CN107831469A - Optical signal positioner, method and system - Google Patents
Optical signal positioner, method and system Download PDFInfo
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- CN107831469A CN107831469A CN201711029248.0A CN201711029248A CN107831469A CN 107831469 A CN107831469 A CN 107831469A CN 201711029248 A CN201711029248 A CN 201711029248A CN 107831469 A CN107831469 A CN 107831469A
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- optical signal
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- scintillation light
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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 embodiments of the invention provide a kind of optical signal positioner, method and system, belong to photosignal technical field.Optical signal positioner includes：Optical signal sending module and optical signal prosessing module, optical signal sending module and the coupling of optical signal prosessing module.Optical signal sending module, for the passage of scintillation light launched by least two light sources.Optical signal prosessing module, for gathering at least two-way passage of scintillation light, and location information when each light source sends passage of scintillation light is obtained, the change in location situation of determinand is obtained according to every road passage of scintillation light and each location information.The passage of scintillation light sent by optical signal prosessing module collection determinand optical signal sending module, which realizes, to be identified to determinand, position and tracks, due to the accuracy of optical signal long-distance transmissions, so can to determinand carry out medium and long distance be accurately positioned and accurate tracking.
Description
Technical field
The present invention relates to photosignal technical field, in particular to a kind of optical signal positioner, method and is
System.
Background technology
With the development of science and technology and progressive, the technology of the positioning carried out to determinand has socially obtained widely
Using.
At present, can be by GPS (Global Positioning System, global positioning system) to the to be measured of installation GPS
Thing is positioned.Although GPS location can realize remote positioning, exist and position not accurate enough technical problem.This
Outside, at present can also be by RFID (Radio Frequency Identification, radio frequency identification) to the to be measured of installation RFID
Thing is positioned.Although RFID positioning precisions are higher, because RFID needs that by sensing identification positioning could be realized, it can only
It is applied in positioning closely, therefore is extremely restricted its application.
Therefore, how to realize that it is current industry a great problem to be accurately positioned at a distance.
The content of the invention
In view of this, it is an object of the invention to provide a kind of optical signal positioner, method and system, it can be effective
Improve above mentioned problem.
The implementation of the embodiment of the present invention is as follows：
In a first aspect, the embodiments of the invention provide a kind of optical signal positioner, the optical signal positioner includes：
Optical signal sending module and optical signal prosessing module, the optical signal sending module and optical signal prosessing module coupling.Institute
Optical signal sending module is stated, for the passage of scintillation light launched by least two light sources.The optical signal prosessing module, for gathering
At least passage of scintillation light described in two-way, and the location information of determinand when each light source sends the passage of scintillation light is obtained, according to every
Passage of scintillation light described in road and each location information obtain the change in location situation of the determinand.
Second aspect, the embodiments of the invention provide a kind of optical signal localization method, methods described is determined applied to optical signal
Position device, described device include：Optical signal sending module and optical signal prosessing module, the optical signal sending module and the light
Signal processing module couples.Methods described includes：The passage of scintillation light that the optical signal sending module is launched by least two light sources；
Optical signal prosessing module collection passage of scintillation light at least described in two-way, and obtain when each light source sends the passage of scintillation light and treat
The location information of thing is surveyed, the change in location feelings of the determinand are obtained according to passage of scintillation light described in every road and each location information
Condition.
The third aspect, the embodiments of the invention provide a kind of optical signal alignment system, the optical signal alignment system includes：
Determinand and described optical signal positioner, the optical signal sending module in the optical signal positioner are arranged on described treat
Survey on thing.
The beneficial effect of the embodiment of the present invention is：
The passage of scintillation light that optical signal sending module is launched by least two light sources, and optical signal prosessing module then gathers this extremely
Passage of scintillation light described in few two-way, and obtain the location information of determinand when each light source sends passage of scintillation light.Optical signal prosessing module root
The change in location situation of the determinand is then obtained according to every road passage of scintillation light and each location information.Therefore, optical signal prosessing mould is passed through
The passage of scintillation light that block collection determinand optical signal sending module is sent, which realizes, to be identified to determinand, position and tracks, by
In the accuracy of optical signal long-distance transmissions, so can to determinand carry out medium and long distance be accurately positioned and accurate tracking.
Other features and advantages of the present invention will illustrate in subsequent specification, also, partly become from specification
It is clear that or understood by implementing the embodiment of the present invention.The purpose of the present invention and other advantages can be by being write
Specifically noted structure is realized and obtained in specification, claims and accompanying drawing.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.By the way that shown in accompanying drawing, above and other purpose of the invention, feature and advantage will become apparent from.In whole
Identical reference instruction identical part in accompanying drawing.Deliberately accompanying drawing, emphasis are not drawn by actual size equal proportion scaling
It is the purport for showing the present invention.
Fig. 1 shows a kind of configuration diagram for optical signal alignment system that first embodiment of the invention provides；
Fig. 2 shows a kind of first structure pipe block diagram for optical signal positioner that second embodiment of the invention provides；
Fig. 3 shows a kind of the second structural tube block diagram of optical signal positioner that second embodiment of the invention provides；
Fig. 4 shows optical signal transmitting element and light in a kind of optical signal positioner that second embodiment of the invention provides
The structural representation of signal receiving unit；
Fig. 5 shows that optical signal sending module is at least in a kind of optical signal positioner that second embodiment of the invention provides
First exemplary plot of two-way passage of scintillation light；
Fig. 6 shows that optical signal sending module is at least in a kind of optical signal positioner that second embodiment of the invention provides
Second exemplary plot of two-way passage of scintillation light；
Fig. 7 shows that a kind of optical signal positioner alignment subelement that second embodiment of the invention provides performs sampling
The exemplary plot to calibrate for error；
Fig. 8 shows a kind of first pass figure for optical signal localization method that third embodiment of the invention provides；
Fig. 9 shows the flow chart of step S200 in a kind of optical signal localization method that third embodiment of the invention provides；
Figure 10 shows the flow chart of step S220 in a kind of optical signal localization method that third embodiment of the invention provides；
Figure 11 shows a kind of second flow chart for optical signal localization method that third embodiment of the invention provides.
Icon：10- optical signal alignment systems；11- determinands；100- optical signal positioners；110- optical signals send mould
Block；111- coded optical signal units；The communication subelements of 1111- first；The coded sub-units of 1112- first；112- optical signals are sent
Unit；1121- light sources；120- optical signal prosessing modules；121- optical signal receiving units；1211- single bands encoded signal gathers
Sensor；1212- positioning signals gather sensor；122- optical signal processing units；1221- identifies subelement；1222- syndromes
Unit；1223- calibrates subelement；The coded sub-units of 1224- second；The communication subelements of 1225- second.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.The present invention implementation being generally described and illustrated herein in the accompanying drawings
The component of example can be configured to arrange and design with a variety of.
Therefore, below the detailed description of the embodiments of the invention to providing in the accompanying drawings be not intended to limit it is claimed
The scope of the present invention, but be merely representative of the present invention selected embodiment.It is common based on the embodiment in the present invention, this area
The every other embodiment that technical staff is obtained under the premise of creative work is not made, belong to the model that the present invention protects
Enclose.
It should be noted that：Similar label and letter represents similar terms in following accompanying drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent accompanying drawing in individual accompanying drawing.Term " first ", " the
Two " etc. are only used for distinguishing description, and it is not intended that instruction or hint relative importance.
In the description of the invention, it is also necessary to explanation, unless otherwise clearly defined and limited, term " setting ",
" installation ", " connected ", " connection ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or detachably connecting
Connect, or be integrally connected；Can be mechanical connection or electrical connection；Can be joined directly together, middle matchmaker can also be passed through
Jie is indirectly connected, and can be the connection of two element internals.For the ordinary skill in the art, can be with concrete condition
Understand the concrete meaning of above-mentioned term in the present invention.
First embodiment
Referring to Fig. 1, first embodiment of the invention provides a kind of optical signal alignment system 10, the optical signal alignment system
10 include：Determinand 11 and optical signal positioner 100.
Determinand 11 can be to need by the object of carry out position tracking, and it can be for example：People, animal, unmanned plane etc..
Optical signal sending module 110 in optical signal positioner 100 can be arranged on determinand 11.When optical signal sending module 110
In optical signal sending module 110 when sending at least two-way passage of scintillation light, the optical signal prosessing module in optical signal sending module 110
120 collect at least two-way passage of scintillation light, and obtains the change in location situation of determinand 11 according at least two-way passage of scintillation light,
And then realize accurate tracking to determinand 11 and be accurately positioned.
Second embodiment
Referring to Fig. 2, second embodiment of the invention provides a kind of optical signal positioner 100, optical signal positioning dress
Putting 100 includes：Optical signal sending module 110 and optical signal prosessing module 120.Wherein, optical signal sending module 110 and optical signal
Coupling is realized by the transmission of optical signal between processing module 120.
Optical signal sending module 110 is used to install on the test object, and is sent out by least two light sources 1121 of itself
The passage of scintillation light penetrated.
Optical signal prosessing module 120 is used for by detection, is dodged to gather at least two-way of the transmission of optical signal sending module 110
Bright light, and obtain the location information of each light source 1121 determinand when sending passage of scintillation light.And then according to every road passage of scintillation light and often
Individual location information, obtain change in location situation of the determinand in the acquisition time of passage of scintillation light.Wherein, a location information pair
What is answered is the sequential that light source sends light when launching passage of scintillation light all the way, i.e., a location information is a frame.
Referring to Fig. 3, optical signal sending module 110 includes：Coded optical signal unit 111 and optical signal transmitting element 112.
Wherein, coded optical signal unit 111 is connected by radio data network with optical signal prosessing module 120, coded optical signal unit
111 and optical signal transmitting element 112 be electrically connected with, pass through light between optical signal transmitting element 112 and optical signal prosessing module 120
Coupling is realized in the transmission of signal.
Coded optical signal unit 111 is used for the label information according to determinand, coding generation optical signal data, and light is believed
Number is sent to optical signal transmitting element 112.
Specifically, coded optical signal unit 111 includes：The first communication coded sub-units 1112 of subelement 1111 and first.
First communication subelement 1111 is connected by radio data network with optical signal prosessing module 120, the first coded sub-units 1112
Then communicate with first subelement 1111 respectively and optical signal prosessing module 120 is electrically connected with.
First communication subelement 1111 can be IC chip, and it possesses the reception and disposal ability to signal.This
In embodiment, the first communication subelement 1111 can obtain the label of the determinand of the optical signal prosessing module 120 transmission in advance
Information, optical signal send rule and coded optical signal rule.And then first communication subelement 1111 by label information, optical signal send out
Rule and coded optical signal rule is sent to send to the first coded sub-units 1112.In addition, the first communication subelement 1111 may be used also
Get the control instruction of the transmission of optical signal prosessing module 120.And after control instruction is got, the control instruction is forwarded to
First coded sub-units 1112.
First coded sub-units 1112 can be IC chip, and it also possesses the reception and disposal ability to signal.
In the present embodiment, after the first coded sub-units 1112 get label information, optical signal sends rule and coded optical signal rule,
Label information, optical signal are sent first coded sub-units 1112 into rule and coded optical signal rule is stored.When first
When coded sub-units 1112 get the control instruction of the first communication subelement 1111 forwarding, the first coded sub-units 1112 are to this
Control instruction is parsed, to be operated based on the control instruction.Specifically, the pattern of the work can include but unlimited
In：When the first coded sub-units 1112 are judged to sending into traveling optical signal, then the first coded sub-units 1112 call storage light
Signal send rule and coded optical signal rule encode generate with the corresponding optical signal data of label information, and the light is believed
Number is sent to optical signal transmitting element 112.When the first coded sub-units 1112 are judged to verifying into traveling optical signal, then first
Coded sub-units 1112 also call storage optical signal to send rule and coded optical signal rule to encode generation optical signal calibration number
According to, and the optical signal data is also sent to optical signal transmitting element 112.
Referring to Fig. 4, optical signal transmitting element 112 can be the integrated of multiple circuits.For ease of the transmission to passage of scintillation light,
Optical signal transmitting element 112 includes：At least two light sources 1121.The quantity of light source 1121 can be selected according to actual performance
Select, for example, selection is 3 or 4.After optical signal transmitting element 112 obtains optical signal data, optical signal transmitting element 112
Process circuit parses to the optical signal data, to realize the optical signal data and be sent by each light source 1121 corresponding
Passage of scintillation light is corresponding all the way, and then launches at least two-way passage of scintillation light.In addition, optical signal transmitting element 112 gets optical signal school
Quasi- data, optical signal transmitting element 112 also according to the optical signal calibration data send corresponding at least two-way passage of scintillation light.This implementation
In example, each light source 1121 can be single band emitting head, i.e., each light source 1121 sends a kind of passage of scintillation light of wave band, then
Person, launch when each light source 1121 launches passage of scintillation light all the way with other light sources 1121 and flash the same of hold period and frequency all the way
Step.Wherein, each light source 1121 send transmitted passage of scintillation light can be with the wave band of visible ray, or except its of visible ray
Its wave band, for ease of the understanding to the embodiment of the present invention, the present embodiment is illustrated with visible ray, but is not intended as to this
The restriction of embodiment.
Need what is illustrated, optical signal sending module 110 obtains label information, optical signal sends rule and coded optical signal rule
Then carried out in advance before for the normal work of optical signal positioner 100.Afterwards, during 100 normal work of optical signal positioner,
Without obtaining the label information again, optical signal sends rule and coded optical signal rule.Until label information, optical signal send rule
When renewal is then needed with any of coded optical signal rule, optical signal sending module 110 just obtains label information, light letter again
Number rule and coded optical signal rule are sent, and then complete renewal to original data storage.
Fig. 3, Fig. 4 and Fig. 5 are referred to, Fig. 5 shows at least two-way passage of scintillation light of optical signal sending module 110 in the present embodiment
The first exemplary plot.Exemplified by having 3 light sources 1121 in optical signal sending module 110, A light sources 1121 launch blue light, B light
The transmitting green light of source 1121, and illuminant-C 1121 launch red light.As a kind of mode, in the label information of determinand, the mark
Label information can have certain data format, and the data format of label information includes：Start bit, data bit and check bit.Light is believed
Number sending module 110 launches at least two-way passage of scintillation light according to optical signal data, should be with the data of label information per road passage of scintillation light
Form is corresponding.For example, when label information is identified as S for start bit, data bit 5621, check bit be when being identified as C.It is logical
Which is crossed, the effable group/cording quantity of label information is (2m-2)n, wherein m is the quantity of data, and n is data bits.
Each light source 1121 launch by way of constantly bright or go out to should optical signal data passage of scintillation light, its
In, bright is 1, is gone out for 0, but do not limit.For example, after starting transmitting, A light sources 1121, B light sources 1121 and illuminant-C 1121 are same
What is walked is bright, to represent start bit as S.Afterwards, A light sources 1121 are bright, and B light sources 1121 go out, and illuminant-C 1121 is bright, to represent data bit
In 5.Afterwards, A light sources 1121 go out, and B light sources 1121 are bright, and illuminant-C 1121 is bright, to represent 6 in data bit, afterwards, A light sources
1121 go out, and B light sources 1121 are bright, and illuminant-C 1121 goes out, to represent 2 in data bit.Afterwards, A light sources 1121 are bright, B light sources 1121
Go out, illuminant-C 1121 goes out, to represent 1 in data bit.Finally, A light sources 1121 go out, and B light sources 1121 are bright, and illuminant-C 1121 goes out, with
Expression check bit is C.After the data of check bit are sent completely, optical signal sending module 110 then completes this at least two
The transmitting of road passage of scintillation light.
It should be noted that for ease of identification, positioning and judgement of the optical signal prosessing module 120 to every road passage of scintillation light, light
When at least two-way passage of scintillation light is sent to the data bit in label information in signal transmitting module 110, at least two light sources 1121 are not
Energy all light, can not go out entirely.
Fig. 3, Fig. 4 and Fig. 6 are referred to, Fig. 6 shows at least two-way passage of scintillation light of optical signal sending module 110 in the present embodiment
The second exemplary plot.Exemplified by having 3 light sources 1121 in optical signal sending module 110, A light sources 1121 launch blue light, B light
The transmitting green light of source 1121, and illuminant-C 1121 launch red light.As a kind of mode, the optical signal calibration data can also have
There is certain data format, the data format of optical signal calibration data includes：The verification of calibration data head and each light source 1121
Coded data.It is understood that the threshold calibration being verified as to each light source 1121 now.When optical signal sending module 110
According to corresponding to being sent optical signal calibration data at least two-way passage of scintillation light when, often road passage of scintillation light should also be as and optical signal calibration data
Data format it is corresponding.For example, after starting verification transmitting, A light sources 1121, B light sources 1121 and illuminant-C 1121 are synchronous bright successively
Go out light on and off, to represent calibration data head.Afterwards, A light sources 1121 go out bright successively, and B light sources 1121 and the synchronization of illuminant-C 1121 are successively
Light on and off, to represent the check code data of A light sources 1121.Afterwards, B light sources 1121 go out bright successively, A light sources 1121 and illuminant-C
1121 synchronous light on and off successively, to represent the check code data of B light sources 1121.Finally, illuminant-C 1121 goes out bright successively, A light sources
The synchronous light on and off successively of 1121 and B light sources 1121, to represent the check code data of illuminant-C 1121.In the verification of illuminant-C 1121
After coded data is sent completely, optical signal sending module 110 then completes the transmitting of this at least two-way passage of scintillation light.
Fig. 3 and Fig. 4 are referred to, optical signal prosessing module 120 includes：Optical signal receiving unit 121 and optical signal prosessing list
Member 122.Wherein, realized and coupled by the transmission of optical signal between optical signal receiving unit 121 and optical signal sending module 110,
Optical signal receiving unit 121 is electrically connected with optical signal processing unit 122, and optical signal processing unit 122 passes through wireless data
Network is connected with optical signal sending module 110.
Optical signal receiving unit 121 is used for the sampling color break-up sequential for obtaining every road passage of scintillation light of sampling, and obtains each light
The location information of determinand, will each sample color break-up sequential and each location information when source 1121 sends corresponding passage of scintillation light all the way
Send to optical signal processing unit 122.
In the present embodiment, optical signal receiving unit 121 includes：Single band encoded signal gathers sensor 1211 and positioning is believed
Number collection sensor 1212.Wherein, single band encoded signal collection sensor 1211 is identical with the quantity of light source 1121.
Optical signal receiving unit 121 can be the integrated of multiple circuits.Each single band in optical signal receiving unit 121
Passage of scintillation light of the encoded signal collection sensor 1211 transmitted by one light source 1121 of corresponding collection.For example, single band coding letter
Number collection sensor 1211 gathers green glow, then single band encoded signal collection sensor 1211 corresponding collection transmitting green light
The passage of scintillation light that light source 1121 is launched.Each single band collection shooting is all the way after passage of scintillation light, optical signal connects corresponding to collection
When receiving the process circuit in unit 121 based on color break-up is sampled corresponding to the gathered flicker photoproduction of each single band collection shooting
Sequence.It is appreciated that arrive, passage of scintillation light is flashed for lasting light on and off all the way, therefore multiframe can be included by sampling in color break-up sequential.Optical signal
Receiving unit 121 get the collection shooting of each single band get corresponding to after sampling color break-up sequential, will each sample color break-up
Sequential is sent to optical signal processing unit 122.
Positioning signal collection sensor 1212 in optical signal receiving unit 121 can be gathered in the transmission pair of each light source 1121
The location information of determinand during the passage of scintillation light all the way answered.Specifically, positioning signal collection sensor 1212 includes two cameras,
It can be respectively A cameras and B cameras, wherein, A cameras and B cameras are the high filter light video camera head of all band wideband.
When each light source 1121 sends corresponding passage of scintillation light all the way, optical signal receiving unit 121 gathers sensor according to positioning signal
1212 according to the binocular positioning principle of A cameras and B cameras calculate light source 1121 send corresponding to all the way passage of scintillation light when it is to be measured
The location information of thing.Afterwards, optical signal receiving unit 121 will each sample color break-up sequential again and each location information send to
Optical signal processing unit 122.
It should be noted that to ensure the accuracy of sampling, and improve sampling rate single band encoded signal collection sensing
The sampling rate of device 1211 and positioning signal collection sensor 1212 is to flash the integral multiple of light frequency, excellent in the present embodiment
It is 2 times to select integral multiple.
Optical signal processing unit 122 is used for the mark that determinand is obtained according to each sampling color break-up sequential and each location information
Information is signed, and judges whether label information is correct, if so, obtaining the change in location feelings of the determinand according to each location information
Condition.
In the present embodiment, optical signal processing unit 122 includes：Identify subelement 1221, verification subelement 1222, calibration
Unit 1223, the second coded sub-units 1224 and the second communication subelement 1225.Specifically.Identify subelement 1221 and optical signal
Receiving unit 121 is electrically connected with, and verifies subelement 1222 and calibration subelement 1223 is electrically connected with identification subelement 1221,
Second coded sub-units 1224 are electrically connected with second subelement 1225 that communicates, and the second communication subelement 1225 is then by wireless
Data network is electrically connected with first subelement 1111 that communicates.
Identify that subelement 1221 can be IC chip, it possesses the processing and operational capability to signal.Due to every
Position between individual light source 1121 is spaced closely together, to know each light source 1121 when launching passage of scintillation light, specifically it is bright still
Go out, then location information and the correspondence of light source 1121 when identifying subelement 1221 by the way that the light source 1121 to be sent to passage of scintillation light all the way
Sampling color break-up sequential be combined, then can accurately it is counter release the light source 1121 transmitting corresponding to passage of scintillation light all the way when light on and off
State, the light on and off state of the light source 1121 be launch corresponding to all the way passage of scintillation light when optical signal status data.And then identify
Subelement 1221 gets the optical signal status data corresponding to each light source 1121, then identifies subelement 1221 by least two
Optical signal status data combines, and just can obtain the label information of determinand.
Also for example, light on and off state of the A light sources 1121 when launching blue passage of scintillation light all the way is：Light on and off are gone out light on and off, then right
The optical signal status data for the A light sources 1121 that should be obtained is 110010.At the same time, B light sources 1121 are red all the way in transmitting
Light on and off state during passage of scintillation light is：Light on and off light on and off are bright, then the optical signal status data for corresponding to the B light sources 1121 obtained is
101101.At the same time, light on and off state of the illuminant-C 1121 when launching green passage of scintillation light all the way is：Bright light on and off are gone out, then right
The optical signal status data for the illuminant-C 1121 that should be obtained is 111000.Further, according to the optical signal shape of A light sources 1121
State data are that the optical signal status data of 110010, B light sources 1121 is 101101, and the optical signal shape of illuminant-C 1121
State data are 111000, and identification subelement 1221 then obtains the label information of the light source 1121, that is, obtain data format and be
S5621C label information.
It should be noted that due in optical signal receiving unit 121 each single band collection shooting flashed in sampling per road
The sequential when sequential of light time gathers other road passage of scintillation light with the collection shooting of other single bands there may be error, and positioning letter
The sequential of the sequential and single band collection shooting collection of number collection sensor 1212 when gathering location information also likely to be present mistake
Difference.Therefore, for each optical signal status data obtained during acquisition phase synchronization, can directly be combined.It is different for phase
Each optical signal status data that the harvester of step collects, then need in order, successively by phase closest to optical signal shape
State data are combined two-by-two.And then label information can be obtained eventually through combination.
In the present embodiment, the label information of acquisition is also sent to verification subelement 1222 and carries out school by identification subelement 1221
It is accurate.And the check results information that verification subelement 1222 returns is obtained after sending.Identify that subelement 1221 parses the verification
Object information judges whether check results are correct.When identifying that subelement 1221 judges that check results are incorrect, then explanation is dodged
Bright light is interfered in emission process, or passage of scintillation light makes a mistake in the transmission, and then identifies that subelement 1221 then incite somebody to action this
It is secondary to get label information jettisoning, in order to reacquire label information next time.When identification subelement 1221 judges verification
As a result when correct, then illustrate that the label information of determinand is correct, and then identify at least two positioning of the subelement 1221 according to acquisition
Information, then it can obtain change in location situation of the determinand in the flicker light emissioning cycle.
Furthermore identify that subelement 1221 can also be by the parsing to label information, to judge each optical signal status number
Whether include calibration data head in.If it is not, calibration process is not done to the optical signal status data.If so, then judge
The optical signal status data is optical signal calibration data, and the transmission that the optical signal calibration data needs to calibrate is single to son is calibrated
Member 1223, and inform that calibration subelement 1223 performs threshold calibration.If the in addition, external equipment hair that identification subelement 1221 obtains
The sampling error calibration command sent, or according to the pre-set control programs of itself judge need perform sampling error calibration when, then know
Small pin for the case unit 1221 will need to carry out sampling error school according to sampling error calibration command or pre-set control programs in label information
Accurate at least one optical signal status data is sent to calibration subelement 1223, and informs that calibration subelement 1223 performs sampling and missed
Difference calibration.
In actual mechanical process, threshold calibration or sampling error calibration can perform at any time according to use demand, this implementation
The execution condition that example is calibrated to threshold calibration or sampling error does not limit.
It can be IC chip to verify subelement 1222, and it possesses the processing and operational capability to signal.This implementation
In example, optical signal status data of the subelement 1222 in label information is verified to carry out school to the correctness of label information
Test.
As a kind of mode, what each optical signal status data included is 1 or 0, and verification subelement 1222 obtains institute first
There is in optical signal status data the sum for being 1, or be 0 sum.The present embodiment can be retrieved as 1 sum, but not
Limit.In addition, the preset value of check bit in label information is provided with verification subelement 1222.The preset value can be：When 1 it is total
When number is radix, preset value is each optical signal status data corresponding to check bit, and it is followed successively by 100...0, when 1 sum
For even number when, preset value is each optical signal status data corresponding to check bit, and it is followed successively by 010...0.And then when verification
When the sum that it is 1 that subelement 1222 obtains in all optical signal status datas first is radix, then acquisition check bit institute is right successively
Answer each optical signal status data.When each optical signal status data is identical with preset value 100...0 corresponding to check bit, school
Test subelement 1222 and just generate the correct check results information of verification to subelement 1221 is identified, conversely, then generating check errors
Check results information to identify subelement 1221.Further, when verification subelement 1222 obtains all optical signal shapes first
When the sum in state data being 1 is even number, each optical signal status data corresponding to check bit is also obtained successively again.Work as check bit
When corresponding each optical signal status data is identical with preset value 010...0, verification subelement 1222 just generate verification correctly
Check results information is to subelement 1221 is identified, conversely, then generating the check results information of check errors to identifying subelement
1221。
Also for example, optical signal status data all in the verification acquisition label information of subelement 1222 is followed successively by：A light sources
110010, the 101101 of B light sources 1121 of 1121, and the 111000 of illuminant-C 1121.Verification subelement 1222 just obtains all
Optical signal status data in for 1 sum be coupling.Verification subelement 1222 obtains light letter all corresponding to check bit again
Number status data is followed successively by：010, it is identical with preset value, and then verifies the generation of subelement 1222 and verify correct check results
Information extremely identifies subelement 1221.
It can be IC chip to calibrate subelement 1223, and it possesses the processing and operational capability to signal.This implementation
In example, accuracy during every road passage of scintillation light is gathered for guarantee optical signal prosessing module 120, calibration subelement 1223 can be to gathering
During per road passage of scintillation light, the sampling to every road carries out threshold calibration or sampling error calibration.
Specifically, calibration subelement 1223 get need perform threshold calibration when, calibration subelement 1223 it is corresponding
Obtain at least one optical signal calibration data needed for threshold calibration.Calibration subelement 1223 obtains each optical signal calibration data
Calibration data after alignment data head.Each calibration data is that the light source 1121 corresponding to the optical signal calibration data is held
Data caused by row " going out bright " operation, i.e., each calibration data is " 01 ".Subelement 1223 is calibrated by obtaining each school
Caused peak of the quasi- data at " 0 ", using the peak then as threshold value when identifying the light source 1121 to go out, the light source
1121 then can be identified when being less than the peak when going out.Afterwards, subelement 1223 is calibrated by obtaining each calibration data
Caused minimum at " 1 ", the minimum is then bright as threshold value when identifying that the light source 1121 is bright, the light source 1121
When then can be identified when being more than the minimum.Subelement 1223 is calibrated according to aforesaid operations, then can be successively to each light
Signal calibration data carry out threshold calibration.
The light on and off light on and off for example, the light on and off light on and off that the optical signal calibration data is A light sources 1121 are gone out, it is
1010011010, wherein, 1010 be calibration data head.Calibrate subelement 1223 and obtain the optical signal calibration data alignment data
01 data after head, because what 0 expression A light sources 1121 continued for some time goes out, and when 1 expression A light sources 1121 continue one section
Between it is bright.Calibrate the peak that subelement 1223 obtains the signal intensity in the duration section gone out of A light sources 1121, the peak
Then as 0 when threshold value.Afterwards, it is strong to obtain the signal in bright duration section of A light sources 1121 again for calibration subelement 1223
The minimum of degree, the minimum then as 1 when threshold value.In addition, accurate type when ensureing threshold calibration, each light source 1121
Flash and be in bright state, other light sources 1121 are the state gone out, to calibrate when the light source 1121 is in bright most
Low threshold.Conversely, when the light source 1121 is flashed in the state gone out, other light sources 1121 are bright state, should with calibration
Light source 1121 is in highest threshold value when going out.
Fig. 3 and Fig. 7 are referred to, Fig. 7 shows that the present embodiment alignment subelement 1223 performs showing for sampling error calibration
Illustration.Calibration subelement 1223 get need perform sampling error calibration when, calibration subelement 1223 accordingly obtain adopts
Sample calibrates for error required at least one optical signal status data.
In the present embodiment, because each single band encoded signal collection sensor 1211 is in collection, each light source 1121
After the clock long-play of each single band encoded signal collection sensor 1211, cumulative departure can be produced so that every
Phase is had between the passage of scintillation light that individual single band encoded signal collection sensor 1211 occurs in collection with corresponding light source 1121
Potential difference.Again due to twice that the sample frequency of single band encoded signal collection sensor 1211 is passage of scintillation light, it produces phase difference
Afterwards, single band encoded signal collection sensor 1211 then occurs that frame 1 is " all light " when collection is " light on and off " passage of scintillation light, first
Frame 2 is " weak bright ", and the second frame 2 is " going out entirely ".Wherein, the first frame 2 is " weak bright " then to be uncertain caused by phase difference
Data.
Subelement 1223 is calibrated when carrying out sampling error calibration, sampling error calibration collection analysis optical signal status data
In " go out entirely " corresponding to " 0 " data.Obtained when the first time that calibration subelement 1223 is got in optical signal status data
To " 0 " data when, calibration subelement 1223 will count after the frame using " 0 " of the frame as valid data comprising uncertain
According to next frame jettisoning, and again using the frame after the next frame of jettisoning as valid data, and form circulation.It is appreciated that
Arrive, the frame number of jettisoning uncertain data, then avoid to exist in optical signal status data and collect uncertain data, and then can lead to
Cross aforesaid way and realize the sampling error calibration that each optical signal status data is gathered to optical signal processing unit 122.
It should be noted that the present embodiment will be the data of " 0 " as valid data, can effectively avoid for " 1 "
When data are as valid data, because light source 1121 is distant, and light signal strength is weak, causes sampling error calibration inaccurate
Really.
In addition, in the optical signal prosessing module 120 of the present embodiment, optical signal prosessing module 120 is according to default control journey
Sequence, when receiving the start bit in label information, just start to perform sampling.If not being connected to start bit, do not handle.When light is believed
The position of light source 1121 that number processing module 120 collects is fixed, but according to the label information obtained by the light source 1121 not just
When true, then it is background to judge the light source 1121, for example, the sun, LED etc..
Second coded sub-units 1224 can be IC chip, and it possesses the processing and operational capability to signal.The
Two coded sub-units 1224 are according to default control program, or the instruction sent by external equipment, the second coded sub-units
1224 can set label information, optical signal sends rule and coded optical signal rule.The label information, optical signal are sent into rule
Sent with coded optical signal rule to the second communication subelement 1225.
Second communication subelement 1225 can be IC chip, and it possesses the reception and transmitting capacity to signal.The
Two communication subelements 1225 are after getting label information, optical signal sends rule and coded optical signal rule, the second communicator
The label information, optical signal then are sent into rule by wireless network for unit 1225 and coded optical signal rule is sent to first
Communicate subelement 1111.
The optical signal positioner 100 of the present embodiment is photochromic according to 4 when being sampled, the pattern of 4 data bit,
About 3.8 ten thousand kinds of label informations can then be expressed.It is photochromic according to 4, the pattern of 6 data bit, about 7,500,000 kinds of labels can be expressed
Information.It is photochromic according to 4, the pattern of 8 data bit, then it can express about 1,400,000,000 kinds of label informations.If 4 data bit, carry out
12 periodic samplings, and when sampling rate is 120 frames/second, the recognition speed of optical signal positioner 100 is 0.1 second.Work as optical signal
Positioner 100 using 1280*720 resolution ratio, during the sampling rate of 120 frames/second, to treating in 12.8m*7.2m space
When surveying thing progress locating and tracking, the accuracy of identification of determinand can reach 0.01m.If optical signal positioner 100 uses 120
The sampling rate of frame/second, and the mutual spacing of multiple determinands is at least 1 meter.The then tracking of optical signal positioner 100 should
During determinand, the determinand speed highest can be 30 meter per seconds.
3rd embodiment
Referring to Fig. 8, third embodiment of the invention provides a kind of optical signal localization method, this method is applied to optical signal
Positioner, methods described include：
Step S100：The passage of scintillation light that the optical signal sending module is launched by least two light sources.
Step S200：Optical signal prosessing module collection passage of scintillation light at least described in two-way, and obtain each light source
The location information of determinand when sending the passage of scintillation light, according to obtaining passage of scintillation light described in every road and each location information
The change in location situation of determinand.
Referring to Fig. 9, third embodiment of the invention is provided in a kind of optical signal localization method, step S200 includes：
Step S210：The optical signal prosessing module obtains the sampling color break-up sequential of passage of scintillation light described in every road of sampling, and
Obtain each light source send corresponding to all the way the passage of scintillation light when determinand location information.
Step S220：The optical signal prosessing module is according to each sampling color break-up sequential and each location information
The label information of the determinand is obtained, and judges whether the label information is correct, if so, according to each location information
Obtain the change in location situation of the determinand.
Referring to Fig. 10, third embodiment of the invention is provided in a kind of optical signal localization method, step S220 includes：
Step S221：The determinand when optical signal prosessing module sends the passage of scintillation light according to each light source
The location information, obtain it is corresponding with light source this described it is described sample color break-up sequential in optical signal status data, each
The optical signal status data matches with the light on and off state of corresponding passage of scintillation light described all the way.
Step S222：According to each optical signal status data, the label information of the determinand is obtained, and judge
Whether the label information is correct, if so, obtaining the change in location situation of the determinand according to each location information.
Figure 11 is referred to, third embodiment of the invention is provided in a kind of optical signal localization method, and methods described also includes：
Step S201：Whether included in each optical signal status data that the optical signal prosessing module judges to obtain
Calibration data head, if so, threshold calibration when performing the sampling optical signal status data sampling, or the optical signal prosessing
Module performs sampling error calibration when sampling the optical signal status data.
It should be noted that due to it is apparent to those skilled in the art that, convenience and letter for description
It is clean, the specific work process of the method for foregoing description, it may be referred to corresponding in the embodiment of aforementioned system, device and unit
Journey, it will not be repeated here.
In summary, the embodiments of the invention provide a kind of optical signal positioner, method and system.Optical signal positioning dress
Put including：Optical signal sending module and optical signal prosessing module, optical signal sending module and the coupling of optical signal prosessing module.Light is believed
Number sending module, for the passage of scintillation light launched by least two light sources.Optical signal prosessing module, dodged for gathering at least two-way
Bright light, and the location information of determinand when each light source sends passage of scintillation light is obtained, according to every road passage of scintillation light and each location information
Obtain the change in location situation of determinand.
The passage of scintillation light that optical signal sending module is launched by least two light sources, and optical signal prosessing module then gathers this extremely
Passage of scintillation light described in few two-way, and obtain the location information of determinand when each light source sends passage of scintillation light.Optical signal prosessing module root
The change in location situation of the determinand is then obtained according to every road passage of scintillation light and each location information.Therefore, optical signal prosessing mould is passed through
The passage of scintillation light that block collection determinand optical signal sending module is sent, which realizes, to be identified to determinand, position and tracks, by
In the accuracy of optical signal long-distance transmissions, so can to determinand carry out medium and long distance be accurately positioned and accurate tracking.
The preferred embodiments of the present invention are these are only, are not intended to limit the invention, for those skilled in the art
For member, the present invention can have various modifications and variations.Any modification within the spirit and principles of the invention, being made,
Equivalent substitution, improvement etc., should be included in the scope of the protection.
Claims (10)
1. a kind of optical signal positioner, it is characterised in that the optical signal positioner includes：Optical signal sending module and light
Signal processing module, the optical signal sending module and optical signal prosessing module coupling；
The optical signal sending module, for the passage of scintillation light launched by least two light sources；
The optical signal prosessing module, for gathering passage of scintillation light at least described in two-way, and obtain described in each light source transmission
The location information of determinand during passage of scintillation light, the determinand is obtained according to passage of scintillation light described in every road and each location information
Change in location situation.
2. optical signal positioner according to claim 1, it is characterised in that the optical signal prosessing module includes：Light
Signal receiving unit and optical signal processing unit, the optical signal receiving unit couples with the optical signal sending module, described
Optical signal receiving unit is connected with the optical signal processing unit；
The optical signal receiving unit, for obtaining the sampling color break-up sequential of passage of scintillation light described in every road of sampling, and obtain each
The light source send corresponding to all the way the passage of scintillation light when determinand location information, each described will sample color break-up sequential
Sent to the optical signal processing unit with each location information；
The optical signal processing unit, described in being obtained according to each sampling color break-up sequential and each location information
The label information of determinand, and judge whether the label information is correct, if so, according to obtaining each location information
The change in location situation of determinand.
3. optical signal positioner according to claim 2, it is characterised in that the optical signal receiving unit includes：It is fixed
Position signal acquisition sensor and the single band encoded signal collection sensor matched with the quantity of light source；The single band coding
Signal acquisition sensor, for obtaining the sampling color break-up sequential of the correspondence that the samples passage of scintillation light all the way, by the sampling
Color break-up sequential is sent to optical signal processing unit；
The positioning signal gathers sensor, for treating described in obtaining when each light source sends the corresponding passage of scintillation light all the way
The location information of thing is surveyed, each location information is sent to the optical signal processing unit.
4. optical signal positioner according to claim 1, it is characterised in that the optical signal sending module includes：Light
Signal coding unit and optical signal transmitting element, the coded optical signal unit connects with the optical signal transmitting element, described
Optical signal transmitting element and optical signal prosessing module coupling；
The coded optical signal unit, for the label information according to the determinand, coding generation optical signal data, and by institute
Optical signal data is stated to send to the optical signal transmitting element；
The optical signal transmitting element, for according to the optical signal data, by each light source send corresponding to all the way
The passage of scintillation light.
5. optical signal positioner according to claim 4, it is characterised in that each light source is single band transmitting
Head.
6. a kind of optical signal localization method, it is characterised in that methods described is applied to optical signal positioner, described device bag
Include：Optical signal sending module and optical signal prosessing module, the optical signal sending module and optical signal prosessing module coupling,
Methods described includes：
The passage of scintillation light that the optical signal sending module is launched by least two light sources；
Optical signal prosessing module collection passage of scintillation light at least described in two-way, and obtain each light source and send the passage of scintillation light
When determinand location information, the position that the determinand is obtained according to passage of scintillation light described in every road and each location information becomes
Change situation.
7. optical signal localization method according to claim 6, it is characterised in that the optical signal prosessing module collection is at least
Passage of scintillation light described in two-way, and the location information of determinand when each light source sends the passage of scintillation light is obtained, according to every
Passage of scintillation light described in road and each location information obtain the change in location situation of determinand, including：
The optical signal prosessing module obtains the sampling color break-up sequential of passage of scintillation light described in every road of sampling, and obtains each light
Source send corresponding to all the way the passage of scintillation light when determinand location information；
The optical signal prosessing module obtains described to be measured according to each sampling color break-up sequential and each location information
The label information of thing, and judge whether the label information is correct, if so, being obtained according to each location information described to be measured
The change in location situation of thing.
8. optical signal localization method according to claim 7, it is characterised in that the optical signal prosessing module is according to each
The sampling color break-up sequential and each location information obtain the label information of the determinand, and judge the label information
It is whether correct, including：
The positioning of the determinand is believed when the optical signal prosessing module sends the passage of scintillation light according to each light source
Breath, obtain the optical signal status data in the sampling color break-up sequential corresponding with light source this described, each optical signal shape
State data match with the light on and off state of corresponding passage of scintillation light described all the way；
According to each optical signal status data, the label information of the determinand is obtained, and judge the label information
It is whether correct, if so, obtaining the change in location situation of the determinand according to each location information.
9. optical signal localization method according to claim 8, it is characterised in that methods described also includes：
Whether calibration data head is included in each optical signal status data that the optical signal prosessing module judges to obtain, if
It is to perform threshold calibration when sampling optical signal status data sampling, or the optical signal prosessing module performs sampling
Sampling error calibration during the optical signal status data.
10. a kind of optical signal alignment system, it is characterised in that the optical signal alignment system includes：Determinand and as right will
Seek the optical signal positioner described in any one of 1-5, the optical signal sending module in the optical signal positioner is arranged on institute
State on determinand.
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