CN110231598A - The method for judging light source revolving property is calculated in visible light indoor positioning based on adduction - Google Patents
The method for judging light source revolving property is calculated in visible light indoor positioning based on adduction Download PDFInfo
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- CN110231598A CN110231598A CN201910509781.XA CN201910509781A CN110231598A CN 110231598 A CN110231598 A CN 110231598A CN 201910509781 A CN201910509781 A CN 201910509781A CN 110231598 A CN110231598 A CN 110231598A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- 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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Abstract
The method for judging light source revolving property is calculated in a kind of visible light indoor positioning based on adduction, belongs to technical field of navigation and positioning.This method is based on the realization of LED positioning system, step are as follows: firstly, light source cloth to be set as to convex figure by rule, according to setting condition to each light source transmitting sequence.Secondly, obtaining multiple light source pictures with mobile phone camera continuous shooting, image procossing obtains light source transmitting sequence in the fixed mobile phone location in receiving end and posture.Again, adjacent light source does sequence related operation and obtains transmitting sequence delay, and does adduction to transmitting sequence delay and calculate, and judges true and false light source.Finally, completing positioning using location algorithm after excluding false light source.The present invention is compared with other can distinguish the method for light source revolving property, and main advantage is more to provide transmitting sequence using the same transmitting sequence for each light source and can provide light source ID, the simple and effective easy implementation of this discrimination revolving property method.
Description
Technical field
The invention belongs to technical field of navigation and positioning, are related to visible light indoor orientation method, in particular to a kind of visible
The method for judging light source revolving property is calculated in light indoor positioning based on adduction.
Background technique
With the fast development of LED illumination industry, gradually develop by the visible light indoor positioning technologies of light source of LED light
Come.The article that mirror-reflection can occur for indoor common glass or mirror etc. can reflect the false light source of generation, determine to affect
Position reliability.Compared with the conventional method for distinguishing light source revolving property, advantage of the invention is that different light sources are using same
Transmitting sequence, discriminating conduct simply easily calculate and can greatly increase ID quantity.
Summary of the invention
The technical problem to be solved by the present invention is to light source ID negligible amounts, can not accurate discrimination in the case of light source is more
The true and false.The purpose of the present invention is improving ID quantity, raising sequence utilization rate provides the method for distinguishing light source revolving property, thus
The light source true and false is distinguished using revolving property, improves reliability of positioning.
In order to achieve the above object, the technical solution adopted by the present invention are as follows:
The method for judge light source revolving property is calculated in a kind of visible light indoor positioning based on adduction, this method is based on LED
Positioning system realizes that the LED positioning system includes that (light source transmitting sequence exists one or more array of source in array of source
Difference transmitting delay) and receiver user.Consider that n light source forms an array of source, adjacent light source presses cloth in array of source
If there are transmitting sequence delays for rule.By counterclockwise or rotate clockwise characteristic arrangement same light source array in n light source,
Transmitting delay is h1,h2,h3...hn.False light source revolving property is on the contrary, the delay of its transmitting sequence is P-h1,P-h2,P-h3...P-
hn, as shown in Figure 1.Method specifically includes following steps (process such as Fig. 2):
Step 1: light source cloth being set as to convex figure by rule
Light source B1,B2,B3......BnAn array of source is constituted, by B1,B2,B3......BnBy counterclockwise or clockwise
Rule is laid, and the geometric figure of convex closure is constituted.
Step 2: according to setting condition to each light source transmitting sequence
2.1) it determines a positive integer parameter K, makes 0 < K < n.
2.2) a PN transmitting sequence is given as all light source transmitting sequences, sequence length P, " 1 " represents in sequence
Light source is bright, and " 0 " represents light source secretly (or opposite), and light source transmitting sequence is as shown in Figure 3.
2.3) transmitting terminal is followed successively by h by rule setting adjacent light source transmitting sequence delay is laid1,h2,h3......hn-1.If
Fixed condition: 0 < hi< P, hi∈ N andH can be obtained by setting conditionn=KP- (h1+h2+...+
hn-1)。
The h1,h2,h3......hnConstitute the sequence H an of positive integerj, wherein j is the ID number of array of source.It is different
Array of source is by using different sequence HjIt distinguishes, and different sequence HjBetween must not be in cyclic shift relationship.
Step 3: fixed mobile phone location and posture in receiving end guarantee that continuous shooting frequency is greater than or equal to transmitting sequence frequency,
Multiple light source pictures p is obtained with mobile phone camera continuous shooting1,p2...pn。
Step 4: image procossing obtains light source transmitting sequence
Image procossing is carried out to the light source picture that step 3 obtains, pixel where hot spot and surrounding are counted, found out
The position of all hot spots, that is, find out all light source point B in n images1,B2...Bn.Choose a hot spot pixel, n images
Successively check that the hot spot pixel and surrounding with the presence or absence of hot spot, illustrate that the bright transmitting sequence of light source is " 1 " if it exists, light are not present
Spot illustrates that the not bright transmitting sequence of light source is " 0 ", to obtain the transmitting sequence of light source.Aforesaid operations are repeated, all light sources are obtained
Transmitting sequence.
Step 5: adjacent light source does sequence related operation and obtains transmitting sequence delay
Randomly select a light source Bi, sequence related operation is done to two neighboring light source by counterclockwise or clockwise direction,
Obtain the transmitting sequence delay h between light source1',h2',h3'......hn'。
Step 6: adduction being done to transmitting sequence delay and is calculated: if meeting equationIt is then true light source；If meeting
EquationIt is then false light source.
Step 7: completing to position using location algorithm after excluding false light source.
The invention has the advantages that: compared with other can distinguish the method for light source revolving property, the present invention is mainly excellent
Gesture is more to provide transmitting sequence using the same transmitting sequence for each light source and can provide light source ID, this discrimination revolving property
The simple and effective easy implementation of method.
Detailed description of the invention
Fig. 1 is true and false light source schematic diagram；Wherein, 1,2,3 true light source is indicated, 4,5,6 indicate transmitting sequence delay between light source；
1 ', 2 ', 3 ' indicate false light source, and 4 ', 5 ', 6 ' indicate transmitting sequence delay between false light source.
Fig. 2 is overhaul flow chart.
Fig. 3 is light source transmitting sequence figure；Wherein, 1,2 ..., n represents light source.
Specific embodiment
Below in conjunction with specific embodiment, the present invention will be further described.
Transmitting sequence delay, receiving end are sent by the setting condition that transmitting sequence delay size provides in specific implementation process
Postponed by relevant calculation transmitting sequence and verifying is summed up to result.
(1) in transmitting terminal, the transmitting sequence that selected one group of sequence length is P=20 sends different sequences and represents light source ID.
By light source B1,B2,B3It is laid by rule counterclockwise, forms the geometric figure of convex closure.
(2) a positive integer K=1 is given.Transmitting terminal is h by rule setting adjacent light source transmitting sequence delay is laid1=
4,h2=5, therefore h3=11.
(3) in the fixed mobile phone posture in receiving end and position, guarantee that continuous shooting frequency is greater than or equal to transmitting sequence frequency, continuous shooting
Obtain plurality of pictures.
(4) light source transmitting sequence is obtained according to image procossing.A light source is randomly selected, by counterclockwise or clockwise
Sequence related operation is done to two neighboring light source, obtains the transmitting sequence delay h between light source1',h2',h3'。
(5) relevant calculation is done to transmitting sequence and obtains transmitting sequence delay.
If the delay being calculated is h1'=4, h2'=5, h3'=11,4+5+11=20 meetIt proves
Revolving property is counterclockwise, is true light source.
If the delay being calculated is h1'=P-h1=16, it is h2'=P-h2=15, it is h3'=P-h3=9, then 9+15+
16=40=2P meetsProve revolving property on the contrary, being false light source.
(6) it completes to position using location algorithm after excluding false light source.
Embodiment described above only expresses embodiments of the present invention, and but it cannot be understood as to the invention patent
Range limitation, it is noted that for those skilled in the art, without departing from the inventive concept of the premise, also
Several modifications and improvements can be made, these are all belonged to the scope of protection of the present invention.
Claims (1)
1. the method for judging light source revolving property is calculated in a kind of visible light indoor positioning based on adduction, which is characterized in that the party
Method realizes that the LED positioning system includes one or more array of source and receiver user based on LED positioning system；Consider n
A light source forms an array of source, and there are transmitting sequence delays by rule is laid for adjacent light source in array of source；By counterclockwise
Or n light source in characteristic arrangement same light source array is rotated clockwise, transmitting delay is h1,h2,h3...hn；The rotation of false light source
Turn characteristic on the contrary, the delay of its transmitting sequence is P-h1,P-h2,P-h3...P-hn；Method specifically includes the following steps:
Step 1: light source cloth being set as to convex figure by rule
Light source B1,B2,B3......BnAn array of source is constituted, by B1,B2,B3......BnBy rule counterclockwise or clockwise
It lays, constitutes the geometric figure of convex closure；
Step 2: according to setting condition to each light source transmitting sequence
2.1) it determines a positive integer parameter K, makes 0 < K < n；
2.2) a PN transmitting sequence is given as all light source transmitting sequences, sequence length P, " 1 " represents light source in sequence
Bright, it is dark that " 0 " represents light source；
2.3) transmitting terminal is followed successively by h by rule setting adjacent light source transmitting sequence delay is laid1,h2,h3......hn-1；Set item
Part: 0 < hi< P, hi∈ N andH can be obtained by setting conditionn=KP- (h1+h2+...+hn-1)；
The h1,h2,h3......hnConstitute the sequence H an of positive integerj, wherein j is the ID number of array of source；Different light sources
Array is by using different sequence HjIt distinguishes, and different sequence HjBetween must not be in cyclic shift relationship；
Step 3: fixed mobile phone location and posture in receiving end guarantee that continuous shooting frequency is greater than or equal to transmitting sequence frequency, use hand
Machine camera continuous shooting obtains multiple light source pictures p1,p2...pn；
Step 4: image procossing obtains light source transmitting sequence
Image procossing is carried out to the light source picture that step 3 obtains, pixel where hot spot and surrounding are counted, find out n
All light source point B are found out in the position of all hot spots in image1,B2...Bn；A hot spot pixel is chosen, n images are successively
Check that the hot spot pixel and surrounding with the presence or absence of hot spot, illustrate that the bright transmitting sequence of light source is " 1 " if it exists, say there is no hot spot
The not bright transmitting sequence in Mingguang City source is " 0 ", to obtain the transmitting sequence of light source；Aforesaid operations are repeated, the hair of all light sources is obtained
Penetrate sequence；
Step 5: adjacent light source does sequence related operation and obtains transmitting sequence delay
Randomly select a light source Bi, by sequence related operation is done to two neighboring light source counterclockwise or clockwise, obtain light
Transmitting sequence between source postpones h1',h2',h3'......hn'；
Step 6: adduction being done to transmitting sequence delay and is calculated: if meeting equationIt is then true light source；If meeting equationIt is then false light source；
Step 7: completing to position using location algorithm after excluding false light source.
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