CN113093105A - Visible light indoor positioning method, device and system and related products - Google Patents
Visible light indoor positioning method, device and system and related products Download PDFInfo
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- CN113093105A CN113093105A CN202110382134.4A CN202110382134A CN113093105A CN 113093105 A CN113093105 A CN 113093105A CN 202110382134 A CN202110382134 A CN 202110382134A CN 113093105 A CN113093105 A CN 113093105A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention provides a visible light indoor positioning method, a device, a system and a related product, wherein the method is applied to a receiver and comprises the following steps: monitoring visible light communication information in a communication space, wherein the visible light communication information comprises a position mark of an LED lamp, and the position mark is a basis for positioning the position of a receiver in the communication space; if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the monitored effective visible light communication information in advance; and predicting the position identification of the target LED lamp passed by the receiver in the communication space based on the position identifications of the plurality of LED lamps. Based on the invention, the problem that the moving object passes through a communication blind area and an interference area in the visible light communication system in the moving process can be solved, and the positioning precision is improved.
Description
Technical Field
The invention relates to the technical field of visible light indoor positioning, in particular to a visible light indoor positioning method, device and system and a related product.
Background
With the development of satellite positioning (such as GPS) technology, people have a stronger demand for location services, but in wireless communication limited areas such as underground garages, mines, gas stations, hospitals, etc., the satellite positioning technology can only receive very weak signals, even cannot receive signals, and thus cannot realize an accurate positioning function. However, with the development of the LED lighting technology and the development of the visible light communication technology, the technology of the visible light indoor positioning system based on the LED lamp is rapidly developed, and the accuracy of indoor positioning is greatly improved.
At present, most indoor visible light positioning systems are realized through LED lamps on a ceiling, high-frequency flicker signals are sent out by the lamp light, and a receiver receives the signals through a PD (photosensitive diode) or a CMOS (complementary metal oxide semiconductor) camera. The receiver mainly adopts road sign positioning, namely, the receiver approximately judges that the LED is in the illumination range of the lamp when receiving the position mark of the LED, and the precision depends on the arrangement mode and the density of the LED.
In a practical system, whether the receiver is a PD or CMOS camera, the receiver may not be able to correctly decode the visible light communication information in areas where the LED lighting conditions are poor or where multiple LED lights overlap.
Disclosure of Invention
In view of the above, to solve the above problems, the present invention provides a visible light indoor positioning method, device, system and related products, and the technical solution is as follows:
the invention provides a visible light indoor positioning method, which is applied to a receiver and comprises the following steps:
monitoring visible light communication information in a communication space, wherein the visible light communication information comprises a position identifier of an LED lamp, and the position identifier is a basis for positioning the receiver in the communication space;
if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the effective visible light communication information monitored in advance;
predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps.
Optionally, the retrieving the position identifiers of the plurality of LED lamps in continuous time, which are obtained through the effective visible light communication information monitored in advance, includes:
and counting the duration, and calling the position identifications of the plurality of LED lamps when the duration is greater than the corresponding threshold.
Optionally, the predicting, based on the location identifications of the plurality of LED lamps, the location identification of the target LED lamp passed by the receiver in the communication space includes:
acquiring LED lamp arrangement information in the communication space, wherein the LED lamp arrangement information comprises position marks of LED lamps at different space points in the communication space;
and predicting the position identification of the target LED lamp by matching the position identifications of the plurality of LED lamps and the position identifications in the LED lamp arrangement information.
Optionally, the predicting the position identifier of the target LED lamp by matching the position identifiers of the plurality of LED lamps and the position identifiers in the LED lamp arrangement information includes:
if the LED lamps in the communication space are not in unidirectional arrangement, monitoring the light intensity in the communication space;
and predicting the position identification of the target LED lamp according to the matching result of the position identifications of the LED lamps and the position identifications in the LED lamp arrangement information and the light intensity.
Optionally, before monitoring the visible light communication information in the communication space, the method further includes:
initializing a logic queue, wherein the logic queue is used for recording the monitored position identification of the LED lamp and recording the continuously monitored same position identification once;
correspondingly, the retrieving of the position identifiers of the plurality of LED lamps in continuous time, which are obtained through the effective visible light communication information monitored in advance, includes:
calling position identifications of the plurality of LED lamps recorded in the logic queue;
correspondingly, the method further comprises the following steps:
and recording the position identification of the target LED lamp into the logic queue.
Optionally, the method further includes:
if the monitored visible light communication information is valid, comparing the position identification in the monitored visible light communication information with the position identification recorded in the logic queue at the latest time;
and if the comparison results are different, recording the position identification in the visible light communication information into the logic queue.
In another aspect, the present invention provides a visible light indoor positioning apparatus, including:
the information monitoring module is used for monitoring visible light communication information in a communication space, wherein the visible light communication information comprises a position identifier of an LED lamp, and the position identifier is a basis for positioning the receiver in the communication space;
the position positioning module is used for calling position identifications of the plurality of LED lamps in continuous time, which are obtained by monitoring effective visible light communication information in advance, if the visible light communication information is not monitored or the monitored visible light communication information is not effective; predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps.
Another aspect of the present invention provides a receiver, including: at least one memory and at least one processor; the memory stores a program, and the processor calls the program stored in the memory, wherein the program is used for realizing any visible light indoor positioning method.
In another aspect, the present invention provides a storage medium, wherein the storage medium stores computer-executable instructions for performing any one of the visible light indoor positioning methods.
In another aspect, the present invention provides a visible light indoor positioning system, comprising: a plurality of LED lamps and receivers disposed in the communication space;
each LED lamp is used for outputting visible light communication information corresponding to the LED lamp, the visible light communication information comprises a position mark of the LED lamp, and the position mark is a basis for positioning the receiver in the communication space;
the receiver is used for monitoring visible light communication information in the communication space; if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the effective visible light communication information monitored in advance; predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps; outputting response communication information, wherein the response communication information comprises the equipment identifier of the receiver and the position identifier of the target LED lamp;
and the target LED lamp is used for uploading the equipment identifier in the response communication information to a background server based on the position identifier in the response communication information so as to enable the background server to position the position of the receiver.
Compared with the prior art, the invention has the following beneficial effects:
the invention provides a visible light indoor positioning method, a device, a system and a related product, wherein in the operation process of a receiver, once an area with poor illumination conditions or overlapped multiple LED lights passes through, the monitoring of optical signals is seriously interfered, at the moment, either visible light communication information cannot be monitored or the monitored visible light communication information is invalid information and cannot be decoded correctly, under the scene, the receiver can call position marks of multiple LED lights which are obtained by decoding correctly in advance and are in continuous time, and then the position mark of a target LED light which passes through the receiver currently is predicted in a track prediction mode, so that the position of the receiver can be predicted based on the position mark of the target LED light. Based on the invention, the problem that the moving object passes through a communication blind area and an interference area in the visible light communication system in the moving process can be solved, and the positioning precision is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a system block diagram of a visible light communication system;
FIG. 2 is a flowchart of a method for visible light indoor positioning according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method of visible light indoor positioning provided by an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a visible light indoor positioning device according to an embodiment of the present invention.
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 order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
For the convenience of understanding of the present application, the following first describes a visible light communication system:
see the system block diagram shown in fig. 1. A plurality of LED lamps are disposed in one communication space, and identification information (i.e., position identification in the present invention) related to the positions of the LED lamps is loaded in optical signals, i.e., visible light communication information, emitted from different LED lamps. Essentially, the loading of the position identification is realized by adjusting the on-off of the light of the LED lamp, because the eyes of the animal have the visual retention phenomenon, when the frequency of the on-off change of the LED lamp is higher than a threshold value, the eyes of the animal cannot perceive the flicker of the LED lamp, and the threshold value is the lowest frequency of the loading signal of the LED lamp. Therefore, in the present invention, the signal modulation frequency of the LED lamp must be greater than the lowest frequency.
And an ON-OFF-Keying (OOK) modulation mode is adopted between the LED lamp and the receiver, and visible light communication information is sent through bright and dark flickers. For example, the visible light communication information emitted by the LED lamp includes (010110), that is, the lamp is turned on to 1 and turned off to 0, which can be used to indicate the location identifier of the LED lamp. In the invention, all the LED lamps adopt the same signal modulation frequency, the receiver monitors and receives the visible light communication information, and the logic unit in the receiver carries out high-power sampling on the visible light communication information and demodulates the position identification of the loaded LED lamps.
The PD and the CMOS are used as important photosensitive devices on a receiver and can be used for detecting visible light communication information emitted by the LED lamp. After the receiver demodulates the position identification of a certain LED lamp, the receiver can be considered to be positioned at the position of the LED lamp, and then the position is sent to a position navigation map, so that the positioning function of the receiver is realized.
With continued reference to fig. 1, each LED lamp has its own relatively independent illumination area, and each independent illumination area is a location identifier, which may uniquely correspond to a location coordinate. The receiver can be used for corresponding to the current position of the LED lamp by analyzing the received position identification of the LED lamp.
And during the operation of the receiver, the receiver passes through the light source overlapping part of the LED lamp, namely the interference area in FIG. 1. In the interference area, after one LED is turned off, other LED lamps may be in a bright state, so that a photosensitive device on the receiver cannot obtain an accurate state signal, and thus, monitoring of visible light communication information by the receiver is severely interfered, and a loaded position identifier may not be correctly decoded. In addition, in some corner areas with poor lighting conditions, visible light communication information cannot be easily monitored.
Therefore, the invention adds the track prediction algorithm into the positioning processing algorithm in the signal processing logic unit of the receiver so as to position the communication blind area and the interference area.
It should be noted that an intelligent processor (a single chip microcomputer or an ARM) is installed in the LED lamps, and each LED lamp has a position identifier with a length of 4 bytes, and the position identifier is stored in the intelligent processor.
It should be further noted that the receiver is a device for receiving, demodulating and analyzing the visible light communication information of the LED lamp, and the moving object only wears the receiver to collect and analyze the position signal.
The embodiment of the invention provides a visible light indoor positioning method, which is applied to a receiver, and the flow chart of the method is shown in figure 1, and the method comprises the following steps:
and S10, monitoring visible light communication information in the communication space, wherein the visible light communication information contains the position identification of the LED lamp, and the position identification is the basis of the position of the positioning receiver in the communication space.
In the embodiment of the invention, the receiver can monitor the visible light communication information emitted by the LED lamp through the light sensing device arranged on the receiver. In addition, the LED lamp also loads a position identification representing its position into the visible light communication information before emitting the visible light communication information.
And S20, if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling the position identifications of the LED lamps in continuous time, which are obtained by monitoring the effective visible light communication information in advance.
In the embodiment of the invention, if no visible light communication information is monitored, the visible light communication information can be confirmed to be in an area with poor illumination conditions; if the visible light communication information can be received but cannot be decoded correctly, the visible light communication information can be confirmed to be in a region where the multiple LED lights overlap, namely, an interference region.
At this time, the receiver may retrieve a plurality of previously monitored location identifiers that can be obtained by correctly decoding the visible light communication information, and of course, the plurality of location identifiers may be sorted according to the time when the visible light communication information is monitored, so as to obtain the location identifiers in continuous time. Of course, the retrieved plurality of location identifiers is the location identifier closest to the current time.
In the specific implementation process, in order to prevent the situation that the visible light communication signal is lost but is replied quickly due to an emergency, in the embodiment of the invention, the duration that the visible light communication information is not monitored or the monitored visible light communication information is not valid can be counted, and when the counted duration is greater than the corresponding threshold, the position identifiers of the plurality of LED lamps are called. Of course, the threshold value of the period of time may be set empirically.
And S30, predicting the position identification of the target LED lamp passed by the receiver in the communication space based on the position identifications of the plurality of LED lamps.
In the embodiment of the invention, based on the position identifications of the plurality of LED lamps, the position of the receiver under each LED lamp can be obtained, and further the motion track of the receiver in a current continuous time is obtained. The motion track has directivity, and can indicate the LED lamp passed by the receiver at the current moment, namely the target LED lamp. So that the position identification of the target LED lamp can be obtained based on the known position identifications of different LED lamps in the communication space.
In a specific implementation process, the step S30 "predicting the position identifier of the target LED lamp passed by the receiver in the communication space based on the position identifiers of the plurality of LED lamps" may adopt the following steps, and a flowchart of the method is shown in fig. 3:
s301, obtaining LED lamp arrangement information in the communication space, wherein the LED lamp arrangement information comprises position marks of LED lamps at different space points in the communication space.
In the embodiment of the invention, for the communication space, after the LED lamps are arranged, corresponding LED lamp arrangement information can be generated, including but not limited to the position identifiers of the LED lamps, and the intensity and arrangement type (unidirectional or non-unidirectional) of the LED lamps can also be included, where the arrangement type of the LED lamps shown in fig. 1 is unidirectional.
S302, predicting the position marks of the target LED lamps by matching the position marks of the LED lamps and the position marks in the LED lamp arrangement information.
In the embodiment of the invention, the plurality of LED lamps can be mapped into the communication space by matching and position identification, so that the motion trail of the receiver is generated, and the current passing target LED lamp is predicted.
With continued reference to fig. 1, given that the receiver has just entered the communication space, the receiver logic unit records the first location indicator the receiver is operating in, assuming that the receiver has been moving within the area where the location indicator of lamp 1 can be received. When the receiver is moving all the time, and the time that the effective lamp 1 position identification cannot be decoded for the first time in the moving process exceeds the threshold value, the receiver is indicated to move to an interference area between two lamps, and the receiver is considered to leave the illumination area of the lamp 1 and move to the illumination area of the lamp 2.
And the receiver updates the current position and records the relevant motion trail. And when the time that the receiver cannot receive the effective position identification again exceeds the threshold value, checking the motion track, wherein the operation behavior of the object has predictability under the normal condition. With continued reference to fig. 1, the motion behavior of the receiver theoretically only exists traveling from lamp 1 to lamp 4 or from lamp 4 to lamp 1. If the receiver moves into the interference area again, the receiver moves to the communication area of the lamp 3 as a general probability event, and therefore the current position of the receiver is considered to be in the illumination area of the lamp 3.
It should be noted that the LED lamps in fig. 1 belong to a unidirectional array, and the receiver needs to call at least two position markers in the communication space to predict the moving direction, from lamp 1 to lamp 4, or from lamp 4 to lamp 1. Of course, if the direction of movement is known with the aid of other information, for example before the receiver enters the communication space, for example the receiver has just entered the communication space and has correctly decoded the position identification of the lamp 1, the prediction can now be done solely on the basis of the position identification of the lamp 1.
On the basis, the embodiment of the invention also provides a prediction scheme of the LED lamps which are not arranged in a unidirectional mode, and the prediction scheme specifically comprises the following steps:
if the LED lamps in the communication space are not in unidirectional arrangement, monitoring the light intensity in the communication space; and predicting the position identification of the target LED lamp according to the matching result of the position identifications of the LED lamps and the position identifications in the LED lamp arrangement information and the light intensity.
In the embodiment of the invention, when the LED lamps in the communication space are arranged in a non-unidirectional mode, a plurality of LED lamps adjacent to one LED lamp may be arranged, and at the moment, after the motion trail is obtained based on the position marks of the LED lamps, if only the motion direction is considered, the actual position of the receiver cannot be accurately predicted. At the moment, the light intensity in the communication space is considered, the light intensity can represent the luminous flux in a unit solid angle in the given direction of the light source, and the light intensity probability at different positions in the communication space is different, so that the embodiment of the invention considers the light intensity monitored by the receiver at the moment to accurately position the position of the receiver, and further takes an LED lamp which accords with the motion track and is closest to the monitored light intensity at the corresponding position as a target LED lamp. For example, two LED lamps are preliminarily determined as candidates based on the movement locus, and one LED lamp having the smallest difference between the monitored light intensity and the light intensity is selected as the target LED lamp from the two candidate LED lamps.
In other embodiments, in order to effectively record the position identifiers of a plurality of LED lamps in continuous time, which are obtained by correctly decoding the visible light communication information, the present invention initializes a logic queue before monitoring the visible light communication information, where the logic queue is used to record the position identifiers of the LED lamps obtained by correctly decoding the visible light communication information in a current period of time, and record the same position identifier which is continuously monitored once. Of course, the position identifications in the logical queue may be sorted in chronological order.
Correspondingly, in the process of calling the position identifications of the plurality of LED lamps in continuous time, which are obtained through the effective visible light communication information monitored in advance, the position identifications of the plurality of LED lamps recorded by the logic queue can be directly called from the logic queue. And after the prediction is finished, recording the position identification of the target LED lamp into a logic queue.
On this basis, if the monitored visible light communication information is valid, the position identifier in the monitored visible light communication information and the position identifier with the latest recording time (namely, the position identifier closest to the current time) in the logic queue can be further compared; and if the comparison result is different, recording the position identification in the visible light communication information into the logic queue. Otherwise, if the comparison result is the same, no operation is executed.
According to the visible light indoor positioning method provided by the embodiment of the invention, in the operation process of the receiver, once the receiver passes through an area with poor illumination conditions or overlapped multiple LED lights, the monitoring of the optical signal is seriously interfered, at this time, either the visible light communication information cannot be monitored or the monitored visible light communication information is invalid information and cannot be decoded correctly, in the scene, the receiver can call the position identifications of the multiple LED lights which are obtained by decoding correctly in advance and are in continuous time, and then the position identification of the target LED light which the receiver passes through currently is predicted in a track prediction mode, so that the position of the receiver can be predicted based on the position identification of the target LED light. Based on the invention, the problem that the moving object passes through a communication blind area and an interference area in the visible light communication system in the moving process can be solved, and the positioning precision is improved.
Based on the visible light indoor positioning method provided by the above embodiment, an embodiment of the present invention correspondingly provides an apparatus for performing the visible light indoor positioning method, where a schematic structural diagram of the apparatus is shown in fig. 4, and the apparatus includes:
the information monitoring module 10 is configured to monitor visible light communication information in a communication space, where the visible light communication information includes a position identifier of an LED lamp, and the position identifier is a basis for positioning a receiver in the communication space;
the position positioning module 20 is configured to, if the visible light communication information is not monitored or the monitored visible light communication information is not valid, retrieve position identifiers of the plurality of LED lamps in continuous time, where the position identifiers are obtained through the valid visible light communication information monitored in advance; and predicting the position identification of the target LED lamp passed by the receiver in the communication space based on the position identifications of the plurality of LED lamps.
Optionally, the process of the position locating module 20 retrieving the position identifiers of the plurality of LED lamps in continuous time, which are obtained through the effective visible light communication information monitored in advance, includes:
and counting the duration, and calling the position identifications of the plurality of LED lamps when the duration is greater than the corresponding threshold.
Optionally, the process of predicting, by the position location module 20, the position identifier of the target LED lamp passed by the receiver in the communication space based on the position identifiers of the plurality of LED lamps includes:
acquiring LED lamp arrangement information in a communication space, wherein the LED lamp arrangement information comprises position marks of LED lamps at different spatial points in the communication space; and predicting the position identification of the target LED lamp by matching the position identifications of the plurality of LED lamps and the position identifications in the LED lamp arrangement information.
Optionally, the process of predicting the position identifier of the target LED lamp by the position locating module 20 by matching the position identifiers of the plurality of LED lamps and the position identifiers in the LED lamp arrangement information includes:
if the LED lamps in the communication space are not in unidirectional arrangement, monitoring the light intensity in the communication space; and predicting the position identification of the target LED lamp according to the matching result of the position identifications of the LED lamps and the position identifications in the LED lamp arrangement information and the light intensity.
Optionally, the apparatus includes:
the queue establishing module is used for initializing a logic queue, and the logic queue is used for recording the monitored position identification of the LED lamp and recording the continuously monitored same position identification once;
accordingly, the process of the position locating module 20 retrieving the position identifiers of the plurality of LED lamps in continuous time, which are obtained by monitoring the valid visible light communication information in advance, includes:
calling position marks of the plurality of LED lamps recorded in the logic queue;
correspondingly, the position locating module 20 is further configured to record the position identifier of the target LED lamp into a logical queue.
Optionally, the position location module 20 is further configured to:
if the monitored visible light communication information is valid, comparing the position identification in the monitored visible light communication information with the position identification with the latest recording time in the logic queue; and if the comparison result is different, recording the position identification in the visible light communication information into the logic queue.
In the visible light indoor positioning device provided by the embodiment of the invention, in the operation process of the receiver, once the receiver passes through an area with poor illumination conditions or overlapped multiple LED lights, the monitoring of the optical signal is seriously interfered, at this time, either the visible light communication information cannot be monitored or the monitored visible light communication information is invalid information and cannot be decoded correctly, in the scene, the receiver can call the position identifications of the multiple LED lights which are obtained by decoding correctly in advance and are in continuous time, and then the position identification of the target LED light which the receiver passes through currently is predicted in a track prediction mode, so that the position of the receiver can be predicted based on the position identification of the target LED light. Based on the invention, the problem that the moving object passes through a communication blind area and an interference area in the visible light communication system in the moving process can be solved, and the positioning precision is improved.
Based on the visible light indoor positioning method provided by the above embodiment, an embodiment of the present invention further provides a receiver, where the receiver includes: at least one memory and at least one processor; the memory stores a program, and the processor calls the program stored in the memory, wherein the program is used for realizing the visible light indoor positioning method.
Based on the visible light indoor positioning method provided by the above embodiment, an embodiment of the present invention further provides a storage medium, where the storage medium stores computer executable instructions, and the computer executable instructions are used to execute the visible light indoor positioning method described in the embodiment.
Based on the visible light indoor positioning method provided by the above embodiment, the embodiment of the present invention further provides a visible light indoor positioning system, which includes: a plurality of LED lamps and receivers disposed in the communication space;
each LED lamp is used for outputting visible light communication information corresponding to the LED lamp, the visible light communication information comprises a position mark of the LED lamp, and the position mark is a basis for positioning the receiver in the communication space;
the receiver is used for monitoring visible light communication information in the communication space; if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the effective visible light communication information monitored in advance; predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps; outputting response communication information, wherein the response communication information comprises the equipment identifier of the receiver and the position identifier of the target LED lamp;
and the target LED lamp is used for uploading the equipment identifier in the response communication information to a background server based on the position identifier in the response communication information so as to enable the background server to position the position of the receiver.
It should be noted that, for details of implementing the LED lamp and the receiver in the visible light indoor positioning system, reference may be made to the above-mentioned method embodiment disclosure, and details are not described herein again.
The method, the device, the system and the related products for visible light indoor positioning provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the examples is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A visible light indoor positioning method is applied to a receiver and comprises the following steps:
monitoring visible light communication information in a communication space, wherein the visible light communication information comprises a position identifier of an LED lamp, and the position identifier is a basis for positioning the receiver in the communication space;
if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the effective visible light communication information monitored in advance;
predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps.
2. The method of claim 1, wherein the retrieving the location identifiers of the plurality of LED lamps in a continuous time obtained by the effective visible light communication information monitored in advance comprises:
and counting the duration, and calling the position identifications of the plurality of LED lamps when the duration is greater than the corresponding threshold.
3. The method of claim 1, wherein predicting the location identity of the target LED lamp passed by the receiver in the communication space based on the location identities of the plurality of LED lamps comprises:
acquiring LED lamp arrangement information in the communication space, wherein the LED lamp arrangement information comprises position marks of LED lamps at different space points in the communication space;
and predicting the position identification of the target LED lamp by matching the position identifications of the plurality of LED lamps and the position identifications in the LED lamp arrangement information.
4. The method of claim 3, wherein predicting the location identity of the target LED lamp by matching the location identities of the plurality of LED lamps and the location identities in the LED lamp arrangement information comprises:
if the LED lamps in the communication space are not in unidirectional arrangement, monitoring the light intensity in the communication space;
and predicting the position identification of the target LED lamp according to the matching result of the position identifications of the LED lamps and the position identifications in the LED lamp arrangement information and the light intensity.
5. The method of claim 1, wherein prior to monitoring visible light communications within the communication space, the method further comprises:
initializing a logic queue, wherein the logic queue is used for recording the monitored position identification of the LED lamp and recording the continuously monitored same position identification once;
correspondingly, the retrieving of the position identifiers of the plurality of LED lamps in continuous time, which are obtained through the effective visible light communication information monitored in advance, includes:
calling position identifications of the plurality of LED lamps recorded in the logic queue;
correspondingly, the method further comprises the following steps:
and recording the position identification of the target LED lamp into the logic queue.
6. The method of claim 5, further comprising:
if the monitored visible light communication information is valid, comparing the position identification in the monitored visible light communication information with the position identification recorded in the logic queue at the latest time;
and if the comparison results are different, recording the position identification in the visible light communication information into the logic queue.
7. A visible light indoor positioning apparatus, characterized in that the apparatus comprises:
the information monitoring module is used for monitoring visible light communication information in a communication space, wherein the visible light communication information comprises a position identifier of an LED lamp, and the position identifier is a basis for positioning the receiver in the communication space;
the position positioning module is used for calling position identifications of the plurality of LED lamps in continuous time, which are obtained by monitoring effective visible light communication information in advance, if the visible light communication information is not monitored or the monitored visible light communication information is not effective; predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps.
8. A receiver, characterized in that the receiver comprises: at least one memory and at least one processor; the memory stores a program, and the processor calls the program stored in the memory, and the program is used for realizing the visible light indoor positioning method according to any one of claims 1 to 6.
9. A storage medium having stored thereon computer-executable instructions for performing the visible light indoor positioning method of any one of claims 1-6.
10. A visible light indoor positioning system, the system comprising: a plurality of LED lamps and receivers disposed in the communication space;
each LED lamp is used for outputting visible light communication information corresponding to the LED lamp, the visible light communication information comprises a position mark of the LED lamp, and the position mark is a basis for positioning the receiver in the communication space;
the receiver is used for monitoring visible light communication information in the communication space; if the visible light communication information is not monitored or the monitored visible light communication information is not effective, calling position marks of the LED lamps in continuous time, wherein the position marks are obtained through the effective visible light communication information monitored in advance; predicting a location identification of a target LED lamp passed by the receiver within the communication space based on the location identifications of the plurality of LED lamps; outputting response communication information, wherein the response communication information comprises the equipment identifier of the receiver and the position identifier of the target LED lamp;
and the target LED lamp is used for uploading the equipment identifier in the response communication information to a background server based on the position identifier in the response communication information so as to enable the background server to position the position of the receiver.
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