CN118011319B - Light source positioning system and method based on rotation phase difference - Google Patents
Light source positioning system and method based on rotation phase difference Download PDFInfo
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Abstract
The invention relates to the technical field of visible light positioning, and discloses a light source positioning system and a light source positioning method based on a rotation phase difference, wherein the system comprises a transmitting end and a receiving end; the transmitting end comprises a modulation light source, and the receiving end comprises a rotation generating module, a photoelectric sensor, an electric rotation interface, an analog-to-digital conversion module and a digital signal processing module; the transmitting end is used for transmitting optical signals through the modulated light source; the receiving end is used for receiving the optical signal sent by the transmitting end through the photoelectric sensor and converting the optical signal into an electric signal, the rotation generating module and the electric rotation interface are coaxially and mechanically connected, the photoelectric sensor is electrically connected with the electric rotation interface, the electric rotation interface is electrically connected with the analog-to-digital conversion module, and the analog-to-digital conversion module is electrically connected with the digital signal processing module. The method solves the problems of complex algorithm, difficult deployment, small application range and the like in the prior art.
Description
Technical Field
The invention relates to the technical field of visible light positioning, in particular to a light source positioning system and method based on a rotation phase difference.
Background
With the vigorous development of information technology, the importance of spatial localization technology is increasingly highlighted. Indoor positioning, among other things, is regarded as "positioning the last kilometer", ensuring its accuracy is critical for many applications. In the face of complex indoor environments, traditional wireless positioning methods such as WiFi and Bluetooth are difficult to achieve high precision, and positioning methods such as laser and ultra-wideband wireless pulse are expensive. Visible light positioning has significant advantages from both positioning accuracy and system cost.
The triangulation method in the current visible light positioning algorithm is a positioning algorithm with wider application range. Triangulation achieves positioning calculations by measuring distance or angle, including measuring angle of arrival (AOA), time of arrival (TOA), time difference of arrival (TDOA), and signal strength (RSS). Among the triangulation methods, TDOA-based methods are widely studied due to their low hardware requirements, high accuracy, short time consumption, etc.
TDOA achieves positioning by measuring the time difference between the arrival of signals at the receiving end from different transmitting ends. The conventional TDOA determines a hyperbola by measuring a set of arrival time differences, and determines the spatial position of the receiver by the intersection of the three hyperbolas, so that the method also requires at least three LEDs to form an array transmitting end and requires that the transmitting ends keep transmitting synchronization, or uses at least three photoelectric sensors to form an array receiving end and requires that the receiving ends keep receiving synchronization. In this positioning process, the positioning of the receiving end and the transmitting end are opposite, and the actual position of any one end is known, so that the positioning of the other end can be realized.
Therefore, the current visible light positioning system based on TDOA needs to be formed by a large number of photoelectric sensors to acquire phase differences, and then the phase differences are positioned by solving complex solid geometry, so that the problems of complex algorithm, difficult deployment, small application range and the like exist.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides a light source positioning system and a light source positioning method based on a rotation phase difference, which solve the problems of complex algorithm, difficult deployment, small application range and the like in the prior art.
The invention solves the problems by adopting the following technical scheme:
A light source positioning system based on a rotation phase difference comprises a transmitting end and a receiving end; the transmitting end comprises a modulation light source, and the receiving end comprises a rotation generating module, a photoelectric sensor, an electric rotation interface, an analog-to-digital conversion module and a digital signal processing module;
the transmitting end is used for transmitting optical signals through the modulated light source;
The receiving end is used for receiving the optical signal sent by the transmitting end through the photoelectric sensor and converting the optical signal into an electric signal, the rotation generating module and the electric rotation interface are coaxially and mechanically connected, the photoelectric sensor is electrically connected with the electric rotation interface, the electric rotation interface is electrically connected with the analog-to-digital conversion module, and the analog-to-digital conversion module is electrically connected with the digital signal processing module.
As a preferable technical scheme, the number of the photoelectric sensors is two, and the two photoelectric sensors are positioned at the opposite-diameter point position taking the rotation center of the rotation generating module as a symmetrical point.
As a preferred solution, the frequency of the optical signal emitted by the modulated light source is higher than 200kHz.
As a preferred solution, the rotational speed of the electrical rotational interface is lower than 240r/min.
As a preferred solution, the sampling frequency of the analog-to-digital conversion module is higher than 50Msps.
As a preferable technical scheme, the digital signal processing module is used for processing signals synchronously sampled by two photoelectric sensors in the integral multiple modulation light source flickering period time domain by using Fourier transform to obtain frequency spectrums of two sampling signals, selecting simple harmonic signals with the same frequency and the maximum amplitude as light signals sent by the modulation light source in a Fourier transform result, combining a voltage formula and a phase difference formula to obtain a phase difference of the time domain, repeatedly using the Fourier transform in one rotation period by taking the time domain as a unit to obtain a rotation phase difference of one rotation period, and carrying out fitting comparison on the obtained rotation phase difference of one rotation period and a space circle parameter formula to obtain space circle position information of the modulation light source.
As a preferred technical solution, the voltage formula is:
，
；
The phase difference formula is:
；
the space circle parameter formula is:
；
the actual angle formula of the modulated light source is as follows:
；
the coordinate formula of the modulated light source is:
；
Wherein, 、/>Voltage values of two photoelectric sensors respectively,/>、/>Respectively voltage reference parameters of two photoelectric sensors, theta is optical frequency flash frequency, t is time variable,/>、/>Initial voltage phases of two photosensors, delta/>, respectivelyThe phase difference is delta T, T is a stroboscopic period, delta d is a distance difference between the two photoelectric sensors, c is a light speed, alpha is a virtual rotation angle, m is a projection distance between a rotation center and the modulation light source in an X axis, h is a projection distance between a PD rotation center and the modulation light source in a Y axis, and r is a rotation radius; beta is the angle between the projection of two photoelectric sensors on the OXY plane and the positive direction of the X axis, delta is the actual angle between the projection point of the modulated light source on the OXY plane and the connection line of the O point and the positive direction of the X axis, X, Y and Z are the coordinates of the modulated light source on the X axis, the Y axis and the Z axis respectively, the O point is the origin of the coordinate system, the O point refers to the rotation center, the X axis is the direction of the straight line where the connection line of the O point and the zero angle position of the rotation generating module is located, the positive direction of the X axis is the direction from the O point to the rotation generating module, the Z axis is the straight line where the rotation center and the connection line of the rotation generating module far away from the surface center of the electric rotation interface are located, and the Y axis is the straight line where the X axis and the Z axis are orthogonal.
As a preferable technical scheme, the transmitting end further comprises a driving circuit of a modulation light source, the modulation light source is an LED, the driving circuit comprises a first terminal for externally connecting a frequency control pin of a controller, a second terminal for electrically connecting with a negative pin of the modulation light source, a 5V power supply for electrically connecting with a positive pin of the modulation light source, a resistor R101, a resistor R102, a field effect tube Q1 and a grounding end GND, the first terminal, the resistor R102 and the G pole of the field effect tube Q1 are sequentially electrically connected, a node between the resistor R102 and the G pole of the field effect tube Q1, the resistor R101 and the grounding end GND are sequentially electrically connected, the S pole of the field effect tube Q1 is grounded, and the D pole of the field effect tube Q1 is electrically connected with the second terminal.
As a preferred embodiment, the photoelectric sensor includes:
resistance: r1, R2, R3A, R, B, R, C, R, R5, R6, R7, R8, R9, R10, R11, R12, R16, R9, capacitance: c1, C2, C3, C4, C5, C6, C7, op amp: u1.1, U1.2, U2.1, U2.2, photodiode SENSER,3.3V power supply, ground GND, virtual ground voltage terminal REF1V65, dial switch SW1, sensor output terminal H1, analog voltage signal output pin AO;
The grounding end GND, the capacitor C1, the resistor R2, the photodiode SENSER and the reverse input end of the operational amplifier U2.1 are sequentially electrically connected, the virtual ground voltage end REF1V65, the resistor R6 and the homodromous input end of the operational amplifier U2.1 are sequentially electrically connected, the positive power supply end of the operational amplifier U2.1 is connected with a 3.3V power supply, the positive power supply end of the operational amplifier U2.1, the capacitor C3 and the grounding end GND are sequentially electrically connected, the negative power supply end of the operational amplifier U2.1 is grounded, and the output end of the operational amplifier U2.1, the resistor R1 and the reverse input end of the operational amplifier U2.1 are sequentially electrically connected;
The output end of the operational amplifier U2.1, the capacitor C5, the resistor R7 and the reverse input end of the operational amplifier U2.2 are sequentially electrically connected, the node between the capacitor C5 and the resistor R7, the resistor R19 and the ground end GND are sequentially electrically connected, the virtual ground voltage end REF1V65, the resistor R10 and the homodromous input end of the operational amplifier U2.2 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3A and the reverse input end of the operational amplifier U2.2 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3B and the terminal 3 of the dial switch SW1 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3C and the terminal 4 of the dial switch SW1 are sequentially electrically connected, and the terminal 1 of the dial switch SW1 is electrically connected with the reverse input end of the operational amplifier U2.2;
The output end of the operational amplifier U2.2, the capacitor C4 and the homodromous input end of the operational amplifier U1.1 are sequentially and electrically connected, a 3.3V power supply, a resistor R8 and the homodromous input end of the operational amplifier U1.1 are sequentially and electrically connected, the homodromous input end of the operational amplifier U1.1, the resistor R4 and the grounding end GND are sequentially and electrically connected, the reverse input end of the operational amplifier U1.1, the resistor R16 and the output end of the operational amplifier U1.1 are sequentially and electrically connected, the positive power supply end of the operational amplifier U1.1 is connected with a 3.3V power supply, the positive power supply end, the capacitor C2 and the grounding end GND of the operational amplifier U1.1 are sequentially and electrically connected, the negative power supply end of the operational amplifier U1.1 is grounded, the output end of the operational amplifier U1.1, the resistor R9 and the grounding end GND are sequentially and electrically connected, the output end of the operational amplifier U1.1.1, the resistor R12, the analog voltage pin output end of the analog voltage pin is sequentially and the output end of the analog voltage pin is sequentially connected with the capacitor C11 and the grounding end of the operational amplifier U1.1.1;
The analog voltage signal output pin AO is electrically connected with a terminal 4 of a sensor output end H1, a terminal 3 of the sensor output end H1 is suspended, a terminal 2 of the sensor output end H1 is connected with a 3.3V power supply, and a terminal 1 of the sensor output end H1 is grounded to a ground end GND;
The 3.3V power supply, the resistor R5 and the homodromous input end of the operational amplifier U1.2 are sequentially and electrically connected, the 3.3V power supply, the capacitor C6 and the grounding end GND are sequentially and electrically connected, the 3.3V power supply, the resistor R11 and the grounding end GND are sequentially and electrically connected, the output end of the operational amplifier U1.2 is electrically connected with the inverted input end of the operational amplifier U1.2, and the output end of the operational amplifier U1.2 is connected with the virtual grounding voltage end REF1V65;
The model of the operational amplifier U1.1, the model of the operational amplifier U1.2, the model of the operational amplifier U2.1 and the model of the operational amplifier U2.2 are LMP7718, the model of the photodiode SENSER is SPGN NQ, the model of the dial switch SW1 is KF1028-02P-TR-ON-02A, and the model of the sensor output end H1 is A2541WR-4P.
A light source positioning method based on rotational phase difference adopts the light source positioning system based on rotational phase difference to perform modulation light source positioning, and comprises the following steps:
A. modulating a square wave optical signal emitted by a light source to a photoelectric sensor;
B. The rotation generating module drives the two photoelectric sensors to rotate, so that the distance between the two photoelectric sensors and the modulation light source changes periodically due to rotation, thereby generating a voltage signal containing a rotation phase difference and simultaneously giving a real-time rotation angle;
C. The voltage signal generated by the rotation of the photoelectric sensor is transmitted to the analog-to-digital conversion module through the electric rotation interface, and meanwhile, the electric rotation interface provides a stable power supply for the photoelectric sensor;
D. the analog-to-digital conversion module synchronously samples the voltage signal transmitted by the electrical rotary interface to obtain a rotary phase conversion digital signal taking the rotary period as the period;
E. The digital signal processing module is used for processing digital signals synchronously sampled by the analog-to-digital conversion module in the integral multiple modulation light source time domain by using Fourier transform to obtain frequency spectrums of two sampling signals, simple harmonic signals with the same frequency and the maximum amplitude as those of square wave light signals are selected from Fourier transform results, the phase difference of the time domain is obtained by combining a voltage formula and a phase difference formula, fourier transform is repeatedly used in one rotation period by taking the time domain as a unit, the rotation phase difference of one rotation period is obtained, and fitting comparison is carried out on the obtained rotation phase difference of one rotation period and a space circle parameter formula to obtain space circle position information of the modulation light source;
F. And finally resolving the coordinates of the modulated light source in the X axis, the Y axis and the Z axis by combining the real-time rotation angle and the space circle position information and combining the actual angle formula of the modulated light source and the coordinate formula of the modulated light source.
Compared with the prior art, the invention has the following beneficial effects:
(1) The invention innovatively adopts a method of forming an equivalent circular array by rotation to form a rotation phase difference, determines the space circular position of the LED by a Fourier transform and fitting formula, and then combines a Hall motor to determine a two-dimensional direction angle to realize positioning, so that the algorithm is simple, the calculated amount and modeling difficulty are low, and the thinking that the traditional TDOA obtains a plurality of groups of phase differences through a plurality of fixed LED or photoelectric sensor arrays and solves complex solid geometry to realize positioning is overturned;
(2) According to the invention, the positioning is realized by only adopting two rotary photoelectric sensors and one LED, a large number of photoelectric sensors are not needed, so that multichannel high-speed synchronous ADC is not needed, and as the algorithm is simple and efficient, a high-computation-force core processor is not needed, and the hardware cost is greatly reduced;
(3) Compared with the traditional TDOA method that the LED array is fixed in the space, different arrays are needed for different environments, portability is poor, and the LED and the photoelectric sensor do not need to be changed greatly in any condition, so that the method has strong applicability.
Drawings
Fig. 1 is a schematic structural diagram of a light source positioning system based on rotational phase difference according to an embodiment of the present invention;
FIG. 2 is a diagram of a single LED driving circuit according to an embodiment of the present invention;
Fig. 3 is a schematic diagram of a light source positioning system based on rotational phase difference according to an embodiment of the present invention;
fig. 4 is a flowchart of a light source positioning method based on rotational phase difference according to an embodiment of the present invention;
FIG. 5 is a circuit diagram of a photosensor according to an embodiment of the present invention;
FIG. 6 is one of the partial enlarged views of FIG. 5;
FIG. 7 is a second enlarged view of a portion of FIG. 5;
FIG. 8 is a third enlarged view of a portion of FIG. 5;
FIG. 9 is a fourth enlarged view of a portion of FIG. 5;
Fig. 10 is a fifth partial enlarged view of fig. 5.
The reference numerals in the drawings and their corresponding names: 1. the device comprises a transmitting end, a receiving end, 100, a modulation light source, 101, a rotation generating module, 102, a photoelectric sensor, 103, an electric rotation interface, 104, an analog-to-digital conversion module, 105 and a digital signal processing module.
Detailed Description
The present invention will be described in further detail with reference to examples and drawings, but embodiments of the present invention are not limited thereto.
Example 1
As shown in fig. 1 to 10, the invention provides a light source positioning system and a light source positioning method based on a rotation phase difference, aiming at the problems that a visible light positioning system based on TDOA in the prior art needs a large number of photoelectric sensors or LEDs to form an array, has complex algorithm, difficult deployment, small application range and the like.
The system comprises: the LED display device comprises a rotation generating module, a photoelectric sensor, an electric rotation interface, an analog-digital conversion module and a digital information processing module which are taken as a receiving end and an LED transmitting end of a main body. The method comprises the following steps: the transmitting end transmits a modulated visible light signal to the photoelectric sensor; the receiving end solves the rotation phase difference of the rotation of the double photoelectric sensors through Fourier transformation, and simultaneously acquires the real-time angle of the connection line of the double photoelectric sensors, which is given by the rotation generating module, in real time; and combining the data and fitting a physical formula to obtain the three-dimensional space position information of the LED. The invention subverts the idea of solving complex solid geometry positioning after a plurality of groups of phase differences are obtained by a plurality of LED or photoelectric sensor arrays in the traditional TDOA, does not need high-end sampling equipment and a high-computation-force core processor, and has the advantages of simple algorithm, convenient deployment and strong applicability.
A light source positioning system based on rotational phase difference comprises a transmitting end 1 and a receiving end 2; the emitting end 1 comprises a modulated light source 100 (comprising an LED, a driving circuit of the LED); the receiving end 2 comprises a rotation generating module 101, a photoelectric sensor 102, an electric rotation interface 103, an analog-to-digital conversion module 104 and a digital signal processing module 105;
The emitting end 1 is used for controlling the switching and the flashing frequency of the LED so as to emit visible light with a certain frequency;
The receiving end 2 is used for receiving visible light emitted by the LED and acquiring a rotation phase difference through rotation to realize positioning; the rotation generation module 101 is used for realizing coaxial co-speed rotation of the two photoelectric sensors 102, namely, the rotation generation module 101 enables the two photoelectric sensors 102 to rotate at symmetrical points of the radial points Guan Jirao through a direct-current Hall motor and gives out real-time rotation angles, and the rotation speed and the rotation angle are monitored and controlled by the microcontroller; the photosensor 102 converts the optical signal to an analog voltage signal; the electrical rotary interface 103 transmits the voltage signal from the rotary component to the fixed component, namely the analog-to-digital conversion module 104 and the digital signal processing module 105, and simultaneously provides power for the photoelectric sensor; the analog-to-digital conversion module 104 performs single-ended synchronous sampling on analog voltage signals of the two photoelectric sensors 102 conducted by the electrical rotary interface 103, and converts the voltage signals into digital signals; finally, the digital signal processing module 105 performs analysis, processing and fitting according to fourier transformation and a physical formula, so as to realize the relative positioning of the transmitting end 1 and the receiving end 2.
Therefore, the invention proposes a method for utilizing the rotation phase difference for the first time to improve the defects of the traditional TDOA method; a base station based on the rotation phase difference is designed and used as a hardware architecture for realizing the method; and positioning is realized by using Fourier transformation and fitting a physical formula, and the positioning is used as an algorithm for realizing the method.
The invention solves the technical problem that the light source positioning system based on the rotation phase difference comprises a transmitting end and a receiving end; the transmitting end comprises a single LED module with a modulated frequency, and the receiving end comprises a rotation generating module, a photoelectric sensor, an electric rotation interface, an analog-to-digital conversion module and a digital signal processing module; the LEDs emit modulated light signals for positioning; the rotation generating module is a receiving end base, so that the double photoelectric sensors carried on the rotation generating module coaxially rotate at the same speed, and meanwhile, the real-time angle of the connection line of the double photoelectric sensors is obtained in real time through the microcontroller; the photoelectric sensors are used for receiving square wave light signals emitted by the LEDs and converting the square wave light signals into sine-like voltage signals based on the delay property and the low-pass filtering property of the voltages, and the two photoelectric sensors generate voltage signals containing rotation phase difference information because the distance between the two photoelectric sensors and the modulated light source changes periodically due to rotation; the electrical rotating interface is used for providing power for the photoelectric sensor and transmitting a voltage signal generated by the photoelectric sensor from the rotating part to the fixed part; the analog-to-digital conversion module is used for receiving voltage signals of the two photoelectric sensors conducted by the electrical rotary interface and outputting digital signals; the digital signal processing module is used for processing the digital signals output by the analog-to-digital conversion module, calculating to obtain the space circle position of the LED and the two-dimensional direction angle of the LED relative to the positive direction of the base, and finally obtaining the three-dimensional position coordinates of the LED.
Further, the average brightness of the LEDs is independent of the flicker frequency, and the frequency is controlled by the microcontroller.
Further, the rotation generating module 101 realizes coaxial co-speed rotation of the two photoelectric sensors 102 according to the subsequent physical prototype, and the rotation speed is monitored and controlled by the microcontroller.
Further, the photosensor 102 is formed of a single photodiode or phototransistor and amplification and filtering circuitry.
Further, the electrical rotary interface 103 enables transfer of the analog voltage signal of the photosensor 102 from the rotary member to the stationary member and powering of the photosensor at a prescribed rotational speed standard.
Further, the analog-to-digital conversion module 104 includes an ADC for dual-port high-speed synchronous sampling, a gigabit ethernet port, and a core board for controlling sampling and sending.
Further, the digital signal processing module 105 has a higher computing power, a gigabit ethernet port, and a core board for controlling the computing power call; the analog-to-digital conversion module 104 and the digital signal processing module 105 can be integrated as a unit, if the hardware conditions allow.
Further, in order to ensure positioning accuracy, the frequency of the modulated optical signal emitted by the LED needs to be higher than 200kHz;
Further, the rotation generation module consists of a direct-current Hall motor and a 3D printing support structure;
further, the photoelectric sensor is positioned at the radial point position with the rotation center of the rotation generating module as a symmetrical point;
Further, the rotation speed of the electrical rotation interface is required to be within 240 r/min;
further, the positive direction of the X axis of the system is the angle of the rotation center pointing to the Hall motor 0;
furthermore, the analog-to-digital conversion module is a high-speed analog-to-digital converter, the sampling method of the two photoelectric sensors is single-ended synchronous sampling, the sampling frequency is required to be higher than the flicker frequency of the LED, the sampling frequency is above 50Msps in view of the visible light propagation speed, and the sampling precision is 12 bits;
Further, the digital signal processing module is a computing power edge processor or a computer.
A light source positioning method based on rotational phase difference comprises the following steps:
the LED sends out square wave optical signals with certain frequency to the photoelectric sensor of the base station;
B. The direct-current Hall motor drives the two photoelectric sensors to rotate, so that the distance between the two photoelectric sensors and the modulation light source is periodically changed due to rotation, a voltage signal containing a rotation phase difference is generated, and meanwhile, the rotation angle is monitored and controlled in real time through the microcontroller;
C. The sine-like voltage signal generated by the rotation of the photoelectric sensor is transmitted through the electric rotating interface, and meanwhile, the electric rotating interface also provides a stable power supply for the photoelectric sensor;
D. The voltage signals of the double photoelectric sensors transmitted by the electrical rotating interface are subjected to single-ended synchronous sampling through the high-speed ADC, namely, signals of the corresponding photoelectric sensors of two signal ports of the high-speed ADC are simultaneously acquired, and a rotating phase conversion digital signal taking a rotating period as a period is obtained;
E. The method comprises the steps that a digital signal processing module processes signals synchronously sampled by two photoelectric sensors in the integral multiple modulation light source flickering period time domain through Fourier transformation to obtain frequency spectrums of the two sampling signals, a simple harmonic signal with the same frequency and the maximum amplitude as a light signal sent by a modulation light source is selected from Fourier transformation results, a voltage formula and a phase difference formula are combined to obtain a phase difference of the time domain, fourier transformation is repeatedly used in one rotation period by taking the time domain as a unit, a rotation phase difference of one rotation period is obtained, and fitting comparison is carried out on the obtained rotation phase difference of one rotation period and a space circle parameter formula to obtain space circle position information of an LED;
F. and finally analyzing the coordinates of the modulated light source in the X axis, the Y axis and the Z axis according to the actual angle formula of the modulated light source and the coordinate formula of the modulated light source by combining the real-time rotation angle and the spatial circle position information of the LED, which are given by the rotation generating module.
The method has the advantages of simple algorithm, convenient deployment and strong applicability.
Example 2
As further optimization of embodiment 1, as shown in fig. 1 to 10, this embodiment further includes the following technical features on the basis of embodiment 1:
The voltage formula is:
，
；
The phase difference formula is:
；
the space circle parameter formula is:
；
The actual angle formula of the modulated light source (100) is:
；
The coordinate formula of the modulated light source (100) is as follows:
；
Wherein, 、/>The voltage values of the two photoelectric sensors 102 are respectively obtained by sampling through an analog-to-digital conversion module; /(I)、/>Is a voltage reference parameter for the two photosensors 102; θ is the optical frequency flash frequency; t is a time variable; /(I)、/>Initial voltage phases of the two photosensors 102, respectively; delta/>As a phase difference, changing in real time in a rotation period; Δt is the time difference between the arrival of the light emitted by the modulated light source 100 at the two photosensors 102; t is the strobe period; Δd is the difference in distance of the modulated light source 100 to the two photosensors 102; c is the speed of light; alpha is a virtual rotation angle, namely an included angle between the connection projection of the dual photoelectric sensor on the OXY plane and the connection between the LED projection on the OXY plane and the origin, and the angle changes in real time in a rotation period; m is the projection distance of the PD rotation center (the center of the rotation path formed by the two photosensors 102) and the modulated light source 100 on the X-axis; h is the projection distance of the distance between the PD rotation center and the modulated light source 100 on the Y axis; r is the radius of rotation of the PD; beta is the included angle between the projection of the connecting line of the two photoelectric sensors 102 on the OXY plane and the positive direction of the X axis; delta is the actual included angle between the connecting line of the projection point of the modulated light source 100 on the OXY plane and the O point and the positive direction of the X axis; the X, Y and Z are coordinates of the modulated light source 100 in the X axis, the Y axis and the Z axis respectively, the point O is the origin of the coordinate system, the point O is the rotation center, the X axis is the straight line direction of the connection line of the point O and the zero angle position of the rotation generating module 101, the positive direction of the X axis is the direction of the connection line of the point O to the rotation generating module 101, the Z axis is the straight line of the connection line of the rotation center and the center of the surface of the end of the rotation generating module 101 far away from the electrical rotation interface 103, and the Y axis is the straight line orthogonal to the X axis and the Z axis simultaneously.
The embodiment of the invention provides a light source positioning system based on a rotation phase difference, which is shown in fig. 1:
The LED in the transmitting end 1 emits modulated visible light for positioning, the transmitting front end of the LED can set modulated light with different flash frequencies by using a singlechip, and a driving circuit of the LED is shown as a figure 2, so that direct conversion between a digital signal and the modulated visible light is realized; in fig. 2, H11 and H12 are connection terminals, CTR is a control pin connection of the microcontroller, ctr_pwm is a modulation light source negative pin output, and a modulation light source positive pin is connected with 5V voltage.
The receiving end 2 includes a rotation generating module 101, a photoelectric sensor 102, an electrical rotation interface 103, an analog-to-digital conversion module 104, and a digital signal processing module 105.
The principle of a light source positioning system based on rotation phase difference adopted by the positioning of the embodiment is shown in fig. 3, and the working flow is shown in fig. 4.
The rotation generating module 101 is driven by a direct-current Hall motor to coaxially rotate at the same speed by two photoelectric sensors 102; it is worth mentioning that, in order to adapt to the rotation speed limitation of the electrical rotary interface, the rotation speed of the direct-current hall motor can be adjusted within 240r/min through the PWM signal.
The photoelectric sensor 102 is used for receiving the visible light of the LED and converting the light signal into a voltage signal; the two photoelectric sensors 102 can receive the modulated visible light signals of the LEDs of the transmitting end 1, and when the two photoelectric sensors are fixed due to the difference of the space distance between the two photoelectric sensors and the LEDs, the generated electric signals have phase differences; when they are rotated by the rotation generating module 101, the two photosensors 102 form an equivalent circular array due to rotation, so that an analog voltage signal of rotation phase difference information will be generated.
The electrical rotating interface 103 conducts the voltage signal output by the photoelectric sensor 102 from the rotating part to the fixed part, namely an analog-digital conversion module 104 and a digital signal processing module 105; it is worth mentioning that the upper speed limit of the electrical rotating interface in the scheme is 240r/min.
The analog-to-digital conversion module 104 synchronously collects voltage signals of the two photoelectric sensors 102; the sampling method of the dual photoelectric sensor 102 is single-ended synchronous sampling, namely, two signal ports of the high-speed ADC are used for respectively corresponding to the signal acquisition of one photoelectric sensor; the analog-to-digital conversion module 104 collects the voltage information of the photoelectric sensor 102 including the rotational phase difference and generates a corresponding digital signal including the rotational phase difference and the periodic variation.
Fig. 5 shows a circuit structure of the photosensor 102, and its working principle is:
The model number of the photodiode SENSER is SPGN NQ 88, and the photodiode SENSER is used as an input of high-precision photoelectric sensing; virtual ground voltage terminal REF1V65 provides a virtual ground 1.65V voltage; the operational amplifier U2.1, the operational amplifier U2.2 and the operational amplifier U1.1 form a negative feedback amplifier, the operational amplifier U2.1, the operational amplifier U2.2 and the operational amplifier U1.1 are respectively used for three-stage amplification of circuit signals, the capacitor C1 is used for decoupling and voltage stabilization, the capacitor C5 is used for high-pass filtering, and the capacitor C4 is used for realizing coupling and voltage stabilization; the capacitors C11, C2, C3 and C6 utilize the frequency impedance characteristics of the capacitors to make the input voltage uniform, reduce fluctuation and prevent spike voltage from entering into burn; the operational amplifier U1.2 acts as a current follower for stabilizing the divided voltage output.
The digital signal processing module 105 receives the digital signal output by the analog-to-digital conversion module 104, and performs digital demodulation and decoding on the signal, restores the transmitted information, and realizes data analysis and calculation, and the detailed flow is shown in the data processing method part in fig. 4; the method comprises the steps of processing a digital signal containing a rotation phase difference by utilizing Fourier transformation and a voltage formula; in the processing, a digital signal of a certain time domain of two photoelectric sensors is decomposed into sine waves or cosine waves with a plurality of frequencies by using Fourier transformation, the actual physical position change of the double photoelectric sensors in the time domain is extremely small, so the apparent phase difference is constant, in the result of the Fourier transformation, a simple harmonic signal with the same frequency and the maximum amplitude as a square wave optical signal is selected, the phases of the two photoelectric sensors corresponding to the phases of the two simple harmonic signals of the frequency component are combined with a phase difference formula to obtain the phase difference of the time domain; repeating the steps in one rotation period, and expanding the obtained phase difference to one rotation period to obtain a rotation phase difference; fitting the rotation phase difference in the rotation period to a space circle parameter formula to obtain position parameters m and h of a space circle where the LED is positioned, and obtaining a virtual rotation angle alpha; the direct-current Hall motor directly gives out an actual rotation angle beta, synthesizes a virtual rotation angle alpha, and solves out an actual angle delta according to an actual angle formula of the modulated light source; and combining an actual angle formula of the modulated light source and a coordinate formula of the modulated light source to obtain actual accurate coordinate positions (x, y and z) of the LEDs in space based on the base station.
As described above, the present invention can be preferably implemented.
All of the features disclosed in all of the embodiments of this specification, or all of the steps in any method or process disclosed implicitly, except for the mutually exclusive features and/or steps, may be combined and/or expanded and substituted in any way.
The foregoing description of the preferred embodiment of the invention is not intended to limit the invention in any way, but rather to cover all modifications, equivalents, improvements and alternatives falling within the spirit and principles of the invention.
Claims (8)
1. The light source positioning system based on the rotation phase difference is characterized by comprising a transmitting end (1) and a receiving end (2); the transmitting end (1) comprises a modulation light source (100), and the receiving end (2) comprises a rotation generation module (101), a photoelectric sensor (102), an electric rotation interface (103), an analog-to-digital conversion module (104) and a digital signal processing module (105);
the transmitting end (1) is used for transmitting a modulated optical signal through the modulated optical source (100);
The receiving end (2) is used for receiving the optical signal sent by the transmitting end (1) through the photoelectric sensor (102) and converting the optical signal into an electric signal, the rotation generating module (101) and the electric rotating interface (103) are coaxially and mechanically connected, the photoelectric sensor (102) is electrically connected with the electric rotating interface (103), the electric rotating interface (103) is electrically connected with the analog-to-digital conversion module (104), and the analog-to-digital conversion module (104) is electrically connected with the digital signal processing module (105);
The number of the photoelectric sensors (102) is two, and the two photoelectric sensors (102) are positioned at the opposite-diameter point position taking the rotation center of the rotation generation module (101) as a symmetrical point;
The digital signal processing module (105) is used for processing signals synchronously sampled by two photoelectric sensors (102) in the flicker period time domain of the integer multiple modulated light source (100) by using Fourier transform to obtain frequency spectrums of two sampled signals, selecting simple harmonic signals with the same frequency and the maximum amplitude as the light signals sent by the modulated light source (100) in the Fourier transform result, combining a voltage formula and a phase difference formula to obtain the phase difference of the time domain, repeatedly using Fourier transform in one rotation period by taking the time domain as a unit to obtain the rotation phase difference of one rotation period, and performing fitting comparison on the obtained rotation phase difference of one rotation period and a space circle parameter formula to obtain the space circle position information of the modulated light source (100).
2. A rotational phase difference based light source positioning system according to claim 1, characterized in that the frequency of the light signal emitted by the modulated light source (100) is higher than 200kHz.
3. A rotational phase difference based light source positioning system according to claim 1, characterized in that the rotational speed of the electrical rotational interface (103) is lower than 240r/min.
4. A rotational phase difference based light source positioning system according to claim 1, wherein the sampling frequency of the analog to digital conversion module (104) is higher than 50Msps.
5. The rotational phase difference based light source positioning system of claim 1, wherein the voltage formula is:
，
；
The phase difference formula is:
；
the space circle parameter formula is:
；
The actual angle formula of the modulated light source (100) is:
；
the coordinate formula of the modulated light source (100) is:
；
Wherein, 、/>Voltage values of two photoelectric sensors (102), respectively,/>、/>Respectively, the voltage reference parameters of the two photoelectric sensors (102), theta is the optical frequency flash frequency, t is the time variable,/>、/>Initial voltage phases of the two photosensors (102), deltav-For the phase difference, Δt is the time difference between the light emitted by the modulated light source (100) and reaching the two photosensors (102), T is the strobe period, Δd is the distance difference between the modulated light source (100) and reaching the two photosensors (102), c is the light velocity, α is the virtual rotation angle, m is the projection distance between the rotation center and the modulated light source (100) on the X-axis, h is the projection distance between the PD rotation center and the modulated light source (100) on the Y-axis, and r is the radius of rotation; beta is an included angle between a connecting line of two photoelectric sensors (102) on an OXY plane and an X-axis positive direction, delta is an actual included angle between a connecting line of a projection point of a modulated light source (100) on the OXY plane and an O point and the X-axis positive direction, X, Y and Z are coordinates of the modulated light source (100) on the X axis, the Y axis and the Z axis respectively, the O point is an origin of a coordinate system, the O point refers to a rotation center, the X axis is a straight line direction of a connecting line of the O point and a zero angle position of a rotation generation module (101), the X axis positive direction is a direction from the O point to the rotation generation module (101), the Z axis is a straight line of the rotation center and a connecting line of an end surface center of the rotation generation module (101) far away from an electric rotation interface (103), and the Y axis is a straight line which is orthogonal to the X axis and the Z axis simultaneously.
6. The rotational phase difference based light source positioning system according to any one of claims 1 to 5, wherein the transmitting end (1) further comprises a driving circuit for modulating the light source (100), the modulating light source (100) is an LED, the driving circuit comprises a first terminal for externally connecting a frequency control pin of the controller, a second terminal for electrically connecting with a negative pin of the modulating light source (100), a 5V power supply for electrically connecting with a positive pin of the modulating light source (100), a resistor R101, a resistor R102, a field effect transistor Q1, and a ground GND, the first terminal, the resistor R102, and the G pole of the field effect transistor Q1 are sequentially electrically connected, a node between the resistor R102 and the G pole of the field effect transistor Q1, the resistor R101, and the ground GND are sequentially electrically connected, the S pole of the field effect transistor Q1 is grounded, and the D pole of the field effect transistor Q1 is electrically connected with the second terminal.
7. A rotational phase difference based light source positioning system according to claim 6, wherein the photosensor (102) comprises:
resistance: r1, R2, R3A, R, B, R, C, R, R5, R6, R7, R8, R9, R10, R11, R12, R16, R9, capacitance: c1, C2, C3, C4, C5, C6, C7, op amp: u1.1, U1.2, U2.1, U2.2, photodiode SENSER,3.3V power supply, ground GND, virtual ground voltage terminal REF1V65, dial switch SW1, sensor output terminal H1, analog voltage signal output pin AO;
The grounding end GND, the capacitor C1, the resistor R2, the photodiode SENSER and the reverse input end of the operational amplifier U2.1 are sequentially electrically connected, the virtual ground voltage end REF1V65, the resistor R6 and the homodromous input end of the operational amplifier U2.1 are sequentially electrically connected, the positive power supply end of the operational amplifier U2.1 is connected with a 3.3V power supply, the positive power supply end of the operational amplifier U2.1, the capacitor C3 and the grounding end GND are sequentially electrically connected, the negative power supply end of the operational amplifier U2.1 is grounded, and the output end of the operational amplifier U2.1, the resistor R1 and the reverse input end of the operational amplifier U2.1 are sequentially electrically connected;
The output end of the operational amplifier U2.1, the capacitor C5, the resistor R7 and the reverse input end of the operational amplifier U2.2 are sequentially electrically connected, the node between the capacitor C5 and the resistor R7, the resistor R19 and the ground end GND are sequentially electrically connected, the virtual ground voltage end REF1V65, the resistor R10 and the homodromous input end of the operational amplifier U2.2 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3A and the reverse input end of the operational amplifier U2.2 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3B and the terminal 3 of the dial switch SW1 are sequentially electrically connected, the output end of the operational amplifier U2.2, the resistor R3C and the terminal 4 of the dial switch SW1 are sequentially electrically connected, and the terminal 1 of the dial switch SW1 is electrically connected with the reverse input end of the operational amplifier U2.2;
The output end of the operational amplifier U2.2, the capacitor C4 and the homodromous input end of the operational amplifier U1.1 are sequentially and electrically connected, a 3.3V power supply, a resistor R8 and the homodromous input end of the operational amplifier U1.1 are sequentially and electrically connected, the homodromous input end of the operational amplifier U1.1, the resistor R4 and the grounding end GND are sequentially and electrically connected, the reverse input end of the operational amplifier U1.1, the resistor R16 and the output end of the operational amplifier U1.1 are sequentially and electrically connected, the positive power supply end of the operational amplifier U1.1 is connected with a 3.3V power supply, the positive power supply end, the capacitor C2 and the grounding end GND of the operational amplifier U1.1 are sequentially and electrically connected, the negative power supply end of the operational amplifier U1.1 is grounded, the output end of the operational amplifier U1.1, the resistor R9 and the grounding end GND are sequentially and electrically connected, the output end of the operational amplifier U1.1.1, the resistor R12, the analog voltage pin output end of the analog voltage pin is sequentially and the output end of the analog voltage pin is sequentially connected with the capacitor C11 and the grounding end of the operational amplifier U1.1.1;
The analog voltage signal output pin AO is electrically connected with a terminal 4 of a sensor output end H1, a terminal 3 of the sensor output end H1 is suspended, a terminal 2 of the sensor output end H1 is connected with a 3.3V power supply, and a terminal 1 of the sensor output end H1 is grounded to a ground end GND;
The 3.3V power supply, the resistor R5 and the homodromous input end of the operational amplifier U1.2 are sequentially and electrically connected, the 3.3V power supply, the capacitor C6 and the grounding end GND are sequentially and electrically connected, the 3.3V power supply, the resistor R11 and the grounding end GND are sequentially and electrically connected, the output end of the operational amplifier U1.2 is electrically connected with the inverted input end of the operational amplifier U1.2, and the output end of the operational amplifier U1.2 is connected with the virtual grounding voltage end REF1V65;
The model of the operational amplifier U1.1, the model of the operational amplifier U1.2, the model of the operational amplifier U2.1 and the model of the operational amplifier U2.2 are LMP7718, the model of the photodiode SENSER is SPGN NQ, the model of the dial switch SW1 is KF1028-02P-TR-ON-02A, and the model of the sensor output end H1 is A2541WR-4P.
8. A rotational phase difference based light source positioning method, characterized in that a rotational phase difference based light source positioning system according to any one of claims 1 to 7 is used for positioning a modulated light source, comprising the steps of:
A. Modulating a light source (100) to emit a square wave light signal to a photoelectric sensor (102);
B. The rotation generating module (101) drives the two photoelectric sensors (102) to rotate, so that the distance between the two photoelectric sensors (102) and the modulation light source (100) changes periodically due to rotation, thereby generating a voltage signal containing a rotation phase difference and simultaneously giving a real-time rotation angle;
C. The voltage signal generated by the rotation of the photoelectric sensor is transmitted to the analog-to-digital conversion module (104) through the electrical rotation interface (103), and the electrical rotation interface (103) provides a stable power supply for the photoelectric sensor;
D. The analog-to-digital conversion module (104) synchronously samples the voltage signal transmitted by the electrical rotary interface (103) to obtain a rotary phase conversion digital signal taking a rotary period as a period;
E. The digital signal processing module (105) is used for processing digital signals synchronously sampled by the analog-to-digital conversion module (104) in the integral multiple modulation light source (100) time domain by using Fourier transform to obtain the frequency spectrums of the two sampling signals, simple harmonic signals with the same frequency and the maximum amplitude as those of square wave light signals are selected from Fourier transform results, the phase difference of the time domain is obtained by combining a voltage formula and a phase difference formula, fourier transform is repeatedly used in one rotation period by taking the time domain as a unit to obtain the rotation phase difference of one rotation period, and the obtained rotation phase difference of one rotation period is subjected to fitting comparison with a space circle parameter formula to obtain the space circle position information of the modulation light source (100);
F. And finally resolving the coordinates of the modulated light source (100) in the X axis, the Y axis and the Z axis by combining the real-time rotation angle and the space circle position information and combining the actual angle formula of the modulated light source and the coordinate formula of the modulated light source.
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