CN113947100B - Visible light positioning method and system - Google Patents

Visible light positioning method and system Download PDF

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CN113947100B
CN113947100B CN202111021526.4A CN202111021526A CN113947100B CN 113947100 B CN113947100 B CN 113947100B CN 202111021526 A CN202111021526 A CN 202111021526A CN 113947100 B CN113947100 B CN 113947100B
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receiving end
photodiode
information
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CN113947100A (en
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张建辉
宋正兵
王嘉诚
王瀚翔
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Hangzhou Dianzi University
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Hangzhou Dianzi University
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
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  • Optical Communication System (AREA)
  • Length Measuring Devices By Optical Means (AREA)
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Abstract

The invention provides a visible light positioning method and a visible light positioning system. The invention comprises a transmitting end and a receiving end of visible light signals. The transmitting end installs three LEDs attached with polaroids on a ceiling, and transmits inherent information of the LEDs through a visible light communication technology; the receiving end collects the light signals of the three LEDs by using the photodiode array, calculates the current direction of the receiving end by using the rotation angle information between the transmitting end polaroid and the receiving end polaroid, further estimates the incidence angle of the light signals emitted by the transmitting end to each photodiode by using the light propagation model by combining the inclination angles of the photodiodes in the photodiode array, and calculates the current position of the receiving end according to the incidence angle. The invention can provide the estimation of the equipment orientation while positioning the equipment, is simple and feasible, has low deployment cost and easy maintenance, has a simple system structure, and can be rapidly popularized and applied to different Internet of things equipment.

Description

Visible light positioning method and system
Technical Field
The invention relates to the field of visible light communication, in particular to a visible light positioning method and a visible light positioning system using a light emitting device, a polaroid and a photodiode, wherein the light emitting device is a Light Emitting Diode (LED).
Background
With the development of visible light communication technology, more researchers have turned to indoor visible light positioning technology in recent years. Navigation software has become necessary software for everyone in life so far, but because the indoor environment is complex, the propagation of GPS signals can be hindered by barriers such as walls and the like, and the outdoor common positioning method is not suitable for the indoor environment. The problem of last kilometer in navigation positioning can be effectively solved by utilizing the indoor visible light positioning technology. However, the existing indoor visible light positioning technology is high in deployment cost, and the estimation of equipment orientation can be carried out while positioning is rarely achieved. The visible light positioning method proposed by relaxation et al in 2017 utilizes an additional IMU sensor to finish the acquisition of equipment orientation, so that the cost and complexity of a system are increased, and the popularization of a visible light positioning technology in Internet of things equipment in reality is hindered. Therefore, how to design a visible light positioning system with low deployment cost and simple system, and capable of simultaneously performing device positioning and device orientation estimation is one of the problems to be solved in the development of the visible light positioning technology.
Disclosure of Invention
The invention provides a visible light positioning method and a visible light positioning system, which aim to realize a visible light positioning technology which is low in deployment cost and simple in system, and can simultaneously perform equipment positioning and equipment orientation estimation, so that the visible light positioning technology can be popularized and applied to equipment of the Internet of things.
The scheme of the invention is as follows:
Step 1: setting a signal transmitting end, fixing three LEDs attached with polaroids on a ceiling, modulating the three LEDs with different frequencies and polarization directions of the three polaroids, enabling the three LEDs to flash at a certain frequency and transmit linearly polarized light, and transmitting the linearly polarized light carrying inherent information of the LEDs, wherein the inherent information comprises the ID (identity) of the LEDs, coordinate information and polarization direction information of the attached polaroids;
A signal receiving end is arranged, LED signals are collected by utilizing a photodiode array, the photodiode array is provided with four photodiodes, the four photodiodes are respectively arranged on four photodiode array bases, each photodiode and a photodiode array base plate are provided with an inclined angle alpha, polarizers are attached to the surfaces of the two photodiodes, the polarization directions of the polarizers attached to the two photodiodes are mutually perpendicular, the rotation angle information between the polarization direction of the polarizer of the receiving end and the polarization direction of the polarizer of the transmitting end required by the orientation estimation is provided, and the existence of the inclined angle alpha provides the incident angle information of light required by the positioning calculation;
step 2: and (3) obtaining the ID, the coordinate position information and the polarization direction information of the attached polaroid of each LED by utilizing the optical signals obtained in the step (1), measuring the received signal strength of the optical signals, and realizing the positioning and orientation estimation of the receiving end by combining the rotation angle information between the polarization directions of the polaroids of the receiving end and the transmitting end and the incidence angle information of the light obtained by the inclination angle alpha.
Preferably, the step 1 includes the steps of:
Step 1.1: establishing a coordinate system in the measurement space, wherein the LED 1、LED2 and the LED 3 are respectively denoted as e 1、e2 and e 3;
Step 1.2: polarizing plates with a polarization direction delta 1,δ2,δ3 are respectively arranged and attached for e 1、e2 and e 3;
Step 1.3: each LED is assigned a frequency so as to flash at a certain frequency, and a linearly polarized light signal carrying the inherent information of the LED is transmitted, wherein the inherent information comprises the ID of the LED, the coordinate information and the polarization direction information of the attached polaroid.
Preferably, the four photodiodes include photodiodes PD 1、PD2、PD3 and PD 4,PD1 and PD 2 mounted in the same direction at an angle of 120 ° to the direction in which PD 3、PD4 is located.
Preferably, the step 2 includes the steps of:
Step 2.1: extracting information transmitted by each LED through a visible light communication technology;
Step 2.2: calculating rotation angles eta 1,η2 and eta 3 between the polarization direction of the polaroid attached to the PD 1 and delta 1,δ2,δ3, obtaining four candidate orientations by utilizing any two rotation angles and the polarization direction of the corresponding LED side polaroid, and completing estimation of the orientation phi of the receiving end by comparing the numerical relation between the candidate orientations;
Step 2.3: the orientation phi and the orientation phi plus pi both meet the rotation angle relation in the step 2.2, and the received signal strength of each photodiode is judged to eliminate the redundant orientation through the structural characteristics of the photodiode array;
Step 2.4: converting the received signal strength obtained by the PD 1 with the polarizer and the PD 2 into a received signal strength measured by the photodiode at the same position without the polarizer, and recording the received signal strength as PD 12;
Step 2.5: according to the received signal strength ratio between PD 12、PD3 and PD 4 and the inclination angle alpha of the photodiode and the bottom plate, combining a light propagation model to calculate the incident angles beta 12、β3 and beta 4 of light rays emitted by a light source to the photodiode;
Step 2.6: and 2, constructing a least square problem about the coordinates of the receiving end by combining the geometric relation of vectors in the measurement space and the light propagation model according to the incidence angle obtained in the step 2.5, and solving the least square problem to obtain the coordinates of the receiving end in the measurement space.
The visible light positioning system comprises a transmitting end, a receiving end and a transmitting end, wherein the transmitting end transmits linearly polarized light signals carrying inherent information of LEDs by utilizing an LED signal generating circuit, the LEDs and a polaroid, and the inherent information comprises the ID (identity) of the LEDs, coordinate information and polarization direction information of the attached polaroid;
the receiving end comprises: a photodiode array, a polarizer, and a signal processing circuit;
The photodiode array of the receiving end comprises four photodiodes, and all the photodiodes are inclined to the bottom plate of the photodiode array at the same angle alpha by inserting the photodiodes into the photodiode base part;
Four photodiodes in the photodiode array are oriented toward the center of the photodiode array backplane in three directions at 2:1:1, wherein the included angle between the three directions is 120 degrees;
the polaroids of the receiving end are attached to two photodiodes in two directions in the photodiode array, and the polarization directions of the two polaroids are perpendicular to each other.
By adopting the scheme, the invention has the following beneficial effects:
1. The sensor used in the invention is only a photodiode, other auxiliary sensors are not involved in the whole method or the operation of constructing a fingerprint database is not involved, and the front-stage deployment is only to attach a corresponding polaroid to the LED, so that the deployment cost is low, the system structure is simple, and the method is simple and feasible and is easy to maintain;
2. The method can simultaneously perform equipment positioning and equipment orientation estimation, can provide the direction about a certain path point, and has important significance for the practical application of the Internet of things equipment, such as analyzing the position and the walking direction of a user in a retail store so as to know the behavior of a customer and the like.
Drawings
FIG. 1 is a system architecture diagram of the present invention;
FIG. 2 is a schematic diagram of a receiver according to the present invention;
FIG. 3 is a schematic view showing the rotation angle between the polarization directions of the polarizing plate according to the present invention
FIG. 4 is a schematic diagram of an orientation estimation algorithm according to the present invention;
FIG. 5 is a schematic diagram of a positioning calculation according to the present invention;
Detailed Description
The invention is described in further detail below with reference to the attached drawings and detailed description:
Fig. 1 of the drawings in the specification shows a system architecture diagram of a visible light positioning method based on an LED, a polarizer and a photodiode. The system mainly comprises a transmitting end part framework and a receiving end part framework, wherein the transmitting end transmits information by transmitting linearly polarized light signals, and the receiving end receives the signals and extracts data. The equipment used at the transmitting end comprises Arduino UNO, an LED signal generating circuit, an LED and a polaroid, and the equipment used at the receiving end comprises Arduino Mega 2560, a signal processing circuit, a photodiode array and a polaroid. The system completes signal transmission from a transmitting end to a receiving end through a visible linearly polarized light signal.
The main arrangement of the transmitter section architecture is divided into two sections, namely mounting the polarizer to the LED and modulating the LED. Three LEDs at the transmitting end are fixed on a ceiling, and polarizing plates with polarization directions delta 1,δ2 and delta 3 are respectively attached to the LEDs. The LED signal generating circuit transmits, in the form of an optical signal, the unique information of the LED, which includes the ID of the LED, the coordinate information, and the polarization direction information of the attached polarizing plate, in the form of an encoded signal, using Arduino UNO. According to the polarization principle of light, natural light is changed into linearly polarized light after a light signal emitted by the LED passes through a polaroid attached to the surface of the light signal.
In another aspect, a receiver-side portion architecture includes a photodiode array portion and a signal processing portion. The photodiode array portion may refer to fig. 2 of the drawings of the specification, and is marked as PD 1、PD2、PD3 and PD 4, respectively, for the purpose of having all photodiodes inclined to the photodiode array substrate at the same angle α by inserting the photodiodes into the photodiode base member, and all placed in three directions toward the center of the photodiode array substrate, with an included angle of 120 °. Wherein two photodiodes are attached with polarizers having polarization directions perpendicular to each other, wherein the projection of the polarization direction of the PD 1 polarizer on the XOY plane coincides with the orientation direction of the receiver end. The signal processing circuit portion includes an ADC acquisition circuit and Arduino Mega 2560.
The LED signal generating circuit encodes the inherent information of the LED using Arduino UNO, and modulates the LED to output the encoded information. After the photodiode array receives the optical signals, the optical signals are converted into electric signals through the signal processing circuit and are processed by the Arduino Mega 2560, and the current position coordinates and the current direction estimation of the receiving end are obtained through calculation.
Next, the operation of the present invention will be described with reference to fig. 4 and 5:
Step 1: the signal transmitting end is used for fixing the three LEDs attached with the polaroid on the ceiling, modulating the LEDs, enabling the LEDs to flash at a certain frequency and emit linearly polarized light, and transmitting the linearly polarized light carrying the inherent information of the LEDs, wherein the inherent information comprises the ID (identity) of the LEDs, the coordinate information and the polarization direction information of the attached polaroid;
The signal receiving end collects LED signals by utilizing a photodiode array, wherein the photodiode array is provided with four photodiodes in total and has an inclination angle alpha with a bottom plate of the photodiode array, polarizing plates with mutually perpendicular polarization directions are attached to the surfaces of the two photodiodes, the signal receiving end is used for providing rotation angle information between the polarization directions of the polarizing plates of the receiving end and the transmitting end required for estimation, and the existence of the inclination angle alpha can provide the incidence angle information of light required for positioning calculation;
Step 2: and (3) obtaining the ID, the coordinate position information and the polarization direction information of the attached polaroid of each LED by utilizing the optical signals obtained in the step (1), measuring the received signal strength of the optical signals, and realizing the positioning and orientation estimation of the receiving end by combining the rotation angle information between the polarization directions of the polaroids of the receiving end and the transmitting end and the incidence angle information of the light obtained by the inclination angle alpha.
Further, the step 1 includes the following steps:
Step 1.1: establishing a coordinate system in a measurement space, wherein the LED 1、LED2 and the LED 3 are respectively denoted as e 1、e2 and e 3, and the coordinates are respectively (x 1,y1,z1)、(x2,y2,z2) and (x 3,y3,z3);
Step 1.2: polarizing plates with a polarization direction delta 1,δ2,δ3 are respectively arranged and attached for e 1、e2 and e 3;
Step 1.3: each LED is distributed with a frequency so as to flash at a certain frequency, and linear polarized light signals carrying inherent information of the LEDs are transmitted, wherein the inherent information comprises the ID (identity) of the LEDs, coordinate information and polarization direction information of the attached polaroid;
Step 1.4: the photodiode array is used for collecting linearly polarized light signals transmitted by three LEDs, the photodiode array structure is shown in fig. 2 and comprises photodiodes PD 1、PD2、PD3 and PD 4, all photodiodes are arranged on a bottom plate of the photodiode array and form an inclination angle alpha with the bottom plate, PD 1 and PD 2 are arranged in the same direction, an included angle between the two directions and the direction in which PD 3、PD4 is arranged is 120 degrees, polarizing plates with mutually perpendicular polarizing directions are respectively attached to PD 1 and PD 2, and the projection of the polarizing direction of the polarizing plate attached to PD 1 on an XOY plane is the same with the direction of equipment.
Further, the step 2 includes the steps of:
Step 2.1: extracting information transmitted by each LED through a visible light communication technology;
Step 2.2: rotation angles η 1,η2 and η 3 between the polarization direction of the receiving-end polarizer-attached PD 1 and δ 1,δ2,δ3 are calculated using the polarizer-attached PD 1 and the PD 2, and the calculation formula is:
Wherein the method comprises the steps of And/>The light intensities from LED i received by PD 1 and PD 2, respectively. The estimation of the orientation can be completed by using two LEDs, as shown in fig. 3, taking LED 1 and LED 2 as examples, two orientations can be obtained for each pair of polarization direction and rotation angle, and for the polarization direction δ 1, the device calculates that the current orientation is η 1 with respect to the current orientation, so that there are two possibilities for the orientation of the device: orientation phi 1＝δ1+η1 and orientation/>For polarization direction delta 2, as delta 1,δ2 is less than or equal to 0 DEG and less than or equal to 180 DEG and eta 1,η2≤90°,Φ1 is more than 180 DEG, phi 2 is less than 0 DEG, four possible orientations are ensured within the range of [0 DEG, 180 DEG by adjusting the function as follows:
for the orientation phi 1、Φ2, And/>Since there is Φ 1＝Φ2, the direction of the receiving end is considered as Φ 1 or Φ 2;
Step 2.3: since both the orientations Φ and Φ+pi satisfy the rotation angles η 1 and η 2 with the polarization directions δ 1 and δ 2, redundant orientations need to be eliminated to obtain correct orientation estimation, the redundant orientations can be eliminated by further determining the received signal strengths of the photodiodes by judging the received signal strengths of the respective photodiodes for the same light source, since the photodiodes are mounted obliquely, i.e., the received signal strengths measured in the case of the orientations Φ and Φ+pi are different for the same light source;
Step 2.4: the received signal strengths obtained by the PD 1 with the polarizer and the PD 2 are converted into received signal strengths at the same position without the polarizer, and the conversion formula is:
The photodiode for measuring the intensity of the received signal is PD 12,ωi as a weight coefficient;
Step 2.5: according to the propagation model of light in free space, when the radiation angle γ j of the photodiode to the LED lamp is smaller than the field angle of the LED, the photodiode can measure the signal intensity of light at an arbitrary position, and the received signal intensity of the photodiode PD j can be expressed as:
Ij＝A(dj)cosm(Υj)cos(βj)
Where A (d j) is the propagation loss function associated with the PD j to LED distance d j, β j is the angle of incidence, m is the Lambertian order and it can generally be given in advance. The distance between the photodiodes is too small relative to the distance from the LED to the photodiode array for all photodiodes on the photodiode array, which can be ignored, so they can be considered approximately the same radiation angle, i.e. y s＝Υ12＝Υ3＝Υ4, and the same distance to the LED, i.e. d ij＝d12＝d3＝d4, as shown in fig. 4. In the case of a single light source, taking the received signal strength I 12 of the PD 12 as a denominator, the received signal strength ratio between PDs can be expressed as:
Where I j is the received signal strength of PD j, combined with the vector relationship present in FIG. 4 A system of equations may be generated:
Where nj is the normal vector of PD j, it can be calculated according to the structural information of the photodiode array after the orientation is obtained in step 2.3, and the estimated values β 12、β3 and β 4 of the incident angle of the light beam emitted by the light source to the photodiode can be obtained by solving the equation set, and it should be noted that if the inclination angle α does not exist, the ratio of the received signal intensity in the above equation will be equal to 1, and the equation will have no meaning because the value in the bracket is 0;
step 2.6: the propagation model of the light transformed in free space is:
since a certain error exists in the inclination angle alpha of the actual system, the response values of different PDs on the left side of the equation are different, so that the calculation result error caused by the system error can be reduced to a certain extent by carrying out average processing on the response values, and the average value of the response values of the photodiode array on the left side of the equation for a single LED is defined as follows:
In connection with the vector relationships present in FIG. 4 A least squares problem can be translated:
Where M represents the number of LEDs, ρ i is the response mean of the photodiode array for LED i, s is the coordinates of the receiving end, n i is the normal vector of e i, and solving the least squares problem yields the coordinates of the receiving end s= (x, y, z).

Claims (5)

1. The visible light positioning method is characterized by comprising the following steps of:
Step 1: setting a signal transmitting end, fixing three LEDs attached with polaroids on a ceiling, modulating the three LEDs with different frequencies and polarization directions of the three polaroids, enabling the three LEDs to flash at a certain frequency and transmit linearly polarized light, and transmitting the linearly polarized light carrying inherent information of the LEDs, wherein the inherent information comprises the ID (identity) of the LEDs, coordinate information and polarization direction information of the attached polaroids;
The method comprises the steps that a signal receiving end is arranged, LED signals are collected through a photodiode array, the photodiode array comprises four photodiodes, the four photodiodes are respectively arranged on four photodiode array base plates, each photodiode and each photodiode array base plate are provided with an inclined angle alpha, polarizers are attached to the surfaces of the two photodiodes, the polarization directions of the polarizers attached to the two photodiodes are perpendicular to each other, rotation angle information between the polarization direction of the polarizer of the receiving end and the polarization direction of the polarizer of the transmitting end required by estimation is provided, and the existence of the inclined angle alpha provides incidence angle information of light required by positioning calculation;
step 2: obtaining the ID, the coordinate position information and the polarization direction information of the attached polaroid of each LED by utilizing the optical signals obtained in the step 1, measuring the received signal strength of the optical signals, and realizing the positioning and the orientation estimation of the receiving end by combining the rotation angle information between the polarization directions of the polaroids of the receiving end and the transmitting end and the incidence angle information of the light obtained by the inclination angle alpha, wherein the method specifically comprises the following steps:
Step 2.1: extracting information transmitted by each LED through a visible light communication technology;
Step 2.2: calculating rotation angles eta 1,η2 and eta 3 between the polarization direction of the PD 1 with the polaroid attached to the receiving end and delta 1,δ2,δ3 by using the PD 1 and the PD 2 with the polaroid attached to the receiving end, obtaining four candidate orientations by using any two rotation angles and the polarization direction of the corresponding LED side polaroid, and completing estimation of the orientation phi of the receiving end by comparing the numerical relation between the candidate orientations;
Step 2.3: the orientation phi and the orientation phi plus pi both meet the rotation angle relation in the step 2.2, and the received signal strength of each photodiode is judged to eliminate the redundant orientation through the structural characteristics of the photodiode array;
Step 2.4: converting the received signal strength obtained by the PD 1 with the polarizer and the PD 2 into a received signal strength measured by the photodiode at the same position without the polarizer, and recording the received signal strength as PD 12;
Step 2.5: according to the received signal strength ratio between PD 12、PD3 and PD 4 and the inclination angle alpha of the photodiode and the bottom plate, combining a light propagation model to calculate the incident angles beta 12、β3 and beta 4 of light rays emitted by a light source to the photodiode;
Step 2.6: and 2, constructing a least square problem about the coordinates of the receiving end by combining the geometric relation of vectors in the measurement space and the light propagation model according to the incidence angle obtained in the step 2.5, and solving the least square problem to obtain the coordinates of the receiving end in the measurement space.
2. The method of positioning visible light according to claim 1, wherein said step1 comprises the steps of:
Step 1.1: establishing a coordinate system in the measurement space, wherein the LED 1、LED2 and the LED 3 are respectively denoted as e 1、e2 and e 3;
Step 1.2: polarizing plates with a polarization direction delta 1,δ2,δ3 are respectively arranged and attached for e 1、e2 and e 3;
Step 1.3: each LED is assigned a frequency so as to flash at a certain frequency, and a linearly polarized light signal carrying the inherent information of the LED is transmitted, wherein the inherent information comprises the ID of the LED, the coordinate information and the polarization direction information of the attached polaroid.
3. The method for positioning visible light according to claim 1, wherein: the four photodiodes include photodiodes PD 1、PD2、PD3 and PD 4,PD1 and PD 2 mounted in the same direction at an angle of 120 ° to the direction in which PD 3、PD4 is located.
4. A method of positioning visible light as defined in claim 3, wherein: rotation angles η 1,η2 and η 3 between the polarization direction of the receiving-end polarizer-attached PD 1 and δ 1,δ2,δ3 are calculated using the polarizer-attached PD 1 and the PD 2, and the calculation formula is:
5. A visible light positioning system, characterized in that: the transmitting end transmits linear polarized light signals carrying inherent information of the LEDs by utilizing the LED signal generating circuit, the LEDs and the polaroid, wherein the inherent information comprises the ID (identity) of the LEDs, coordinate information and polarization direction information of the attached polaroid;
the receiving end comprises: a photodiode array, a polarizer, and a signal processing circuit;
The photodiode array of the receiving end comprises four photodiodes, and all the photodiodes are inclined to the bottom plate of the photodiode array at the same angle alpha by inserting the photodiodes into the photodiode base part;
Four photodiodes in the photodiode array are oriented toward the center of the photodiode array backplane in three directions at 2:1:1, wherein the included angle between the three directions is 120 degrees;
The polaroids of the receiving end are attached to two photodiodes in two directions in the photodiode array, and the polarization directions of the two polaroids are perpendicular to each other;
the system extracts information transmitted by each LED through a visible light communication technology;
Calculating rotation angles eta 1,η2 and eta 3 between the polarization direction of the PD 1 with the polaroid attached to the receiving end and delta 1,δ2,δ3 by using the PD 1 and the PD 2 with the polaroid attached to the receiving end, obtaining four candidate orientations by using any two rotation angles and the polarization direction of the corresponding LED side polaroid, and completing estimation of the orientation phi of the receiving end by comparing the numerical relation between the candidate orientations; the orientation phi and the orientation phi plus pi both meet the rotation angle relation, and the received signal intensity of each photodiode is judged to eliminate the redundant orientation through the structural characteristics of the photodiode array;
Converting the received signal strength obtained by the PD 1 with the polarizer and the PD 2 into a received signal strength measured by the photodiode at the same position without the polarizer, and recording the received signal strength as PD 12; according to the received signal strength ratio between PD 12、PD3 and PD 4 and the inclination angle alpha of the photodiode and the bottom plate, combining a light propagation model to calculate the incident angles beta 12、β3 and beta 4 of light rays emitted by a light source to the photodiode; according to the obtained incidence angle, combining the geometric relation of vectors in the measurement space and the light propagation model, constructing a least square problem about the coordinates of the receiving end, and solving the least square problem to obtain the coordinates of the receiving end in the measurement space.
CN202111021526.4A 2021-09-01 2021-09-01 Visible light positioning method and system Active CN113947100B (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109343000A (en) * 2018-09-17 2019-02-15 中国电子科技集团公司电子科学研究院 A kind of indoor visible light imaging positioning system and localization method
CN112468231A (en) * 2020-11-19 2021-03-09 长江大学 LED polarization array visible light transmission system
CN112821948A (en) * 2020-11-26 2021-05-18 中山市中创光电产业技术研究院 Visible light multicolor high-speed transmission array system based on polarization

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109343000A (en) * 2018-09-17 2019-02-15 中国电子科技集团公司电子科学研究院 A kind of indoor visible light imaging positioning system and localization method
CN112468231A (en) * 2020-11-19 2021-03-09 长江大学 LED polarization array visible light transmission system
CN112821948A (en) * 2020-11-26 2021-05-18 中山市中创光电产业技术研究院 Visible light multicolor high-speed transmission array system based on polarization

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