CN108572348A - A kind of indoor visible light vision positioning method and its hardware system - Google Patents
A kind of indoor visible light vision positioning method and its hardware system Download PDFInfo
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- CN108572348A CN108572348A CN201810571874.0A CN201810571874A CN108572348A CN 108572348 A CN108572348 A CN 108572348A CN 201810571874 A CN201810571874 A CN 201810571874A CN 108572348 A CN108572348 A CN 108572348A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
- H04B10/116—Visible light communication
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/501—Structural aspects
- H04B10/502—LED transmitters
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04B—TRANSMISSION
- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/50—Transmitters
- H04B10/516—Details of coding or modulation
- H04B10/524—Pulse modulation
Abstract
The invention discloses a kind of indoor visible light vision positioning methods and its hardware system, this method to include the following steps：Transmitting terminal LED lamp emits the optical signal through ovennodulation, mobile device receiving terminal obtains the image that optical signal forms different light and shade widths of fringe using cmos image sensor, the background optical disturbance that imaging sensor receives image is averagely eliminated using successive ignition, and then image frequency domain signal is obtained by Fast Fourier Transform (FFT) (FFT), and the frequency-region signal is filtered, select crest frequency as the corresponding frequency values of lamps and lanterns ID in the image frequency domain signal after processed, it compares frequency coordinate database in crest frequency and location-server to obtain the coordinate of lamps and lanterns, complete image decoding process.Receiving angle (AOA) location algorithm is finally combined to realize the positioning of mobile device receiving terminal.The present invention can increase the distance of demodulation visible light signal, improve the infomation detection performance of mobile device receiving terminal, and then improve the precision of visible light positioning system.
Description
Technical field
The present invention relates to visible light communication technology, more particularly to a kind of indoor visible light vision positioning method and its hardware system
System.
Background technology
Visible light communication be one on basic public lighting increase data-transformation facility can build channel radio
The technology of communication network, compared with traditional wireless communication technique, it is seen that there are optical communication technique bandwidth resources to enrich, not by electromagnetism
The advantages that interference.Due to being influenced by multipath effect and path loss, the positioning of traditional GPS navigation can not meet people couple
In the requirement of positioning accuracy.Other are based on bluetooth, WIFI, ultrasound, infrared indoor locating system, also due to positioning accuracy and peace
This problem of is dressed up, widespread adoption is not obtained.
It can be seen that light-seeking is the technology of a raising indoor position accuracy, beaconing nodes are attached to light by indoor illumination light fitting
It is sent on source, receiving terminal receives the identity identification information that identification optical signal parses lamps and lanterns transmission, and utilizes corresponding positioning
Algorithm completes positioning.Compared with other location technologies, it is seen that light-seeking have positioning accuracy is high, take into account illumination and positioning it is excellent
Point.
This paper visible light positioning system receiving terminals obtain optical signal using cmos image sensor and form different light and shade stripeds
The image of width, light and shade width of fringe depends on the flicker frequency of light source in image, by detecting striped number and striped
Width obtains light source frequency, and then obtains the id information of lamps and lanterns, and the positioning of mobile terminal is finally realized using corresponding location algorithm.This
There are apparent drawbacks for kind positioning system：If the distance between mobile terminal and LED light source become larger, the clarity of striped is tight
It destroys again, conventional method will be unable to detect striped well, and then positioning accuracy degradation.
Invention content
It is an object of the invention to overcome shortcoming and deficiency in the prior art, a kind of indoor visible light vision positioning is provided
Method can effectively overcome existing based on bias light disturbing influence position stability and knowledge in camera visible light positioning system
The problem of not detecting bright dark fringe low precision.
Another object of the present invention is to use the indoor visible light vision positioning method, a kind of indoor visible light is proposed
Vision positioning hardware system.
In order to achieve the above object, the present invention adopts the following technical scheme that：
A kind of indoor visible light vision positioning method, includes the following steps：
S1, signal modulation is carried out to transmitting terminal LED lamp ID, exports continuous modulation waveform, driving LED light source shines simultaneously
Optical signal is transmitted to mobile device receiving terminal；The ID of LED lamp localizer beacon is carried in the optical signal；
S2, mobile device receiving terminal obtain the figure that optical signal forms different light and shade widths of fringe using cmos image sensor
Picture averagely eliminates the background optical disturbance that imaging sensor receives image using iteration；
S3, image frequency is obtained by Fast Fourier Transform (FFT) to the picture signal of the obtained elimination bias light interference of step S2
Domain signal, and described image frequency-region signal is filtered, to its amplitude spectrum crest frequency of the signal behavior after being filtered
As the corresponding frequency values of LED lamp ID, the frequency values and intelligent terminal frequency-coordinate database are compared to obtain LED light
The indoor location coordinate of tool completes image decoding process；
S4, the indoor location coordinate combination receiving angle location algorithm for having obtained LED lamp ID is obtained to mobile device reception
The position [Tx, Ty, Tz] at end, to realize the positioning of mobile device receiving terminal.
As a preferred technical solution, in step S1, signal is carried out to transmitting terminal LED lamp ID using PWM modulation mode
Modulation.
As a preferred technical solution, in step S1, the driving LED light source shines and transmits optical signal to movement and sets
Standby receiving terminal, wherein optical signal frequency is more than 60 hertz, and the optical signal sent between different LED light sources is mutually independent of each other.
As a preferred technical solution, in step S2, elimination bias light interference is as follows：
S21, the different light and shade width of fringe images that cmos image sensor is received and formed are converted to gray level image, and
The position of LED on gray level image is determined by searching for the maximum value of gray value；Wherein, it is worth to according to gray scale maximum corresponding
Coordinate, and LED location on gray level image is determined with this.
S22, the central point that LED on gray level image is determined using centroid method, the gray value for taking central point to be expert at；
S23, the be expert at gray value of central point that S22 is obtained as original array, using iterative method to former array at
Reason；
Iterative method detailed process is：It is averaged to n-th element to the in the former array the 1st, as the N+1 element,
Then the 2nd to the N+1 element is taken to take the N+2 element of average conduct, and so on, until former array all elements are involved in
Take average process；Wherein, using N+1 to the 2N element as new array；
S24, using the obtained a line gray values of step S22 as former array, subtract the new array that step S23 is obtained, institute
Difference is obtained as the signal after eliminating background optical disturbance.
As a preferred technical solution, in step S3, described image frequency-region signal is filtered, particular by low
Bandpass filter removes the DC voltage component in image frequency domain signal.
As a preferred technical solution, in step S3, after obtaining the corresponding frequency values of LED lamp ID, step S2 is arrived
The process of selecting range spectrum peak frequency repeats M times in step S3, obtains M frequency values, and chooses wherein maximum value as most
The finally selected frequency values are compared to obtain LED lamp by selected frequency values eventually with frequency-coordinate database in location-server
Indoor location coordinate, complete image decoding process.
As a preferred technical solution, in step S4, location algorithm is the receiving angle location algorithm based on camera, extraction
The mutual distance relationship of LED lamp localizer beacon in decoded image, and search for best proportion factor KiMatch true phase
Mutual edge distance, wherein KiIndicate the multiple that LED lamp localizer beacon i amplifies in the picture；Then according to best proportion factor KiWith
And the actual position of each LED lamp localizer beacon obtains the mobile actual position [Tx, Ty, Tz] for setting receiving terminal；It is calculated
In the process, region of search is reduced by guidance search by the gradient of majorized function.
A kind of hardware system of indoor visible light vision positioning method, including transmitting terminal, mobile device receiving terminal, Yi Jiding
Position server, which is characterized in that the transmitting terminal includes AC-DC conversion module, control signal generating module, LED driving electricity
Road and LED lamp；The mobile device receiving terminal includes image capture module, signal processing module and display module；
The AC-DC conversion module is used to the alternating current from power supply being converted into direct current；It is described to control signal
Module includes microcontroller and modulator, and the microcontroller is used to the ID numbers of LED lamp being converted to digital signal concurrent
Modulator is given, the modulator decides whether to provide electric current to driving circuit according to the digital signal that microcontroller is sent, from
And complete the modulation to LED lamp ID；The LED drive circuit provides constant current signal for the illumination of LED lamp；The movement is set
Image capture module in standby receiving terminal is used to capture the image with bright dark fringe；The signal processing module is used for image
The digital picture of acquisition module acquisition is decoded operation and obtains the unique ID codes of LED lamp；The mobile device receiving terminal will
The ID codes are sent on location-server, and the location-server does identification to the ID codes and by the corresponding LED of the ID codes
Lamp position information is sent to mobile device receiving terminal；Mobile device receiving terminal is positioned in conjunction with the receiving angle based on camera and is calculated
Method obtains the azimuth information of mobile device receiving terminal, to realize the positioning of mobile device receiving terminal.
As a preferred technical solution, the mobile device receiving terminal include image capture module, signal processing module, with
And display module；Described image acquisition module includes cmos image sensor and A/D conversion modules；The signal processing module is
Digital signal processor DSP and central processor CPU；The display module is display screen；The cmos image sensor, A/D
It is carried out electrically by hardware circuit between conversion module, digital signal processor DSP and display screen and central processor CPU
Connection, and controlled by the central processor CPU；
Optical signal image of the described image acquisition module acquisition with bright dark fringe, detailed process are：Optical signal image is thrown
It is mapped to cmos image sensor surface, is converted into electric signal；Then the electric signal is converted to number by A/D conversion modules
Picture signal；The digital signal processor DSP identifies the ID that digital picture plus signal work extracts striped and obtains LED lamp
Symbol.
The mobile device receiving terminal has the shifting of camera using smart mobile phone or tablet as a preferred technical solution,
Dynamic equipment.
The present invention has the following advantages compared with the existing technology and effect：
1, the equipment that present system avoids receiving terminal complexity in traditional visible light positioning system based on intensity modulated,
View-based access control model positioning alleviates the burden on system hardware composition.
2, present system transmitting terminal uses PWM modulation mode, mobile device receiving terminal to be adopted using cmos image sensor
Collection image simultaneously identifies lamps and lanterns ID codes, and this coding and decoding mode can increase the distance of demodulation visible light signal, reliable communications
Property is stronger.
3, the method for the present invention using iteration averagely eliminates camera acquire signal background optical disturbance, can effectively exclude by
In background optical disturbance cause identify striped lack accuracy the problem of.
4, the method for the present invention carries out Fast Fourier Transform (FFT) (FFT) to picture signal and is converted into frequency-region signal, and
Domain space chooses crest frequency as the corresponding frequencies of lamps and lanterns ID, and the work in frequency space can improve identification lamps and lanterns ID's
Accuracy.
5, the method for the present invention uses receiving angle (AOA) positioning and optimizing algorithm based on camera, and Parametric optimization problem is turned
Non-linear least square problem is turned to, positioning accuracy is high, and real-time processing data ability is strong.
Description of the drawings
Fig. 1 is the indoor visible light vision positioning system schematic diagram of the present invention；
Fig. 2 is the hardware system schematic diagram that the present invention realizes indoor visible light vision positioning method；
Fig. 3 is transmitting terminal structure diagram of the present invention；
Fig. 4 (a)-Fig. 4 (c) is respectively that the present invention uses PWM modulation, the PWM of 10%, 50% and 90% duty ratio to believe
Number；
Fig. 5 is mobile device receiving terminal structure diagram of the present invention；
Fig. 6 (a)~Fig. 6 (c) is bright dark fringe in the light and shade width of fringe image that mobile device receiving terminal of the present invention receives
Width and LED light source flicker frequency (PWM modulation frequency) correspondence schematic diagram；Wherein Fig. 6 (a) is PWM modulation frequency；Fig. 6
(b) and Fig. 6 (c) is respectively narrow bright dark fringe and the bright dark fringe of width corresponding to PWM modulation frequency；
Fig. 7 is that iteration of the present invention averagely eliminates background optical disturbance flow chart；
Fig. 8 is that mobile device receiving terminal of the present invention handles image and obtains LED location procedural block diagram；
Fig. 9 is that mobile terminal of the present invention interacts to obtain LED location information schematic diagram with server.
Specific implementation mode
The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, so that advantages and features of the invention energy
It is easier to be readily appreciated by one skilled in the art.With reference to by embodiment, the invention will be further described, but the present invention is simultaneously
It is not limited to following embodiment.
Embodiment
As depicted in figs. 1 and 2, the present invention is based on visual light-seeking technologies, number LED lamp ID in transmitting terminal
(LED-ID) label information completes cataloged procedure by controlling signal generating module, generates a series of control signals and is transferred to
LED drive circuit, and then LED light light on and off are controlled, coding information is sent to optical channel space.Movement, which sets receiving terminal, to be made
The image that optical signal forms different light and shade widths of fringe is obtained with cmos sensor, the coordinate of lamps and lanterns is obtained by processing, is completed
Image decoding process.Positioning is realized eventually by receiving angle (AOA) positioning and optimizing algorithm based on camera.
In specific embodiment, the realization of the present embodiment indoor visible light vision positioning method and hardware system and worked
Journey includes the following steps：
Step 1：Signal modulation is carried out to unique ID of transmitting terminal LED lamp, continuous modulation waveform is exported, drives LED
Light source luminescent simultaneously transmits signal；The ID of LED lamp localizer beacon is carried in the optical signal；
In the present embodiment, transmitting terminal structure diagram passes through as shown in figure 3, external power supply provides alternating current for transmitting terminal
AC-DC conversion (AC/DC) module converts alternating current to the direct current for being suitble to LED light to use, and LED lamp ID label informations are logical
It crosses control signal generating module to be applied on LED drive circuit, and then coding information is empty as LED light illumination is sent to optical channel
Between.
In this embodiment, the control signal generating module includes microcontroller and encoder, wherein the microcontroller
LED lamp ID numbers are converted to digital signal and are sent to modulator, the modulator is sent out according to control signal generating module
The digital signal sent decides whether to provide electric current to driving circuit, to complete the modulated process to LED lamp ID numbers；
In the present embodiment, modulation waveform described in step 1 is modulated using pulse width (PWM), and PWM modulation is
Kind carries out digitally coded method to analog signal level, wherein the duty ratio of square wave is modulated for a physical simulation
The level of signal is encoded, and as shown in Fig. 4 (a)~Fig. 4 (c), the square-wave signal of different duty indicates different PWM letters
Number, wherein Fig. 4 (a) is the pwm signal that output is 10% duty ratio, indicates signal operation during the 10% of period, remaining
It is not run during 90%；Similarly, Fig. 4 (b) and Fig. 4 (c) indicates that duty ratio is 50% and 90% pwm signal respectively.
In the present embodiment, LED drive circuit provides constant current signal, and the signal of LED light source transmission for the illumination of LED,
Its frequency is more than 60 hertz, makes one eye and can't see light flash；The signal sent between different LED is mutually independent of each other.
Step 2：Mobile device receiving terminal obtains optical signal using cmos image sensor and forms different light and shade widths of fringe
Image, averagely eliminated using successive ignition imaging sensor receive image background optical disturbance；
As shown in figure 5, mobile device receiving terminal includes image capture module, signal processing module and display module；Institute
It includes cmos image sensor and A/D conversion modules to state image capture module；The signal processing module is Digital Signal Processing
Device DSP and central processor CPU；The display module is display screen；The cmos image sensor, A/D conversion modules, number
It is electrically connected by hardware circuit between signal processor DSP and display screen and central processor CPU, and by described
Central processor CPU is controlled；
Optical signal image of the described image acquisition module acquisition with bright dark fringe, detailed process are：Optical signal image is thrown
It is mapped to cmos image sensor surface, is converted into electric signal；Then the electric signal is converted to number by A/D conversion modules
Picture signal；The digital signal processor DSP extracts striped to digital picture plus signal work and obtains LED lamp ID marks
Symbol.
In the present embodiment, smart mobile phone or tablet, which may be used, in the mobile device receiving terminal has camera (CMOS
Imaging sensor) mobile device.
As shown in Fig. 6 (a)~Fig. 6 (c), the light and shade width of fringe depends on the flicker frequency (PWM modulation of LED light source
Frequency), i.e.,：The high LED light source of flicker frequency corresponds to relatively narrow striped, and the low LED light source of flicker frequency corresponds to wider item
Line；Width of fringe such as Fig. 6 (b) is obviously narrow compared to the striped of Fig. 6 (c), and the modulating frequency of corresponding top Fig. 6 (a) is also presented
Go out modulation frequency ratio Fig. 6 (c) of Fig. 6 (b) wants high.Later by detecting that striped number and width of fringe obtain LED light
Source frequency, and then obtain the ID codings of LED lamp.
As shown in fig. 7, the background optical disturbance averagely eliminated imaging sensor using successive ignition and receive image, specifically
Steps are as follows：
Step 2.1：Cmos image sensor receives optical signal and forms original image, and original image is converted to gray level image,
And the position of LED on gray level image is determined by searching for the maximum value of gray value；Wherein, phase can be obtained according to gray scale maximum value
Corresponding coordinate, and LED location on gray level image is determined with this.
Step 2.2：The central point that LED on gray level image is determined using centroid method, the gray value for taking central point to be expert at；Its
In, centroid method obtains the computational methods that LED center point refers to seeking graphics shape center, and specific formula is：
In formula, Xc、YcFor centre of form coordinate, a, b are the bounds that LED lamp x-axis is detected in gray level image, and c, d are ash
The bounds of LED lamp y-axis are detected in degree image；
Step 2.3：Former array is used as to the be expert at gray value of LED center point that step 2.2 obtains, using iterative method to original
Array is handled；
Iterative method detailed process is：It is averaged to n-th element to the wherein the 1st, as the N+1 element, then takes the 2nd
The N+2 element of average conduct is taken to the N+1 element, and so on, until former array all elements have been involved in and have been averaged
Process；Wherein, using N+1 to the 2N element as new array；If the N number of element set of former array is { X1、X2......XN,
The N number of element set of new array is { y1、y2......yNIterative method formula is：
And there is following relationship：
yi=XN+i(i=1:N) (3)
Step 2.4：Using the obtained a line gray value of step 2.2 as former array, the new number that step 2.3 obtains is subtracted
Group, gained difference are the signal eliminated after background optical disturbance.
Step 3：The picture signal interfered the elimination bias light that step 2 obtains passes through Fast Fourier Transform (FFT) (FFT)
Image frequency domain signal is obtained, and described image frequency-region signal is filtered, to its amplitude of the signal behavior after being filtered
Spectrum peak frequency compares frequency-coordinate database in crest frequency and server as the corresponding frequency values of LED lamp ID
To the coordinate of LED lamp, image decoding process is completed；
In the present embodiment, it is specifically that low-pass filter is passed through to image frequency domain signal to image frequency domain signal processing method
And remove the DC voltage in signal (DC) component.
As shown in figure 8, after obtaining amplitude spectrum crest frequency, to selecting range spectrum peak frequency in from step 2 to step 3
A series of processes of rate repeat M times, to obtain M frequency values and choose wherein maximum value as finally selected frequency values.
As shown in figure 9, mobile device receiving terminal interacts to obtain LED location information with location-server, detailed process is：It moves
Dynamic equipment receiving terminal will for gained frequency values by wireless network transmissions to location-server, location-server receives data simultaneously before
It compares frequency-coordinate database in crest frequency and location-server to obtain the coordinate of LED lamp, by wireless network by institute
It obtains LED lamp location information and returns to mobile device receiving terminal.
Step 4：Indoor location coordinate combination receiving angle (AOA) location algorithm for having obtained LED lamp ID is moved
The position [Tx, Ty, Tz] of equipment receiving terminal, to realize the positioning of mobile terminal.
In the present embodiment, the angle of arrival based on camera (AOA) location algorithm implementation principle is as follows：The algorithm carries first
The mutual distance relationship of LED lamp localizer beacon in decoded image is taken, and searches for best proportion factor KiMatching is true
Mutual distance；Wherein, KiIndicate the multiple that beacon i amplifies in the picture；Then according to best proportion factor KiAnd each beacon
Actual position obtain the actual position [Tx, Ty, Tz] of mobile device receiving terminal；
In the present embodiment, optimum position precision needs enough search spaces, mobile device receiving terminal to pass through majorized function
Gradient guidance search and then to reduce region of search.Optimization problem based on AOA location algorithms can regard non-linear minimum as
Two multiply problem.The algorithm avoids the spacing for measuring transmitting terminal and receiving terminal, ensures that system-computed is simple, the speed of service is fast.
Several embodiments of the invention above described embodiment only expresses, the description thereof is more specific and detailed, but simultaneously
Cannot the limitation to the scope of the claims of the present invention therefore be interpreted as.It should be pointed out that for those of ordinary skill in the art
For, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the guarantor of the present invention
Protect range.Therefore, the protection domain of patent of the present invention should be subject to described in claim.
Claims (10)
1. a kind of indoor visible light vision positioning method, which is characterized in that include the following steps：
S1, signal modulation is carried out to transmitting terminal LED lamp ID, exports continuous modulation waveform, driving LED light source shines and transmits
Optical signal is to mobile device receiving terminal；The ID of LED lamp localizer beacon is carried in the optical signal；
S2, mobile device receiving terminal obtain the image that optical signal forms different light and shade widths of fringe using cmos image sensor,
The background optical disturbance that imaging sensor receives image is averagely eliminated using iteration；
S3, image frequency domain letter is obtained by Fast Fourier Transform (FFT) to the picture signal of the obtained elimination bias light interference of step S2
Number, and described image frequency-region signal is filtered, to its amplitude spectrum crest frequency conduct of the signal behavior after being filtered
The frequency values and intelligent terminal frequency-coordinate database are compared to obtain LED lamp by the corresponding frequency values of LED lamp ID
Indoor location coordinate completes image decoding process；
S4, the indoor location coordinate combination receiving angle location algorithm for having obtained LED lamp ID is obtained into mobile device receiving terminal
Position [Tx, Ty, Tz], to realize the positioning of mobile device receiving terminal.
2. indoor visible light vision positioning method according to claim 1, which is characterized in that in step S1, using PWM tune
Mode processed carries out signal modulation to transmitting terminal LED lamp ID.
3. indoor visible light vision positioning method according to claim 1, which is characterized in that the driving described in step S1
LED light source shines and transmits optical signal to mobile device receiving terminal, wherein optical signal frequency is more than 60 hertz, and different LED lights
The optical signal sent between source is mutually independent of each other.
4. indoor visible light vision positioning method according to claim 1, which is characterized in that it is characterized in that, step S2
Described in elimination bias light interference, be as follows：
S21, the different light and shade width of fringe images that cmos image sensor is received and formed are converted to gray level image, and pass through
The maximum value for searching gray value determines the position of LED on gray level image；Wherein, corresponding seat is worth to according to gray scale maximum
Mark, and LED location on gray level image is determined with this；
S22, the central point that LED on gray level image is determined using centroid method, the gray value for taking central point to be expert at；
S23, former array is used as to the be expert at gray value of central point that S22 is obtained, former array is handled using iterative method；
Iterative method detailed process is：It is averaged to n-th element to the in the former array the 1st, as the N+1 element, then
The 2nd to the N+1 element is taken to take the N+2 element of average conduct, and so on, until former array all elements have been involved in and have taken
Averaging process；Wherein, using N+1 to the 2N element as new array；
S24, using the obtained a line gray values of step S22 as former array, subtract the new array that step S23 is obtained, gained is poor
It is worth as the signal after elimination background optical disturbance.
5. indoor visible light vision positioning method according to claim 1, which is characterized in that it is characterized in that, step S3
In described image frequency-region signal is filtered, particular by low-pass filter remove image frequency domain signal in direct current
Press component.
6. indoor visible light vision positioning method according to claim 1, which is characterized in that it is characterized in that, step S3
In, after obtaining the corresponding frequency values of LED lamp ID, to the process weight of selecting range spectrum peak frequency in step S2 to step S3
Multiple M time, obtain M frequency values, and choose wherein maximum value as finally selected frequency values, will it is described it is final select frequency values and
Frequency-coordinate database compares to obtain the indoor location coordinate of LED lamp in location-server, completes image decoding process.
7. indoor visible light vision positioning method according to claim 1, which is characterized in that location algorithm is in step S4
Receiving angle location algorithm based on camera extracts the mutual distance relationship of LED lamp localizer beacon in decoded image, and
Search for best proportion factor KiMatch true mutual distance, wherein KiIndicate what LED lamp localizer beacon i amplified in the picture
Multiple；Then according to best proportion factor KiAnd the actual position of each LED lamp localizer beacon obtains movement and sets reception
The actual position [Tx, Ty, Tz] at end；In its calculating process, search is reduced by the gradient of majorized function by guidance search
Domain.
8. with the hardware system of the indoor visible light vision positioning method described in claim 1~7 any one, including transmitting
End, mobile device receiving terminal and location-server, which is characterized in that the transmitting terminal includes AC-DC conversion module, control
Signal generating module, LED drive circuit and LED lamp；The mobile device receiving terminal includes image capture module, signal
Processing module and display module；
The AC-DC conversion module is used to the alternating current from power supply being converted into direct current；The control signal generating module
Including microcontroller and modulator, the microcontroller is used to the ID numbers of LED lamp being converted to digital signal and be sent to
Modulator, the modulator decides whether to provide electric current to driving circuit according to the digital signal that microcontroller is sent, to complete
The modulation of pairs of LED lamp ID；The LED drive circuit provides constant current signal for the illumination of LED lamp；The mobile device connects
Image capture module in receiving end is used to capture the image with bright dark fringe；The signal processing module is used for Image Acquisition
The digital picture of module acquisition is decoded operation and obtains the unique ID codes of LED lamp；The mobile device receiving terminal will be described
ID codes are sent on location-server, and the location-server does identification to the ID codes and by the corresponding LED lamp of ID codes
Location information is sent to mobile device receiving terminal；Mobile device receiving terminal is obtained in conjunction with the receiving angle location algorithm based on camera
To the azimuth information of mobile device receiving terminal, to realize the positioning of mobile device receiving terminal.
9. the hardware system of indoor visible light vision positioning method according to claim 8, which is characterized in that the movement
Equipment receiving terminal includes image capture module, signal processing module and display module；Described image acquisition module includes CMOS
Imaging sensor and A/D conversion modules；The signal processing module is digital signal processor DSP and central processor CPU；Institute
It is display screen to state display module；The cmos image sensor, A/D conversion modules, digital signal processor DSP and display
It is electrically connected by hardware circuit between screen and central processor CPU, and is controlled by the central processor CPU；
Optical signal image of the described image acquisition module acquisition with bright dark fringe, detailed process are：Optical signal image projects
Cmos image sensor surface, is converted into electric signal；Then the electric signal is converted to digital picture by A/D conversion modules
Signal；The digital signal processor DSP extracts striped to digital picture plus signal work and obtains the ID identifiers of LED lamp.
10. the hardware system of indoor visible light vision positioning method according to claim 8, which is characterized in that the shifting
Dynamic equipment receiving terminal has the mobile device of camera using smart mobile phone or tablet.
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| CN109949367A (en) * | 2019-03-11 | 2019-06-28 | 中山大学 | A kind of visual light imaging localization method based on circular projection |
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| CN108449138B (en) * | 2018-03-07 | 2023-08-22 | 华南理工大学 | M sequence visual detection method and system for visible light communication |
| CN108449138A (en) * | 2018-03-07 | 2018-08-24 | 华南理工大学 | A kind of M sequence visible detection method and its system for visible light communication |
| CN110736965A (en) * | 2018-10-18 | 2020-01-31 | 武汉卫思德科技有限公司 | two-dimensional coding and decoding method for visible light positioning |
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| CN110263776A (en) * | 2019-06-11 | 2019-09-20 | 南京邮电大学 | A kind of equipment identifying system and method |
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| CN116232458A (en) * | 2022-12-06 | 2023-06-06 | 重庆邮电大学 | Visible light hybrid positioning and communication method and system for ensuring consistent positioning and communication |
| CN116232458B (en) * | 2022-12-06 | 2024-03-29 | 重庆邮电大学 | Visible light hybrid positioning and communication method and system for ensuring consistent positioning and communication |
| CN117278123A (en) * | 2023-11-22 | 2023-12-22 | 深圳华创芯光科技有限公司 | Inter-lamp communication and networking method based on reflected light |
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