CN111220948A - Single LED lamp indoor high-precision three-dimensional positioning method, device and system - Google Patents

Single LED lamp indoor high-precision three-dimensional positioning method, device and system Download PDF

Info

Publication number
CN111220948A
CN111220948A CN201911242028.5A CN201911242028A CN111220948A CN 111220948 A CN111220948 A CN 111220948A CN 201911242028 A CN201911242028 A CN 201911242028A CN 111220948 A CN111220948 A CN 111220948A
Authority
CN
China
Prior art keywords
photodetector
receiver
horizontal
photoelectric detector
angle
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Pending
Application number
CN201911242028.5A
Other languages
Chinese (zh)
Inventor
秦岭
牛犇
郭瑛
李宝山
杜永兴
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Inner Mongolia University of Science and Technology
Original Assignee
Inner Mongolia University of Science and Technology
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Inner Mongolia University of Science and Technology filed Critical Inner Mongolia University of Science and Technology
Priority to CN201911242028.5A priority Critical patent/CN111220948A/en
Publication of CN111220948A publication Critical patent/CN111220948A/en
Pending legal-status Critical Current

Links

Images

Classifications

    • 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

Landscapes

  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

The embodiment of the invention discloses a method, a device and a system for high-precision three-dimensional positioning of a single LED lamp in a room, which comprises the following steps: acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector; calculating the receiving light power of each photoelectric detector according to the light intensity signal; calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power; and establishing a mathematical relation between the ratio of the received light power and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position. By implementing the embodiment of the invention, the problem of larger positioning error caused by the interference among the symbols of the plurality of light sources in multi-lamp positioning is effectively solved, and the light signals emitted by the plurality of light sources are not required to be distinguished, so that the complexity of equipment is reduced, and the positioning time is faster. Moreover, the embodiment has strong portability and is suitable for various occasions.

Description

Single LED lamp indoor high-precision three-dimensional positioning method, device and system
Technical Field
The invention relates to the technical field of visible light communication, in particular to a method, a device and a system for high-precision three-dimensional positioning of a single LED lamp in a room.
Background
In recent years, Global Positioning System (GPS) has been widely used in the fields of vehicle navigation, surveying and mapping, and the like. However, in the indoor environment, since the signal from the satellite is blocked by an obstacle due to the complexity of the indoor environment, the positioning error of the GPS in the indoor environment may become large. With the development of science and technology, researchers have proposed a number of indoor positioning technologies based on Wireless electromagnetic waves, such as infrared positioning, Wireless Local Area Networks (WLANs), Radio Frequency Identification (RFID), bluetooth, Ultra Wide Band (UWB), and the like. However, these positioning techniques have significant disadvantages: although the infrared positioning technology and the UWB positioning technology have higher positioning accuracy, additional equipment is required to be added, and the cost is higher; the price of the Bluetooth equipment is expensive, and when the environment is complex, the stability of the Bluetooth system is poor and the Bluetooth system is easily influenced by noise; the RFID technology has short action distance and larger positioning error, and the average positioning error is up to 1 m; WIFI positioning is easily interfered by other signals, and the average positioning error is as high as 2-3 m. The indoor positioning using Visible Light Communication (VLC) is a new idea to solve the indoor positioning problem. The visible light has good confidentiality relative to radio frequency signals, is convenient and quick, has high positioning precision, and becomes a hotspot for research of optical communication researchers at the present stage.
The conventional indoor visible light positioning method mainly includes a Time Of Arrival (TOA) method, a Time Difference Of Arrival (TDOA) method, an Angle Of Arrival (AOA) method, a Received Signal Strength indicator (RSSRI) method, a sensor, and an imaging method. Although the principle of the TOA method is simple, the transmitting end and the receiving end are required to be strictly synchronized in clock, the requirement on hardware is high, and the requirements on hardware of the TDOA and AOA methods are also high. The imaging method of the image sensor involves an image processing process, and the positioning time is long.
The visible light positioning based on the LED lamp can also be classified according to the number of the light sources, one is multi-LED light source position judgment, and the other is single-LED lamp indoor positioning. The indoor positioning of the multiple LED lamps has the following defects:
1) the positioning error is large due to intersymbol interference between the lamps.
2) The positioning speed is slow, and the algorithm is complex.
Disclosure of Invention
The embodiment of the invention aims to provide a single LED lamp indoor high-precision three-dimensional positioning method, device and system, which are used for effectively solving the problem of larger positioning error caused by interference among a plurality of light source symbols in multi-lamp positioning, and reducing the complexity of equipment and shortening the positioning time without distinguishing optical signals emitted by a plurality of light sources.
In order to achieve the above object, in a first aspect, embodiments of the present invention provide a single LED lamp indoor high-precision three-dimensional positioning method for indoor positioning of a receiver. Wherein the receiver comprises three tilted photodetectors and one horizontal photodetector, the method comprising:
acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector;
calculating the receiving light power of each photoelectric detector according to the light intensity signal;
calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power;
and establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
Specifically, the calculation parameters include the positional relationship between the respective photodetection, and the inclination angle, azimuth angle, and lying angle of the inclined photodetector.
Further, the method specifically comprises:
assuming that the LED lamp obeys the lambertian radiation model, the channel gain H in the direct line-of-sight link can be expressed as:
Figure BDA0002306514530000031
in the formula (1), A is the effective receiving area of the receiver, and d is the distance between the receiver and the LED light sourceAfter the separation, the water is separated from the water,ψis the angle of incidence of the receiver, phi is the emission angle of the LED, Ts(psi) is the filter gain, g (psi) is the condenser gain, psicThe field angle of the receiver is m, and the Lambert order of the light source is m;
the positional relationship between the horizontal photodetector and each of the inclined photodetectors is as follows:
Figure BDA0002306514530000032
in the formula (2), (X)r,Yr,Zr) And (X)ri,Yri,Zri) Coordinates of a horizontal photoelectric detector and an inclined photoelectric detector are respectively shown, r is the distance between the center of the inclined photoelectric detector and the center of the horizontal photoelectric detector, α is the inclination angle of the inclined photoelectric detector, and omega is the placing angle of the inclined photoelectric detector;
let psi0And psiiThe incidence angles of the horizontal photoelectric detector and the inclined photoelectric detector are respectively, and the incidence angles satisfy the following relationship:
Figure BDA0002306514530000033
Figure BDA0002306514530000034
in the formula (3), α represents the tilt angle of the tilted photodetector, βiTo tilt the azimuth angle of the photodetector, (X)0,Y0,Z0) H is the height of the LED lamp, wherein α, βi、ωiR, the coordinates of the LED light source are known quantities;
substituting equation (3) into equation (1), the calculated received optical powers of the horizontal photodetector and the tilted photodetector can be respectively expressed as:
Figure BDA0002306514530000041
Figure BDA0002306514530000042
in the formulas (4) and (5),
Figure BDA0002306514530000043
is a constant.
Using equations (4) and (5), the ratio of the inclined PD received optical power to the horizontal PD received optical power is obtained as:
Figure BDA0002306514530000044
in the formula (6), the reaction mixture is,
Figure BDA0002306514530000045
expressed as the ratio of the received optical power of each tilted photodetector to the received optical power of the horizontal photodetector;
substituting formula (2) into formula (6) to obtain three-dimensional coordinates (X) of the receiverr,YrZr)。
In a second aspect, an embodiment of the present invention provides a single LED lamp indoor high-precision three-dimensional positioning calculation apparatus, including a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, where the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the method according to the first aspect.
In a third aspect, an embodiment of the present invention further provides a single LED lamp indoor high-precision three-dimensional positioning system, including a receiver and a positioning device. The receiver comprises three inclined photodetectors and one horizontal photodetector, and the positioning device is used for:
acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector;
calculating the receiving light power of each photoelectric detector according to the light intensity signal;
calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power;
and establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
Further, the system also comprises a bias module and an LED transmitter, wherein the bias module is used for applying a constant bias voltage with the frequency of more than 200kHz and a sinusoidal signal to the LED transmitter, and the LED transmitter is used for converting an electric signal into an optical signal and transmitting the optical signal to the receiver.
By implementing the embodiment of the invention, the problem of larger positioning error caused by the interference among the symbols of the plurality of light sources in multi-lamp positioning is effectively solved, and the light signals emitted by the plurality of light sources are not required to be distinguished, so that the complexity of equipment is reduced, and the positioning time is faster. Moreover, the embodiment has strong portability and is suitable for various occasions.
Drawings
In order to more clearly illustrate the detailed description of the invention or the technical solutions in the prior art, the drawings that are needed in the detailed description of the invention or the prior art will be briefly described below. Throughout the drawings, like elements or portions are generally identified by like reference numerals. In the drawings, elements or portions are not necessarily drawn to scale.
FIG. 1 is a schematic flow chart of a high-precision three-dimensional positioning method for a single LED lamp room provided by the embodiment of the invention;
FIG. 2a is a diagram of a three-dimensional visible light indoor positioning model;
FIG. 2b is a schematic diagram of a receiver model;
FIG. 2c is a diagram of an experimental system model;
FIG. 3a is a graph comparing the location coordinates with the actual coordinates at a receiver height of 0.2 m;
FIG. 3b is a graph comparing the location coordinates with the actual coordinates at a receiver height of 0.4 m;
FIG. 3c is a graph comparing the location coordinates with the actual coordinates at a receiver height of 0.6 m;
FIG. 3d is a graph comparing the location coordinates with the actual coordinates at a receiver height of 0.8 m;
FIG. 4 is a positioning variance histogram;
FIG. 5 is a plot of the cumulative error over location.
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 some, not all, embodiments of the present invention. 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.
The embodiment of the invention provides a three-tilt PD (differential pulse width modulation) based high-precision three-dimensional positioning method for a single LED lamp indoors, which is suitable for indoor positioning of a receiver. The receiver includes three tilted Photodetectors (PD) and one horizontal Photodetector (PD). As shown in fig. 1, the positioning method may include:
s101, light intensity signals collected by three inclined photodetectors and one horizontal photodetector are obtained.
And S102, calculating the receiving light power of each photoelectric detector according to the light intensity signal.
Referring to fig. 2a to 2c, Tx represents a transmitter and Rx represents a receiver. This application adopts single LED lamp to realize indoor three-dimensional location, as shown in figure 2 a. A white LED is mounted on the snoot in the center of a ceiling suspended from the ceiling, and a constant bias voltage having a frequency above 200kHz and a sinusoidal signal are applied to the LED emitter through a bias module. The constant voltage is provided by a direct current power supply (DC) and the sinusoidal signal is generated by an Arbitrary Waveform Generator (AWG). The transmitting end circuit converts the electric signal into an optical signal and transmits the optical signal to the receiving end. The receiver of the present application is shown in fig. 2b, and the receiver is composed of three tilted PDs and one horizontal PD (PD 0). The inclination angles of all inclined PDs are the same, the distance from the center of each inclined PD to the center of the horizontal PD is also equal, the position of the horizontal PD is fixed, the azimuth angle of each inclined PD can be changed, the azimuth angle is expressed as the included angle between the projection of the normal vector of the inclined PD receiving surface onto the xoy plane and the positive direction of the x axis, and the change range is 0-360 degrees. The receiver is not fixed in position and can be moved arbitrarily in the room. Each PD collects a light intensity signal, and the received power of each Photodetector (PD) is detected by a spectrum analyzer.
And S103, calculating the ratio of the receiving light power of the inclined photoelectric detector and the receiving light power of the horizontal photoelectric detector according to the receiving light power.
And S104, establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
The received optical power of each PD can be expressed as: pri＝Pt·H(i＝0,1,2,3)。PtRepresenting the emitted light power of the LED, which is constant for a certain LED lamp. H denotes the channel gain, which can be expressed in the direct line-of-sight link assuming that the LEDs obey the lambertian radiation model:
Figure BDA0002306514530000071
in the formula (1), A is the effective receiving area of the receiver, d is the distance between the receiver and the LED light source,ψis the angle of incidence of the receiver, phi is the emission angle of the LED, Ts(psi) is the filter gain, g (psi) is the condenser gain, psicAnd m is the Lambert order of the light source for the field angle of the receiver.
PD0The positional relationship with each inclination PD is as follows:
Figure BDA0002306514530000072
in the formula (2), (X)r,Yr,Zr) And (X)ri,Yri,Zri) Coordinates of the horizontal PD and the inclined PD, r is the distance between the center of the inclined PD and the center of the horizontal PD, α is the inclination angle of the inclined PD, and omega is the distance between the line between the center of the inclined PD and the center of the horizontal PD and the positive direction of the x axisThe included angle of (c) can be understood as the lying angle of the inclined PD.
Since the distance between the horizontal PD and the inclined PD is very close, the transmission distance of the LED to the horizontal PD and the transmission distance to the inclined PD can be regarded as approximately equal. Therefore, the LED emission angle always satisfies cos (φ) as (h-Z)r) Order psi0And psiiThe incident angles of the horizontal PD and the oblique PD, respectively, satisfy the following relationship:
Figure BDA0002306514530000073
Figure BDA0002306514530000074
in the formula (3), α represents the tilt angle of the tilted PD, βiTo incline the azimuth angle of PD, (X)0,Y0,Z0) H is the height of the LED lamp, α, β in the present inventioni、ωiR, the coordinates of the LED light source are known quantities.
Substituting equation (3) into equation (1), the received optical powers of the horizontal PD and the oblique PD can be calculated as:
Figure BDA0002306514530000081
Figure BDA0002306514530000082
in the formulas (4) and (5),
Figure BDA0002306514530000083
is constant since a single LED lamp is used in the positioning process, the same PD is used. Using equations (4) and (5), the ratio of the inclined PD received optical power to the horizontal PD received optical power can be obtained as:
Figure BDA0002306514530000084
in the formula (6), the reaction mixture is,
Figure BDA0002306514530000085
expressed as the ratio of the received optical power of each inclined PD to the received optical power of the horizontal PD, as can be seen from equation (6), the three-dimensional coordinates of the receiver are only compared with the calculated received optical power ratio RSSRiIn this connection, by substituting formula (2) for formula (6), the three-dimensional coordinates (X) of the receiver can be obtainedr,YrZr)。
For better understanding of the three-dimensional positioning method provided by the embodiment of the present invention, the following description is made with reference to the accompanying drawings:
the length, width and height of the initial positioning area are respectively set to be 1m, 1m and 1.5m, and the coordinates of the LED light source are (0.5,0.5 and 1.5). The spacing between adjacent test levels was 0.2m, and 7 × 7 test points were set at each test level. The initial value of the distance r between the center of the horizontal PD and the center of the inclined PD is 1cm, the initial value of the azimuth angle difference theta between two adjacent inclined PDs is 90 degrees, the inclination angle of the inclined PD is 25 degrees, and the initial values of the placing angles omega 1, omega 2 and omega 3 of the three inclined PDs are 0 degree, 90 degrees and 180 degrees respectively. The positioning method results proposed by the present application are shown in fig. 3a to 3 d.
In the figure, the square box represents the actual coordinate of the detector, the five-pointed star represents the positioning coordinate, and it can be seen from the figure that in the case of α ═ 25 °, θ ═ 90 °, r ═ 1cm, ω 1 ═ 0 °, ω 2 ═ 90 °, ω 3 ═ 180 °, the positioning error is small, the positioning coordinate at each test height is not much different from the actual coordinate, it can be seen by observing the distance between each five-pointed star and the square box, the positioning error increases slightly with the increase of the test height of the receiver, wherein, the positioning error histogram is as shown in fig. 4, and it can be seen from fig. 4 that the positioning error of the algorithm proposed by the present application is mainly concentrated on 2.25 cm., and the point with the positioning error within 3cm accounts for 84% of the total test points.
Please refer to the positioning accumulated error distribution diagram shown in fig. 5. It can be seen from the figure that the maximum value of the positioning error is 4.49cm, and the minimum value is 1.24 cm. Simulation results show that the point with the minimum positioning error is right below the LED, namely the central point of each test height plane.
Based on the same inventive concept, the embodiment of the present invention provides a three-tilt PD-based single LED lamp indoor high-precision three-dimensional positioning calculation apparatus, which includes a processor, an input device, an output device, and a memory, where the processor, the input device, the output device, and the memory are connected to each other, where the memory is used to store a computer program, and the computer program includes program instructions, and the processor is configured to call the program instructions to execute the steps in the above method embodiments.
It should be understood that in the embodiments of the present invention, the Processor may be a Central Processing Unit (CPU), and the Processor may also be other general purpose processors, Digital Signal Processors (DSPs), Application Specific Integrated Circuits (ASICs), Field Programmable Gate Arrays (FPGAs) or other Programmable logic devices, discrete Gate or transistor logic devices, discrete hardware components, and the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
The input devices may include a keyboard, etc., and the output devices may include a display (LCD, etc.), speakers, etc.
The memory may include both read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory 104 may also include non-volatile random access memory. For example, the memory 104 may also store device type information.
In a specific implementation, the processor, the input device, and the output device described in the embodiments of the present invention may execute the implementation manner described in the embodiments of the positioning method provided in the embodiments of the present invention, and are not described herein again.
It should be noted that, for the specific work flow and the related details of the positioning device in the embodiment of the present invention, please refer to the foregoing method embodiment portion, which is not described herein again.
Further, the embodiment of the invention also provides a three-tilt PD-based single LED lamp indoor high-precision three-dimensional positioning system, a bias module, an LED transmitter, a receiver and a positioning device. Wherein the bias module is used for applying a constant bias voltage with a frequency of more than 200kHz and a sinusoidal signal to the LED transmitter, and the LED transmitter is used for converting an electric signal into an optical signal and transmitting the optical signal to the receiver. The receiver includes three tilted photodetectors and one horizontal photodetector. The positioning device is specifically configured to:
acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector;
calculating the receiving light power of each photoelectric detector according to the light intensity signal;
calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power;
and establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
It should be noted that, for the specific work flow and the related details of the positioning system in the embodiment of the present invention, please refer to the foregoing method embodiment section, which is not described herein again.
In summary, by implementing the embodiments of the present invention, the problem of a large positioning error caused by interference between symbols of a plurality of light sources in multi-lamp positioning is effectively solved, and the light signals emitted by the plurality of light sources do not need to be distinguished, so that the complexity of the device is reduced, and the positioning time is faster. Moreover, the embodiment has strong portability and is suitable for various occasions.
While the invention has been described with reference to specific embodiments, the invention is not limited thereto, and various equivalent modifications and substitutions can be easily made by those skilled in the art within the technical scope of the invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (10)

1. A single LED lamp indoor high-precision three-dimensional positioning method is used for indoor positioning of a receiver, and the receiver comprises three inclined photodetectors and a horizontal photodetector, and the method comprises the following steps:
acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector;
calculating the receiving light power of each photoelectric detector according to the light intensity signal;
calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power;
and establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
2. The method of claim 1, wherein the calculation parameters include a positional relationship between the respective photodetectors and a tilt angle, an azimuth angle, and a pose angle of the tilted photodetector.
3. The method according to claim 2, characterized in that the method comprises in particular:
assuming that the LED lamp obeys the lambertian radiation model, the channel gain H in the direct line-of-sight link can be expressed as:
Figure FDA0002306514520000011
in formula (1), A is the effective receiving area of the receiver, d is the distance between the receiver and the LED light source, psi is the incident angle of the receiver, phi is the emitting angle of the LED, and T iss(psi) is the filter gain, g (psi) is the condenser gain, psicThe field angle of the receiver is m, and the Lambert order of the light source is m;
the positional relationship between the horizontal photodetector and each of the inclined photodetectors is as follows:
Figure FDA0002306514520000012
in the formula (2), (X)r,Yr,Zr) And (X)ri,Yri,Zri) Coordinates of a horizontal photoelectric detector and an inclined photoelectric detector are respectively shown, r is the distance between the center of the inclined photoelectric detector and the center of the horizontal photoelectric detector, α is the inclination angle of the inclined photoelectric detector, and omega is the placing angle of the inclined photoelectric detector;
let ψ 0 and ψ i be incident angles of the horizontal photodetector and the oblique photodetector, respectively, the incident angles satisfying the following relationship:
Figure FDA0002306514520000021
Figure FDA0002306514520000022
in the formula (3), α represents the tilt angle of the tilted photodetector, βiTo tilt the azimuth angle of the photodetector, (X)0,Y0,Z0) H is the height of the LED lamp, wherein α, βi、ωiR, the coordinates of the LED light source are known quantities;
substituting equation (3) into equation (1), the calculated received optical powers of the horizontal photodetector and the tilted photodetector can be respectively expressed as:
Figure FDA0002306514520000023
Figure FDA0002306514520000024
in the formulas (4) and (5),
Figure FDA0002306514520000025
is a constant.
4. The method according to claim 3, characterized in that it comprises in particular:
using equations (4) and (5), the ratio of the inclined PD received optical power to the horizontal PD received optical power is obtained as:
Figure FDA0002306514520000026
in the formula (6), the reaction mixture is,
Figure FDA0002306514520000027
expressed as the ratio of the received optical power of each tilted photodetector to the received optical power of the horizontal photodetector;
substituting formula (2) into formula (6) to obtain three-dimensional coordinates (X) of the receiverr,YrZr)。
5. A three-tilt PD-based single LED lamp indoor high-precision three-dimensional positioning calculation apparatus, comprising a processor, an input device, an output device, and a memory, wherein the processor, the input device, the output device, and the memory are interconnected, wherein the memory is configured to store a computer program, wherein the computer program comprises program instructions, and wherein the processor is configured to invoke the program instructions to perform the method according to any one of claims 1-4.
6. A single LED lamp indoor high-precision three-dimensional positioning system comprises a receiver and a positioning device, wherein the receiver comprises three inclined photodetectors and one horizontal photodetector, and the positioning device is used for:
acquiring light intensity signals collected by three inclined photodetectors and one horizontal photodetector;
calculating the receiving light power of each photoelectric detector according to the light intensity signal;
calculating a ratio of received light powers of the tilt photodetector and the horizontal photodetector from the received light power;
and establishing a mathematical relation between the ratio of the received light powers and the three-dimensional coordinates of the receiver according to a plurality of calculation parameters, and calculating the three-dimensional coordinates of the receiver at any position.
7. The system of claim 6, wherein the calculated parameters include a positional relationship between the respective photodetectors and a tilt angle, an azimuth angle, and a pose angle of the tilted photodetector.
8. The system of claim 7, wherein the positioning device is specifically configured to:
assuming that the LED lamp obeys the lambertian radiation model, the channel gain H in the direct line-of-sight link can be expressed as:
Figure FDA0002306514520000031
in the formula (1), A is the effective receiving area of the receiver, d is the distance between the receiver and the LED light source,ψis the angle of incidence of the receiver, phi is the emission angle of the LED, Ts(psi) is the filter gain, g (psi) is the condenser gain, psicThe field angle of the receiver is m, and the Lambert order of the light source is m;
the positional relationship between the horizontal photodetector and each of the inclined photodetectors is as follows:
Figure FDA0002306514520000041
in the formula (2), (X)r,Yr,Zr) And (X)ri,Yri,Zri) Coordinates of a horizontal photoelectric detector and an inclined photoelectric detector are respectively shown, r is the distance between the center of the inclined photoelectric detector and the center of the horizontal photoelectric detector, α is the inclination angle of the inclined photoelectric detector, and omega is the placing angle of the inclined photoelectric detector;
let psi0And psiiThe incidence angles of the horizontal photoelectric detector and the inclined photoelectric detector are respectively, and the incidence angles satisfy the following relationship:
Figure FDA0002306514520000042
Figure FDA0002306514520000043
in the formula (3), α represents the tilt angle of the tilted photodetector, βiTo tilt the azimuth angle of the photodetector, (X)0,Y0,Z0) H is the height of the LED lamp, wherein α, βi、ωiR, the coordinates of the LED light source are known quantities;
substituting equation (3) into equation (1), the calculated received optical powers of the horizontal photodetector and the tilted photodetector can be respectively expressed as:
Figure FDA0002306514520000044
Figure FDA0002306514520000045
in the formulas (4) and (5),
Figure FDA0002306514520000046
is a constant.
9. The system of claim 8, wherein the positioning device is specifically configured to:
using equations (4) and (5), the ratio of the inclined PD received optical power to the horizontal PD received optical power is obtained as:
Figure FDA0002306514520000051
in the formula (6), the reaction mixture is,
Figure FDA0002306514520000052
represented as individual oblique lightThe ratio of the receiving optical power of the photoelectric detector to the receiving optical power of the horizontal photoelectric detector;
substituting formula (2) into formula (6) to obtain three-dimensional coordinates (X) of the receiverr,YrZr)。
10. The system of any one of claims 6-9, further comprising a biasing module for applying a constant bias voltage having a frequency above 200kHz and a sinusoidal signal to an LED transmitter for converting an electrical signal to an optical signal for delivery to the receiver and an LED transmitter.
CN201911242028.5A 2019-12-06 2019-12-06 Single LED lamp indoor high-precision three-dimensional positioning method, device and system Pending CN111220948A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201911242028.5A CN111220948A (en) 2019-12-06 2019-12-06 Single LED lamp indoor high-precision three-dimensional positioning method, device and system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201911242028.5A CN111220948A (en) 2019-12-06 2019-12-06 Single LED lamp indoor high-precision three-dimensional positioning method, device and system

Publications (1)

Publication Number Publication Date
CN111220948A true CN111220948A (en) 2020-06-02

Family

ID=70829089

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201911242028.5A Pending CN111220948A (en) 2019-12-06 2019-12-06 Single LED lamp indoor high-precision three-dimensional positioning method, device and system

Country Status (1)

Country Link
CN (1) CN111220948A (en)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111654324A (en) * 2020-06-17 2020-09-11 山东卓文信息科技有限公司 Power distribution system tail end topological structure recognition system and method based on visible light communication
CN112748399A (en) * 2020-12-28 2021-05-04 北京科技大学 Visible light three-dimensional positioning system and method based on multiple PD receivers
CN113162688A (en) * 2021-04-13 2021-07-23 中山大学 Visible light two-way communication and positioning system
CN113341374A (en) * 2021-06-03 2021-09-03 哈尔滨工业大学（威海） Visible light indoor positioning system and method based on reflection depolarization characteristic

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN107037404A (en) * 2017-04-14 2017-08-11 北京科技大学 A kind of visible ray indoor orientation method
US20170276767A1 (en) * 2014-12-10 2017-09-28 University Of South Australia Visible Light Based Indoor Positioning System
CN108279400A (en) * 2018-01-04 2018-07-13 北京科技大学 A kind of multi-detector localization method based on single LED light source

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20170276767A1 (en) * 2014-12-10 2017-09-28 University Of South Australia Visible Light Based Indoor Positioning System
CN107430180A (en) * 2014-12-10 2017-12-01 南澳大学 Indoor locating system based on visible ray
CN107037404A (en) * 2017-04-14 2017-08-11 北京科技大学 A kind of visible ray indoor orientation method
CN108279400A (en) * 2018-01-04 2018-07-13 北京科技大学 A kind of multi-detector localization method based on single LED light source

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
秦岭 等: "基于单个ＬＥＤ的可见光室内定位系统的实现", 《光通信研究》 *

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN111654324A (en) * 2020-06-17 2020-09-11 山东卓文信息科技有限公司 Power distribution system tail end topological structure recognition system and method based on visible light communication
CN111654324B (en) * 2020-06-17 2021-04-06 山东卓文信息科技有限公司 Power distribution system tail end topological structure identification method based on visible light communication
CN112748399A (en) * 2020-12-28 2021-05-04 北京科技大学 Visible light three-dimensional positioning system and method based on multiple PD receivers
CN112748399B (en) * 2020-12-28 2024-02-13 北京科技大学 Visible light three-dimensional positioning system and method based on multi-PD receiver
CN113162688A (en) * 2021-04-13 2021-07-23 中山大学 Visible light two-way communication and positioning system
CN113341374A (en) * 2021-06-03 2021-09-03 哈尔滨工业大学（威海） Visible light indoor positioning system and method based on reflection depolarization characteristic

Similar Documents

Publication Publication Date Title
CN111220948A (en) Single LED lamp indoor high-precision three-dimensional positioning method, device and system
Yang et al. Three-dimensional visible light indoor localization using AOA and RSS with multiple optical receivers
Yang et al. Indoor location estimation based on LED visible light communication using multiple optical receivers
CN107037404B (en) Visible light indoor positioning method
Zhang et al. A 2-D indoor localization system based on visible light LED
US20170276767A1 (en) Visible Light Based Indoor Positioning System
US10075240B2 (en) Multi-receiving-point geometrical center locating system and method for visible light communication
CN106483500A (en) A kind of visible light communication 3-D positioning method based on CDMA modulation
Xu et al. Experimental indoor visible light positioning systems with centimeter accuracy based on a commercial smartphone camera
Naz et al. Single LED ceiling lamp based indoor positioning system
CN104391273B (en) A kind of visible ray localization method based on circular projection and system
TW201721094A (en) Transmitter array, receiver, and positioning system
Bai et al. A high-coverage camera assisted received signal strength ratio algorithm for indoor visible light positioning
CN111413670B (en) Enhanced camera-assisted positioning method based on received signal strength ratio
CN108279400A (en) A kind of multi-detector localization method based on single LED light source
CN104391274A (en) Visible light positioning method and visible light positioning system based on circular projection
Yang et al. Visible light positioning via floor reflections
CN110716204B (en) Charging pile structure identification method and device
Shimada et al. Indoor positioning using reflected light and a video camera
CN112748399A (en) Visible light three-dimensional positioning system and method based on multiple PD receivers
Wei et al. High-accuracy indoor positioning system based on visible light communication
Li et al. Dead-zone-free three-dimensional indoor positioning method based on visible light communication with dimensionality reduction algorithm
Saboundji et al. Accurate indoor positioning system based on visible light
Vatansever et al. Image-sourced fingerprinting for LED-based indoor tracking
Liu et al. High-accuracy three-dimensional visible light positioning systems using image sensor

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
RJ01 Rejection of invention patent application after publication
RJ01 Rejection of invention patent application after publication

Application publication date: 20200602