phase of each transmitting terminal transmitting Together, frequency domain information is obtained, the frequency domain information obtained is added in after the frequency domain information of first frame, forms complete transmitting Hold frequency domain information；Hermitian symmetry operation and inverse Fourier transform processing are carried out to transmitting terminal frequency domain information, produces temporal modulation Signal, the temporal modulation signal are real number signal；Temporal modulation signal is added in the DC driven of transmitting terminal, produces modulation Optical signal；
2) optical signal of the N number of transmitting terminal received is converted into time domain electric signal by photodetector, and carries out n times timing Operation obtains timing information；The receiving terminal calculates institute after time domain electric signal progress Fourier transformation is recovered into frequency domain information Comprising each block of sub-carriers corresponding power；The frequency domain information of the first frame after recovering is obtained, as shown in figure 5, analyzing each carrier wave Binary coding corresponding to power and acquisition, binary coding is demodulated to obtain the respective coordinate of transmitting terminal；It is each by analyzing The corresponding power of block of sub-carriers, estimate N number of transmitting terminal to the transmission range of receiving terminal according to formula (1)；
In formula (1), Di represents i-th of transmitting terminal to the transmission range of receiving terminal, I=1,2,3 ... N；
PRX,iI-th of transmitting terminal that expression receiving terminal is calculated corresponds to the corresponding power of block of sub-carriers；
PTX,iRepresent the power of information of i-th of transmitting terminal transmitting；
M represents Lambertian radiation exponent number；
A represents the area of photodetector；
H represents transmitting terminal to the vertical range of receiving terminal；
Give up N-3 wherein larger transmission range of the transmission range of N number of transmitting terminal to receiving terminal, only retain 3 smaller Transmission range；
3) seat of the transmitting terminal obtained according to the transmission range and step 2) of 3 transmitting terminals that estimation obtains to receiving terminal Mark, passes through the position of Least Square Method receiving terminal.
In order to obtain transmitting terminal to the transmission range of the stabilization of receiving terminal, it is also proposed that it is a kind of by retained simultaneously by The method that less 3 transmission ranges of influence of noise and power distribution improve visible ray positioning precision, its specific steps such as Fig. 2 institutes Show, i.e., in above-mentioned steps 2) be handled as follows between step 3) (processing procedure is 21))：21) with 3 biographies retained Defeated distance calculates power partition coefficient αPA,I,k, counted according to the transmission range of the 3 of reservation transmitting terminals to receiving terminal according to formula (2) Calculate power partition coefficient αPA,I,k, wherein, the transmitting terminal α corresponding to N-3 transmission range being rejectedPA,I,k=0,
Wherein, N ' represents the transmitting terminal number for participating in power distribution, herein N '=4；αPA,I,kRepresent i-th of transmitting terminal kth Secondary power partition coefficient, I=1,2,3 ... ..., N '；GPA,I,kRepresent that i-th of transmitting terminal kth time power distribution reaches receiving terminal Power gain, I=1,2,3 ... ..., N '；So as to ensure in the case where the information general power of transmitting terminal transmitting is constant, according to work( Rate distribution coefficient αPA, I, k,On the basis of the information general power of transmitting terminal transmitting is constant, power distribution is multiplied by transmitting end signal Coefficient completes power distribution, by power distribution, the transmission power of the longer transmitting terminal of increase transmission range, reduces noise to passing The influence of the longer transmitting terminal of defeated distance.
After step 3) is performed, estimation obtains the position coordinates of receiving terminal, repeat it is above-mentioned 1), 2), 21), 3) step Suddenly, the number repeated is 10~50 times, finally obtains the position of high-precision receiving terminal.
Although above in conjunction with accompanying drawing, invention has been described, and the invention is not limited in above-mentioned specific implementation Mode, above-mentioned embodiment is only schematical, rather than restricted, and one of ordinary skill in the art is at this Under the enlightenment of invention, without deviating from the spirit of the invention, many variations can also be made, these belong to the present invention's Within protection.

Claims (3)

  1. A kind of 1. method for improving visible ray positioning precision, it is characterised in that be used to receive light letter including N number of transmitting terminal and one Number receiving terminal, N >=4, the transmitting terminal is LED, optical signal of the N number of transmitting terminal transmission with equal-wattage；The reception End includes photodetector；
    The transmitting terminal is based on OFDMA technology and carries out transmission of visible light, and the receiving terminal receives N number of transmitting terminal simultaneously Optical signal, and respectively be timed operation extraction signal, by the mean power and receiving terminal of analyzing transmitting terminal block of sub-carriers The mean power of block of sub-carriers estimates that N number of transmitting terminal to the transmission range of receiving terminal, by the transmission range estimated, gives up N N-3 wherein larger transmission range of the transmission range of individual transmitting terminal to receiving terminal, it is fixed to be realized according to remaining 3 transmission ranges Position.
  2. 2. the method for visible ray positioning precision is improved according to claim 1, it is characterised in that：N=4, comprise the following steps that：
    1) each transmitting terminal random number (1-N) is given, transmitting terminal numbering is converted into binary system, each bit carries out graceful Che Site is encoded, i.e., 1 is represented with 10, and 0 is represented with 01, and a subcarrier of each corresponding frequency domain of the binary coding, 1 represents Corresponding subcarrier carries information, and 0 represents that corresponding subcarrier does not carry information, and transmitting terminal modulation letter is obtained according to the binary coding The frequency domain information of number the first frame；Modulation intelligence on each transmitting terminal occupies 1/4 bandwidth of non-overlapping copies in whole frequency band respectively； Quadrature amplitude modulation is carried out to transmitting terminal modulation intelligence, makes the power of information of each transmitting terminal transmitting identical, obtains frequency domain information, The frequency domain information obtained is added in after the frequency domain information of first frame, forms complete transmitting terminal frequency domain information；To hair Penetrate end frequency domain information and carry out hermitian symmetry operation and inverse Fourier transform processing, produce temporal modulation signal, the temporal modulation Signal is real number signal；Temporal modulation signal is added in the DC driven of transmitting terminal, produces the optical signal of modulation；
    2) optical signal of the N number of transmitting terminal received is converted into time domain electric signal by photodetector, and carries out n times fixed cycle operator Obtain timing information；Time domain electric signal progress Fourier transformation is recovered to calculate after frequency domain information and included by the receiving terminal Each block of sub-carriers corresponding power；The frequency domain information of the first frame after recovering is obtained, each carrier power is analyzed and obtains correspondingly Binary coding, binary coding is demodulated to obtain the respective coordinate of transmitting terminal；By analyzing the corresponding of each block of sub-carriers Power, estimate N number of transmitting terminal to the transmission range of receiving terminal according to formula (1)；
    <mrow> <msub> <mi>D</mi> <mi>i</mi> </msub> <mo>=</mo> <mroot> <mfrac> <mrow> <mo>(</mo> <mi>m</mi> <mo>+</mo> <mn>1</mn> <mo>)</mo> <msup> <mi>Ah</mi> <mrow> <mi>m</mi> <mo>+</mo> <mn>1</mn> </mrow> </msup> <msub> <mi>P</mi> <mrow> <mi>T</mi> <mi>X</mi> <mo>,</mo> <mi>i</mi> </mrow> </msub> </mrow> <mrow> <mn>2</mn> <msub> <mi>&amp;pi;P</mi> <mrow> <mi>R</mi> <mi>X</mi> <mo>,</mo> <mi>i</mi> </mrow> </msub> </mrow> </mfrac> <mrow> <mi>m</mi> <mo>+</mo> <mn>3</mn> </mrow> </mroot> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>1</mn> <mo>)</mo> </mrow> </mrow>
    In formula (1), Di represents i-th of transmitting terminal to the transmission range of receiving terminal, I=1,2,3 ... N；
    PRX,iI-th of transmitting terminal that expression receiving terminal is calculated corresponds to the corresponding power of block of sub-carriers；
    PTX,iRepresent the power of information of i-th of transmitting terminal transmitting；
    M represents Lambertian radiation exponent number；
    A represents the area of photodetector；
    H represents transmitting terminal to the vertical range of receiving terminal；
    Give up N-3 wherein larger transmission range of the transmission range of N number of transmitting terminal to receiving terminal, only retain 3 less biographies Defeated distance；
    3) coordinate of the transmitting terminal obtained according to the transmission range and step 2) of 3 transmitting terminals that estimation obtains to receiving terminal, leads to Cross the position of Least Square Method receiving terminal.
  3. 3. the method for visible ray positioning precision is improved according to claim 2, it is characterised in that：
    It is handled as follows between step 2) and step 3)：
    21) power partition coefficient α is calculated with 3 transmission ranges retainedPA,I,k, according to the 3 of reservation transmitting terminals to receiving terminal Transmission range calculates power partition coefficient α according to formula (2)PA,I,k, wherein, the transmitting corresponding to N-3 transmission range being rejected Hold αPA,I,k=0；
    <mrow> <msubsup> <mi>&amp;alpha;</mi> <mrow> <mi>P</mi> <mi>A</mi> <mo>,</mo> <mi>i</mi> <mo>,</mo> <mi>k</mi> </mrow> <mn>2</mn> </msubsup> <mo>=</mo> <mfrac> <mfrac> <msup> <mi>N</mi> <mo>&amp;prime;</mo> </msup> <msubsup> <mover> <mi>G</mi> <mo>~</mo> </mover> <mrow> <mi>P</mi> <mi>A</mi> <mo>,</mo> <mi>i</mi> <mo>,</mo> <mi>k</mi> </mrow> <mn>2</mn> </msubsup> </mfrac> <mrow> <msubsup> <mo>&amp;Sigma;</mo> <mrow> <mi>j</mi> <mo>=</mo> <mn>1</mn> </mrow> <msup> <mi>N</mi> <mo>&amp;prime;</mo> </msup> </msubsup> <mfrac> <mn>1</mn> <msubsup> <mover> <mi>G</mi> <mo>~</mo> </mover> <mrow> <mi>P</mi> <mi>A</mi> <mo>,</mo> <mi>i</mi> <mo>,</mo> <mi>k</mi> </mrow> <mn>2</mn> </msubsup> </mfrac> </mrow> </mfrac> <mo>-</mo> <mo>-</mo> <mo>-</mo> <mrow> <mo>(</mo> <mn>2</mn> <mo>)</mo> </mrow> </mrow>
    Wherein, N ' represents the transmitting terminal number for participating in power distribution, herein N '=4；
    αPA,I,kRepresent i-th of transmitting terminal kth time power partition coefficient, I=1,2,3 ... ..., N '；
    GPA,I,kRepresent that i-th of transmitting terminal kth time power distribution reaches the power gain of receiving terminal, I=1,2,3 ... ..., N '；
    According to power partition coefficient αPA,I,k, on the basis of the information general power of transmitting terminal transmitting is constant, transmitting end signal is multiplied Power distribution is completed with power partition coefficient；
    It is handled as follows after step 3)：
    Repeat it is above-mentioned 1), 2), 21), 3) step, the number repeated is 10~50 times, the final position for obtaining receiving terminal.
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CN108833014A (en) * 2018-06-29 2018-11-16 天津大学 A method of the raising visible light positioning accuracy based on signal amplitude estimation
CN108896961A (en) * 2018-06-29 2018-11-27 天津大学 A method of the raising visible light positioning accuracy based on signal power estimation
CN109194447A (en) * 2018-09-26 2019-01-11 深圳市太赫兹科技创新研究院 The modulator approach and wireless communication system of THz wave

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CN105823477A (en) * 2016-03-09 2016-08-03 深圳市国华光电研究院 RSSR-based LED indoor positioning method and system thereof
CN105911522A (en) * 2016-06-20 2016-08-31 复旦大学 Visible light communication-based accurate positioning system
CN107167767A (en) * 2017-04-19 2017-09-15 江苏理工学院 High-precision locating method in a kind of visible ray room based on SC FDMA

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JPH0894324A (en) * 1994-09-22 1996-04-12 Yaskawa Electric Corp Laser distance measuring device
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CN105823477A (en) * 2016-03-09 2016-08-03 深圳市国华光电研究院 RSSR-based LED indoor positioning method and system thereof
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Publication number Priority date Publication date Assignee Title
CN108833014A (en) * 2018-06-29 2018-11-16 天津大学 A method of the raising visible light positioning accuracy based on signal amplitude estimation
CN108896961A (en) * 2018-06-29 2018-11-27 天津大学 A method of the raising visible light positioning accuracy based on signal power estimation
CN108833014B (en) * 2018-06-29 2020-10-23 天津大学 Method for improving visible light positioning accuracy based on signal amplitude estimation
CN108896961B (en) * 2018-06-29 2022-03-01 天津大学 Method for improving visible light positioning accuracy based on signal power estimation
CN109194447A (en) * 2018-09-26 2019-01-11 深圳市太赫兹科技创新研究院 The modulator approach and wireless communication system of THz wave
CN109194447B (en) * 2018-09-26 2021-08-10 深圳市太赫兹科技创新研究院 Terahertz wave modulation method and wireless communication system

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