CN108332748A - A kind of indoor visible light localization method and device - Google Patents
A kind of indoor visible light localization method and device Download PDFInfo
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- CN108332748A CN108332748A CN201711367852.4A CN201711367852A CN108332748A CN 108332748 A CN108332748 A CN 108332748A CN 201711367852 A CN201711367852 A CN 201711367852A CN 108332748 A CN108332748 A CN 108332748A
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- G—PHYSICS
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- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
- G01S11/12—Systems for determining distance or velocity not using reflection or reradiation using electromagnetic waves other than radio waves
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Abstract
The invention discloses a kind of indoor visible light localization method and devices, wherein method includes：The space angle information of the image information and receiving terminal of target illuminating source in pre-set space coordinate system is acquired, image information includes the projection hot spot of target illuminating source；Processing is identified to projection hot spot according to preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size and obtains light source positional parameter and spot location parameter；According to imaging location algorithm to the focal length of spot location parameter, light source positional parameter, space angle information and receiving terminal, absolute position of the receiving terminal in pre-set space coordinate system is obtained；The method and device of the present invention, in the process positioned to receiving terminal, can spot location parameter and light source positional parameter only be obtained by the hot spot of the image information of a lighting source, to obtain absolute position of the receiving terminal in pre-set space coordinate by the spot location parameter and light source positional parameter.
Description
Technical field
The present invention relates to the integrated indoor visible light location technology of illumination more particularly to a kind of indoor visible light localization methods
And device.
Background technology
In recent years, it with smart city and based on the continuous development of location-based service, and the relevant demand of indoor positioning and answers
With continuing to bring out.Due under positioning system (GPS, Big Dipper etc.) of the tradition based on satellite-signal indoors environment locating effect compared with
Difference, can not effectively use, gradually appeared in the world it is a series of based on Wi-Fi, bluetooth, ultrasound, infrared, ultra wide band and
The indoor orientation method and system of the principles such as inertial navigation.By many-sided limit such as deployment cost, positioning accuracy and system suitability
System, these localization methods are not also popularized.It is the solid light source of representative to shine using LED with the progress of solid light source technology
The advantages such as efficient, low energy consumption, long lifespan, material environmental protection are increasingly becoming the mainstream of illumination market.And LED is relative to conventional fluorescent
The high modulation bandwidth of lamp/incandescent lamp can emit visible light signal while providing illumination, can for the interior based on illumination
Light-exposed positioning provides hardware foundation.In addition, with the development of Intelligent mobile equipment, it is mobile as the commercialization of representative using smart mobile phone
The sensing capability of terminal constantly enhances, and makes it possible its detected with high accuracy to Inertia information and image information.
Compared with outdoor positioning and other indoor orientation methods based on satellite-signal, indoor visible light location technology is with mesh
The visible light signal for marking lighting source transmitting is information carrier.Therefore, indoor existing target illuminating source can directly be utilized
As signal transmitting terminal, while illumination and indoor positioning service are provided, deployment cost is relatively low.Secondly as with visible light signal
For carrier, therefore indoor visible light positioning system not will produce the electromagnetic wave signal of radio-frequency range, therefore will not have with interior
Wireless communication signals generate interference, electromagnetic interference will not be generated.Further, since visible light signal has the spy of straightline propagation
Property, wall will not be penetrated.Therefore, compared with the indoor orientation method using radiofrequency signal, it is seen that light-seeking is not in across building
The problem of layer and across room mistake position.
But in current visible light localization method, need receiving terminal mostly while collecting to come from multiple targets
The information of lighting source, and can not be positioned based on single target lighting source, so, to the distribution of light source in the scene
Density requirements are higher.
Invention content
It is a primary object of the present invention to propose a kind of indoor visible light localization method and device, illuminated based on single target
Light source can be positioned.
According to an aspect of the invention, there is provided a kind of indoor visible light localization method, the method includes：
Acquire the space angle information of the image information and receiving terminal of target illuminating source in pre-set space coordinate system, institute
State the projection hot spot that image information includes the target illuminating source；According to preset algorithm, the sample frequency of receiving terminal, exposure ginseng
Number and Pixel size are identified processing to the projection hot spot and obtain light source positional parameter and spot location parameter；According to imaging
Location algorithm is to the spot location parameter, the light source positional parameter, the space angle information and the receiving terminal
Focal length obtains absolute position of the receiving terminal in the pre-set space coordinate system.
Optionally, the foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size are to the projection
Hot spot is identified processing and obtains light source positional parameter, including：According to the spatial frequency of striped, receiving terminal in the projection hot spot
Sample frequency, exposure parameter obtain the modulating frequency of the target illuminating source；It tables look-up, obtains according to the modulating frequency
To the light source positional parameter.
Optionally, the light source positional parameter includes：The center of the target illuminating source is in the pre-set space coordinate
Light source coordinates in system and light source form information.
Optionally, the foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size are to the projection
Hot spot is identified processing and obtains spot location parameter, including：According to the appearance profile for projecting hot spot, the pixel of receiving terminal
Size obtains the spot location parameter.
Optionally, the spot location parameter includes：The center of the projection hot spot is on the receiving terminal coordinate system
Coordinate and appearance profile information, the receiving terminal coordinate system are to be visited using the center of the image detector of the receiving terminal as origin
Survey the two-dimensional Cartesian coordinate system that device edge is reference axis.
Optionally, it is described according to imaging location algorithm to the spot location parameter, the light source positional parameter, the sky
Between the focal length of angle information and the receiving terminal, obtain absolute position of the receiving terminal in the pre-set space coordinate system
It sets, including：Light source form information according to the target illuminating source determines pre-set in the target illuminating source
Coordinate of the reference point in cell space coordinates；The origin of the cell space coordinates and the target illuminating source center
It overlaps, and its each reference axis is parallel with corresponding reference axis in the pre-set space coordinate system；According to the first algorithm to described
The coordinate and the projection hot spot of space angle information, the center for projecting hot spot on the receiving terminal coordinate system
Appearance profile information is handled, and the seat of subpoint of the pre-set reference point on the receiving terminal coordinate system is obtained
Mark；According to the second algorithm to coordinate of the reference point in the cell space coordinates, the subpoint in the reception
It sits up straight and marks the light source form information of the coordinate, the target illuminating source fastened, the appearance profile information of the projection hot spot, institute
The space coordinate of the focal length and the target illuminating source of receiving terminal in pre-set space coordinate system is stated, the reception is obtained
Hold the space coordinate in the pre-set space coordinate system, i.e. absolute position.
Optionally, in actual scene, the different light source of each modulating frequency constitutes a cell of origin, by more
The combination of a cell of origin is, it can be achieved that the three-dimensional localization of receiving terminal under entire indoor scene.
Optionally, with multiple target illuminating sources, the tune of each target illuminating source
Frequency processed is different.
According to the second aspect of the invention, a kind of indoor visible light positioning device is provided, described device includes：Target
Lighting source, for sending the visible light signal for positioning relevant specific frequency；Acquisition module, for acquiring target illuminating source
Space angle information in pre-set space coordinate system of image information and receiving terminal, described image information includes that the target is shone
The projection hot spot in Mingguang City source；Identification module, for big according to preset algorithm, the sample frequency of receiving terminal, exposure parameter and pixel
It is small processing is identified to the projection hot spot to obtain light source positional parameter and spot location parameter；Computing module, for according to
Location algorithm is imaged to the spot location parameter, the light source positional parameter, the space angle information and the reception
The focal length at end obtains absolute position of the receiving terminal in the pre-set space coordinate system.
Optionally, the identification module includes：Frequency cells, for described according to preset algorithm, the sampling frequency of receiving terminal
Rate, exposure parameter and Pixel size are identified processing to the projection hot spot and obtain light source positional parameter, including：According to described in
The spatial frequency, the sample frequency of receiving terminal of striped, exposure parameter obtain the modulation of the target illuminating source in projection hot spot
Frequency；Lookup unit obtains the light source positional parameter for tabling look-up according to the modulating frequency.
Optionally, the light source positional parameter includes：The center of the target illuminating source is in the pre-set space coordinate
Light source coordinates in system and light source form information.
Optionally, the identification module further includes：Parameters unit, for according to it is described projection hot spot appearance profile, connect
The Pixel size of receiving end obtains the spot location parameter.
Optionally, the spot location parameter includes：The center of the projection hot spot is on the receiving terminal coordinate system
Coordinate and appearance profile information, the receiving terminal coordinate system are to be visited using the center of the image detector of the receiving terminal as origin
Survey the two-dimensional Cartesian coordinate system that device edge is reference axis.
Optionally, the computing module includes：Coordinate unit is believed for the light source form according to the target illuminating source
Breath determines coordinate of the reference point pre-set in the target illuminating source in cell space coordinates；Reference point list
Member, for the first algorithm of foundation to the center of the space angle information, the projection hot spot in the receiving terminal coordinate system
Coordinate and it is described projection hot spot appearance profile information handled, obtain the pre-set reference point described
The coordinate of subpoint on receiving terminal coordinate system；Position units, for the second algorithm of foundation to the reference point in the cell
The light of coordinate on the receiving terminal coordinate system of coordinate, the subpoint in space coordinates, the target illuminating source
Source shape information, the appearance profile information of the projection hot spot, the focal length of the receiving terminal and the target illuminating source exist
Space coordinate in pre-set space coordinate system obtains space coordinate of the receiving terminal in the pre-set space coordinate system, i.e.,
Absolute position.
Optionally, with multiple target illuminating sources, the tune of each target illuminating source
Frequency processed is different.
According to the third aspect of the present invention, a kind of computer equipment, including processor and memory are provided；It is described to deposit
Reservoir is for storing computer instruction, and the processor is used to run the computer instruction of the memory storage, in realization
A kind of indoor visible light localization method stated.
According to the fourth aspect of the present invention, a kind of computer readable storage medium is provided, it is described computer-readable to deposit
Storage media is stored with one or more program, and one or more of programs can be executed by one or more processor,
To realize a kind of above-mentioned indoor visible light localization method.
The present invention has the beneficial effect that：A kind of indoor visible light localization method and device that the embodiment of the present invention is provided,
In the process positioned to receiving terminal, so that it may to pass through projection hot spot in the image information of combining target lighting source and reception
The characteristic parameter of itself is held to obtain the spot location parameter and the light source positional parameter, to join by the spot location
The characteristic parameter of number, light source positional parameter and receiving terminal itself obtains absolute position of the receiving terminal in pre-set space coordinate system
It sets to get the specific three-dimensional position to receiving terminal indoors, the efficiency of indoor positioning can be effectively improved.In addition, in the present embodiment
In, the projection hot spot in the image information of a target illuminating source need to be only acquired, without obtaining multiple target illuminating sources
Image information, you can complete receiving terminal indoor positioning work.Moreover, in the present invention, directly passing through the projection hot spot
Two-dimensional coordinate of the center on the receiving terminal coordinate system, project hot spot appearance profile information and receiving terminal space angle
Information can directly obtain the coordinate of subpoint of the reference point on the receiving terminal coordinate system, compared with the existing technology in need
Matrix operation is carried out to the coordinate of each pixel of image captured by receiving terminal in receiving terminal coordinate system, to obtain the reception
The coordinate for sitting up straight the subpoint that mark is fastened greatly improves the efficiency for obtaining projection point coordinates, also improves positioning effect as a result,
Rate.
Description of the drawings
Fig. 1 is a kind of flow diagram of indoor visible light localization method of first embodiment of the invention；
Fig. 2 is a kind of structural schematic diagram of indoor visible light positioning device of second embodiment of the invention.
The object of the invention is realized, the embodiments will be further described with reference to the accompanying drawings for functional characteristics and advantage.
Specific implementation mode
It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, it is not intended to limit the present invention.
In subsequent description, using for indicating that the suffix of such as " module ", " component " or " unit " of element is only
The explanation for being conducive to the present invention, itself does not have a specific meaning.Therefore, " module ", " component " or " unit " can mix
Ground uses.
Embodiment to facilitate the understanding of the present invention carries out the implementation process of the present invention below by several specific embodiments
Detailed elaboration.
First embodiment of the invention provides a kind of indoor visible light localization method, is based on receiving terminal, the method includes：
Acquire the space angle information of the image information and receiving terminal of target illuminating source in pre-set space coordinate system, institute
State the projection hot spot that image information includes the target illuminating source；According to preset algorithm, the sample frequency of receiving terminal, exposure ginseng
Number and Pixel size are identified processing to the projection hot spot and obtain light source positional parameter and spot location parameter；According to imaging
Location algorithm is to the spot location parameter, the light source positional parameter, the space angle information and the receiving terminal
Focal length obtains absolute position of the receiving terminal in the pre-set space coordinate system.
With regard to this, in the process positioned to receiving terminal, so that it may with by the image information of combining target lighting source
The characteristic parameter for projecting hot spot and receiving terminal itself obtains the spot location parameter and the light source positional parameter, to pass through
The characteristic parameter of the spot location parameter, light source positional parameter and receiving terminal itself obtains receiving terminal in pre-set space coordinate system
In absolute position to get the specific three-dimensional position to receiving terminal indoors, the efficiency of indoor positioning can be effectively improved.In addition,
In the present embodiment, the projection hot spot in the image information of a target illuminating source need to be only acquired, without obtaining multiple mesh
Mark the image information of lighting source, you can complete the indoor positioning work of receiving terminal.Moreover, in the present invention, directly passing through institute
It states two-dimensional coordinate of the center on the receiving terminal coordinate system of projection hot spot, project the appearance profile information and receiving terminal of hot spot
Space angle information can directly obtain the coordinate of subpoint of the reference point on the receiving terminal coordinate system, relative to existing
Coordinate of each pixel to image captured by receiving terminal in receiving terminal coordinate system is needed to carry out matrix operation in technology, to obtain
The coordinate for obtaining the subpoint on the receiving terminal coordinate system greatly improves the efficiency for obtaining projection point coordinates, also carries as a result,
High location efficiency.
Fig. 1 is a kind of flow diagram of indoor visible light localization method of first embodiment of the invention.According to Fig. 1, originally
A kind of indoor visible light localization method that invention first embodiment provides, the method includes：
S1：Acquire the space angle letter of the image information and receiving terminal of target illuminating source in pre-set space coordinate system
Breath, described image information includes the projection hot spot of the target illuminating source；
Firstly, it is necessary to obtain the image information of target illuminating source by receiving terminal.Furthermore, it would be desirable to be obtained by receiving terminal
Take its own space angle information in pre-set space coordinate system.
Wherein, target illuminating source further includes driving/modulation circuit, is sent while providing illumination relevant with positioning
Visible light signal.Moreover, each target illuminating source forms an independent cell of origin.Each target illuminating source is (fixed
Position cell) emit visible light signal modulating frequency controllably and difference, in favor of the reception and resolution of receiving terminal.
For receiving terminal comprising image detector, angle probe and processor, wherein the calculation used in processor
Method includes：Light source tag recognition algorithm, light sources project recognizer and imaging location algorithm.Optimization, the image detector
To be based on the image detector of complementary metal oxide (CMOS), moreover, the image detector is integrated in the hardware of receiving terminal.
It is exactly by the image detector photographic subjects lighting source, tool when receiving terminal acquires the image information of target illuminating source
Body, image detector photographic subjects lighting source to obtain the image information of target illuminating source, optimization, each position small
A target illuminating source is provided only in area.Moreover, in the present embodiment, can also acquire it in the image detector and shoot image
When read imaging system focal length f.In the present embodiment, receiving terminal can be optimized for smart mobile phone etc. and have image taking and data
The intelligent terminal of processing function.
Described image information includes the projection hot spot of target illuminating source, that is, includes that there are one complete in the image taken
Target illuminating source projection hot spot.
In addition, the receiving terminal being related in the present embodiment acquires its own space angle letter in pre-set space coordinate system
Breath, specially：Receiving terminal is obtained at the time of photographic subjects lighting source in the default sky by above-mentioned angle probe
Between space angle information in coordinate system.Wherein, which is integrated in receiving terminal hardware.The space angle of receiving terminal
Information includes：When obtaining image information yaw angle (about the z axis) α in the pre-set space coordinate system of receiving terminal, pitch angle (around
Y-axis) β and roll angle (around X-axis) γ.
In addition, in the present embodiment, which is the rectangular coordinate system in space fixed and will not changed,
So the position of the target illuminating source in pre-set space coordinate system is fixed, moreover, in the present embodiment, shining target
Density of Mingguang City source in the pre-set space coordinate system and distribution do not require.
S2：The projection hot spot is carried out according to preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size
Identifying processing obtains light source positional parameter and spot location parameter；
The image information that receiving terminal obtains target illuminating source is the projection hot spot that receiving terminal obtains target illuminating source.
In the present embodiment, the processor in receiving terminal is according to preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size
Processing is identified to the projection hot spot, to obtain light source positional parameter and spot location parameter.
S3：The spot location parameter, the light source positional parameter, the space angle are believed according to imaging location algorithm
The focal length of breath and the receiving terminal carries out operation, obtains absolute position of the receiving terminal in the pre-set space coordinate system
It sets.
Obtain the spot location parameter, the light source positional parameter and then in conjunction with the space angle information, with
And the focal length of the receiving terminal carries out operation, so that it may obtain absolute position of the receiving terminal in the pre-set space coordinate system
It sets.
In the present embodiment, in the process positioned to receiving terminal, so that it may to pass through the image of combining target lighting source
The characteristic parameter of projection hot spot and receiving terminal itself in information obtains the spot location parameter and the light source positional parameter,
To obtain receiving terminal in default sky by the characteristic parameter of the spot location parameter, light source positional parameter and receiving terminal itself
Between absolute position in coordinate system to get the specific three-dimensional position to receiving terminal indoors, the effect of indoor positioning can be effectively improved
Rate.In addition, in the present embodiment, the projection hot spot in the image information of a target illuminating source need to be only acquired, without obtaining
Take the image information of multiple target illuminating sources, you can complete the indoor positioning work of receiving terminal.Moreover, in the present invention, directly
It connected two-dimensional coordinate of the center on the receiving terminal coordinate system of the projection hot spot, project the appearance profile information of hot spot
The coordinate of subpoint of the reference point on the receiving terminal coordinate system, phase can be directly obtained with the space angle information of receiving terminal
For needing coordinate of each pixel to image captured by receiving terminal in receiving terminal coordinate system into row matrix in the prior art
Operation greatly improves the efficiency for obtaining projection point coordinates to obtain the coordinate of the subpoint on the receiving terminal coordinate system,
Location efficiency is also improved as a result,.
Optionally, the foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size are to the projection
Hot spot is identified processing and obtains light source positional parameter, including：According to the spatial frequency of striped, receiving terminal in the projection hot spot
Sample frequency, exposure parameter obtain the modulating frequency of the target illuminating source；It tables look-up, obtains according to the modulating frequency
To the light source positional parameter.
In addition, including light source tag recognition algorithm in the present embodiment, in processor.
So receiving terminal passes through the spatial frequency (unit to light and shade striped in projection hot spot：Pixel/item) it is calculated,
Obtain result of calculation.Then by light source tag recognition algorithm to combine the sample frequency of the result of calculation, receiving terminal, exposure to join
Number obtains the modulating frequency of target illuminating source.Then, it tables look-up according to the modulating frequency, so that it may to obtain the light source positioning ginseng
Number.
For light source positional parameter described in this comprising：The center of the target illuminating source is sat in the pre-set space
Light source coordinates (x in mark systemL,yL,zL) and light source form information.In addition, in the present embodiment not to target illuminating source into
Row improves, so from the prior art it is found that the profile of target illuminating source is circle, i.e., the light source form information is represented by
Diameter dL。
Optionally, the foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size are to the projection
Hot spot is identified processing and obtains spot location parameter, including：According to the appearance profile for projecting hot spot, the pixel of receiving terminal
Size obtains the spot location parameter.
In addition, including light sources project recognizer in the present embodiment, in processor.
Receiving terminal extracts the appearance profile of the projection hot spot.In the present embodiment, it has illustrated：In the present embodiment not
Target illuminating source is improved, so from the prior art it is found that the profile of target illuminating source itself is circle.Institute
With in the present solution, the profile of the projection hot spot of extraction is ellipse.
Specifically, receiving terminal is handled the projection hot spot shaping state closed operation comprising striped first according to the width of striped,
Obtain the projection hot spot of an ellipse.Then, edge extracting is carried out to the projection hot spot, obtains the profile of the projection hot spot.
For spot location parameter comprising：The spot location parameter includes：The center of the projection hot spot is described
Coordinate on receiving terminal coordinate system and appearance profile information, the receiving terminal coordinate system are with the image detector of the receiving terminal
Center be origin, detector edge be reference axis two-dimensional Cartesian coordinate system.Because of in the present embodiment, the projection hot spot
Coordinate of the center on the receiving terminal coordinate system be in the projection hot spot of ellipse center image detector seat
Mark the coordinate (x fastenedP1,yP1).And the oval setting of projection hot spot, so the shape information of the projection hot spot is
The length d of the semi-major axis of the projection hot spot of the oval settingP/2。
Optionally, according to imaging location algorithm to the spot location parameter, the light source positional parameter, the Space Angle
The focal length for spending information and the receiving terminal, obtains absolute position of the receiving terminal in the pre-set space coordinate system, wraps
It includes：Light source form information according to the target illuminating source determines the pre-set reference point in the target illuminating source
Coordinate in cell space coordinates；The origin of the cell space coordinates is overlapped with the target illuminating source center,
And its each reference axis is parallel with corresponding reference axis in the pre-set space coordinate system；According to the first algorithm to the Space Angle
Spend the shape wheel of the coordinate and the projection hot spot of information, the center for projecting hot spot on the receiving terminal coordinate system
Wide information is handled, and the coordinate of subpoint of the pre-set reference point on the receiving terminal coordinate system is obtained；According to
According to the second algorithm to coordinate of the reference point in the cell space coordinates, the subpoint in the receiving terminal coordinate
The light source form information of the coordinate, the target illuminating source fastened, the appearance profile information of the projection hot spot, the reception
The space coordinate of the focal length at end and the target illuminating source in pre-set space coordinate system obtains the receiving terminal in institute
State the space coordinate in pre-set space coordinate system, i.e. absolute position.
Specifically, diameter ds of the A1. according to target illuminating sourceLDefine at least three location reference points.In the present embodiment
To five location reference points are preferably defined, coordinate of the location reference point in cell space coordinates is respectively (0,0,0) A, B
(-dL/2,-dL/ 2,0), C (- dL/2,dL/ 2,0), D (dL/2,-dL/ 2,0) and E (dL/2,dL/2,0).Wherein, reference point A (0,
0,0) be set as coordinate of the center in cell space coordinates of target illuminating source, i.e., the origin of the described cell space coordinates with
The target illuminating source overlaps, and its each reference axis is parallel with corresponding reference axis in the pre-set space coordinate system.
A2. based on following formula (1), to the seat of the center of the projection hot spot of ellipse on the receiving terminal coordinate system
Mark (xP1,yP1) and space angle information (yaw angle α, pitch angle β and roll angle of the receiving terminal in pre-set space coordinate system
γ (angle)) it is calculated, obtain projection coordinate A's of the center reference point A of target illuminating source on receiving terminal coordinate system
(xP,yP)：
A3. coordinate A'(x is combinedP,yP) and in ellipse setting projection hot spot semi-major axis length dP/ 2, joined
Subpoint B'(xs of the examination point B/C/D/E on receiving terminal coordinate systemP+dP/2,yP+dP/ 2), C'(xP+dP/2,yP-dP/ 2), D'
(xP-dP/2,yP+dP/ 2), E'(xP-dP/2,yP-dP/2)；
A4. based on following formula (2), the diameter d of combining target lighting sourceL, in ellipse be arranged projection hot spot
Semi-major axis length dP/ 2 and image detector photographic subjects lighting source image when imaging system focal length f carry out
Operation obtains receiving terminal and the difference in height h of target illuminating source：
A5. based on following formula (3), in conjunction with coordinate A (0,0,0) of the reference point in cell space coordinates, B (-
dL/2,-dL/ 2,0), C (- dL/2,dL/ 2,0), D (dL/2,-dL/ 2,0), E (dL/2,dL/ 2,0), the reference point is sat up straight in reception
Mark the projection coordinate A'(x fastenedP,yP), B'(xP+dP/2,yP+dP/ 2),
C'(xP+dP/2,yP-dP/ 2), D'(xP-dP/2,yP+dP/ 2), E'(xP-dP/2,yP-dP/ 2) it, is obtained through step A4
Difference in height h and image detector photographic subjects lighting source image when imaging system focal length f, listing unknown number is
(x, y) is calculated：
Wherein：
A6. positioning equation group (3) is solved, initial coordinate (x, y ,-h) of the receiving terminal in cell space coordinates is obtained,
Meanwhile actual coordinate (x of the center of combining target lighting source in pre-set space coordinate systemL,yL,zL), obtain receiving terminal
Actual coordinate (x in pre-set space coordinate systemL+x,yL+y,zL-h).So far, user can be received end by receiving terminal
Specific location in practical three dimensions completes positioning.
In the present embodiment, in the process positioned to receiving terminal, so that it may to pass through the image of combining target lighting source
The characteristic parameter of projection hot spot and receiving terminal itself in information obtains the spot location parameter and the light source positional parameter,
To obtain receiving terminal in default sky by the characteristic parameter of the spot location parameter, light source positional parameter and receiving terminal itself
Between absolute position in coordinate system to get the specific three-dimensional position to receiving terminal indoors, the effect of indoor positioning can be effectively improved
Rate.In addition, in the present embodiment, the projection hot spot in the image information of a target illuminating source need to be only acquired, without obtaining
Take the image information of multiple target illuminating sources, you can complete the indoor positioning work of receiving terminal.
Specifically, need not be done to each pixel of captured image in being imaged location algorithm relevant with angular transformation
Matrix operation is handled, but only needs to do angular transformation matrix operation to one of pixel, therefore algorithm is more simple, required
The computing resource and related energy consumption wanted are less, also, can be simultaneously using a captured pictures and relevant angle information
It completes light source and identifies and positions function.
In addition, receiving terminal only needs the optical signal of acquisition single target lighting source that can complete to position, cell of origin is more
Independent, the requirement to indoor objects lighting source distribution density is low, applied widely, and receiving terminal is used in smart mobile phone or tablet
Common image detector and angle probe on the commercialization mobile terminal such as computer (gyroscope, accelerometer, magnetic detector
Deng), do not need the hardware outside plus, easy to use and popularization.
Fig. 2 is a kind of structural schematic diagram of indoor visible light positioning device of second embodiment of the invention.According to Fig.2,
Second embodiment of the invention provides a kind of indoor visible light positioning device, and described device includes：Target illuminating source, for sending out
Send the visible light signal for positioning relevant specific frequency；Acquisition module, image information for acquiring target illuminating source and connects
Space angle information of the receiving end in pre-set space coordinate system, described image information include the projected light of the target illuminating source
Spot；Identification module, for foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size to the projected light
Spot is identified processing and obtains light source positional parameter and spot location parameter；Computing module, for according to imaging location algorithm pair
The focal length of the spot location parameter, the light source positional parameter, the space angle information and the receiving terminal, obtains
Absolute position of the receiving terminal in the pre-set space coordinate system.
Optionally, the identification module includes：Frequency cells, for described according to preset algorithm, the sampling frequency of receiving terminal
Rate, exposure parameter and Pixel size are identified processing to the projection hot spot and obtain light source positional parameter, including：According to described in
The spatial frequency, the sample frequency of receiving terminal of striped, exposure parameter obtain the modulation of the target illuminating source in projection hot spot
Frequency；Lookup unit obtains the light source positional parameter for tabling look-up according to the modulating frequency.
Optionally, the light source positional parameter includes：The center of the target illuminating source is in the pre-set space coordinate
Light source coordinates in system and light source form information.
Optionally, the identification module further includes：Parameters unit, for according to it is described projection hot spot appearance profile, connect
The Pixel size of receiving end obtains the spot location parameter.
Optionally, the spot location parameter includes：The center of the projection hot spot is on the receiving terminal coordinate system
Coordinate and appearance profile information, the receiving terminal coordinate system are to be visited using the center of the image detector of the receiving terminal as origin
Survey the two-dimensional Cartesian coordinate system that device edge is reference axis.
Optionally, the computing module includes：Coordinate unit is believed for the light source form according to the target illuminating source
Breath determines coordinate of the reference point pre-set in the target illuminating source in cell space coordinates；Reference point list
Member, for the first algorithm of foundation to the center of the space angle information, the projection hot spot in the receiving terminal coordinate system
Coordinate and it is described projection hot spot appearance profile information handled, obtain the pre-set reference point described
The coordinate of subpoint on receiving terminal coordinate system；Position units, for the second algorithm of foundation to the reference point in the cell
The light of coordinate on the receiving terminal coordinate system of coordinate, the subpoint in space coordinates, the target illuminating source
Source shape information, the appearance profile information of the projection hot spot, the focal length of the receiving terminal and the target illuminating source exist
Space coordinate in pre-set space coordinate system obtains space coordinate of the receiving terminal in the pre-set space coordinate system, i.e.,
Absolute position.
Optionally, with multiple target illuminating sources, the tune of each target illuminating source
Frequency processed is different.
According to the third aspect of the present invention, a kind of computer equipment, including processor and memory are provided；It is described to deposit
Reservoir is for storing computer instruction, and the processor is used to run the computer instruction of the memory storage, in realization
A kind of indoor visible light localization method stated.
With regard to this, in the process positioned to receiving terminal, so that it may with by the image information of combining target lighting source
The characteristic parameter for projecting hot spot and receiving terminal itself obtains the spot location parameter and the light source positional parameter, to pass through
The characteristic parameter of the spot location parameter, light source positional parameter and receiving terminal itself obtains receiving terminal in pre-set space coordinate system
In absolute position to get the specific three-dimensional position to receiving terminal indoors, the efficiency of indoor positioning can be effectively improved.In addition,
In the present embodiment, the projection hot spot in the image information of a target illuminating source need to be only acquired, without obtaining multiple mesh
Mark the image information of lighting source, you can complete the indoor positioning work of receiving terminal.Moreover, in the present invention, directly passing through institute
It states two-dimensional coordinate of the center on the receiving terminal coordinate system of projection hot spot, project the appearance profile information and receiving terminal of hot spot
Space angle information can directly obtain the coordinate of subpoint of the reference point on the receiving terminal coordinate system, relative to existing
Coordinate of each pixel to image captured by receiving terminal in receiving terminal coordinate system is needed to carry out matrix operation in technology, to obtain
The coordinate for obtaining the subpoint on the receiving terminal coordinate system greatly improves the efficiency for obtaining projection point coordinates, also carries as a result,
High location efficiency.
Third embodiment of the invention provides a kind of computer equipment comprising processor and memory；The memory
For storing computer instruction, the processor is used to run the computer instruction of the memory storage, above-mentioned to realize
A kind of indoor visible light localization method.
Since a kind of indoor visible light localization method being described in detail in the first embodiment, so at this
The implementation process of this method is not carried out in embodiment to repeat elaboration.
Fourth embodiment of the invention provides a kind of computer readable storage medium, and the computer readable storage medium is deposited
One or more program is contained, one or more of programs can be executed by one or more processor, in realization
A kind of indoor visible light localization method stated.
Since a kind of indoor visible light localization method being described in detail in the first embodiment, so at this
The implementation process of this method is not carried out in embodiment to repeat elaboration.
It should be noted that herein, the terms "include", "comprise" or its any other variant are intended to non-row
His property includes, so that process, method, article or device including a series of elements include not only those elements, and
And further include other elements that are not explicitly listed, or further include for this process, method, article or device institute it is intrinsic
Element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that including this
There is also other identical elements in the process of element, method, article or device.
The embodiments of the present invention are for illustration only, can not represent the quality of embodiment.
Through the above description of the embodiments, those skilled in the art can be understood that above-described embodiment side
Method can add the mode of required general hardware platform to realize by software, naturally it is also possible to by hardware, but in many cases
The former is more preferably embodiment.Based on this understanding, technical scheme of the present invention substantially in other words does the prior art
Going out the part of contribution can be expressed in the form of software products, which is stored in a storage medium
In (such as ROM/RAM, magnetic disc, CD), including some instructions are used so that a station terminal (can be mobile phone, computer, service
Device, air conditioner or network equipment etc.) execute method described in each embodiment of the present invention.
The embodiment of the present invention is described with above attached drawing, but the invention is not limited in above-mentioned specific
Embodiment, the above mentioned embodiment is only schematical, rather than restrictive, those skilled in the art
Under the inspiration of the present invention, without breaking away from the scope protected by the purposes and claims of the present invention, it can also make very much
Form, all of these belong to the protection of the present invention.
Claims (10)
1. a kind of indoor visible light localization method, which is characterized in that the method includes：
Acquire the space angle information of the image information and receiving terminal of target illuminating source in pre-set space coordinate system, the figure
As information includes the projection hot spot of the target illuminating source；
Place is identified to the projection hot spot according to preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size
Reason obtains light source positional parameter and spot location parameter；
According to imaging location algorithm to the spot location parameter, the light source positional parameter, the space angle information and
The focal length of the receiving terminal obtains absolute position of the receiving terminal in the pre-set space coordinate system.
2. according to the method described in claim 1, it is characterized in that, described according to preset algorithm, the sample frequency of receiving terminal, exposure
Optical parameter and Pixel size are identified processing to the projection hot spot and obtain light source positional parameter, including：
It obtains the target according to the spatial frequency, the sample frequency of receiving terminal of striped, exposure parameter in the projection hot spot and shines
The modulating frequency in Mingguang City source；
It tables look-up according to the modulating frequency, obtains the light source positional parameter.
3. according to the method described in claim 2, it is characterized in that, the light source positional parameter includes：The target illumination light
Light source coordinates and light source form information of the center in source in the pre-set space coordinate system.
4. according to the method described in claim 3, it is characterized in that, described according to preset algorithm, the sample frequency of receiving terminal, exposure
Optical parameter and Pixel size are identified processing to the projection hot spot and obtain spot location parameter, including：
According to the appearance profile for projecting hot spot, the Pixel size of receiving terminal, the spot location parameter is obtained.
5. according to the method described in claim 4, it is characterized in that, the spot location parameter includes：The projection hot spot
Coordinate and appearance profile information of the center on the receiving terminal coordinate system, the receiving terminal coordinate system are with the receiving terminal
The center of image detector is origin, and detector edge is the two-dimensional Cartesian coordinate system of reference axis.
6. according to the method described in claim 5, it is characterized in that, described join the spot location according to imaging location algorithm
The focal length of several, the described light source positional parameter, the space angle information and the receiving terminal, obtains the receiving terminal in institute
The absolute position in pre-set space coordinate system is stated, including：
Light source form information according to the target illuminating source determines the pre-set reference in the target illuminating source
Coordinate of the point in cell space coordinates；The origin of the cell space coordinates and target illuminating source center weight
It closes, and its each reference axis is parallel with corresponding reference axis in the pre-set space coordinate system；
Seat according to the first algorithm to the center of the space angle information, the projection hot spot on the receiving terminal coordinate system
The appearance profile information of mark and the projection hot spot is handled, and obtains the pre-set reference point in the reception
Sit up straight the coordinate for the subpoint that mark is fastened；
According to the second algorithm to coordinate of the reference point in the cell space coordinates, the subpoint in the reception
It sits up straight and marks the light source form information of the coordinate, the target illuminating source fastened, the appearance profile information of the projection hot spot, institute
The space coordinate of the focal length and the target illuminating source of receiving terminal in pre-set space coordinate system is stated, the reception is obtained
Hold the space coordinate in the pre-set space coordinate system, i.e. absolute position.
7. according to claim 1-6 any one of them methods, which is characterized in that with multiple target illuminating sources
In the case of, the modulating frequency of each target illuminating source is different.
8. a kind of indoor visible light positioning device, which is characterized in that described device includes：
Acquisition module, the Space Angle of image information and receiving terminal in pre-set space coordinate system for acquiring target illuminating source
Information is spent, described image information includes the projection hot spot of the target illuminating source；
Identification module, for foundation preset algorithm, the sample frequency of receiving terminal, exposure parameter and Pixel size to the projected light
Spot is identified processing and obtains light source positional parameter and spot location parameter；
Computing module is used for according to imaging location algorithm to the spot location parameter, the light source positional parameter, the space
The focal length of angle information and the receiving terminal obtains absolute position of the receiving terminal in the pre-set space coordinate system.
9. a kind of computer equipment, which is characterized in that including processor and memory；
The memory refers to for storing computer instruction, the computer that the processor is used to run the memory storage
It enables, to realize a kind of indoor visible light localization method described in any one of claim 1 to 7.
10. a kind of computer readable storage medium, which is characterized in that the computer-readable recording medium storage there are one or
Multiple programs, one or more of programs can be executed by one or more processor, to realize in claim 1 to 7
A kind of indoor visible light localization method of any one of them.
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