CN108833014B - Method for improving visible light positioning accuracy based on signal amplitude estimation - Google Patents
Method for improving visible light positioning accuracy based on signal amplitude estimation Download PDFInfo
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- CN108833014B CN108833014B CN201810713182.5A CN201810713182A CN108833014B CN 108833014 B CN108833014 B CN 108833014B CN 201810713182 A CN201810713182 A CN 201810713182A CN 108833014 B CN108833014 B CN 108833014B
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- 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
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention discloses a method for improving the positioning precision of visible light based on signal amplitude estimation, wherein the used devices comprise N transmitting ends and a receiving end for receiving optical signals, N is more than or equal to 3, the transmitting ends are all LEDs, and the N transmitting ends transmit optical signals with the same power; the receiving end comprises a photoelectric detector; in the invention, on the basis of positioning a plurality of transmitting terminals, the transmitting terminals carry out visible light transmission based on an orthogonal frequency division multiple access technology, the receiving terminals simultaneously receive optical signals of N transmitting terminals, respectively carry out timing operation to extract signals, simultaneously realize visible light communication and visible light positioning, estimate the transmission distance from the N transmitting terminals to the receiving terminals by analyzing the average amplitude of the carrier blocks of the transmitting terminals and the average amplitude of the carrier blocks of the receiving terminals, calculate the power distribution coefficient of the transmitting terminals according to the source of analysis positioning errors, improve the positioning accuracy through power distribution and finally obtain the position of the receiving terminal with high accuracy.
Description
Technical Field
The invention relates to a visible light positioning method, in particular to a method for improving the visible light positioning accuracy based on signal amplitude estimation.
Background
The LED has the characteristics of high luminous efficiency, long service life and the like, and is widely applied to indoor illumination. The LED-based visible light communication completes the modulation of signals on LED output light by changing LED driving current, is a broadcast communication mode with excellent performance, and is a beneficial supplement to the existing communication mode.
In a Received Signal Strength (RSS) based positioning scheme, the estimated transmission distance is determined by the received signal strength and the transmitted signal strength, which are affected by noise. The farther the transmission distance to be estimated is, the larger the estimation error of the distance thereof is.
In the indoor visible light positioning technology, the position of a receiving end is estimated by using the strength of a received signal and a least square method, and the error of the estimated position depends on the difference between the square of the estimated distance from a plurality of transmitting ends to the receiving end and the square difference of the actual distance.
Disclosure of Invention
Aiming at the prior art, the invention provides a method for improving the positioning accuracy of visible light based on signal amplitude estimation.
In order to solve the technical problem, the invention provides a method for improving the positioning accuracy of visible light based on signal amplitude estimation, wherein the used devices comprise N transmitting ends and a receiving end for receiving optical signals, N is more than or equal to 3, the transmitting ends are all LEDs, the serial numbers of each transmitting end are respectively 1,2, … … and N, and the N transmitting ends transmit optical signals with the same power; the receiving end comprises a photoelectric detector; the transmitting terminal carries out visible light transmission based on an orthogonal frequency division multiple access technology, the receiving terminal simultaneously receives optical signals of N transmitting terminals and respectively carries out timing operation to extract signals, the transmission distances from the N transmitting terminals to the receiving terminal are estimated by analyzing the average amplitude of the carrier block of the transmitting terminal and the average amplitude of the carrier block of the receiving terminal, and positioning is realized by the estimated transmission distances, and the method specifically comprises the following steps:
step one, converting the number of each transmitting terminal into binary number, performing Manchester coding on each bit of the binary number, namely 1 is represented by 10, 0 is represented by 01, each bit of the binary code corresponds to one subcarrier of a frequency domain, 1 represents that the corresponding subcarrier carries information, and 0 represents that the corresponding subcarrier does not carry information, and acquiring the frequency domain information of a first frame of a modulating signal of the transmitting terminal according to the binary code; the modulation information on each transmitting terminal respectively occupies non-overlapping 1/N bandwidth in the whole frequency band; carrying out 4-order quadrature amplitude modulation on first frame modulation information of a transmitting end, and carrying out power normalization processing to obtain frequency domain information of a first frame;
then, orthogonal amplitude modulation with different orders can be selected for other frame information according to the requirement of the situation, and power normalization processing is carried out to obtain frequency domain information; adding the obtained frequency domain information to the frequency domain information of the first frame to form complete frequency domain information of the transmitting terminal;
carrying out Hermite symmetry operation and inverse Fourier transform processing on the frequency domain information of the transmitting end to generate a time domain modulation signal, wherein the time domain modulation signal is a real number signal; applying the time domain modulation signal to a direct current drive of the transmitting terminal to generate a modulated optical signal;
converting the received optical signals of the N transmitting ends into time domain electric signals by the photoelectric detector, and carrying out timing operation for N times to obtain timing information; the receiving terminal carries out Fourier transform on the time domain electric signal to restore frequency domain information, and estimates channel gain from the N transmitting terminals to the receiving terminal according to the formula (1) through first frame frequency domain information;
in the formula (1), GiRepresenting the channel gain from the ith transmitting end to the receiving end;
m represents the order of quadrature amplitude modulation used for the frequency domain information;
Yi,q(f) the frequency domain signal of the q-th region restored by the ith receiving end through Fourier transform is represented, and q is 0,1,2, … … and M-1;
Xi,q(f) frequency domain original for representing that the q region of the ith transmitting terminal is not interfered by noiseA signal;
meanwhile, according to the recovered frequency domain information of the first frame, analyzing the power of each carrier wave, acquiring a corresponding binary code, and demodulating the binary code to obtain respective coordinates of the transmitting end;
thirdly, recovering frequency domain signals corresponding to the receiving end except the first frame according to the channel gains from the N transmitting ends to the receiving end obtained in the second step, and estimating the channel gains from the N transmitting ends to the receiving end according to the formula (1); then estimating the transmission distance from the N transmitting ends to the receiving end according to the formula (2);
in the formula (2), DiThe transmission distance from the ith transmitting end to the receiving end is represented, and i is 1,2,3, … …, N;
m represents the Lambertian radiation order;
a represents the area of the photodetector;
h represents the vertical distance from the transmitting end to the receiving end;
estimating the position of the receiving end by a least square method according to the transmission distances from the N transmitting ends to the receiving end, which are estimated in the step three, and the coordinates of the transmitting ends, which are obtained in the step two;
step five, calculating a power distribution coefficient alpha according to the estimated channel gain and transmission distance from the N' transmitting ends to the receiving end and the formula (3) and the formula (4)PA,i；
Wherein N 'represents the number of transmitting terminals participating in power distribution, and N' is more than or equal to 3 and less than or equal to N;
αPA,irepresenting the power distribution coefficient of the ith transmitting terminal;
Giindicating that the ith transmitting terminal is connected toChannel gain at the receiving end
αPA,jRepresenting power distribution coefficients of other transmitting ends except the ith transmitting end;
Gjrepresenting channel gains of the other transmitting terminals except the ith transmitting terminal;
Ni,q(f) a noise signal representing the q-th region at the ith transmitting terminal white space subcarrier, q being 0,1,2, … … M-1;
Ni,q(f) representing the noise signals of the q-th area at the blank subcarriers of other transmitting terminals except the ith transmitting terminal;
r represents the response coefficient of the photodetector;
k represents the ratio of the LED emission power to its drive signal;
according to the power distribution coefficient alphaPA,iOn the basis that the total power of the information transmitted by the transmitting end is not changed, multiplying the signal of the transmitting end by a power distribution coefficient to complete power distribution;
returning to the step two, and repeating the step L for 10-50 times; and finally, determining the average value of the receiving end positions obtained by all times as the position of the receiving end.
Compared with the prior art, the invention has the beneficial effects that:
the method is mainly based on the positioning of a plurality of transmitting ends, based on an Orthogonal Frequency Division Multiple Access (OFDMA) technology, simultaneously realizes visible light communication and visible light positioning, calculates channel gain by analyzing amplitude information of a frequency domain, calculates a power distribution coefficient of the transmitting ends according to the analysis of the source of a positioning error, and improves the positioning precision by power distribution.
Drawings
FIG. 1 is a block diagram of a system according to embodiment 1 of the present invention;
FIG. 2 illustrates the spatial distribution of the transmitting end and the receiving end according to one embodiment of the present invention;
FIG. 3 is a frequency domain distribution of the transmitting end according to one embodiment of the present invention;
fig. 4 is a frequency domain distribution of a receiving end according to an embodiment of the present invention.
Detailed Description
The technical solutions of the present invention are further described in detail with reference to the accompanying drawings and specific embodiments, which are only illustrative of the present invention and are not intended to limit the present invention.
The invention provides a method for improving the positioning accuracy of visible light based on signal amplitude estimation, which comprises N transmitting ends and a receiving end for receiving optical signals, wherein N is more than or equal to 3, the transmitting ends are all LEDs, and the N transmitting ends transmit optical signals with the same power; the receiving end comprises a photoelectric detector; the transmitting terminal carries out visible light transmission on the basis of an orthogonal frequency division multiple access technology, the receiving terminal simultaneously receives optical signals of N transmitting terminals, carries out timing operation respectively to extract signals, estimates the transmission distance from the N transmitting terminals to the receiving terminal by analyzing the average power of the carrier block of the transmitting terminal and the average power of the carrier block of the receiving terminal, and realizes positioning according to the estimated transmission distance through the estimated transmission distance.
The invention is based on signal amplitude estimation, and one embodiment of the method for improving the visible light positioning accuracy by analyzing a positioning error source and performing power distribution is as follows: in the selected space, 4 LEDs are set as emitting ends, and the arrangement of the receiving ends is any point on a horizontal plane (marked with a plurality of points) with a height of 1m in fig. 2, and the specific steps are as shown in fig. 1:
step one, numbering each transmitting terminal, namely 1,2,3, … … and N, converting the transmitting terminal number into a binary system, carrying out Manchester coding on each bit binary system, namely 1 is represented by 10 and 0 is represented by 01, wherein each bit of the binary coding corresponds to one subcarrier of a frequency domain, 1 represents that the corresponding subcarrier carries information, and 0 represents that the corresponding subcarrier does not carry information, and frequency domain information of a first frame of a modulating signal of the transmitting terminal is obtained according to the binary coding; the modulation information on each transmitting terminal respectively occupies non-overlapping 1/N bandwidth in the whole frequency band; and performing 4-order quadrature amplitude modulation on the first frame modulation information of the transmitting end, and performing power normalization processing to obtain frequency domain information of the first frame. Then, the information of other frames can be selected to be modulated by orthogonal amplitudes of different orders according to the requirements of the situation, power normalization processing is carried out to obtain frequency domain information, and the obtained frequency domain information is added to the frequency domain information of the first frame to form complete frequency domain information of the transmitting terminal, as shown in fig. 3; carrying out Hermite symmetry operation and inverse Fourier transform processing on the frequency domain information of the transmitting end to generate a time domain modulation signal, wherein the time domain modulation signal is a real number signal; applying the time domain modulation signal to a direct current drive of the transmitting terminal to generate a modulated optical signal;
converting the received optical signals of the N transmitting ends into time domain electric signals by the photoelectric detector, and carrying out timing operation for N times to obtain timing information; the receiving end performs Fourier transform on the time domain electric signal to restore frequency domain information, and estimates channel gains from the N transmitting ends to the receiving end according to formula (1) through first frame frequency domain information as shown in FIG. 4;
in the formula (1), GiRepresents the channel gain from the ith transmitting end to the receiving end, i is 1,2,3 … … N;
m represents the order of quadrature amplitude modulation used for the frequency domain information;
Yi,q(f) the frequency domain signal of the q-th region restored by the ith receiving end through Fourier transform is represented, and q is 0,1,2, … … M-1;
Xi,q(f) the q region of the ith transmitting end is represented by a frequency domain original signal which is not interfered by noise;
meanwhile, according to the recovered frequency domain information of the first frame, analyzing the power of each carrier wave, acquiring a corresponding binary code, and demodulating the binary code to obtain respective coordinates of the transmitting end;
thirdly, recovering frequency domain signals corresponding to the receiving end except the first frame according to the channel gains from the N transmitting ends to the receiving end obtained in the second step, and estimating the channel gains from the N transmitting ends to the receiving end according to the formula (1); then estimating the transmission distance from the N transmitting ends to the receiving end according to the formula (2);
in the formula (2), DiThe transmission distance from the ith transmitting end to the receiving end is represented, and i is 1,2,3 … … N;
Girepresents the channel gain from the ith transmitting end to the receiving end, i is 1,2,3 … … N;
m represents the Lambertian radiation order;
a represents the area of the photodetector;
h represents the vertical distance from the transmitting end to the receiving end;
and step four, estimating the position of the receiving end by a least square method according to the estimated transmission distance from the transmitting end to the receiving end and the coordinates of the transmitting end obtained in the step 2).
Step five, calculating a power distribution coefficient alpha according to the estimated channel gain and transmission distance from the N' transmitting ends to the receiving end and the formula (3) and the formula (4)PA,i；
Wherein N 'represents the number of transmitting terminals participating in power distribution, and N' is more than or equal to 3 and less than or equal to N; alpha is alphaPA,iRepresents the power distribution coefficient of the ith transmitting terminal, i is 1,2,3, … …, N; giThe channel gain representing the power allocation of the ith transmitting end to the receiving end, i is 1,2,3, … …, N; alpha is alphaPA,jRepresenting power distribution coefficients of other transmitting ends except the ith transmitting end; gjRepresenting channel gains of the other transmitting terminals except the ith transmitting terminal; n is a radical ofi,q(f) A noise signal representing the q-th region at the ith transmitting terminal white space subcarrier, q being 0,1,2, … … M-1; n is a radical ofi,q(f) Representing the noise signals of the q-th area at the blank subcarriers of other transmitting terminals except the ith transmitting terminal; r represents the response coefficient of the photodetector; k represents the LED emission power and its driving signalThe ratio of (A) to (B); thereby ensuring that the total power of the information transmitted by the transmitting terminal is not changed according to the power distribution coefficient alphaPA,iOn the basis that the total power of information transmitted by a transmitting terminal is not changed, the power distribution is completed by multiplying a transmitting terminal signal by a power distribution coefficient, through the power distribution, the difference between the square of the estimated distances from a plurality of transmitting terminals to a receiving terminal and the square difference of the actual distances is reduced, and the influence of noise on the transmitting terminal with longer transmission distance is reduced.
In order to obtain a stable transmission distance from the transmitting end to the receiving end, after the step five is executed, the step two is returned, the step three, the step four and the step five are repeatedly executed, the number of times of the repetition is 10-50, and finally the position of the high-precision receiving end is obtained.
While the present invention has been described with reference to the accompanying drawings, the present invention is not limited to the above-described embodiments, which are illustrative only and not restrictive, and various modifications which do not depart from the spirit of the present invention and which are intended to be covered by the claims of the present invention may be made by those skilled in the art.
Claims (1)
1. A method for improving the positioning accuracy of visible light based on signal amplitude estimation is disclosed, wherein the used devices comprise N transmitting ends and a receiving end for receiving optical signals, N is more than or equal to 3, the transmitting ends are all LEDs, the serial numbers of each transmitting end are respectively 1,2, … … and N, and the N transmitting ends transmit the optical signals with the same power; the receiving end comprises a photoelectric detector; the method is characterized in that:
the transmitting terminal carries out visible light transmission based on an orthogonal frequency division multiple access technology, the receiving terminal simultaneously receives optical signals of N transmitting terminals and respectively carries out timing operation to extract signals, the transmission distances from the N transmitting terminals to the receiving terminal are estimated by analyzing the average amplitude of the carrier block of the transmitting terminal and the average amplitude of the carrier block of the receiving terminal, and positioning is realized by the estimated transmission distances, and the method specifically comprises the following steps:
step one, converting the number of each transmitting terminal into binary number, performing Manchester coding on each bit of the binary number, namely 1 is represented by 10, 0 is represented by 01, each bit of the binary code corresponds to one subcarrier of a frequency domain, 1 represents that the corresponding subcarrier carries information, and 0 represents that the corresponding subcarrier does not carry information, and acquiring the frequency domain information of a first frame of a modulating signal of the transmitting terminal according to the binary code; the modulation information on each transmitting terminal respectively occupies non-overlapping 1/N bandwidth in the whole frequency band; carrying out 4-order quadrature amplitude modulation on first frame modulation information of a transmitting end, and carrying out power normalization processing to obtain frequency domain information of a first frame;
then, orthogonal amplitude modulation with different orders can be selected for other frame information according to the requirement of the situation, and power normalization processing is carried out to obtain frequency domain information; adding the obtained frequency domain information to the frequency domain information of the first frame to form complete frequency domain information of the transmitting terminal;
carrying out Hermite symmetry operation and inverse Fourier transform processing on the frequency domain information of the transmitting end to generate a time domain modulation signal, wherein the time domain modulation signal is a real number signal; applying the time domain modulation signal to a direct current drive of the transmitting terminal to generate a modulated optical signal;
converting the received optical signals of the N transmitting ends into time domain electric signals by the photoelectric detector, and carrying out timing operation for N times to obtain timing information; the receiving terminal carries out Fourier transform on the time domain electric signal to restore frequency domain information, and estimates channel gain from the N transmitting terminals to the receiving terminal according to the formula (1) through first frame frequency domain information;
in the formula (1), GiRepresents the channel gain from the ith transmitting end to the receiving end, i is 1,2,3 … … N;
m represents the order of quadrature amplitude modulation used for the frequency domain information;
Yi，q(f) the signal processing method includes the steps that a frequency domain signal of a q-th area, which is restored after Fourier transform of a signal of an ith transmitting end received by a receiving end, is represented, and q is 0,1,2, … … and M-1;
Xi，q(f)the q region of the ith transmitting end is represented by a frequency domain original signal which is not interfered by noise;
meanwhile, according to the recovered frequency domain information of the first frame, analyzing the power of each carrier wave, acquiring a corresponding binary code, and demodulating the binary code to obtain respective coordinates of the transmitting end;
thirdly, recovering frequency domain signals corresponding to the receiving end except the first frame according to the channel gains from the N transmitting ends to the receiving end obtained in the second step, and estimating the channel gains from the N transmitting ends to the receiving end according to the formula (1); then estimating the transmission distance from the N transmitting ends to the receiving end according to the formula (2);
in the formula (2), DiThe transmission distance from the ith transmitting end to the receiving end is represented, and i is 1,2,3, … …, N;
m represents the Lambertian radiation order;
a represents the area of the photodetector;
h represents the vertical distance from the transmitting end to the receiving end;
estimating the position of the receiving end by a least square method according to the transmission distances from the N transmitting ends to the receiving end, which are estimated in the step three, and the coordinates of the transmitting ends, which are obtained in the step two;
step five, calculating a power distribution coefficient alpha according to the estimated channel gain and transmission distance from the N' transmitting ends to the receiving end and the formula (3) and the formula (4)PA,i；
Wherein N 'represents the number of transmitting terminals participating in power distribution, and N' is more than or equal to 3 and less than or equal to N;
αPA,irepresenting the ith transmit side power allocationCounting;
Girepresenting the channel gain from the ith transmitting end to the receiving end;
αPA,jrepresenting power distribution coefficients of other transmitting ends except the ith transmitting end;
Gjrepresenting channel gains of the other transmitting terminals except the ith transmitting terminal;
Direpresenting the transmission distance from the ith transmitting terminal to the receiving terminal;
Djindicating the transmission distance from other transmitting terminals except the ith transmitting terminal to the receiving terminal; n is a radical ofi,q(f) A noise signal representing the q-th region at the ith transmitting terminal white space subcarrier, q being 0,1,2, … … M-1;
Nj,q(f) representing the noise signals of the q-th area at the blank subcarriers of other transmitting terminals except the ith transmitting terminal; r represents the response coefficient of the photodetector;
k represents the ratio of the LED emission power to its drive signal;
according to the power distribution coefficient alphaPA,iOn the basis that the total power of the information transmitted by the transmitting end is not changed, multiplying the signal of the transmitting end by a power distribution coefficient to complete power distribution;
returning to the step two, and repeating the step L for 10-50 times;
and finally, determining the average value of the receiving end positions obtained by all times as the position of the receiving end.
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