CN206627122U - Non-visible laser calibrates indoor positioning navigation system - Google Patents
Non-visible laser calibrates indoor positioning navigation system Download PDFInfo
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- CN206627122U CN206627122U CN201720102008.8U CN201720102008U CN206627122U CN 206627122 U CN206627122 U CN 206627122U CN 201720102008 U CN201720102008 U CN 201720102008U CN 206627122 U CN206627122 U CN 206627122U
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Abstract
In order to solve, existing Locating System Accuracy is low, cost is high, antijamming capability is weak, the technical problem of not easy care, the utility model provides a kind of non-visible laser calibration indoor positioning navigation system, including fixed at least one laser markers indoors, the locating module that is fixed on device to be positioned；Laser markers launch the invisible laser graphics of near infrared band；Locating module includes infrared camera, processing unit, radio communication unit；Infrared camera obtains the invisible laser graphics that roof or wall are incident upon by laser markers in real time, and figure comprises at least anchor point p1, p2 of two known three-dimensional coordinates；Processing unit is used for the calculating that positions or navigate；Radio communication unit is communicated with the external world, the positional information of reception processing unit transmission.The utility model precision is high, and cost is low, strong antijamming capability and is easy to safeguard.
Description
Technical field
It the utility model is related to a kind of indoor orientation method and system, more particularly to the interior that a kind of VR/AR systems are applicable
Localization method and system
Background technology
Existing high-precision indoor locating system, using following two positioning principles：SLAM technologies or super-broadband tech.But
It is that it has following deficiency：
1st, cost is high：Depth camera occupies height not with the base station cost used in super-broadband tech used by SLAM technologies
Under
3rd, antijamming capability is weak.SLAM is that environment is identified, but when environmental structure changes, SLAM technologies without
Method realizes both matchings, and the electromagnetic wave that super-broadband tech uses can also be disturbed by other equipment, cause positional precision to wave
4th, not easy care.SLAM technologies need environment to keep constant, and super-broadband tech then needs to select suitable position rack
If base station, and the base station number of the same area is no less than 4.
Utility model content
The utility model purpose is to provide a kind of non-visible laser calibration indoor positioning navigation methods and systems, which solves
Existing Locating System Accuracy is low, cost is high, antijamming capability is weak, the technical problem of not easy care.
Technical solution of the present utility model is to provide a kind of non-visible laser calibration indoor positioning air navigation aid, including
Following steps：
1) at least one laser markers launch reference pattern to roof or wall, and the reference pattern comprises at least two
Anchor point p1, p2 of known three-dimensional coordinate；The laser markers launch non-visible laser；
2) reference pattern is generated imaging figure by the camera on ground on device to be positioned；
3) position that is imaged according to anchor point and apart from it is counter push away camera center relative to anchor point p1 in reference pattern,
The p2 elevation angle and the anglec of rotation；
4) anchor point p1, p2 coordinate position are combined according to the elevation angle at camera center and the angle of depression, calculates each positioning
The angle of depression and the anglec of rotation of the point relative to camera center；
5) according to the angle of depression of each anchor point relative to camera center and the anglec of rotation, the three-dimensional at camera center is calculated
Coordinate, and then treat positioner and positioned or navigated.
Preferably, above-mentioned steps 4) also include following amendment step：
When there is multiple laser markers, device undetermined obtains the ID or laser markers of closest laser markers
The id information of reference pattern carry out Primary Location.
Preferably, above-mentioned steps 4) also include following amendment step：
The spatial attitude (horizontal and two attributes of rotation) of the camera in motion is obtained in real time, to the camera angle of depression and rotation
Corner is modified, and then corrects the angle of depression and the anglec of rotation of each anchor point relative to camera center.
Above-mentioned camera is non-visible light fish-eye camera or non-visible light wide-angle camera；
Above-mentioned steps 3) it is specific as follows：
3.1) subpoint a, b that anchor point p1, p2 are imaged as being imaged in figure by camera；
3.2) according to the radius r of the imaging arched roof ball of camera, it can be seen that subpoint a, b virtual map on arched roof ball
Corresponding points px1, the px2 of figure, and then the angle of depression and the anglec of rotation of p1, p2 relative to the arched roof ball center of circle can be calculated；
3.3) due to the relation between p1, p2, it is known that p1, p2 relative to the angle of depression in the arched roof ball center of circle and the anglec of rotation
Know, then can extrapolate the coordinate in the arched roof ball center of circle；
Above-mentioned steps 4) it is specific as follows：
4.1) according to distance, the ID of nearest laser markers is obtained；Or the reference chart according to laser markers
Shape obtains the ID of the laser markers；
4.2) known locations point p1, p2 three-dimensional coordinate are obtained according to the ID of laser markers；
4.3) according to the three-dimensional of known locations point p1, p2 three-dimensional coordinate and virtual map figure corresponding points px1, px2
Coordinate, generation extended line vector, it is camera three-dimensional coordinate that extended line vector, which intersects point coordinates,.
When the quantity of anchor point is more than 2, multiple camera three-dimensional coordinates of acquisition are subjected to average computation.
The utility model also provides a kind of non-visible laser calibration indoor positioning navigation system, and it is characterized in that：Bag
Include fixed at least one laser markers indoors, the locating module being fixed on device to be positioned；
The invisible laser graphics of above-mentioned laser markers transmitting near infrared band；
Above-mentioned locating module includes infrared camera, processing unit, radio communication unit；Above-mentioned infrared camera obtains in real time
The invisible laser graphics that roof or wall are incident upon by laser markers are taken, above-mentioned figure comprises at least three-dimensional known to two sit
Target anchor point p1, p2；
Above-mentioned processing unit is used for the calculating that positions or navigate；
Above-mentioned radio communication unit is communicated with the external world, the positional information of reception processing unit transmission.
When laser markers quantity is more than 1, in addition to a radio unit, the equipment for broadcasting the laser markers
ID；Above-mentioned radio communication unit receives the device id of radio unit transmission.
Above-mentioned locating module also includes gyroscope and accelerometer, for correcting the skew of camera acquired image.
Above-mentioned processing unit is STM32；The radio communication unit is bluetooth BLE or WIFI；The radio unit is indigo plant
Tooth BLE modules.
The utility model has advantages below relative to traditional indoor locating system：
1st, precision is high：Precision is suitable with SLAM.SLAM (simultaneous localization and mapping),
Also referred to as CML (Concurrent Mapping and Localization), immediately positioning and map structuring, or concurrently build figure
With positioning.
2nd, cost is low：Hardware cost is only the 10-20% of SLAM technologies, and base station cost is also only the 20- of super-broadband tech
30%, and only need to set up a positioning for achieving that the region.Ultra wide band (Ultra-wideband, abbreviation UWB) is
A kind of wireless personal area network mechanics of communication for possessing low power consumption and high-speed transfer, it is adapted to the channel radio of needs high-quality service
Letter application, the fields such as wireless personal area network (WPAN), home-network linkups and short distance radar can be used in.
3rd, strong antijamming capability：Unrelated with environmental structure, its unique laying mode is difficult to be blocked, and electromagnetic wave is to it
Without influence.
4th, it is easy to safeguard：Base station can be deployed in any position, and positioning figure is projected on wall or ceiling.
5th, three-dimensional coordinate positions.
Brief description of the drawings
Fig. 1 is light path perspective relation figure of the present utility model；Wherein, the plane of reference is the face broken forth by laser markers,
Imaging surface is imaging surface actual in flake camera, and mapping face is by virtually reflecting on the anti-virtual image hemisphere pushed away of imaging surface
Penetrate face；
Fig. 2 is light path mapping graph of the present utility model；
Fig. 3 is Fig. 2 simple example.
Embodiment
It is further described below in conjunction with accompanying drawing institute the utility model.
The utility model principle：
The utility model view-based access control model Perspective Principles, laser markers institute is obtained by calculating the camera on locating module
The size of the figure of transmitting and deformation is counter releases distance and angle of the locating module relative to positioning figure, it is then nearest by what is obtained
Laser markers ID navigation systems in location data, calculate the actual coordinate of anchor point.
As shown in figure 1, in the utility model, pay the utmost attention to use infrared fish-eye camera (being more than or equal to 180 degree of visual angles)
To realize the identification of maximum magnitude, but it is not precluded within wide-angle or common camera of the specific environment using more small angle.
The positioning method can not use in the environment of having sun light direct beam, therefore only limit the use of and possess screening in interior, tunnel etc.
Sunlight blocks the location navigation under environment.
Computational methods：
Fish-eye camera is imaged as the circular projection of hemisphere, according to subpoint a, b position, can calculate arbitrfary point phase
For the position of 180 degree arched roof ball, any known locations point p1, p2 are taken here, it is assumed that the arched roof radius of a ball is r, then can be according to arc
Degree calculates the position px1, px2 of corresponding point on arched roof ball.
The angle of depression and the anglec of rotation of each point can be calculated by the position of corresponding point px1, px2 on arched roof ball.Again by
Know anchor point p1, p2 coordinate, with reference to the angle of depression of each point and anglec of rotation generation extended line vector, calculate extended line vector and intersect
Point coordinates, because error caused by resolution ratio of camera head during actual use, in the case of more than 2 known locations points, passes through
The multiple point coordinates that intersect of average computation improve positioning precision.
In equipment work, do not ensure that the direction of fish-eye camera is fixed all the time, therefore also need to introduce gyroscope
And accelerometer is modified to it, the posture of acquisition is substituted into the angle of depression calculated before and the anglec of rotation carries out rotation calculating, with
Correct numerical value is obtained, then carries out crosspoint, you can obtains correct numerical value.
The utility model non-visible laser calibration indoor positioning navigation system includes laser markers and locating module, laser
Scaler be one by battery or the generating laser of externally fed, swashed by would operate in the invisible of near infrared band
Light, the figure of needs is reflected by filter and is incident upon on environmental objects, it is contemplated that hiding relation, general projecting direction are upper
Portion.A bluetooth BLE module is included simultaneously on the laser markers, for broadcasting the device id of the laser markers, is distinguished not
Same laser markers.Locating module by infrared fish-eye camera, gyroscope, accelerometer, processing unit (such as STM32),
Radio communication unit (bluetooth BLE, WIFI etc.) forms.Infrared fish-eye camera is responsible for obtaining in real time to be projected by laser markers
Image in the environment, gyroscope and accelerometer are used for the skew for correcting the image that camera photographs, assist process unit
Relative position of the locating module relative to projection image is calculated, so as to realize the function of positioning.Navigation system (software)：Pass through
Receive the positional information (and bluetooth BLE labels) of locating module transmission, navigation system is by the area in the positional information and database
Domain information is compared, and calculates surrounding enviroment information, realizes the navigation feature of the whole series.Simultaneously as under same system
All locating modules mark its coordinate in systems, and therefore, each locating module can also obtain corresponding between each other
Coordinate information.
Claims (4)
1. a kind of non-visible laser calibrates indoor positioning navigation system, it is characterised in that：Including fixed indoors at least one
Laser markers, the locating module being fixed on device to be positioned；
The invisible laser graphics of the laser markers transmitting near infrared band；
The locating module includes infrared camera, processing unit, radio communication unit；The infrared camera in real time obtain by
Laser markers are incident upon the invisible laser graphics of roof or wall, and the figure comprises at least two known three-dimensional coordinates
Anchor point p1, p2；
The processing unit is used for the calculating that positions or navigate；
The radio communication unit is communicated with the external world, the positional information of reception processing unit transmission.
2. non-visible laser according to claim 1 calibrates indoor positioning navigation system, it is characterised in that：Work as laser scaling
When device quantity is more than 1, in addition to a radio unit, for broadcasting the device id of the laser markers；The wireless telecommunications list
Member receives the device id of radio unit transmission.
3. non-visible laser according to claim 2 calibrates indoor positioning navigation system, it is characterised in that：The positioning mould
Block also includes gyroscope and accelerometer, for correcting the skew of camera acquired image.
4. the non-visible laser calibration indoor positioning navigation system according to Claims 2 or 3, it is characterised in that：The place
Reason unit is STM32；The radio communication unit is bluetooth BLE or WIFI；The radio unit is bluetooth BLE modules.
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| CN201720102008.8U CN206627122U (en) | 2017-01-26 | 2017-01-26 | Non-visible laser calibrates indoor positioning navigation system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767762A (en) * | 2017-01-26 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Non-visible laser calibrates indoor positioning air navigation aid and system |
| CN108414980A (en) * | 2018-02-12 | 2018-08-17 | 东南大学 | A kind of indoor positioning device based on dotted infrared laser |
| CN108803629A (en) * | 2018-08-27 | 2018-11-13 | 浙江华嘉驰智能科技有限公司 | Carrier and its control method are followed based on millimetre-wave radar |
-
2017
- 2017-01-26 CN CN201720102008.8U patent/CN206627122U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106767762A (en) * | 2017-01-26 | 2017-05-31 | 西安可视可觉网络科技有限公司 | Non-visible laser calibrates indoor positioning air navigation aid and system |
| CN106767762B (en) * | 2017-01-26 | 2023-05-23 | 西安可视可觉网络科技有限公司 | Indoor positioning navigation method for invisible laser calibration |
| CN108414980A (en) * | 2018-02-12 | 2018-08-17 | 东南大学 | A kind of indoor positioning device based on dotted infrared laser |
| CN108803629A (en) * | 2018-08-27 | 2018-11-13 | 浙江华嘉驰智能科技有限公司 | Carrier and its control method are followed based on millimetre-wave radar |
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Address after: A01, 14th Floor, Qujiang Film and Television Building, No. 1868 Yannan Fifth Road, Qujiang New District, Xi'an City, Shaanxi Province, 710061 Patentee after: XI'AN KISSFUTURE NETWORK TECHNOLOGY Co.,Ltd. Address before: Room 403-7, Zhongchuang space office area, 4th floor, Qujiang culture building, 292 Yannan Road, Qujiang New District, Xi'an City, Shaanxi Province, 710061 Patentee before: XI'AN KISSFUTURE NETWORK TECHNOLOGY Co.,Ltd. |