CN108120435A - A kind of plant area's alignment system and localization method based on visible ray - Google Patents
A kind of plant area's alignment system and localization method based on visible ray Download PDFInfo
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- CN108120435A CN108120435A CN201711431300.5A CN201711431300A CN108120435A CN 108120435 A CN108120435 A CN 108120435A CN 201711431300 A CN201711431300 A CN 201711431300A CN 108120435 A CN108120435 A CN 108120435A
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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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/06—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving measuring of drift angle; involving correction for drift
-
- 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
- G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
- G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
-
- 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
- G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
- G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
- G01C21/16—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning by integrating acceleration or speed, i.e. inertial navigation
- G01C21/18—Stabilised platforms, e.g. by gyroscope
-
- 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
Abstract
Plant area's alignment system and localization method provided by the invention based on visible ray, have used PWM coding modes, and LED lamp is made not influence its lighting demand while id information is sent；In modulation, the id information of lamps and lanterns is modulated using master controller, and the light for passing through LED drive circuit and sending LED lamp has contained the id information of LED lamp.It employs smart mobile phone built-in camera to be acquired the visible ray that LED lamp is sent, obtains light information using the characteristic of imaging sensor, the light and shade stripe information of LED lamplight is progressively scanned into smart mobile phone.In terms of decoding, using digital image processing techniques, the light and shade striped of acquisition is handled, obtains the binary message included in light and shade striped, be finally translated into 8 hexadecimal digital informations；The comprehensive parameters such as the level meter with reference to smart mobile phone carry out positioning modeling and data calculation by the algorithm of optimization, realize indoor accurate position.
Description
Technical field
The present invention relates to a kind of plant area's alignment systems and localization method based on visible ray, belong to field of locating technology.
Background technology
Currently, on-site orientation problem has been obtained for the concern of height in petroleum chemical enterprise, and industry has been designed and produced
Some equipment to on-site positioning are gone out.But existing on-site location technology is using the positioning based on radio wave
Technology, and developing indoor positioning technologies are still in, it is to be positioned using Wireless LAN or radio wave mostly
's.In actual operation, positioning radio wave is easily subject to the interference of other radio signals and weakening for wall, positioning accuracy
Low, power consumption is big, of high cost, it is therefore desirable to further research.
The content of the invention
To solve the deficiencies in the prior art, it is an object of the invention to provide a kind of plant area's alignment systems based on visible ray
And localization method, this kind of alignment system employ the indoor positioning technologies based on LED white lights, since LED white lights are throughout on-site
Portion in the case where ensureing positioning accuracy, makes full use of on-site LED white lights, and indoor positioning no electromagnetic pollution, deployment is easy,
Not only lighting requirement is met, but also reduces power consumption and cost.Simultaneously from the interference of radio etc., these advantages make up well
The shortcomings that other indoor positioning modes and deficiency.With the development of next-generation green LED lighting engineering, the room based on visible ray
Interior locating scheme will be a kind of very promising indoor positioning scheme.
In order to realize above-mentioned target, the present invention adopts the following technical scheme that：
A kind of plant area's alignment system based on visible ray, it is characterized in that, it is taken including VISIBLE LIGHT EMISSION unit, smart mobile phone and position
Business device,
The VISIBLE LIGHT EMISSION unit, it would be desirable to which the LED lamp id information of transmission is loaded into the light and shade variation of LED lamplight；
The smart mobile phone, receives the id information that the light of LED lamp light and shade variation includes and decoding, parsing obtain LED lamp
The unique identities identification id information of transmission obtains the horizontal and vertical tilt of smart mobile phone using the level meter built in smart mobile phone
Information obtains the geomagnetic declination information of smart mobile phone using built-in gyroscope, the acquiring size smart mobile phone being imaged by lamp
Id information is uploaded to location server by the distance between lamps and lanterns information, smart mobile phone；
The location server, in map data base return on-site position coordinates, utilize the ginseng acquired in smart mobile phone
Number information determine corresponding position in map data base, and are shown on smart mobile phone and real-time update, so as to complete
Into positioning.
A kind of foregoing plant area's alignment system based on visible ray, it is characterized in that, the VISIBLE LIGHT EMISSION unit includes base
In the master controller of STM32, LED light source and LED drive circuit.
A kind of foregoing plant area's alignment system based on visible ray, it is characterized in that, the LED light source selects the big work(of 3W
Rate white light LEDs are as signal source, nominal parameter 9V, 330mA.
A kind of foregoing plant area's alignment system based on visible ray, it is characterized in that, the LED drive circuit is by being based on
Input of the transmission information that the master controller coding of STM32 generates as driving circuit, while input signal is amplified
It gives and biases, it is ensured that LED light source works normally, and the LED drive circuit is variable by adjusting according to the characteristic of LED light source used
Resistance value realizes the change to output quantity.
A kind of foregoing plant area's alignment system based on visible ray, it is characterized in that, it is provided with level in the smart mobile phone
Instrument, gyroscope.
A kind of localization method of foregoing plant area's alignment system based on visible ray, it is characterized in that, comprise the following steps,
Step（A）, it is seen that the LED lamp id information for needing to transmit is loaded into the light and shade variation of LED lamplight by light emitting unit；
Step（B）, the lamp that LED lamp light and shade changes is received by the use of the camera of smart mobile phone as the terminal for receiving id information
Id information that light includes and decoding, parsing obtains the unique identities identification id information that LED lamp is sent, using built in smart mobile phone
Level meter obtain the horizontal and vertical tilt information of smart mobile phone, built-in gyroscope is utilized to obtain the ground magnetic biasing of smart mobile phone
Angle information, the distance between the acquiring size smart mobile phone and lamps and lanterns that are imaged by lamp information, smart mobile phone upload id information
To location server；
Step（C）, the map data base of location server returns to on-site position coordinates, utilizes the parameter acquired in smart mobile phone
Information determines corresponding position in map data base, and is shown on smart mobile phone and real-time update, so as to complete
Positioning.
The advantageous effect that the present invention is reached：Plant area's alignment system and positioning side provided by the invention based on visible ray
Method has used PWM coding modes, and LED lamp is made not influence its lighting demand while id information is sent；In modulation, adopt
The id information of lamps and lanterns is modulated with master controller, and the light for passing through LED drive circuit and sending LED lamp has contained LED
The id information of lamps and lanterns.Employ smart mobile phone built-in camera the visible ray that LED lamp is sent is acquired rather than tradition
Reception antenna receive RI radio intelligence, using imaging sensor characteristic obtain light information, by the light and shade striped of LED lamplight
Information is progressively scanned into smart mobile phone.In terms of decoding, also without using the decoded mode of traditional airwaves, but number is utilized
Word image processing techniques handles the light and shade striped of acquisition, obtains the binary message included in light and shade striped, finally turn
Turn to 8 hexadecimal digital informations；The comprehensive parameters such as the level meter with reference to smart mobile phone are determined by the algorithm of optimization
Position modeling and data calculation, realize indoor accurate position.
Description of the drawings
Fig. 1 is the functional block diagram of the localization method of plant area's alignment system based on visible ray of the present invention.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and be not intended to limit the protection scope of the present invention and limit the scope of the invention.
A kind of plant area's alignment system based on visible ray, including VISIBLE LIGHT EMISSION unit, smart mobile phone and location server,
The VISIBLE LIGHT EMISSION unit, it would be desirable to which the LED lamp id information of transmission is loaded into the light and shade variation of LED lamplight；
The smart mobile phone, receives the id information that the light of LED lamp light and shade variation includes and decoding, parsing obtain LED lamp
The unique identities identification id information of transmission obtains the horizontal and vertical tilt of smart mobile phone using the level meter built in smart mobile phone
Information obtains the geomagnetic declination information of smart mobile phone using built-in gyroscope, the acquiring size smart mobile phone being imaged by lamp
Id information is uploaded to location server by the distance between lamps and lanterns information, smart mobile phone；
The location server, in map data base return on-site position coordinates, utilize the ginseng acquired in smart mobile phone
Number information determine corresponding position in map data base, and are shown on smart mobile phone and real-time update, so as to complete
Into positioning.
Further, the VISIBLE LIGHT EMISSION unit includes the master controller based on STM32, LED light source and LED drivings
Circuit.The LED light source selects the large power white light LED of 3W as signal source, nominal parameter 9V, 330mA, for
It does not influence to realize reliable and stable wireless communication on the premise of light source normal work as far as possible, system, which is selected, is slightly below nominal operation
The 300mA of electric current is as direct current biasing point.The reason is that in the range of maximum operating currenbt, LED light source power is in electric current
Linear relationship, light source have good modulating characteristic.The LED drive circuit is by the master controller coding production based on STM32
Input of the raw transmission information as driving circuit, gives while input signal is amplified and biases, it is ensured that LED light source is just
Often work, the LED drive circuit change output quantity by adjusting variable resistance realization according to the characteristic of LED light source used
Become, flexible modulation is carried out according to the light source parameters in practical application, LED drive circuit is except providing sufficiently large electric current to ensure
Outside the normal work of white light, suitable quiescent point must also be provided, light source is enable to export enough power and with good
The linearity, it is ensured that can linear convergent rate after signal is modulated.
Further, the level meter, gyroscope using Macintosh iMac as exploitation hardware, using IOS systems as opening
Hair ring border, system version are more than X EI Capitan, and developing instrument is Xcode 7.31.
A kind of localization method of plant area's alignment system based on visible ray, comprises the following steps,
Step（A）, it is seen that the LED lamp id information for needing to transmit is loaded into the light and shade variation of LED lamplight by light emitting unit；
Step（B）, the lamp that LED lamp light and shade changes is received by the use of the camera of smart mobile phone as the terminal for receiving id information
Id information that light includes and decoding, parsing obtains the unique identities identification id information that LED lamp is sent, using built in smart mobile phone
Level meter obtain the horizontal and vertical tilt information of smart mobile phone, built-in gyroscope is utilized to obtain the ground magnetic biasing of smart mobile phone
Angle information, the distance between the acquiring size smart mobile phone and lamps and lanterns that are imaged by lamp information, smart mobile phone upload id information
To location server；
Step（C）, the map data base of location server returns to on-site position coordinates, utilizes the parameter acquired in smart mobile phone
Information determines corresponding position in map data base, and is shown on smart mobile phone and real-time update, so as to complete
Positioning.
In the localization method of this kind of alignment system, the form of data transmission includes：Originate harbour, address code, address radix-minus-one complement,
Instruction code, instruction radix-minus-one complement and end code.Starting harbour is made of the low and high level of a continuous 235 μ s, and end code is by one
150 μ s low levels form.Address code, address radix-minus-one complement, instruction code and instruction radix-minus-one complement be 8 according to form, according to low level in preceding height
The posterior order in position is sent, and increases address radix-minus-one complement and instruction radix-minus-one complement is to improve the accuracy in message transmitting procedure and reliable
Property.For LED light source during position id information is cycled through, what slot sytem was sent to LED light source during idle time is high electricity
It is flat, to ensure that LED light source can normally provide lighting service.The transmission of a logic 1 is usually set as 112 μ s（28 μ s high electricity
Gentle 84 μ s low levels）, the transmission of a logical zero is set as 56 μ s（28 μ s high level and 28 μ s low levels）.To avoid fixed
Occur that object to be measured receives the location information that multiple signal sources are sent simultaneously in the region of position and the confusion phenomena occurred, system are being sent out
It penetrates end and multiple LED light sources is carried out with timesharing transmission signal, when the frequency of transmission signal is more than 60Hz, white light LEDs are not in
Apparent scintillation, human eye can not also be differentiated, but if there is continuous logic 1 or continuous logical zero, it will cause
LED light source luminosity changes, and influences illuminating effect.Therefore can be ensured in systems using above-mentioned coding mode in sequence
Each bit is made of two change pulses, can effectively mitigate what LED light source generated illumination when sending position id information
It influences.In system, by the master controller of STM32, control LED lamp sends the striped of light and shade variation, will be in LED lamp
Id information is sent.
The system is performed using relative program of the burning in STM32.In order to send encode when being capable of not shadow
The illumination efficiency of lamps and lanterns is rung, ensures that it will not be flickered because light and shade is uneven, therefore uses special coding mode.This
In coding mode, using the bright fringes of the dark fringe of time interval T and a time interval T as 0 coding mode, by one
The bright fringes of a time interval T and the dark fringe of a time interval T as 0 coding mode.In this way, either send 0 also
It is 1, can ensures that the luminous efficiency of lamps and lanterns is maintained at 50%, due to luminous quantity difference in the unit interval when avoids transmission coding
Flicker effects is caused to illuminate.Simultaneously the head of address code add in terminal information, determine address code initial position, behind use 8
Position hexadecimal number represents lamps and lanterns ID, and transmission speed is fast, efficient.
In the communications, in order to digital signal is made to be transmitted in the high frequency channel of finite bandwidth, it is necessary to which digital signal is carried out
Carrier modulation.What the system utilized is the modulation of binary system on off keying.Binary system on off keying is with unipolarity non-return to zero code sequence
It arranges to control the open and close of sinusoidal carrier.One amplitude is taken as 0, another amplitude is non-zero, and receiving terminal can be allowed more preferable
Reception and decoding.In addition, in order to which the transmission of optical information can be completed while illumination is not influenced, therefore cannot allow LED lamp
Flicker, therefore be not merely simple OOK modulation in modulation system, it is also necessary to pwm signal is loaded into LED drivings, LED
Illuminator launches visible light signal in the case of normal illumination, allows the camera of smart mobile phone that can receive optical signal,
It is positioned for on-site.
Since LED lamp can make fast reaction according to the variation of driving voltage or electric current, utilize image sensing
The characteristic of image information is read in device timesharing line by line, is modulated by the driving current to light source or driving voltage, exactly
It is by changing the frequency of low and high level and duration in driving current or driving voltage, in the image of imaging sensor output
It is upper to form different light and shade stripeds.Then, according to the principle of Digital Image Processing, the number of bright fringe or dark fringe in detection image
Amount or phase, by calculating to obtain the frequency information loaded in driving current.Then, determine to be transmitted according to frequency information
Coding.Finally, transmitted information is recovered according to specific decoding process.In the system, the image that smart mobile phone uses passes
Sensor is cmos sensor.Image reading sensor row pixel is reset according to order, since topmost, by row be read out until
Bottom.
Decoding is the inverse process of coding.Using the operation principle of camera, shoot what light and shade changed by smart mobile phone
Striped picture with reference to digital image processing techniques, carries out processing identification to the light and shade striped in light picture, is converted into corresponding
Binary data.It converts further according to the decompiling mode of coding rule to binary data, obtains the eight of LED lamp transmission
Position hexadecimal id information.
Using the level meter and gyroscope built in smart mobile phone, smart mobile phone can be accurately obtained both horizontally and vertically
Angle of inclination, meanwhile, with reference to the imaging magnitude relationship for the lamp that smart mobile phone is shot, with reference to horizontal and angle of inclination information, utilize
Solving model built in APP can calculate distance of the lamp compared with user, you can to determine that user is located at apart from lamp one
On the circumference of set a distance, using the compass information built in smart mobile phone, the orientation such as the geomagnetic declination of user letter can be obtained
Breath.
After smart mobile phone starts, lamps and lanterns id information is obtained using terminal camera, is decoded using built-in MCU and obtains lamps and lanterns ID
Information, it may be determined that user is located at the adjacent lamp for determining ID.Meanwhile the magnitude relationship of the lamps and lanterns image according to shooting, simultaneously
Corresponding parameter is obtained using level meter, gyroscope and the compass built in smart mobile phone, for example, obtained using level meter
The level of smart mobile phone and angle of inclination, using the Indoor Locating Model of structure, the range information of combined use person and lamps and lanterns can
Accurate location information is gone out with COMPREHENSIVE CALCULATING.Location information is matched with the map office built in high in the clouds or smart mobile phone,
Position coordinates is shown, and obtains lamps and lanterns information from terminal camera again, it is right with reference to the sensor information of real-time update
Location information on map carries out real-time update and shows, so as to complete the positioning to on-site personnel.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformation can also be made, these are improved and deformation
Also it should be regarded as protection scope of the present invention.
Claims (6)
1. a kind of plant area's alignment system based on visible ray, it is characterized in that, including VISIBLE LIGHT EMISSION unit, smart mobile phone and position
Server,
The VISIBLE LIGHT EMISSION unit, it would be desirable to which the LED lamp id information of transmission is loaded into the light and shade variation of LED lamplight；
The smart mobile phone, receives the id information that the light of LED lamp light and shade variation includes and decoding, parsing obtain LED lamp
The unique identities identification id information of transmission obtains the horizontal and vertical tilt of smart mobile phone using the level meter built in smart mobile phone
Information obtains the geomagnetic declination information of smart mobile phone using built-in gyroscope, the acquiring size smart mobile phone being imaged by lamp
Id information is uploaded to location server by the distance between lamps and lanterns information, smart mobile phone；
The location server, in map data base return on-site position coordinates, utilize the ginseng acquired in smart mobile phone
Number information determine corresponding position in map data base, and are shown on smart mobile phone and real-time update, so as to complete
Into positioning.
2. a kind of plant area's alignment system based on visible ray according to claim 1, it is characterized in that, the VISIBLE LIGHT EMISSION
Unit includes the master controller based on STM32, LED light source and LED drive circuit.
3. a kind of plant area's alignment system based on visible ray according to claim 2, it is characterized in that, the LED light source choosing
By the use of the large power white light LED of 3W as signal source, nominal parameter 9V, 330mA.
4. a kind of plant area's alignment system based on visible ray according to claim 2, it is characterized in that, the LED drivings electricity
Input of the transmission information as LED drive circuit that road is generated by the master controller coding based on STM32, by input signal into
It gives and biases while row amplification, it is ensured that LED light source works normally, and the LED drive circuit is according to the characteristic of LED light source used
By adjusting change of the variable resistance realization to output quantity.
5. a kind of plant area's alignment system based on visible ray according to claim 1, it is characterized in that, in the smart mobile phone
Level meter, the gyroscope of setting are used as exploitation hardware, using IOS systems as development environment, system version using Macintosh iMac
For more than X EI Capitan, developing instrument is Xcode 7.31.
It is 6. special according to a kind of localization method of plant area's alignment system based on visible ray of claim 1-5 any one of them
Sign is to comprise the following steps,
Step（A）, it is seen that the LED lamp id information for needing to transmit is loaded into the light and shade variation of LED lamplight by light emitting unit；
Step（B）, the lamp that LED lamp light and shade changes is received by the use of the camera of smart mobile phone as the terminal for receiving id information
Id information that light includes and decoding, parsing obtains the unique identities identification id information that LED lamp is sent, using built in smart mobile phone
Level meter obtain the horizontal and vertical tilt information of smart mobile phone, built-in gyroscope is utilized to obtain the ground magnetic biasing of smart mobile phone
Angle information, the distance between the acquiring size smart mobile phone and lamps and lanterns that are imaged by lamp information, smart mobile phone upload id information
To location server；
Step（C）, the map data base of location server returns to on-site position coordinates, utilizes the parameter acquired in smart mobile phone
Information determines corresponding position in map data base, and is shown on smart mobile phone and real-time update, so as to complete
Positioning.
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983147A (en) * | 2018-08-06 | 2018-12-11 | 杭州电子科技大学 | A kind of indoor locating system and method based on mobile terminal |
| CN109345835A (en) * | 2018-09-05 | 2019-02-15 | 华北电力大学扬中智能电气研究中心 | A kind of forward direction method for early warning and device based on truck traffic |
| CN109725286A (en) * | 2018-12-19 | 2019-05-07 | 上海大学 | A kind of single LED visible light communication indoor orientation method based on mobile phone any direction angle |
-
2018
- 2018-01-30 CN CN201711431300.5A patent/CN108120435A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108983147A (en) * | 2018-08-06 | 2018-12-11 | 杭州电子科技大学 | A kind of indoor locating system and method based on mobile terminal |
| CN109345835A (en) * | 2018-09-05 | 2019-02-15 | 华北电力大学扬中智能电气研究中心 | A kind of forward direction method for early warning and device based on truck traffic |
| CN109725286A (en) * | 2018-12-19 | 2019-05-07 | 上海大学 | A kind of single LED visible light communication indoor orientation method based on mobile phone any direction angle |
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