CN109085536A - A kind of indoor method for self-locating, device, system and equipment based on LED light - Google Patents
A kind of indoor method for self-locating, device, system and equipment based on LED light Download PDFInfo
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- CN109085536A CN109085536A CN201810770534.0A CN201810770534A CN109085536A CN 109085536 A CN109085536 A CN 109085536A CN 201810770534 A CN201810770534 A CN 201810770534A CN 109085536 A CN109085536 A CN 109085536A
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B20/00—Energy efficient lighting technologies, e.g. halogen lamps or gas discharge lamps
- Y02B20/40—Control techniques providing energy savings, e.g. smart controller or presence detection
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Abstract
This application discloses a kind of indoor method for self-locating, device, system and equipment based on LED light, wherein method includes: S1, in all light intensity datas received at point to be determined, the light intensity data of the first preset quantity of selection to successively decrease from largest light intensity value, combination obtains light intensity data group to be analyzed, wherein, the light intensity data includes: light intensity value and LED light ID；S2, in preset level database, according to preset matching rule, it determines and the light intensity data group similarity to be analyzed is highest matches light intensity data group, positioning coordinate of the coordinate as the point to be determined corresponding to the highest matching light intensity data group of similarity, wherein, the preset level database includes: all light intensity datas for being received at all coordinates and each position coordinate of room area.Solves the technical issues of existing indoor self align technology can not be accurately positioned in the environment of electromagnetic susceptibility.
Description
Technical field
This application involves indoor positioning technologies field more particularly to a kind of indoor method for self-locating, dresses based on LED light
It sets, system and equipment.
Background technique
With the continuous development of intellectual product, demand of the people based on location-based service constantly increases.Such as people are located at room
Interior somewhere, it is desirable to when going to be located at indoor another position (being set as destination locations), first have to obtain oneself current position
Then information obtains destination locations information again, the path from current location to destination locations is finally obtained after path planning.
In whole process it is most basic be exactly oneself current location acquisition (hereinafter referred to as self-positioning), at this point, if self-positioning position
Information errors will affect the planning in entire path.
But existing indoor self align technology, such as infrared technique, radio frequency identification (RFID) technology, WLAN
(WLAN) technology etc., although good self-positioning effect can be obtained under environment indoors, for the environment of electromagnetic susceptibility
(such as hospital etc.), because it is self-positioning when used in electromagnetic wave be easy by other kinds of Electromagnetic Interference, lead to existing room
Interior self align technology can not be accurately positioned in the environment of electromagnetic susceptibility.
Summary of the invention
The embodiment of the present application provides a kind of indoor method for self-locating, device, system and equipment based on LED light, is used for
It is indoor self-positioning, solve the technical issues of existing indoor self align technology can not be accurately positioned in the environment of electromagnetic susceptibility.
In view of this, the application first aspect provides a kind of indoor method for self-locating based on LED light, comprising:
In S1, all light intensity datas received at point to be determined, the selection first successively decreased from largest light intensity value is preset
The light intensity data of quantity, combination obtain light intensity data group to be analyzed, wherein the light intensity data includes: light intensity value and LED light
ID；
S2, in preset level database, according to preset matching rule, determination is similar to the light intensity data group to be analyzed
Highest matching light intensity data group is spent, coordinate corresponding to the highest matching light intensity data group of similarity is as described undetermined
The positioning coordinate in site, wherein the preset level database includes: at all coordinates and each position coordinate of room area
Received all light intensity datas.
It preferably, further include S0 before step S1；
S0, acquisition carry out room area at the coordinate and each mesh point of each mesh point after preset mesh segmentation
All light intensity datas received obtain the preset level database.
Preferably, step S2 is specifically included:
S21, in preset level database, it is determining with matched second preset quantity of light intensity data group to be analyzed
Match coordinate corresponding to light intensity data group and each matching light intensity data group；
S22, from all matching light intensity data groups, determination it is highest with the light intensity data group similarity to be analyzed
Light intensity data group is matched, coordinate corresponding to the highest matching light intensity data group of similarity is determined as the point to be determined
Position coordinate.
Preferably, step S21 is specifically included:
S211, a light intensity data to be analyzed is randomly selected in the light intensity data group to be analyzed；
S212, in preset level database, inquire and the identical institute of the LED light ID of light intensity data to be analyzed that chooses
There is light intensity data to be matched；
The absolute error of the light intensity value of the light intensity data to be analyzed of S213, each light intensity data to be matched of calculating and selection,
From all absolute errors, the light intensity data to be matched for the second preset quantity of selection being incremented by from minimum value obtains the
The matching light intensity data of two preset quantities；
S214, it is inquired in the preset level database, matching light intensity corresponding with each matching light intensity data
Coordinate corresponding to data group and each matching light intensity data obtains the matching light intensity data group of the second preset quantity and every
Coordinate corresponding to a matching light intensity data group.
Preferably, step S22 is specifically included:
Calculate the error sum of squares of each matching the light intensity data group and the light intensity data group to be analyzed, determining and institute
State the smallest matching light intensity data group of light intensity data grouping error quadratic sum to be analyzed, the smallest matching light intensity of error sum of squares
Positioning coordinate of the coordinate corresponding to data group as the point to be determined.
The application second aspect provides a kind of indoor self locating device based on LED light, comprising: first unit and second
Unit；
The first unit in all light intensity datas for receiving at point to be determined, is successively decreased from largest light intensity value
The first preset quantity of selection light intensity data, combination obtains light intensity data group to be analyzed, wherein the light intensity data includes:
Light intensity value and LED light ID；
The second unit, in preset level database, according to preset matching rule, it is determining with it is described to be analyzed
The highest matching light intensity data group of light intensity data group similarity, seat corresponding to the highest matching light intensity data group of similarity
Be denoted as the positioning coordinate for the point to be determined, wherein the preset level database include: room area all coordinates and
All light intensity datas received at the coordinate of each position.
Preferably, further includes: third unit；
The third unit, for acquiring the coordinate of each mesh point after room area to be carried out to preset mesh segmentation,
And all light intensity datas received at each mesh point, obtain the preset level database.
The application third aspect provides a kind of indoor self aligning system based on LED light, comprising: controller, photoelectricity are visited
Survey device and above-mentioned self locating device；
The controller generates light intensity data by time-multiplexed mode for controlling each LED light one by one；
The photodetector, for receiving light intensity data one by one at point to be determined, and after identifying the light intensity data,
The light intensity data after identification is sent to the self locating device.
The application fourth aspect provides a kind of indoor self-locating devices based on LED light, and the equipment includes processor
And memory:
Said program code is transferred to the processor for storing program code by the memory；
The processor is used for the method for self-locating above-mentioned according to the instruction execution in said program code.
The 5th aspect of the application provides a kind of computer readable storage medium, and the computer readable storage medium is used for
Program code is stored, said program code is for executing above-mentioned method for self-locating.
As can be seen from the above technical solutions, the embodiment of the present application has the advantage that
This application provides a kind of indoor method for self-locating, device, system and equipment based on LED light, wherein method packet
It includes: in all light intensity datas received at point to be determined first, the first preset quantity of selection for successively decreasing from largest light intensity value
Light intensity data, combination obtains light intensity data group to be analyzed, determining with the light to be analyzed then in preset level database
The highest matching light intensity data group of strong data group similarity, because in preset level database, light intensity data and indoor coordinate
There are corresponding relationships, think that coordinate corresponding to the highest matching light intensity data group of similarity is the point to be determined at this time
Coordinate is positioned, the application is self-positioning by carrying out using indoor LED lamp, and the letter of electromagnetic wave used in existing location technology is not used
Number, so that positioning signal used in positioning formula will not solve existing indoor self align technology in electricity by Electromagnetic Interference
The technical issues of can not being accurately positioned in the environment of magnetic susceptibility.
Detailed description of the invention
Fig. 1 shows for the process of the first embodiment of the indoor method for self-locating based on LED light a kind of in the embodiment of the present application
It is intended to；
Fig. 2 shows for the process of the second embodiment of the indoor method for self-locating based on LED light a kind of in the embodiment of the present application
It is intended to；
Fig. 3 shows for the process of the 3rd embodiment of the indoor method for self-locating based on LED light a kind of in the embodiment of the present application
It is intended to；
Fig. 4 is a kind of structural schematic diagram of the indoor self locating device based on LED light in the embodiment of the present application；
Fig. 5 is a kind of structural schematic diagram of the indoor self aligning system based on LED light in the embodiment of the present application.
Specific embodiment
The embodiment of the present application provides a kind of indoor method for self-locating, device, system and equipment based on LED light, is used for
It is indoor self-positioning, solve the technical issues of existing indoor self align technology can not be accurately positioned in the environment of electromagnetic susceptibility.
In order to make those skilled in the art more fully understand application scheme, below in conjunction in the embodiment of the present application
Attached drawing, the technical scheme in the embodiment of the application is clearly and completely described, it is clear that described embodiment is only this
Apply for a part of the embodiment, instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art exist
Every other embodiment obtained under the premise of creative work is not made, shall fall in the protection scope of this application.
Referring to Fig. 1, a kind of stream of the first embodiment of the indoor method for self-locating based on LED light in the embodiment of the present application
Journey schematic diagram, comprising:
In step 101, all light intensity datas received at point to be determined, the selection first successively decreased from largest light intensity value
The light intensity data of preset quantity, combination obtain light intensity data group to be analyzed, wherein light intensity data includes: light intensity value and LED light
ID。
It should be noted that in all light intensity datas received at point to be determined, the choosing successively decreased from largest light intensity value
Take the light intensity data of the first preset quantity so that the light intensity value in light intensity data group to be analyzed is larger, have convenient for followed by point
Analysis.It is understood that the light intensity value that different LED light generate is same LED that is identical, only receiving at different locations
The light intensity value of lamp may not be identical.
Light intensity data includes light intensity value and LED light ID, for example, when light intensity data is 100A, wherein letter indicates LED light
ID, the light intensity value of the lamp received at digital representation point to be determined.It is understood that light intensity data is not limited to this reality
Apply number described in example+letter form, or number+number form is not specifically limited herein.
Step 102, in preset level database, according to preset matching rule, determining and light intensity data group phase to be analyzed
Like highest matching light intensity data group is spent, coordinate corresponding to the highest matching light intensity data group of similarity is as point to be determined
Position coordinate, wherein preset level database include: room area all coordinates and each position coordinate at received
All light intensity datas.
It should be noted that after determining light intensity data group to be analyzed, according to preset matching rule, in preset level database
Middle determination with light intensity data group similarity to be analyzed is highest matches light intensity data group, the highest matching light intensity data group of similarity
Positioning coordinate of the corresponding coordinate as point to be determined.
In the present embodiment, in all light intensity datas for being received at point to be determined first, successively decrease from largest light intensity value
The light intensity data of the first preset quantity is chosen, combination obtains light intensity data group to be analyzed, then in preset level database, really
It is fixed with light intensity data group similarity to be analyzed is highest matches light intensity data group because in preset level database, light intensity number
According to there are corresponding relationships with indoor coordinate, at this time i.e. think coordinate corresponding to the highest matching light intensity data group of similarity for
The positioning coordinate of anchor point, the application is self-positioning by being carried out using indoor LED lamp, is not used used in existing location technology
Electromagnetic wave signal, so that positioning signal used in positioning formula it is self-positioning will not to solve existing interior by Electromagnetic Interference
The technical issues of technology can not be accurately positioned in the environment of electromagnetic susceptibility.
The above are a kind of first embodiment of the indoor method for self-locating based on LED light provided by the embodiments of the present application, with
It is down a kind of second embodiment of the indoor method for self-locating based on LED light provided by the embodiments of the present application.
Referring to Fig. 2, a kind of stream of the second embodiment of the indoor method for self-locating based on LED light in the embodiment of the present application
Journey schematic diagram, comprising:
Room area is carried out the coordinate and each grid of each mesh point after preset mesh segmentation by step 200, acquisition
All light intensity datas received at point, obtain preset level database.
It should be noted that the sizing grid of preset grid can be adjusted according to actual needs, if it is desired to which precision is higher certainly
The closeer preset grid of grid can be set in locating effect.If be not to self-positioning required precision it is especially high, net can be set
The sparse preset grid of lattice.
In step 201, all light intensity datas received at point to be determined, the selection first successively decreased from largest light intensity value
The light intensity data of preset quantity, combination obtain light intensity data group to be analyzed, wherein light intensity data includes: light intensity value and LED light
ID。
It should be noted that the first preset quantity can be set according to actual needs, and in the present embodiment, the first preset quantity
It is 3.For example, all light intensity datas received at point to be determined are (100A, 101B, 90C, 80D, 95E), then light to be analyzed
Strong data group is (100A, 101B, 95E).
Step 202, in preset level database, it is determining with matched second preset quantity of light intensity data group to be analyzed
Match coordinate corresponding to light intensity data group and each matching light intensity data group.
It should be noted that, in order to reduce the calculation amount of processing, avoiding the feelings of delay after determining light intensity data group to be analyzed
Condition, first in preset level database, the determining matching light intensity with matched second preset quantity of light intensity data group to be analyzed
Coordinate corresponding to data group and each matching light intensity data group.
Step 203, from all matching light intensity data groups, it is determining with the highest matching of light intensity data group similarity to be analyzed
Light intensity data group, positioning coordinate of the coordinate as point to be determined corresponding to the highest matching light intensity data group of similarity.
In the present embodiment, first in all light intensity datas for being received at point to be determined, the choosing successively decreased from largest light intensity value
The light intensity data of the first preset quantity is taken, combination obtains light intensity data group to be analyzed, because in preset level database, light intensity
There are corresponding relationships for data and indoor coordinate, in order to reduce calculation amount, avoid being delayed, in preset level database, determine with
Corresponding to the matching light intensity data group and each matching light intensity data group of matched second preset quantity of light intensity data group to be analyzed
Coordinate after, then from all matching light intensity groups, determine and light intensity data group similarity to be analyzed is highest matches light intensity number
According to group, think that coordinate corresponding to the highest matching light intensity data group of similarity is the positioning coordinate of point to be determined at this time, this
Application is self-positioning by being carried out using indoor LED lamp, electromagnetic wave signal used in existing location technology is not used, so that positioning
Positioning signal used in formula will not solve existing indoor self align technology in the environment of electromagnetic susceptibility by Electromagnetic Interference
In the technical issues of can not being accurately positioned.
The above are a kind of second embodiment of the indoor method for self-locating based on LED light provided by the embodiments of the present application, with
It is down a kind of 3rd embodiment of the indoor method for self-locating based on LED light provided by the embodiments of the present application.
Referring to Fig. 3, a kind of stream of the second embodiment of the indoor method for self-locating based on LED light in the embodiment of the present application
Journey schematic diagram, comprising:
Room area is carried out the coordinate and each grid of each mesh point after preset mesh segmentation by step 300, acquisition
All light intensity datas received at point, obtain preset level database.
Step 300 is identical as the content of step 200 in the application second embodiment, and specific descriptions may refer to the second implementation
The content of example step 200, details are not described herein.
In step 301, all light intensity datas received at point to be determined, the selection first successively decreased from largest light intensity value
The light intensity data of preset quantity, combination obtain light intensity data group to be analyzed, wherein light intensity data includes: light intensity value and LED light
ID。
Step 301 is identical as the content of step 201 in the application second embodiment, and specific descriptions may refer to the second implementation
The content of example step 201, details are not described herein.
Step 302 randomly selects a light intensity data to be analyzed in light intensity data group to be analyzed.
It should be noted that a light intensity data to be analyzed is randomly selected in light intensity data group to be analyzed, for example, wait divide
Analysing light intensity data group is (100A, 101B, 95E), and the light intensity data to be analyzed chosen is 100A.
Step 303, in preset level database, inquire with choose the LED light ID of light intensity data to be analyzed it is identical
All light intensity datas to be matched.
It should be noted that inquiring the LED light ID with the light intensity data to be analyzed chosen in preset level database
Identical all light intensity datas to be matched.For example, obtaining all light intensity datas to be matched after inquiring light intensity data 100A
Are as follows: 101A, 100A, 80A, 85A, 93A.
The absolute mistake of the light intensity value of the light intensity data to be analyzed of step 304, each light intensity data to be matched of calculating and selection
Difference, from all absolute errors, the light intensity data to be matched for the second preset quantity of selection being incremented by from minimum value obtains second
The matching light intensity data of preset quantity.
It should be noted that the second preset quantity also can according to need and be configured, and in the present embodiment, the second preset number
Amount is 4, i.e., matching light intensity data at this time is 101A, 100A, 85A, 93A.
Step 305 is inquired in preset level database, matching light intensity data group corresponding with each matching light intensity data
And coordinate corresponding to each matching light intensity data, obtain the matching light intensity data group and each matching light intensity of the second preset quantity
Coordinate corresponding to data group.
It should be noted that being inquired in preset level database after the matching light intensity data of determining second preset quantity
With coordinate corresponding to each corresponding matching light intensity data group of matching light intensity data and each light intensity data, it is preset to obtain second
Coordinate corresponding to the matching light intensity data group of quantity and each matching light intensity data group.Matching light intensity data in the present embodiment
Group are as follows: (101A, 99B, 96E), (100A, 102B, 96E), (85A, 90B, 102E), (90A, 96B, 101E), each of which matching
Coordinate corresponding to light intensity data group is respectively (3,3), (3,4), (5,3), (4,3).
Step 306, the error sum of squares for calculating each matching light intensity data group and light intensity data group to be analyzed.
In the present embodiment, 4 matching light intensity data groups (101A, 99B, 96E) are calculated separately, (100A, 102B, 96E),
(85A, 90B, 102E), the square-error between (90A, 96B, 101E) and light intensity data group to be analyzed (100A, 101B, 95E)
With.It should be noted that may be otherwise to calculate separately between 4 matching light intensity data groups and light intensity data group to be analyzed
Absolute error and.
Step 307 determines and light intensity data grouping error quadratic sum to be analyzed is the smallest matches light intensity data group, square-error
With positioning coordinate of the coordinate as point to be determined corresponding to the smallest matching light intensity data group.
In the present embodiment, according to the calculated result of step 306 match light intensity data group (100A, 102B, 96E) with it is to be analyzed
The error sum of squares of light intensity data is minimum, thinks that coordinate corresponding to (100A, 102B, 96E) is determining for point to be determined at this time
Position coordinate.When preset level database is such as set, matching light intensity data group (100A, 102B, 96E) corresponding to coordinate be (3,
4), at this time i.e. think point to be determined positioning coordinate be (3,4), the position of position and point to be determined where coordinate (3,4), such as
(3,4) for point in the internal medicine section room of hospital, the position that can recognize point to be determined at this time is in internal medicine section room.It may be otherwise
To choose positioning coordinate of the coordinate as point to be determined corresponding to absolute error and the smallest matching light intensity data group.
It should be noted that the determining matching light intensity data with matched second preset quantity of light intensity data group to be analyzed
Group, limitation and mode described in this embodiment, can also be not the LED light ID of light intensity data in light intensity data group to be analyzed,
All light intensity data groups containing the LED light ID of light intensity data in light intensity data group to be analyzed i.e. in preset level database, make
For the matching light intensity data group of the second preset quantity.Or two light intensity datas to be analyzed are chosen, then calculate two light intensity numbers
According to absolute error and after, from the selection of absolute error and minimum increment match light intensity data, then determine the second preset quantity
Matching light intensity data group.
In the present embodiment, first in all light intensity datas for being received at point to be determined, the choosing successively decreased from largest light intensity value
The light intensity data of the first preset quantity is taken, combination obtains light intensity data group to be analyzed, because in preset level database, light intensity
There are corresponding relationships for data and indoor coordinate, in order to reduce calculation amount, avoid being delayed, in preset level database, determine with
Corresponding to the matching light intensity data group and each matching light intensity data group of matched second preset quantity of light intensity data group to be analyzed
Coordinate after, then from all matching light intensity groups, determine and light intensity data group similarity to be analyzed is highest matches light intensity number
According to group, think that coordinate corresponding to the highest matching light intensity data group of similarity is the positioning coordinate of point to be determined at this time, this
Application is self-positioning by being carried out using indoor LED lamp, electromagnetic wave signal used in existing location technology is not used, so that positioning
Positioning signal used in formula will not solve existing indoor self align technology in the environment of electromagnetic susceptibility by Electromagnetic Interference
In the technical issues of can not being accurately positioned.
The above are a kind of 3rd embodiment of the indoor method for self-locating based on LED light provided by the embodiments of the present application, with
It is down a kind of embodiment of the indoor self locating device based on LED light provided by the embodiments of the present application.
Referring to Fig. 4, a kind of structural schematic diagram of the indoor self locating device based on LED light in the embodiment of the present application, packet
It includes:
It include: first unit 401 and second unit 402；
First unit 401 in all light intensity datas for receiving at point to be determined, is successively decreased from largest light intensity value
The light intensity data of the first preset quantity is chosen, combination obtains light intensity data group to be analyzed, wherein light intensity data includes: light intensity value
With LED light ID；
Second unit 402 is used in preset level database, according to preset matching rule, determining and light intensity to be analyzed
The highest matching light intensity data group of data group similarity, coordinate corresponding to the highest matching light intensity data group of similarity be used as to
The positioning coordinate of anchor point, wherein preset level database includes: all coordinates and each position coordinate place of room area
All light intensity datas received.
It further, further include third unit 403；
Third unit 403, for acquiring the coordinate of each mesh point after room area to be carried out to preset mesh segmentation, and
All light intensity datas received at each mesh point, obtain preset level database.
In the present embodiment, in all light intensity datas for being received at point to be determined first, successively decrease from largest light intensity value
The light intensity data of the first preset quantity is chosen, combination obtains light intensity data group to be analyzed, then in preset level database, really
It is fixed with light intensity data group similarity to be analyzed is highest matches light intensity data group because in preset level database, light intensity number
According to there are corresponding relationships with indoor coordinate, at this time i.e. think coordinate corresponding to the highest matching light intensity data group of similarity for
The positioning coordinate of anchor point, the application is self-positioning by being carried out using indoor LED lamp, is not used used in existing location technology
Electromagnetic wave signal, so that positioning signal used in positioning formula it is self-positioning will not to solve existing interior by Electromagnetic Interference
The technical issues of technology can not be accurately positioned in the environment of electromagnetic susceptibility.
The above are a kind of embodiment of the indoor self locating device based on LED light provided by the embodiments of the present application, the following are
A kind of embodiment of indoor self aligning system based on LED light provided by the embodiments of the present application.
Referring to Fig. 5, a kind of structural schematic diagram of the indoor self aligning system based on LED light in the embodiment of the present application, packet
It includes: the self locating device 503 of controller 501, photodetector 502 and above-described embodiment；Controller 501, it is each for controlling
LED light generates light intensity data by time-multiplexed mode one by one；Photodetector 502, for being connect one by one at point to be determined
Light intensity data is received, and after identifying light intensity data, the light intensity data after identification is sent to self locating device 503.
It should be noted that the ID of time-multiplexed control mode both in-door illumination and LED light is encoded, by master controller
Control cmos switch makes each LED generate the light intensity data for carrying LED light ID.Photodetector 502 will carry LED light ID
Light intensity data be identified as corresponding light intensity value and LED light ID.
The embodiment of the present application also provides a kind of indoor self-locating devices based on LED light, equipment include processor and
Memory: memory is transferred to processor for storing program code, and by program code, and processor is used for according to program code
In instruction execution previous embodiment one and embodiment two in method for self-locating, thereby executing various function application and number
According to processing.
The embodiment of the present application also provides a kind of computer readable storage medium, computer readable storage medium is for storing
Program code, program code are used to execute the method for self-locating in previous embodiment one and embodiment two.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
The description of the present application and term " first " in above-mentioned attached drawing, " second ", " third ", " the 4th " etc. are (if deposited
) it is to be used to distinguish similar objects, without being used to describe a particular order or precedence order.It should be understood that use in this way
Data are interchangeable under appropriate circumstances, so as to embodiments herein described herein, such as can be in addition to scheming herein
Sequence other than those of showing or describe is implemented.In addition, term " includes " and " having " and their any deformation, it is intended that
In cover it is non-exclusive include, for example, the process, method, system, product or equipment for containing a series of steps or units need not
Those of be limited to be clearly listed step or unit, but may include be not clearly listed or for these process, methods,
The other step or units of product or equipment inherently.
It should be appreciated that in this application, " at least one (item) " refers to one or more, and " multiple " refer to two or two
More than a."and/or" indicates may exist three kinds of relationships, for example, " A and/or B " for describing the incidence relation of affiliated partner
It can indicate: only exist A, only exist B and exist simultaneously tri- kinds of situations of A and B, wherein A, B can be odd number or plural number.Word
Symbol "/" typicallys represent the relationship that forward-backward correlation object is a kind of "or"." at least one of following (a) " or its similar expression, refers to
Any combination in these, any combination including individual event (a) or complex item (a).At least one of for example, in a, b or c
(a) can indicate: a, b, c, " a and b ", " a and c ", " b and c ", or " a and b and c ", and wherein a, b, c can be individually, can also
To be multiple.
In several embodiments provided herein, it should be understood that disclosed system, device and method can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, each functional unit in each embodiment of the application can integrate in one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If the integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the technical solution of the application is substantially
The all or part of the part that contributes to existing technology or the technical solution can be in the form of software products in other words
It embodies, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or the network equipment etc.) executes the complete of each embodiment the method for the application
Portion or part steps.And storage medium above-mentioned includes: USB flash disk, mobile hard disk, read-only memory (full name in English: Read-Only
Memory, english abbreviation: ROM), random access memory (full name in English: Random Access Memory, english abbreviation:
RAM), the various media that can store program code such as magnetic or disk.
The above, above embodiments are only to illustrate the technical solution of the application, rather than its limitations；Although referring to before
Embodiment is stated the application is described in detail, those skilled in the art should understand that: it still can be to preceding
Technical solution documented by each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
It modifies or replaces, the spirit and scope of each embodiment technical solution of the application that it does not separate the essence of the corresponding technical solution.
Claims (10)
1. a kind of indoor method for self-locating based on LED light characterized by comprising
In S1, all light intensity datas received at point to be determined, the first preset quantity of selection for successively decreasing from largest light intensity value
Light intensity data, combination obtain light intensity data group to be analyzed, wherein the light intensity data includes: light intensity value and LED light ID；
S2, in preset level database, according to preset matching rule, it is determining with the light intensity data group similarity to be analyzed most
High matching light intensity data group, coordinate corresponding to the highest matching light intensity data group of similarity is as the point to be determined
Positioning coordinate, wherein the preset level database include: room area all coordinates and each position coordinate at connect
All light intensity datas received.
2. the method according to claim 1, wherein further including S0 before step S1；
S0, acquisition carry out room area to receive at the coordinate and each mesh point of each mesh point after preset mesh segmentation
All light intensity datas arrived obtain the preset level database.
3. the method according to claim 1, wherein step S2 is specifically included:
S21, in preset level database, the determining matching with matched second preset quantity of light intensity data group to be analyzed
Coordinate corresponding to light intensity data group and each matching light intensity data group；
S22, from all matching light intensity data groups, it is determining with the highest matching of light intensity data group similarity to be analyzed
Light intensity data group, the similarity is highest to match positioning seat of the coordinate corresponding to light intensity data group as the point to be determined
Mark.
4. according to the method described in claim 3, it is characterized in that, step S21 is specifically included:
S211, a light intensity data to be analyzed is randomly selected in the light intensity data group to be analyzed；
S212, in preset level database, inquire and identical needed with the LED light ID of light intensity data to be analyzed chosen
Match light intensity data；
The absolute error of the light intensity value of the light intensity data to be analyzed of S213, each light intensity data to be matched of calculating and selection, from institute
In the absolute error having, it is pre- to obtain second for the light intensity data to be matched for the second preset quantity of selection being incremented by from minimum value
Set the matching light intensity data of quantity；
S214, it is inquired in the preset level database, matching light intensity data corresponding with each matching light intensity data
Coordinate corresponding to group and each matching light intensity data, obtain the second preset quantity matching light intensity data group and each institute
State coordinate corresponding to matching light intensity data group.
5. according to the method described in claim 3, it is characterized in that, step S22 is specifically included:
Calculate the error sum of squares of each matching the light intensity data group and the light intensity data group to be analyzed, it is determining and it is described to
Analyze the smallest matching light intensity data group of light intensity data grouping error quadratic sum, the smallest matching light intensity data of error sum of squares
Positioning coordinate of the corresponding coordinate of group as the point to be determined.
6. a kind of indoor self locating device based on LED light characterized by comprising first unit and second unit；
The first unit, in all light intensity datas for being received at point to be determined, the choosing successively decreased from largest light intensity value
The light intensity data of the first preset quantity is taken, combination obtains light intensity data group to be analyzed, wherein the light intensity data includes: light intensity
Value and LED light ID；
The second unit is used in preset level database, according to preset matching rule, the determining and light intensity to be analyzed
The highest matching light intensity data group of data group similarity, coordinate corresponding to the highest matching light intensity data group of similarity are made
For the positioning coordinate of the point to be determined, wherein the preset level database includes: all coordinates of room area and each
All light intensity datas received at position coordinates.
7. device according to claim 6, which is characterized in that further include: third unit；
The third unit, for acquiring the coordinate of each mesh point after room area to be carried out to preset mesh segmentation, and it is every
All light intensity datas received at one mesh point obtain the preset level database.
8. a kind of indoor self aligning system based on LED light characterized by comprising controller, photodetector and above-mentioned power
Benefit require 6 or 7 described in self locating device；
The controller generates light intensity data by time-multiplexed mode for controlling each LED light one by one；
The photodetector will be known for receiving light intensity data one by one at point to be determined, and after identifying the light intensity data
The light intensity data after not is sent to the self locating device.
9. a kind of indoor self-locating devices based on LED light, which is characterized in that the equipment includes processor and memory；
Said program code is transferred to the processor for storing program code by the memory；
The processor according to instruction execution any one of claims 1 to 5 in said program code for making by oneself
Position method.
10. a kind of computer readable storage medium, which is characterized in that the computer readable storage medium is for storing program generation
Code, said program code is for method for self-locating described in any one of perform claim requirement 1 to 5.
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