CN111212474A - Visible light indoor positioning method for regenerated fingerprint - Google Patents

Visible light indoor positioning method for regenerated fingerprint Download PDF

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Publication number
CN111212474A
CN111212474A CN202010021883.XA CN202010021883A CN111212474A CN 111212474 A CN111212474 A CN 111212474A CN 202010021883 A CN202010021883 A CN 202010021883A CN 111212474 A CN111212474 A CN 111212474A
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reference point
led lamp
signal power
light signal
equal
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张旭
王创
马世杰
王修驹
王鹏宇
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Anhui University of Science and Technology
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Anhui University of Science and Technology
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
    • 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
    • H04B17/00—Monitoring; Testing
    • H04B17/30—Monitoring; Testing of propagation channels
    • H04B17/309—Measuring or estimating channel quality parameters
    • H04B17/318—Received signal strength
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Electromagnetism (AREA)
  • Quality & Reliability (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Collating Specific Patterns (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The invention discloses a visible light indoor positioning method for regenerating fingerprints, which is characterized by comprising the following steps of: 1, uniformly and equally dividing a region to be measured, and establishing a rectangular coordinate system; 2, continuously measuring the intensity of the light signal of the LED at a reference point; 3, removing obvious error data, and taking an average value as a measured value; 4 extracting a plurality of reference point data values; 5, predicting the signal strength of an unknown reference point; 6, constructing a complete fingerprint library. The invention extracts a few light signal intensity values by collecting the light signal intensity values, constructs a virtual fingerprint library by combining a light signal propagation model, is close to a real fingerprint library in the aspect of precision, and greatly shortens the time.

Description

Visible light indoor positioning method for regenerated fingerprint
Technical Field
The invention relates to the technical field of visible light indoor positioning, in particular to an algorithm for reconstructing a fingerprint library.
Background
With the continuous development of visible light communication technology in recent years, more and more researchers use visible light for indoor positioning because visible light communication has incomparable advantages compared with wireless communication.
The visible light indoor positioning mainly adopts a geometric measurement method, an approximate sensing method, a fingerprint database construction method and the like. The system of the fingerprint positioning method is relatively simple and easy to construct, a fingerprint database is constructed mainly in an off-line stage, and matching is carried out in an on-line stage so as to realize indoor positioning, and the cost is low; the fingerprint positioning method has low requirement on the complexity of the system, and a channel attenuation model does not need to be solved; meanwhile, the application range of the fingerprint positioning method is wide. However, the fingerprint positioning method has many problems to be solved, the construction workload of the indoor fingerprint database is large, a large amount of manpower and material resources are needed, the transportability is poor, and once the indoor environment is changed, the reconstruction is needed, so that time and labor are wasted; in the online matching stage of the fingerprint database, the whole fingerprint database is often traversed, a large amount of time is consumed, and the large amount of calculation and real-time performance cannot be guaranteed; the fingerprint database has insufficient positioning accuracy and larger error. Researchers at home and abroad aiming at the problems put forward a plurality of improvement measures.
Disclosure of Invention
The invention mainly solves the technical problems that: a method for quickly constructing a fingerprint database is provided to shorten the construction time of the fingerprint database.
The purpose of the invention can be realized by the following technical scheme:
according to the invention, an experimental platform is set up to collect light signal intensity values, a few light signal intensity values are extracted, a virtual fingerprint library is constructed by combining a light signal propagation model, the virtual fingerprint library is close to a real fingerprint library in the aspect of precision, and the time is greatly shortened. The invention provides a visible light indoor positioning algorithm for regenerating fingerprints, which comprises the following specific steps:
1) a square is adopted as a visible light positioning area in an indoor area range, and a rectangular coordinate system is established by taking the lower left corner of the square as an origin o; equally dividing the square into n grids with the same size at the same interval, taking the center of each grid as a reference point to form n reference points, and using the set RF as { RF ═ RF1,RF2,···,RFi,···,RFnDenotes it, whichMedium RFiRepresenting the reference point of the ith grid, wherein i is more than or equal to 1 and less than or equal to n; the number of the LED lamps is m, and the set L is { L ═ L1,L2,···,Lj,···LmDenotes wherein LjJ is more than or equal to 1 and less than or equal to m, and represents the jth LED lamp.
2) Continuously collecting the light signal intensity v times of the jth LED lamp at the ith reference point, calculating the average value of the light signal intensity v times as the light signal power of the jth LED lamp measured by the ith reference point, and using PijTo express that 1 ≦ i ≦ n, 1 ≦ j ≦ m, then the set { P ] is used for all LED light signal powers measured at the ith reference pointi1,Pi2,···,Pij,···,PimAnd (c) represents.
3) Set P of data measured at the ith reference pointi＝{xi,yi,Pi1,Pi2,···,Pij,···,PimDenotes where xiAnd yiIs the coordinate of the ith reference point, and the measured data is represented by a matrix P ═ P1,P2,···,Pi,···,Pn]TTo constitute a fingerprint library.
4) And selecting r reference points from the n reference points to reconstruct the fingerprint library.
5) Assuming that the LED lamp is lambertian, the luminous intensity at the reference point is I (phi) ═ I (0) cosm(phi), wherein phi is the included angle of the emitting light and the vertical axis of the emitting plane; i (0) is the central luminous intensity; m is a Lambertian emission series, defined as m ═ ln (2)/ln (cos φ)1/2) In the formula of1/2The half angle is the half angle when the luminous intensity of the LED is half; then at the reference point (x)i,yi) Horizontal luminous intensity of
Figure BDA0002361094700000021
Received power is
Figure BDA0002361094700000022
In the formula
Figure BDA0002361094700000023
Is a clip of angle of incidence and axis perpendicular to the receiving surfaceAn angle; a is the area of reception of the reference point,
Figure BDA0002361094700000024
is the field angle, d is the distance of the LED from the reference point; when the LED lamp and the reference point are parallel, phi and
Figure BDA0002361094700000025
the same is true.
6) By using
Figure BDA0002361094700000026
To indicate that the optical signal power of the jth LED lamp is measured by the selected r reference points, and the optical signal power of the reference point to be estimated for the jth LED lamp is used
Figure BDA0002361094700000027
Wherein k is more than or equal to 1 and less than or equal to (n-r).
7) The received signal power in (5) is known
Figure BDA0002361094700000028
Optical signal power of reference point to be estimated
Figure BDA0002361094700000029
Assuming that m is 1 and the LED lamp is parallel to the reference point, phi and
Figure BDA00023610947000000210
same, can obtain
Figure BDA00023610947000000211
The light signal power of the reference point to be estimated can be obtained only by knowing the position from the reference point to the LED lamp, the light signal power measured by the reference point and the position from the reference point to be estimated to the LED lamp.
8) Using a formula
Figure BDA00023610947000000212
The estimated optical signal power is different from the true value, so the formula is used instead
Figure BDA00023610947000000213
Wherein a is more than or equal to 4, the value of a is related to the actual condition, and the optical signal power of the known reference point is obtained
Figure BDA00023610947000000214
Set substitution formula
Figure BDA00023610947000000215
The specific value of a is obtained.
The invention has the beneficial effects that:
1. according to the visible light indoor positioning method for the regenerated fingerprint, provided by the invention, the intensity of the optical signal is measured for multiple times, the data with larger errors is removed, and the average value of the data is taken as the measurement result, so that the positioning error is reduced, and the positioning precision is higher.
2. By extracting a few optical signal intensities, deriving a power relation between an unknown reference point and a known reference point by using an optical power propagation model, and calculating the optical signal power of the unknown reference point by using the power of the known reference point, a virtual fingerprint library can be constructed, the fingerprint library can be constructed rapidly, and manpower and material resources are reduced.
Drawings
The invention will be further described with reference to the accompanying drawings.
FIG. 1 is a flow chart of the inventive method;
FIG. 2 is a drawing of a division of a region under test;
FIG. 3 is a geometric model of LED light propagation.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
In this embodiment, a method for visible indoor positioning of a reproduced fingerprint; as shown in the first figure, the method comprises the following steps: 1, uniformly and equally dividing a region to be measured, and establishing a rectangular coordinate system; 2, continuously measuring the intensity of the light signal of the LED at a reference point; 3, removing obvious error data, and taking an average value as a measured value; 4 extracting a plurality of reference point data values; 5, predicting the signal strength of an unknown reference point; 6, constructing a complete fingerprint library, and specifically comprising the following steps:
(1) a square is adopted as a visible light positioning area in an indoor area range, and a rectangular coordinate system is established by taking the lower left corner of the square as an origin o; equally dividing the square into n grids with the same size at the same interval, taking the center of each grid as a reference point to form n reference points, and using the set RF as { RF ═ RF1,RF2,···,RFi,···,RFnDenotes wherein RFiRepresenting the reference point of the ith grid, i is more than or equal to 1 and less than or equal to n, as shown in FIG. 2; the number of the LED lamps is m, and the set L is { L ═ L1,L2,···,Lj,···LmDenotes wherein LjJ is more than or equal to 1 and less than or equal to m, and represents the jth LED lamp.
(2) Continuously collecting the light signal intensity v times of the jth LED lamp at the ith reference point, calculating the average value of the light signal intensity v times as the light signal power of the jth LED lamp measured at the ith reference point, and using PijTo express that 1 ≦ i ≦ n, 1 ≦ j ≦ m, then the set { P ] is used for all LED light signal powers measured at the ith reference pointi1,Pi2,···,Pij,···,PimAnd (c) represents.
(3) Set P of data measured at the ith reference pointi＝{xi,yi,Pi1,Pi2,···,Pij,···,PimDenotes where xiAnd yiIs the coordinate of the ith reference point, and the measured data is represented by a matrix P ═ P1,P2,···,Pi,···,Pn]TTo constitute a fingerprint library.
(4) And selecting r reference points from the n reference points to reconstruct the fingerprint library.
(5) Assuming that the LED lamp is lambertian, the luminous intensity at the reference point is I (phi) ═ I (0) cosm(phi), formulaThe middle phi is the included angle between the emission light and the vertical axis of the emission plane; i (0) is the central luminous intensity; m is a Lambertian emission series, defined as m ═ ln (2)/ln (cos φ)1/2) In the formula of1/2The half angle is the half angle when the luminous intensity of the LED is half; then at the reference point (x)i,yi) Horizontal luminous intensity of
Figure BDA0002361094700000041
Received power is
Figure BDA0002361094700000042
In the formula
Figure BDA0002361094700000043
Is the angle between the angle of incidence and the axis perpendicular to the receiving surface; a is the area of reception of the reference point,
Figure BDA0002361094700000044
is the field angle, d is the distance of the LED from the reference point; when the LED lamp and the reference point are parallel, phi and
Figure BDA0002361094700000045
as shown in fig. 3.
(6) By using
Figure BDA0002361094700000046
To indicate that the optical signal power of the jth LED lamp is measured by the selected r reference points, and the optical signal power of the reference point to be estimated for the jth LED lamp is used
Figure BDA0002361094700000047
Wherein k is more than or equal to 1 and less than or equal to (n-r).
(7) The received signal power in (5) is known
Figure BDA0002361094700000048
Optical signal power of reference point to be estimated
Figure BDA0002361094700000049
Assuming that m is 1, and the LED lamp is parallel to the reference point,then phi and
Figure BDA00023610947000000410
same, can obtain
Figure BDA00023610947000000411
The light signal power of the reference point to be estimated can be obtained only by knowing the position from the reference point to the LED lamp, the light signal power measured by the reference point and the position from the reference point to be estimated to the LED lamp.
(8) Using a formula
Figure BDA00023610947000000412
The estimated optical signal power is different from the true value, so the formula is used instead
Figure BDA00023610947000000413
Wherein a is more than or equal to 4, the value of a is related to the actual condition, and the optical signal power of the known reference point is obtained
Figure BDA00023610947000000414
Set substitution formula
Figure BDA00023610947000000415
The specific value of a is obtained.

Claims (8)

1. A square is adopted as a visible light positioning area in an indoor area range, and a rectangular coordinate system is established by taking the lower left corner of the square as an origin o; equally dividing the square into n grids with the same size at the same interval, taking the center of each grid as a reference point to form n reference points, and using the set RF as { RF ═ RF1,RF2,···,RFi,···,RFnDenotes wherein RFiRepresenting the reference point of the ith grid, wherein i is more than or equal to 1 and less than or equal to n; the number of the LED lamps is m, and the set L is { L ═ L1,L2,···,Lj,···LmDenotes wherein LjJ is more than or equal to 1 and less than or equal to m, and represents the jth LED lamp.
2.Continuously collecting the light signal intensity v times of the jth LED lamp at the ith reference point, calculating the average value of the light signal intensity v times as the light signal power of the jth LED lamp measured by the ith reference point, and using PijTo express that 1 ≦ i ≦ n, 1 ≦ j ≦ m, then the set { P ] is used for all LED light signal powers measured at the ith reference pointi1,Pi2,···,Pij,···,PimAnd (c) represents.
3. Set P of data measured at the ith reference pointi＝{xi,yi,Pi1,Pi2,···,Pij,···,PimDenotes where xiAnd yiIs the coordinate of the ith reference point, and the measured data is represented by a matrix P ═ P1,P2,···,Pi,···,Pn]TTo constitute a fingerprint library.
4. And selecting r reference points from the n reference points to reconstruct the fingerprint library.
5. Assuming that the LED lamp is lambertian, the luminous intensity at the reference point is I (phi) ═ I (0) cosm(phi), wherein phi is the included angle of the emitting light and the vertical axis of the emitting plane; i (0) is the central luminous intensity; m is a Lambertian emission series, and is defined as being in (2)/ln (cos phi)1/2) In the formula of1/2The half angle is the half angle when the luminous intensity of the LED is half; then at the reference point (x)i,yi) Horizontal luminous intensity of
Figure FDA0002361094690000011
Received power is
Figure FDA0002361094690000012
In the formula
Figure FDA0002361094690000013
Is the angle between the angle of incidence and the axis perpendicular to the receiving surface; a is the area of reception of the reference point,
Figure FDA0002361094690000019
is the field angle, d is the distance of the LED from the reference point; when the LED lamp and the reference point are parallel, phi and
Figure FDA00023610946900000110
the same is true.
6. By using
Figure FDA0002361094690000014
To indicate that the optical signal power of the jth LED lamp is measured by the selected r reference points, and the optical signal power of the reference point to be estimated for the jth LED lamp is used
Figure FDA0002361094690000015
Wherein k is more than or equal to 1 and less than or equal to (n-r).
7. From the received signal power in 5
Figure FDA0002361094690000016
Optical signal power of reference point to be estimated
Figure FDA0002361094690000017
Assuming that m is 1 and the LED lamp is parallel to the reference point, phi and
Figure FDA00023610946900000111
same, can obtain
Figure FDA0002361094690000018
The light signal power of the reference point to be estimated can be obtained only by knowing the position from the reference point to the LED lamp, the light signal power measured by the reference point and the position from the reference point to be estimated to the LED lamp.
8. Using a formula
Figure FDA0002361094690000021
The estimated optical signal power is different from the true value, so the formula is used instead
Figure FDA0002361094690000022
Wherein a is more than or equal to 4, the value of a is related to the actual condition, and the optical signal power of the known reference point is obtained
Figure FDA0002361094690000024
Set substitution formula
Figure FDA0002361094690000023
The specific value of a is obtained.
CN202010021883.XA 2020-01-09 2020-01-09 Visible light indoor positioning method for regenerated fingerprint Pending CN111212474A (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106610490A (en) * 2016-12-30 2017-05-03 北京大学 Optical positioning method, system and device based on LED and image sensor
CN107037404A (en) * 2017-04-14 2017-08-11 北京科技大学 A kind of visible ray indoor orientation method
CN110007269A (en) * 2019-04-04 2019-07-12 黄冈师范学院 A kind of two stages wireless signal fingerprint positioning method based on Gaussian process

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106610490A (en) * 2016-12-30 2017-05-03 北京大学 Optical positioning method, system and device based on LED and image sensor
CN107037404A (en) * 2017-04-14 2017-08-11 北京科技大学 A kind of visible ray indoor orientation method
CN110007269A (en) * 2019-04-04 2019-07-12 黄冈师范学院 A kind of two stages wireless signal fingerprint positioning method based on Gaussian process

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
陈道钱: "基于RSSI测距及位置指纹的室内可见光定位方法研究", 《浙江农林大大学》 *

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