CN108279008A - A kind of LED light method for tracing under the complex scene based on Kalman filtering and its system - Google Patents
A kind of LED light method for tracing under the complex scene based on Kalman filtering and its system Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N23/00—Cameras or camera modules comprising electronic image sensors; Control thereof
- H04N23/70—Circuitry for compensating brightness variation in the scene
- H04N23/73—Circuitry for compensating brightness variation in the scene by influencing the exposure time
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
- H05B45/10—Controlling the intensity of the light
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- H—ELECTRICITY
- H05—ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
- H05B—ELECTRIC HEATING; ELECTRIC LIGHT SOURCES NOT OTHERWISE PROVIDED FOR; CIRCUIT ARRANGEMENTS FOR ELECTRIC LIGHT SOURCES, IN GENERAL
- H05B45/00—Circuit arrangements for operating light-emitting diodes [LED]
- H05B45/30—Driver circuits
- H05B45/37—Converter circuits
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Abstract
The invention discloses the LED light method for tracing and its system under a kind of complex scene based on Kalman filtering, which includes sequentially connected LED glow frequencies control subsystem, robot C MOS cameras subsystem, image processing subsystem, Kalman filter.Wherein, the LED glow frequencies control subsystem is controlled by the pulse train of different frequency；The robot C MOS cameras subsystem can capture the alternate LED image of black and white strip；The image processing subsystem is filtered LED image, identifies LED and positions the position of LED；The Kalman filter obtains more accurate LED location information by prediction with measurement.Kalman Filter Technology is applied to the tracking of LED by the present invention, is improved the tracking precision of LED, and have very strong anti-noise interference free performance, is had broad application prospects.
Description
Technical field
The present invention relates to visible light communication and LED light tracer technique field, and in particular to a kind of based on Kalman filtering
LED light method for tracing under complex scene and its system.
Background technology
In recent years, with the rapid development of LED industry, more miscellaneous high performance lED is developed, and is based on LED
A series of Multi-functional Lighting technologies also be mined out, be truly realized " lamp multi-purpose ".In particular, with visible light communication
The development of technology, scientist slowly excavated LED in the potential of the communications field, so that it is added the row of " information envoy "
Row.Why LED is applied to the communications field, is because it is good with modulating performance, modulation sensitivity is high, strong antijamming capability
Outstanding advantages of so that people can convert the message into modulated signal and be shone again by what LED light was converted into being invisible to the naked eye
Frequency.2015, Chinese " visible light communication system key technology research " obtained important breakthrough, it is seen that the real time rate of optic communication
50GGbps is reached so that reality is become by light online.But since LED light by other light sources is influenced to compare
Greatly, the distance that can be detected is shorter, and there is presently no extensive uses.
The existing LED light tracing system based on image processing techniques is directly identified LED light, positions, and obtains
The position of LED light is bigger by noise jamming, if shake or light environment occur during capturing LED light image
Drastic change, the position of LED light just has a prodigious deviation in obtained image, and this deviation be traditional image processing techniques without
What method was eliminated or was reduced.And traditional LED light tracer technique can only generally track a LED light, i.e., can detect figure
Multiple LED light as in, can not also differentiate it.LED light is applied to indoor positioning for convenience, is based particularly on and takes the photograph
As the indoor positioning of head, it is necessary to invent a kind of high-precision LED light tracing system.Kalman filtering is applied to LED light
In tracer technique, there is apparent help in position that is not only quick but also accurately obtaining LED light to the development of indoor positioning technologies.
Invention content
The purpose of the present invention is to solve drawbacks described above in the prior art, provide a kind of answering based on Kalman filtering
LED light method for tracing under miscellaneous scene and its system.
According to disclosed embodiment, the first aspect of the present invention discloses under a kind of complex scene based on Kalman filtering
LED light method for tracing, the LED light method for tracing includes the following steps：
S1, LED glow frequency control subsystem control ceiling each LED light according to different frequencies " bright ",
Change under " going out " two states；
CMOS camera at the top of S2, robot captures LED image, and passes through local network transport to image procossing subsystem
System；
S3, image processing subsystem are handled image using OpenCV image procossings library, according to the striped of LED image
Feature detects the position Z of LED lightK；
S4, Kalman filter obtain the position Z of the LED lightK, by the position Z of the LED lightKIt is pre- with Kalman filter
The position X of the LED light of surveyK-1It is weighted summation, exports the position X of the LED light of optimizationK。
Further, the step S1 includes the following steps：
S101, LED glow frequency control subsystem are by mcu programming, making its different pin export different frequency
Pulse train；
S102, different frequency pulse train be input to LED drive circuit, control LED drive circuit output current it is logical
It is disconnected, to make LED according to specified frequency scintillation.
Further, the step S2 includes the following steps：
The focal length of S201, robot C MOS camera subsystems adjustment CMOS camera, can clearly capture LED
Image；
The exposure time of S202, robot C MOS camera subsystems adjustment CMOS camera, wherein exposure time etc.
In the integral multiple reciprocal of LED light glow frequency, CMOS camera is enable to capture chequered with black and white LED light striped；
S203, robot C MOS camera subsystems adjust what the exposure compensating EV of CMOS camera took to raising
The clarity of striped, specific method be when light than it is dark when, EV values should be smaller；When light is brighter, EV values are answered
When bigger；
S204, robot C MOS camera subsystems adjust what the sensitivity ISO of CMOS camera took to raising
The clarity of striped；
S205, robot C MOS cameras subsystem are the movement velocity U of the LED image and robot capturedK, lead to
It crosses LAN and is sent to image processing subsystem.
Further, the step S3 includes the following steps：
S301, image processing subsystem call OpenCV image procossings libraries, and LED image is converted into gray-scale map, then into
Row gaussian filtering and binary conversion treatment obtain binaryzation LED strip print image；
S302, binaryzation LED strip print image, progress feature extraction and feature are detected, to obtain the ID of LED；
S303, to binaryzation LED strip print image, carry out geometrical analysis, obtain the pixel point coordinates of its central point, that is,
The position Z of LED lightK.The position Z of LED lightKMeasurement equation it is as follows：
Zk=HXk+Vk
ZkIt is the pixel coordinates matrix of the central point of k moment LED, is 4 × 2 matrix.H is correlation measurement value and optimization
The amount of value, changes over time and changes.VkIt is 4 × 2 matrix for measurement noise, element obeys statistical property：vk~N (0,
R)。
Further, the step S4 includes the following steps：
S401, Kalman filter obtain the position Z of the LED lightKAnd the movement velocity U of robotK。
S402, Kalman filter obtain the position X of the LED light of optimization using system state equationK, the system shape
State equation is as follows：
Xk=AXk-1+BUk-1+Wk-1
Wherein, XkThe optimization position of k moment LED light in the picture is represented, is 4 × 2 matrix, because there is 4 LED light,
There are two coordinates of x, y in the position of each LED light.A is 4 × 4 matrix, is associated with XkWith Xk-1, it is generally regarded into diagonal entry
It is 1, the normal matrix that other elements are 0.Uk-1It is 4 × 2 matrix, is the movement velocity of k-1 moment robots, Wk-1It makes an uproar for process
Sound is 4 × 2 matrix, element Normal Distribution：wk-1~N (0, Q).
Wherein, the Kalman filter for LED light tracking can be indicated systematically with following 5 equations：
LED light position prediction equation：
LED light position prediction error equation：
LED light position prediction gain equation：
LED light position optimization equation：
Wherein, mean square error updates matrixIt is the optimal mean square error at K moment.
According to disclosed embodiment, the second aspect of the present invention discloses under a kind of complex scene based on Kalman filtering
LED light tracing system, the LED light tracing system includes LED glow frequencies control subsystem, robot C MOS cameras
Subsystem, image processing subsystem, Kalman filter；The LED glow frequency control subsystems include：Microcontroller, LED
Lamp drive circuit, square arrangement LED light array；The robot C MOS camera subsystems include：Mounted on machine
CMOS camera, CMOS camera parameter setting module, USB connecting lines, robot host computer, WIFI module at the top of device people according to
Secondary connection；The image processing subsystem has：Coloured image converting gradation image module, image filtering module, image two
Value module, LED light identification module, LED light locating module；The Kalman filter has：LED light position prediction mould
Block, LED light position optimization module, Kalman filtering parameter update module.
Further, the LED light array is array and all LED light by square arrangement in same level
On.
Further, the CMOS camera at the top of the robot, camera lens are the CMOS cameras in horizontal direction
Focal length, exposure time, exposure compensating EV, sensitivity ISO pass through the CMOS camera parameter setting module and adjust；It is described
Image processing subsystem processing be not only single-frame images, but the image that real-time processor device human hair is sent to has very
Strong real-time；The Kalman filter has quickly using the discrete type Kalman filter model with control
Processing speed easily reaches real-time.
Further, the CMOS camera parameter setting module is by image processing subsystem remote control, to
Dynamic adjustment CMOS camera parameter.
The present invention has the following advantages and effects with respect to the prior art：
1, the present invention is effectively eliminated is made an uproar caused by the interference such as light sudden change, CMOS camera shake in shooting process
The influence that sound tracks LED light improves the tracking precision and tracking speed of LED light.
2, the present invention utilizes image processing subsystem remote control CMOS camera parameter, improves the imaging of LED image
The identification of quality and LED, tracking effect.
Description of the drawings
Fig. 1 is the overall structure of the LED light tracing system under the complex scene disclosed by the invention based on Kalman filtering
Figure
Fig. 2 is the impulse waveform schematic diagram that microcontroller difference pin is sent in the present invention；
Fig. 3 is the schematic diagram of CMOS camera shooting LED light array in the present invention；
Fig. 4 is the schematic diagram of the LED light image obtained after image processing subsystem in the present invention；
Fig. 5 is the equivalent system figure of Kalman filter in the present invention.
Specific implementation mode
In order to make the object, technical scheme and advantages of the embodiment of the invention clearer, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is
A part of the embodiment of the present invention, instead of all the embodiments.Based on the embodiments of the present invention, those of ordinary skill in the art
The every other embodiment obtained without making creative work, shall fall within the protection scope of the present invention.
Embodiment one
As shown in Fig. 1, present embodiment discloses the LED light under a kind of complex scene based on Kalman filtering to track system
System, LED light tracing system are used for the identification of LED light position, to LED light position prediction and to LED light position optimization.
As shown in Fig. 2, microcontroller sends the pulse train of different frequency, LED lamp drive circuit is controlled, to make LED
Lamp is changed with different frequencies " bright ", " going out " so that the different LED on the LED image that COMS cameras capture have difference
Streak feature.
As shown in Fig. 3, each frame LED image of CMOS camera capture includes 4 LED light, by image procossing
After system processing, binaryzation LED image shown in Fig. 4 is obtained, using this binaryzation LED image, can obtain different LED's
Position ZK.Kalman filter is realized by DSP, to the position Z of different LEDKIt is modified, optimizes, eliminate due to shooting
Noise caused by the interference such as light sudden change, CMOS camera shake in journey.Kalman filter for LED light tracking can letter
Turn to block diagram shown in fig. 5.It can specifically be indicated with following 5 equations：
LED light position prediction equation：
LED light position prediction error equation：
LED light position prediction gain equation：
LED light position optimization equation：
Wherein, mean square error updates matrixIt is the optimal mean square error at K moment.
Embodiment two
Such as Fig. 1, the LED light tracing system under a kind of complex scene based on Kalman filtering, including：LED light shines frequently
Rate control subsystem, robot camera subsystem, image processing subsystem, Kalman filter subsystem.
Wherein, LED light glow frequency control subsystem sends the pulse train of different frequency, control by programmable single chip computer
LED lamp drive circuit processed, and then LED light flicker is driven, herein using the pulse sequence of 50Hz, 100Hz, 200Hz, 400Hz
Row, as shown in Figure 2.
Wherein, robot camera subsystem is by CMOS camera, the CMOS camera parameter at the top of robot
Setup module, robot host computer, WIFI module are sequentially connected.Image processing subsystem is joined by remote control CMOS camera
The focal length of number setup module setting CMOS camera, exposure time, exposure compensating, sensitivity, to enable CMOS camera
Clearly capture the LED image for including 4 LED.Image processing subsystem includes coloured image converting gradation image module, figure
As filter module, image binaryzation module, LED light identification module, LED light locating module.
Wherein, Kalman filter includes LED light position prediction module, LED light position optimization module, Kalman filtering ginseng
Number update module.
The above embodiment is a preferred embodiment of the present invention, but embodiments of the present invention are not by above-described embodiment
Limitation, it is other it is any without departing from the spirit and principles of the present invention made by changes, modifications, substitutions, combinations, simplifications,
Equivalent substitute mode is should be, is included within the scope of the present invention.
Claims (10)
1. the LED light method for tracing under a kind of complex scene based on Kalman filtering, which is characterized in that the LED light chases after
Track method includes the following steps：
S1, LED glow frequency control subsystem control LED light change according to different frequencies under " bright ", " going out " two states；
CMOS camera at the top of S2, robot captures LED image, and passes through local network transport to image processing subsystem；
S3, image processing subsystem are handled image using OpenCV image procossings library, special according to the striped of LED image
Sign, detects the position Z of LED lightK；
S4, Kalman filter obtain the position Z of LED lightK, by the position Z of the LED lightKWith the LED of Kalman filter prediction
The position X of lampK-1It is weighted summation, exports the position X of the LED light of optimizationK。
2. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 1, feature
It is, the step S1 includes the following steps：
S101, LED glow frequency control subsystem are by mcu programming, making its different pin export the pulse of different frequency
Sequence；
S102, different frequency pulse train be input to LED drive circuit, control the break-make of LED drive circuit output current, make
LED is according to specified frequency scintillation.
3. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 1, feature
It is, the step S2 includes the following steps：
The focal length of S201, robot C MOS camera subsystems adjustment CMOS camera, can clearly capture LED figures
Picture；
The exposure time of S202, robot C MOS camera subsystems adjustment CMOS camera, wherein exposure time is not equal to
The integral multiple reciprocal of LED light glow frequency, enables CMOS camera to capture chequered with black and white LED light striped；
S203, robot C MOS camera subsystems adjust the exposure compensating EV of CMOS camera to improve the striped taken
Clarity；
S204, robot C MOS camera subsystems adjust the sensitivity ISO of CMOS camera to improve the striped taken
Clarity；
S205, robot C MOS cameras subsystem are the movement velocity U of the LED image and robot capturedK, pass through office
Domain net is sent to image processing subsystem.
4. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 1, feature
It is, the step S3 includes the following steps：
S301, image processing subsystem call OpenCV image procossings library, and LED image is converted into gray-scale map, then carry out high
This filtering and binary conversion treatment, obtain binaryzation LED strip print image；
S302, binaryzation LED strip print image, progress feature extraction and feature are detected, to obtain the ID of LED；
S303, to binaryzation LED strip print image, carry out geometrical analysis, obtain the pixel point coordinates of its central point, that is, LED
The position Z of lampK。
5. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 1, feature
It is, the step S4 includes the following steps：
S401, Kalman filter obtain the position Z of LED lightKAnd the movement velocity U of robotK；
S402, Kalman filter obtain the position X of the LED light of optimization using system state equationK, the system mode side
Journey is as follows：
Xk=AXk-1+BUk-1+Wk-1
Wherein, XkThe optimization position of k moment LED light in the picture is represented, is 4 × 2 matrix, represents 4 LED light, each LED
It is 4 × 4 matrix that, which there are two coordinates of x, y, A in the position of lamp, is associated with XkWith Xk-1, it is 1 that it is regarded to diagonal entry, other yuan
The normal matrix that element is 0, Uk-1It is 4 × 2 matrix, is the movement velocity of k-1 moment robots, Wk-1It is 4 × 2 for process noise
Matrix, element Normal Distribution：wk-1~N (0, Q).
6. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 4, feature
It is, the position Z of the LED lightKMeasurement equation it is as follows：
Zk=HXk+Vk
ZkIt is the pixel coordinates matrix of the central point of k moment LED, is 4 × 2 matrix, H is correlation measurement value and optimal value
Amount, changes over time and changes, and is measurement noise, is 4 × 2 matrix, and element obeys statistical property：vk~N (0, R).
7. the LED light method for tracing under a kind of complex scene based on Kalman filtering according to claim 5, feature
It is, the Kalman filter is indicated with following 5 equations：
LED light position prediction equation：
LED light position prediction error equation：
LED light position prediction gain equation：
LED light position optimization equation：
Wherein, mean square error updates matrixIt is the optimal mean square error at K moment.
8. the LED light tracing system under a kind of complex scene based on Kalman filtering, which is characterized in that the LED light chases after
Track system includes LED glow frequencies control subsystem, robot C MOS cameras subsystem, image processing subsystem, Kalman
Filter；
The LED glow frequency control subsystems include the microcontroller being sequentially connected, LED lamp drive circuit, square row
The LED light array of row；The robot C MOS camera subsystems include being sequentially connected at the top of robot
CMOS camera, CMOS camera parameter setting module, robot host computer, WIFI module；The image processing subsystem
Including be sequentially connected coloured image converting gradation image module, image filtering module, image binaryzation module, LED light identification
Module, LED light locating module；The Kalman filter includes the LED light position prediction module being sequentially connected, LED light position
Set optimization module, Kalman filtering parameter update module.
9. the LED light tracing system under a kind of complex scene based on Kalman filtering according to claim 8, feature
It is,
The LED light array is array and all LED light by square arrangement in same level.
10. the LED light tracing system under a kind of complex scene based on Kalman filtering according to claim 8, special
Sign is,
CMOS camera at the top of the robot, camera lens is in horizontal direction, when the focal length of the CMOS camera, exposure
Length, exposure compensating EV, sensitivity ISO are adjusted by the CMOS camera parameter setting module；The Kalman filtering
Device is using the discrete type Kalman filter model with control；The CMOS camera parameter setting module is by described
Image processing subsystem remote control, to dynamic adjustment CMOS camera parameter.
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| CN110231598A (en) * | 2019-06-13 | 2019-09-13 | 大连理工大学 | The method for judging light source revolving property is calculated in visible light indoor positioning based on adduction |
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Cited By (6)
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|---|---|---|---|---|
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| CN110233667A (en) * | 2019-06-05 | 2019-09-13 | 华南理工大学 | VLC dynamic positioning method and system based on average drifting and Unscented kalman filtering |
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