CN114460590B - Third-party object detection and positioning method and system, storage medium and electronic equipment - Google Patents
Third-party object detection and positioning method and system, storage medium and electronic equipment Download PDFInfo
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- 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
- G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
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Abstract
The invention provides a third-party object detection and positioning method, a third-party object detection and positioning system, a storage medium and electronic equipment, wherein the method comprises the following steps: constructing a transmitting signal matrix corresponding to each LED transmitting end according to the transmitting parameters; receiving the signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end; judging the signal combination by adopting a mean CFAR algorithm; and if the echo signals reflected by the scatterers exist in the signal combination, the position information of the scatterers in the three-dimensional space is solved according to the detection information corresponding to the echo signals. The third-party object detection and positioning method provided by the invention analyzes the coordinates of the scatterer according to the direct signal and the echo signal, does not need the scatterer to have the function of receiving the signal, solves the problem that the traditional wireless positioning mode is difficult to directly position the target to be positioned without the signal receiving function, and has the advantages of wide positioning coverage range, high speed and high accuracy.
Description
Technical Field
The invention relates to the technical field of wireless communication positioning, in particular to a third-party object detection and positioning method, a third-party object detection and positioning system, a storage medium and electronic equipment.
Background
With the rapid development of technologies such as artificial intelligence, big data, internet of things and the like, the application of wireless positioning technology is more and more extensive.
Wireless positioning refers to measuring characteristic parameters of received radio waves in a wireless mobile communication network, estimating the geographical position of a mobile terminal by using measured wireless signal data and adopting a specific algorithm, and providing accurate terminal position information and service.
The existing wireless positioning mode is generally to analyze signals transmitted by a plurality of signal transmitting terminals received by a target to be positioned so as to obtain the position of the target to be positioned, and the positioning mode requires that the target to be positioned must have the capability of receiving positioning signals, and if the target to be positioned does not have the performance of receiving signals, the target is difficult to be directly positioned, so that higher limitation exists.
Disclosure of Invention
Therefore, the present invention is directed to a method, a system, a storage medium, and an electronic device for detecting and positioning a third-party object, so as to solve the problem that it is difficult to directly position a target without a signal receiving function in a conventional wireless positioning manner, and have high applicability.
The invention provides a third-party object detection and positioning method, which is applied to electronic equipment and comprises the following steps:
acquiring emission parameters of a plurality of LED emission ends to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, wherein the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
judging the signal combination by adopting a mean CFAR algorithm to judge whether echo signals reflected by scatterers exist in the signal combination;
and if the echo signals reflected by the scatterers exist in the signal combination, the position information of the scatterers in the three-dimensional space is solved according to the detection information corresponding to the echo signals.
In summary, according to the third-party object detection and positioning method, on one hand, visible light signals can be directly received, on the other hand, visible light signals can be received after being reflected by the scatterers, the spatial position of the scatterers is solved according to the collected direct visible light signals and the reflected visible light signals, the scatterers are not required to have the function of receiving detection signals, the problem that a target without a signal receiving function is difficult to be directly positioned in a traditional wireless positioning mode is solved, and the method has high applicability. Specifically, a transmitting signal matrix related to each LED transmitting end is firstly constructed, received signal combinations are detected according to the transmitting signal matrixes, detection information corresponding to each LED transmitting end is obtained, then detection information corresponding to each LED transmitting end is distinguished by adopting an average CFAR algorithm, whether echo signals exist in the signal combinations or not is judged, if the echo signals exist, the positions of scatterers in a three-dimensional space are solved according to the detection information corresponding to the echo signals, and positioning is carried out by adopting visible light signals.
Further, the step of obtaining emission parameters of a plurality of LED emission ends to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters includes:
acquiring size information of a three-dimensional space, and acquiring and calculating the maximum time delay and the number of maximum time delay points corresponding to the maximum time delay according to the size information of the three-dimensional space;
and constructing a transmitting signal matrix corresponding to each LED transmitting end according to the maximum time delay and the number of the maximum time delay points.
Further, the step of receiving the signal combination to detect the signal combination according to the emission signal matrix to obtain detection information corresponding to each LED emission end includes:
performing cross-correlation operation on the emission signal matrix corresponding to each LED emission end and the signal combination to obtain an inner product value after the signal combination and the emission signal matrix are correlated;
arranging the inner product values after the signal combination and the transmitting signal matrix are correlated in a descending order to extract a column sequence number corresponding to the maximum inner product value, wherein the column sequence number is an index corresponding to the inner product value one by one during each iterative operation;
acquiring an index set of the iterative operation according to an index corresponding to the maximum inner product value, and selecting a column vector in a corresponding transmitting signal matrix according to the index set of the iterative operation;
and calculating to obtain detection information corresponding to each LED transmitting end according to the signal combination and the column vector in the selected transmitting signal matrix, and updating the difference between the actual receiving signal and the estimated receiving signal in the iterative operation according to the detection information.
Judging whether the difference value between the actual received signal and the estimated received signal in the iterative operation is larger than a preset difference threshold value or whether the corresponding times of the next iterative operation reach a maximum preset iterative times threshold value;
and if the difference value between the actual received signal and the estimated received signal in the iterative operation is greater than a preset difference value threshold value, or the number of times corresponding to the next iterative operation reaches a maximum preset iterative number threshold value, outputting a detection information set corresponding to each LED transmitting terminal.
Further, the step of solving the position information of the scatterer in the three-dimensional space according to the detection information corresponding to the echo signal includes:
according to the intensity, the detection information sets corresponding to the LED transmitting terminals are arranged in a descending order, so that the first detection information is marked as direct signal detection information according to the sorting result, and other detection information is marked as echo signal detection information;
and randomly selecting one piece of detection information from all the echo signal detection information corresponding to each LED transmitting end for combination, and solving the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination.
Further, the step of solving the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination includes:
calculating the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector according to the arrival time of the echo signal and the direct signal corresponding to each LED transmitting end and the distance from each LED transmitting end to the photoelectric detector;
constructing an equation set according to the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector, and solving the equation set to obtain the position coordinates of the scatterer in a three-dimensional space;
the system of equations is:
wherein (x, y, z) represents the coordinates of the scatterer in three-dimensional space, (x)LEDi，yLEDi，zLEDi) Represents the position coordinates of the ith LED emitting end in three-dimensional space, (x)PD，yPD，zPD) Representing the position coordinates of the photodetector in three-dimensional space, dtrRepresenting the distance of the scattering body from the photodetector, ditRepresents the distance from the scatterer to the i-th LED emitting end, dsiRepresents the sum of the distances from the ith LED emitting end to the scatterer and then to the photodetector, d0 iDenotes the distance from the i-th LED emitting end to the photodetector, c denotes the speed of light, τi echoIndicating the arrival time, tau, of the echo signal corresponding to the ith LEDi directIndicating the arrival time of the direct signal corresponding to the ith LED.
Further, the step of randomly selecting one piece of detection information from all pieces of echo signal detection information corresponding to each LED transmitting end to combine, and solving the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination further includes:
calculating a time delay verification value and an intensity verification value of the echo signal in a reverse-deducing mode according to the solved position information of the scatterer;
and comparing the time delay verification value and the strength verification value corresponding to the echo signal with the echo signal detection information in the corresponding solving combination to calculate to obtain a positioning error value.
Further, the step of comparing the time delay verification value and the strength verification value corresponding to the echo signal with the echo signal detection information in the corresponding solution combination to calculate a positioning error value includes:
judging whether the positioning error value is smaller than a preset error value or not;
if so, judging the solved position information of the scatterer as target position information, and outputting the target position information;
and if not, excluding the position information of the scatterer which is solved, and calculating the position information of the scatterer according to the echo signal detection information in the next combination until all combinations are calculated in a traversing manner.
The third-party object detection and positioning system provided by the embodiment of the invention is applied to electronic equipment, and comprises:
the signal matrix construction module is used for acquiring emission parameters of a plurality of LED emission ends so as to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
the signal detection module is used for receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, and the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
the target judgment module is used for judging the signal combination by adopting a mean CFAR algorithm so as to judge whether echo signals reflected by the scatterer exist in the signal combination;
and the position output module is used for solving the position information of the scatterer in the three-dimensional space according to the detection information corresponding to the echo signal if the echo signal reflected by the scatterer exists in the signal combination.
Another aspect of the present invention also provides a storage medium, which includes one or more programs stored on the storage medium, and when executed, the storage medium implements the third-party object detecting and positioning method as described above.
Another aspect of the present invention also provides an electronic device, which includes a memory and a processor, wherein:
the memory is used for storing computer programs;
the processor is configured to implement the third-party object detection and positioning method as described above when executing the computer program stored in the memory.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
Fig. 1 is a flowchart of a third-party object detecting and positioning method according to a first embodiment of the present invention;
FIG. 2 is a third-party object positioning scene simulation diagram according to the first embodiment of the present invention;
FIG. 3 is a flowchart of a third-party object detecting and positioning method according to a second embodiment of the present invention;
FIG. 4 is a detailed diagram of step S12 in the second embodiment of the present invention;
FIG. 5 is a flow chart of an iterative operation according to a second embodiment of the present invention;
fig. 6 is a schematic structural diagram of a third-party object detecting and positioning system according to a third embodiment of the present invention.
The following detailed description will further illustrate the invention in conjunction with the above-described figures.
Detailed Description
To facilitate an understanding of the invention, the invention will now be described more fully with reference to the accompanying drawings. Several embodiments of the invention are presented in the drawings. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1, a flowchart of a third party object detecting and positioning method according to a first embodiment of the present invention is shown, the method is applied to an electronic device, and the method includes steps S01 to S04, where:
step S01: acquiring emission parameters of a plurality of LED emission ends to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
it should be noted that, referring to fig. 2, a positioning scene simulation diagram is shown, in which a Photo Detector (PD), a third-party object and a plurality of LED emitting ends are distributed in a three-dimensional space, and the photo detector can receive a visible light signal emitted by each LED emitting end, in this step, in order to construct an emitted signal matrix, first, size information of the three-dimensional space, that is, length, width, and high-level data of the three-dimensional space is obtained, and a maximum time delay and a maximum number of time delay points corresponding to the maximum time delay are calculated according to the size information of the three-dimensional space, specifically, three points are arbitrarily selected in the three-dimensional space, and respectively simulate and represent the LED emitting ends, scatterers, and photo detectors to find out a maximum distance between the three points, and it is to be noted that the selected three points are arbitrary positions in the three-dimensional space and do not represent true positions of the LED emitting ends, scatterers, and photo detectors, the method aims to calculate the maximum time delay existing in the three-dimensional space according to the maximum distance of the three points and obtain the number of the maximum time delay points corresponding to the maximum time delay.
Further, the maximum time delay of each LED transmitting end is the same as the maximum time delay point number, and based on the maximum time delay, the maximum time delay point number and the transmitting parameters corresponding to each LED transmitting end, a transmitting signal matrix is constructed.
The emitting signal matrix corresponding to any LED emitting end is expressed as follows:
wherein S isiIndicating the sequence emitted by the ith LED emitter, SiMM signal in sequence representing ith transmitting terminal, M represents length of transmitting sequence, N2Represents the maximum number of time delay points, i represents the ith LED emitting end, i =1,2, …, N1。
Step S02: receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, wherein the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
it can be understood that the signal combination includes a direct signal that each LED transmitting end directly reaches the photodetector, and may also include an echo signal that the signal transmitted by each LED transmitting end is reflected by a scattering body and then transmitted to the photodetector, and based on this, the signal combination is detected according to the transmitted signal matrix to obtain detection information respectively corresponding to each LED transmitting end, where the detection information includes delay information and intensity information.
Step S03: judging the signal combination by adopting a mean CFAR algorithm to judge whether echo signals reflected by scatterers exist in the signal combination;
it should be noted that, atmospheric noise, artificial noise, internal noise, other clutter, etc. may also exist in the three-dimensional space, and the signal is generally superimposed on the noise, that is, the signal combination also includes noise, in order to prevent the occurrence of the echo signal from being caused by the noise, a mean value CFAR algorithm is adopted for detection, the algorithm first processes the input noise to determine a decision threshold, and then compares the decision threshold with the signal combination, if the input signal combination exceeds the decision threshold, it is determined that a scatterer exists, that is, an echo signal exists, otherwise, it is determined that a scatterer does not exist, that is, a third-party object.
Step S04: and if the echo signals reflected by the scatterers exist in the signal combination, the position information of the scatterers in the three-dimensional space is solved according to the detection information corresponding to the echo signals.
It can be understood that when scatterers exist in a three-dimensional space, it is stated that there are more than direct signals directly transmitted from the LED emission ends to the photodetector in the signal combination, and there are echo signals transmitted to the photodetector after being reflected by the scatterers, and at this time, the spatial coordinates of the scatterers can be solved together according to the detection information corresponding to the echo signals reflected by the scatterers by each LED emission end and the detection information corresponding to the direct signals.
In summary, according to the third-party object detection and positioning method, on one hand, visible light signals can be directly received, on the other hand, visible light signals can be received after being reflected by the scatterers, the spatial position of the scatterers is solved according to the collected direct visible light signals and the reflected visible light signals, the scatterers are not required to have the function of receiving detection signals, the problem that a target without a signal receiving function is difficult to be directly positioned in a traditional wireless positioning mode is solved, and the method has high applicability. Specifically, a transmitting signal matrix related to each LED transmitting end is firstly constructed, received signal combinations are detected according to the transmitting signal matrixes, detection information corresponding to each LED transmitting end is obtained, then detection information corresponding to each LED transmitting end is distinguished by adopting an average CFAR algorithm, whether echo signals exist in the signal combinations or not is judged, if the echo signals exist, the positions of scatterers in a three-dimensional space are solved according to the detection information corresponding to the echo signals, and positioning is carried out by adopting visible light signals.
Referring to fig. 3, a flowchart of a third party object detecting and positioning method according to a second embodiment of the present invention is shown, the method is applied to an electronic device, and the method includes steps S11 to S15, where:
step S11: acquiring emission parameters of a plurality of LED emission ends to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
step S12: receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, wherein the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
further, referring to fig. 4, which is a detailed diagram of step S12, step S12 includes steps S121 to S126, wherein:
step S121: performing cross-correlation operation on the emission signal matrix corresponding to each LED emission end and the signal combination to obtain an inner product value after the signal combination and the emission signal matrix are correlated;
the inner product value is expressed as:
y represents a signal combination, u represents an inner product value of the signal combination related to an emission signal matrix corresponding to the i-th LED emission end, abs [ ] represents an absolute value calculation function, and T represents transposition.
Step S122: arranging the inner product values after the signal combination and the transmitting signal matrix are correlated in a descending order to extract a column sequence number corresponding to the maximum inner product value, wherein the column sequence number is an index corresponding to the inner product value one by one during each iterative operation;
step S123: acquiring an index set of the iterative operation according to an index corresponding to the maximum inner product value, and selecting a column vector in a corresponding transmitting signal matrix according to the index set of the iterative operation;
step S124: and calculating to obtain detection information corresponding to each LED transmitting end according to the signal combination and the column vector in the selected transmitting signal matrix, and updating the difference between the actual receiving signal and the estimated receiving signal in the iterative operation according to the detection information.
Step S125: judging whether the difference value between the actual received signal and the estimated received signal in the iterative operation is larger than a preset difference threshold value or not, or whether the corresponding times of the next iterative operation reach the maximum preset iterative times threshold value or not;
step S126: and if the difference value between the actual received signal and the estimated received signal in the iterative operation is greater than a preset difference value threshold value, or the number of times corresponding to the next iterative operation reaches a maximum preset iterative number threshold value, outputting a detection information set corresponding to each LED transmitting terminal.
By way of example and not limitation, the detailed procedure of the iterative algorithm is shown in FIG. 5, where y represents the signal combination, SiRepresenting the sequence emitted by the ith LED emitter, t representing the number of iterations, r0Representing the initial value of the difference between the actual received signal and the estimated received signal, a representing the sequence emitted by each LED, a0Denotes an initial set of indexes (column numbers), a denotes an empty set, a0Representation by index Λ0The initial set of columns of matrix A is selected, u represents the signal y and the transmitted sequence SiThe inner product value after correlation, abs]Representing absolute value calculation function, T representing transposition, rt-1Representing the difference between the actual received signal and the estimated received signal at the (t-1) th iteration, J representing the index (column number) corresponding to the maximum value in u found at each iteration, J representing the set of column numbers J, J belonging to J, ΛtRepresents a set of t iteration indexes (column indexes) (note: the number of elements is L)tIn general, there is Lt ≠ t, since the index j found in each iteration does not generally contain only one column number), AtRepresentation by index ΛtSelected column set of matrix A, ajRepresents the jth column of matrix A, the symbol @, represents the union operation,
is LtA column vector of x 1 representing the reconstructed coefficient estimate, argmin | representing the variable value operation when the 2-norm of the equation takes the minimum value, θtRepresenting a variable, (. cndot.) representing an inversion, rtRepresenting the difference between the actual received signal and the estimated received signal in the current iteration operation, K representing the maximum iteration number, rthA pre-set difference threshold value is indicated,
representing results after the last iteration
. By adopting the specific iterative operation algorithm detailed in the step, the parameter information corresponding to each LED transmitting end is extracted from the signal combination, and the parameter information is the detection information, so that the direct signals and the reflected echo signals of the plurality of LED transmitting ends are distinguished.
It should be noted that the preset difference threshold and the maximum preset iteration threshold are mainly related to a positioning scene of the third-party object, and the main purpose of the setting is to determine that the iterative operation is terminated under a specified condition, and a user may set the preset difference threshold and the maximum preset iteration threshold in combination with an actual scene.
Step S13: judging the signal combination by adopting a mean CFAR algorithm to judge whether echo signals reflected by scatterers exist in the signal combination;
step S14: according to the intensity, the detection information sets corresponding to the LED transmitting terminals are arranged in a descending order, so that the first detection information is marked as direct signal detection information according to the sorting result, and other detection information is marked as echo signal detection information;
it can be understood that, since the signal strength of the direct signal is stronger than that of the echo signal, the first detection information in the sequencing result is used as the direct signal detection information, and the rest is used as the echo signal detection information reflected by the target.
Step S15: and randomly selecting one piece of detection information from all the echo signal detection information corresponding to each LED transmitting end for combination, and solving the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination.
Selecting one piece of detection information from all pieces of echo signal detection information corresponding to each LED transmitting end to be combined, and assuming that m exists in the first LED transmitting end1A parameterMeasuring information, m in the second LED emitter2Measurement information of individual parameters, analogized in turn, Nth1M in each LED emitting endkIndividual parameter measurement information, N1Representing the total number of LEDs, there are (m) in total1-1）×（m2-1）×…×（mk-1) combination cases.
Further, based on all possible combinations, calculating the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector according to the arrival time calculation of the echo signal and the direct signal corresponding to each LED transmitting end in each combination and the distance from each LED transmitting end to the photoelectric detector;
constructing an equation set according to the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector, and solving the equation set to obtain the position coordinates of the scatterer in a three-dimensional space;
it should be noted that, because the direct signal detection information and the echo signal detection information include the time delay information and the intensity information of the corresponding signals, the time for the signal transmitted by each LED transmitting end to reach the photodetector after transmission and the time for the signal transmitted by each LED transmitting end to reach the photodetector after transmission can be respectively obtained according to the time delay information included in the direct signal detection information and the echo signal detection information, and then a relational expression related to the distance is constructed according to the signal arrival time.
Specifically, the system of equations is constructed as follows:
wherein (x, y, z) represents the coordinates of the scatterer in three-dimensional space, (x)LEDi，yLEDi，zLEDi) Represents the position coordinates of the ith LED emitting end in three-dimensional space, (x)PD，yPD，zPD) Representing the position coordinates of the photodetector in three-dimensional space, dtrRepresenting the distance of the scattering body from the photodetector, ditRepresents the distance from the scatterer to the i-th LED emitting end, dsiRepresents the sum of the distances from the ith LED emitting end to the scatterer and then to the photodetector, d0 iDenotes the distance from the i-th LED emitting end to the photodetector, c denotes the speed of light, τi echoIndicating the arrival time, tau, of the echo signal corresponding to the ith LEDi directIndicating the arrival time of the direct signal corresponding to the ith LED.
The equation set is simplified and rewritten into a linear equation set Ax = b form:
a matrix expression Ax = b can thus be obtained, in which:
due to dtrIs unknown, so the expression can be reduced to A1x=b1In the formula:
solving the most probable coordinate position of the scatterer to be positioned by using a convex optimization method so as to obtain an optimal solution, then comparing the assumed coordinate of the scatterer to be positioned with the most probable position optimal solution of the scatterer to be positioned, and solving the positioning error of the positioning method so as to obtain the positioning error corresponding to the current combination, wherein the specific process comprises the following steps of: calculating a time delay verification value and an intensity verification value of the echo signal in a reverse-deducing mode according to the solved position information of the scatterer;
comparing a time delay verification value and an intensity verification value corresponding to the echo signal with echo signal detection information in a corresponding solving combination to calculate to obtain a positioning error value, wherein the detection information comprises time delay information and intensity information of the signal, and based on the time delay verification value and the intensity verification value obtained after back-stepping is compared with echo signal detection information in the solving combination, the positioning error value corresponding to the combination can be effectively obtained, and then whether the positioning error value is smaller than a preset error value is judged; if the obtained positioning error value is smaller than the preset error value, judging that the solved position information of the scatterer is target position information, and outputting the target position information value as a final result;
if the corresponding positioning error in the combination is larger than the preset error value, the position error solved by the combination is over high, the position information of the scatterer solved by the combination is eliminated, namely the combination condition is not satisfied, the position information of the scatterer is calculated according to the echo signal detection information in the next combination until all combinations are traversed and calculated, so that the corresponding position information when the positioning error is small is obtained, and the output target position information is effective, reliable and high in accuracy.
It should be noted that the preset error value is set to ensure that the output target position information is accurate and reliable, and the error is not too large, and in this embodiment, the positioning error value is related to the actual performance of the photodetector and the LED emitting end and the distribution in space, so the preset error value is not limited in detail in this embodiment.
In summary, according to the third-party object detection and positioning method, on one hand, visible light signals can be directly received, on the other hand, visible light signals can be received after being reflected by the scatterers, the spatial position of the scatterers is solved according to the collected direct visible light signals and the reflected visible light signals, the scatterers are not required to have the function of receiving detection signals, the problem that a target without a signal receiving function is difficult to be directly positioned in a traditional wireless positioning mode is solved, and the method has high applicability. The method comprises the steps of firstly constructing a transmitting signal matrix related to each LED transmitting end, detecting a received signal combination according to each transmitting signal matrix to obtain detection information corresponding to each LED transmitting end, then distinguishing the detection information corresponding to each LED transmitting end by adopting a mean CFAR algorithm to judge whether an echo signal exists in the signal combination, solving the position of a scattering body in a three-dimensional space according to the detection information corresponding to the echo signal if the echo signal exists, and positioning by adopting a visible light signal.
Referring to fig. 6, a schematic structural diagram of a third-party object detecting and positioning system in a third embodiment of the present invention is shown, where the system includes:
the signal matrix construction module 10 is configured to obtain emission parameters of a plurality of LED emission ends, and construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
further, the signal matrix building module 10 further includes:
the time delay obtaining unit is used for obtaining the size information of the three-dimensional space and obtaining and calculating the maximum time delay and the maximum time delay point number corresponding to the maximum time delay according to the size information of the three-dimensional space;
and the transmitting signal matrix constructing unit is used for constructing a transmitting signal matrix corresponding to each LED transmitting end according to the maximum time delay and the number of the maximum time delay points.
The signal detection module 20 is configured to receive a signal combination, detect the signal combination according to the emission signal matrix, and obtain detection information corresponding to each LED emission end, where the signal combination includes visible light signals emitted by all the LED emission ends in a three-dimensional space;
further, the signal detection module 20 further includes:
the inner product value calculation unit is used for performing cross-correlation operation on the emission signal matrix corresponding to each LED emission end and the signal combination to obtain an inner product value after the signal combination is correlated with the emission signal matrix;
the index extraction unit is used for carrying out descending arrangement on the inner product values after the signal combination and the transmitting signal matrix are correlated so as to extract a row serial number corresponding to the maximum inner product value, wherein the row serial number is an index which corresponds to the inner product value one by one during each iterative operation;
the column vector selecting unit is used for acquiring an index set of the iterative operation according to the index corresponding to the maximum inner product value, and selecting the column vector in the corresponding transmitting signal matrix according to the index set of the iterative operation;
the difference value calculating unit is used for calculating to obtain detection information corresponding to each LED transmitting end according to the signal combination and the column vector in the selected transmitting signal matrix, and updating the difference value between the actual receiving signal and the estimated receiving signal in the iterative operation according to the detection information;
the iterative operation detection unit is used for judging whether the difference value between the actual received signal and the estimated received signal in the iterative operation is larger than a preset difference threshold value or whether the corresponding times of the next iterative operation reach a maximum preset iterative times threshold value;
and the detection information output unit is used for outputting a detection information set corresponding to each LED transmitting end if the difference value between the actual receiving signal and the estimated receiving signal in the iterative operation is greater than a preset difference value threshold value or the number of times corresponding to the next iterative operation reaches a maximum preset iterative number threshold value.
The target judgment module 30 is configured to judge a signal combination by using a mean CFAR algorithm to judge whether an echo signal reflected by a scatterer exists in the signal combination;
and the position output module 40 is configured to, if an echo signal reflected by the scatterer exists in the signal combination, solve position information of the scatterer in a three-dimensional space according to detection information corresponding to the echo signal.
Further, the position output module 40 further includes:
the information labeling unit is used for performing descending order arrangement on the detection information sets corresponding to the LED transmitting terminals according to the intensity, labeling the first detection information as direct signal detection information according to the ordering result, and labeling other detection information as echo signal detection information;
and the information arrangement and combination unit is used for randomly selecting one piece of detection information from all the echo signal detection information corresponding to each LED transmitting end to be combined so as to solve the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination.
Further, in some optional embodiments of the present invention, the system further comprises:
the distance calculation module is used for calculating the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector according to the arrival time of the echo signal and the direct signal corresponding to each LED transmitting end and the distance from each LED transmitting end to the photoelectric detector;
the position equation set building module is used for building an equation set according to the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector, and solving the equation set to obtain the position coordinates of the scatterer in a three-dimensional space;
the system of equations is:
wherein (x, y, z) represents the coordinates of the scatterer in three-dimensional space, (x)LEDi，yLEDi，zLEDi) Represents the position coordinates of the ith LED emitting end in three-dimensional space, (x)PD，yPD，zPD) Representing the position coordinates of the photodetector in three-dimensional space, dtrRepresenting the distance of the scattering body from the photodetector, ditRepresents the distance from the scatterer to the i-th LED emitting end, dsiRepresents the sum of the distances from the ith LED emitting end to the scatterer and then to the photodetector, d0 iIndicating the ith LED emitting endDistance to the photodetector, c denotes the speed of light, τi echoIndicating the arrival time, tau, of the echo signal corresponding to the ith LEDi directIndicating the arrival time of the direct signal corresponding to the ith LED.
Further, in some optional embodiments of the present invention, the system further comprises:
the result verification module is used for calculating a time delay verification value and an intensity verification value of the echo signal in a reverse-deducing mode according to the solved position information of the scatterer;
the information comparison module is used for comparing the time delay verification value and the strength verification value corresponding to the echo signal with the echo signal detection information in the corresponding solving combination so as to calculate and obtain a positioning error value;
the error value detection module is used for judging whether the positioning error value is smaller than a preset error value or not;
the result output module is used for judging the position information of the solved scatterer as target position information if the position information of the scatterer is the target position information, and outputting the target position information;
and the combination traversing module is used for eliminating the position information of the solved scatterer if the position information of the scatterer is not solved, and calculating the position information of the scatterer according to the echo signal detection information in the next combination until all combinations are traversed and calculated.
In summary, according to the third-party object detection and positioning system, on one hand, visible light signals can be directly received, on the other hand, visible light signals can be received after being reflected by the scatterers, the spatial position of the scatterers is solved according to the collected direct visible light signals and the reflected visible light signals, the scatterers are not required to have the function of receiving detection signals, the problem that a target without a signal receiving function is difficult to directly position in a traditional wireless positioning mode is solved, and the third-party object detection and positioning system has high applicability. Specifically, a transmitting signal matrix related to each LED transmitting end is firstly constructed, received signal combinations are detected according to the transmitting signal matrixes, detection information corresponding to each LED transmitting end is obtained, then detection information corresponding to each LED transmitting end is distinguished by adopting an average CFAR algorithm, whether echo signals exist in the signal combinations or not is judged, if the echo signals exist, the positions of scatterers in a three-dimensional space are solved according to the detection information corresponding to the echo signals, and positioning is carried out by adopting visible light signals.
In another aspect, the present invention further provides a computer storage medium, on which one or more programs are stored, and the programs, when executed by a processor, implement the third-party object detecting and positioning method.
In another aspect of the present invention, an electronic device is further provided, which includes a memory and a processor, where the memory is used to store a computer program, and the processor is used to execute the computer program stored in the memory, so as to implement the third-party object detecting and positioning method described above.
Those of skill in the art will understand that the logic and/or steps represented in the flowcharts or otherwise described herein, e.g., an ordered listing of executable instructions that can be viewed as implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.
More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, the various steps or methods may be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following techniques, which are known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is specific and detailed, but not to be construed as limiting the scope of the present invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present invention should be subject to the appended claims.
Claims (9)
1. A third-party object detection and positioning method is applied to electronic equipment, and comprises the following steps:
acquiring emission parameters of a plurality of LED emission ends to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
acquiring size information of a three-dimensional space, and calculating the maximum time delay and the number of maximum time delay points corresponding to the maximum time delay according to the size information of the three-dimensional space, wherein a photoelectric detector and a plurality of LED transmitting terminals are distributed in the three-dimensional space;
constructing a transmitting signal matrix according to the obtained maximum time delay, the number of the maximum time delay points and the transmitting parameters corresponding to each LED transmitting terminal, wherein the transmitting signal matrix corresponding to any LED transmitting terminal is expressed as follows:
wherein S isiIndicating the sequence emitted by the ith LED emitter, SiMM signal in sequence representing ith transmitting terminal, M represents length of transmitting sequence, N2Represents the maximum delay point number, i represents the ith LED emitting end, i =1,2, …, N1；
Receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, wherein the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
judging the signal combination by adopting a mean CFAR algorithm to judge whether echo signals reflected by scatterers exist in the signal combination;
and if the echo signals reflected by the scatterers exist in the signal combination, the position information of the scatterers in the three-dimensional space is solved according to the detection information corresponding to the echo signals.
2. The method of claim 1, wherein the step of receiving the signal combination to detect the signal combination according to the emission signal matrix to obtain detection information corresponding to each of the LED emission ends comprises:
performing cross-correlation operation on the emission signal matrix corresponding to each LED emission end and the signal combination to obtain an inner product value after the signal combination and the emission signal matrix are correlated;
arranging the inner product values after the signal combination and the transmitting signal matrix are correlated in a descending order to extract a column sequence number corresponding to the maximum inner product value, wherein the column sequence number is an index corresponding to the inner product value one by one during each iterative operation;
acquiring an index set of the iterative operation according to an index corresponding to the maximum inner product value, and selecting a column vector in a corresponding transmitting signal matrix according to the index set of the iterative operation;
calculating to obtain detection information corresponding to each LED transmitting end according to the signal combination and the column vector in the selected transmitting signal matrix, and updating the difference value between the actual receiving signal and the estimated receiving signal in the iterative operation according to the detection information;
judging whether the difference value between the actual received signal and the estimated received signal in the iterative operation is larger than a preset difference threshold value or whether the corresponding times of the next iterative operation reach a maximum preset iterative times threshold value;
and if the difference value between the actual receiving signal and the estimated receiving signal in the iterative operation is greater than a preset difference threshold value, or the times corresponding to the next iterative operation reach a maximum preset iterative time threshold value, outputting a detection information set corresponding to each LED transmitting terminal.
3. The method according to claim 2, wherein the step of solving the positional information of the scatterer in the three-dimensional space based on the detection information corresponding to the echo signal comprises:
according to the intensity, the detection information sets corresponding to the LED transmitting terminals are arranged in a descending order, so that the first detection information is marked as direct signal detection information according to the sorting result, and other detection information is marked as echo signal detection information;
and randomly selecting one piece of detection information from all the echo signal detection information corresponding to each LED transmitting end for combination, and solving the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination.
4. The method according to claim 3, wherein the step of solving the position information of the scatterers according to the echo signal detection information corresponding to each LED transmitting terminal and the direct signal detection information corresponding to each LED transmitting terminal in each combination comprises:
calculating the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector according to the arrival time of the echo signal and the direct signal corresponding to each LED transmitting end and the distance from each LED transmitting end to the photoelectric detector;
constructing an equation set according to the sum of the distances from each LED transmitting end to the scatterer and then to the photoelectric detector, and solving the equation set to obtain the position coordinates of the scatterer in a three-dimensional space;
the system of equations is:
wherein (x, y, z) represents the coordinates of the scatterer in three-dimensional space, (x)LEDi，yLEDi，zLEDi) Represents the position coordinates of the ith LED emitting end in three-dimensional space, (x)PD，yPD，zPD) Representing the position coordinates of the photodetector in three-dimensional space, dtrRepresenting the distance of the scattering body from the photodetector, ditRepresents the distance from the scatterer to the i-th LED emitting end, dsiRepresents the sum of the distances from the ith LED emitting end to the scatterer and then to the photodetector, d0 iDenotes the distance from the i-th LED emitting end to the photodetector, c denotes the speed of light, τi echoIndicating the arrival time, tau, of the echo signal corresponding to the ith LEDi directIndicating the arrival time of the direct signal corresponding to the ith LED.
5. The method according to claim 3, wherein the step of randomly selecting one piece of detection information from all the echo signal detection information corresponding to each LED transmitting end for combination to solve the position information of the scatterer according to the echo signal detection information corresponding to each LED transmitting end and the direct signal detection information corresponding to each LED transmitting end in each combination further comprises:
calculating a time delay verification value and an intensity verification value of the echo signal in a reverse-deducing mode according to the solved position information of the scatterer;
and comparing the time delay verification value and the strength verification value corresponding to the echo signal with the echo signal detection information in the corresponding solving combination to calculate to obtain a positioning error value.
6. The method of claim 5, wherein the step of comparing the time delay verification value and the strength verification value corresponding to the echo signal with the echo signal detection information in the corresponding solution combination to calculate the positioning error value comprises:
judging whether the positioning error value is smaller than a preset error value or not;
if yes, judging the position information of the scatterer which is solved out as target position information, and outputting the target position information;
and if not, excluding the position information of the scatterer which is solved, and calculating the position information of the scatterer according to the echo signal detection information in the next combination until all combinations are calculated in a traversing manner.
7. A third party object detection and positioning system, applied to an electronic device, the system comprising:
the signal matrix construction module is used for acquiring emission parameters of a plurality of LED emission ends so as to construct an emission signal matrix corresponding to each LED emission end according to the emission parameters;
the time delay obtaining unit is used for obtaining the size information of a three-dimensional space so as to calculate the maximum time delay and the maximum time delay point number corresponding to the maximum time delay according to the size information of the three-dimensional space, and a photoelectric detector and a plurality of LED transmitting terminals are distributed in the three-dimensional space;
the transmitting signal matrix constructing unit is used for constructing a transmitting signal matrix according to the obtained maximum time delay, the number of the maximum time delay points and the transmitting parameters corresponding to each LED transmitting terminal, and the transmitting signal matrix corresponding to any LED transmitting terminal is represented as:
wherein S isiIndicating the sequence emitted by the ith LED emitter, SiMM signal in sequence representing ith transmitting terminal, M represents length of transmitting sequence, N2Represents the maximum delay point number, i represents the ith LED emitting end, i =1,2, …, N1；
The signal detection module is used for receiving a signal combination to detect the signal combination according to the emission signal matrix to obtain detection information respectively corresponding to each LED emission end, and the signal combination comprises visible light signals emitted by all the LED emission ends in a three-dimensional space;
the target judgment module is used for judging the signal combination by adopting a mean CFAR algorithm so as to judge whether echo signals reflected by the scatterer exist in the signal combination;
and the position output module is used for solving the position information of the scatterer in the three-dimensional space according to the detection information corresponding to the echo signal if the echo signal reflected by the scatterer exists in the signal combination.
8. A storage medium, comprising: the storage medium stores one or more programs which, when executed by a processor, implement the third party object detection and localization method of any one of claims 1-6.
9. An electronic device, comprising a memory and a processor, wherein:
the memory is used for storing computer programs;
the processor is configured to implement the third-party object detecting and locating method according to any one of claims 1 to 6 when executing the computer program stored in the memory.
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