CN208013411U - A kind of visible light tracing-positioning system based on minimax value filter - Google Patents
A kind of visible light tracing-positioning system based on minimax value filter Download PDFInfo
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- CN208013411U CN208013411U CN201820308419.7U CN201820308419U CN208013411U CN 208013411 U CN208013411 U CN 208013411U CN 201820308419 U CN201820308419 U CN 201820308419U CN 208013411 U CN208013411 U CN 208013411U
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- visible light
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- positioning system
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Abstract
The utility model discloses a kind of visible light tracing-positioning systems based on minimax value filter, wherein, the technology of minimax value filter is the model modeled by zero-sum game, pass through the thought of zero-sum game, the minimization filter various interference noises that signal is carried when handling signal, and maximize the various noises interfered intentionally, and the strong a kind of filter of strong robustness and signal handling capacity is obtained with this.The minimax value filter is applied in visible light track and localization, various measurement noises and process noise that can be entrained in the transmission of minimization visible light signal and detection process, and maximize enemy's interference noise, there is very strong anti-interference ability while obtaining the information that accurate visible light carries, have broad application prospects.
Description
Technical field
The utility model is related to technical field of visible light communication, and in particular to it is a kind of based on minimax value filter can
Light-exposed tracing-positioning system.
Background technology
The semiconductor illumination technique of recent years, green non-pollution rapidly develop.With the lighting sources such as traditional incandescent lamp
It compares, LED has many advantages, such as that low-power consumption, long lifespan, size are small, environmentally protective.At the same time, LED with more modulating performance it is good,
The advantages such as response sensitivity height.Signal is loaded into the high frequency of human eye None- identified on LED and is transmitted, and then expedites the emergence of out one
Door can realize technology --- the visible light communication of illumination and communicating integral.Indoor positioning based on visible light communication also becomes
People deepen continuously the topic of research.GPS geo-location system has obtained very extensive application at present, such as in mobile phone
The fields such as the service of figure, auto navigation, ship and aircraft.However due to multipath fading, electromagnetic shielding effect and other wirelessly set
Standby interference so that the signal coverage rate of traditional outdoor positioning technology indoors such as GPS is poor, for indoor positioning exist compared with
Big position error.Therefore, over the years, by the continuous research of people, many interiors based on radio magnetic wave of being born
Several meters to tens centimetres of positioning accuracy may be implemented in location technology, these technologies, however, these technologies have certain lack
Point, for example, wireless signal being unevenly distributed in space, stability is not high, and fluctuation can produce by force to influence to position
Raw electromagnetic interference, can be influenced by other wireless products and positioning accuracy is made to decline, and in airport, the electromagnetic susceptibilities such as hospital
Place and be not suitable for.
It is different from above-mentioned indoor positioning technologies, it is seen that light indoor positioning technologies are a kind of based on visible light communication technology
The indoor positioning technologies of (visible light communication, VLC), it is fixed to have compared with traditional indoor positioning technologies
Position precision is high, without electromagnetic interference, add-on module is few, good confidentiality, takes into account the advantages that communication is with illumination, caused many in the world
The concern of experts and scholars.Existing VLC location algorithms can substantially be divided into three classes：Scene analysis method (scene analysis),
Neighbouring method (proximity), triangulation location (triangulation algorithm).
Compared with traditional infrared and wireless communication, it is seen that optic communication have transmission power it is high, without electromagnetic interference, be not necessarily to Shen
Please frequency spectrum resource and information confidentiality the advantages that.However, many problems are still suffered from visible light communication, wherein maximum
One of challenge be that LED is easy light by natural environment, enemy interferes the influence of the light and measurement process that generate.Cause to receive
Visible optical information contain many interference, influence subsequent research and development.In order to receive more accurate visible optical information,
A kind of minimax value filter is designed to carry out state estimation and minimize evaluated error and maximize robustness, is come with this
Obtain the information of more accurate visible light.And it is directed to visible light existing error in terms of positioning, with minimax value filtering
Device obtains smaller error, and realization is accurately positioned.
Utility model content
Purpose of the utility model is to solve drawbacks described above in the prior art, provide a kind of based on Min-max
The visible light tracing-positioning system of filter.
According to disclosed embodiment, the first aspect of the utility model discloses a kind of based on minimax value filter
Visible light method for tracking and positioning, includes the following steps：
Id information corresponding to S1, each LED lamp drives LED lamp to launch carrying number by LED drive circuit
The light beam of the communication information forms visible light signal in communication space；
Made of S2, the triangular arranged by 3 identical photodiodes with the length of side for 0.01m positioned at ground
After photoelectricity testing part receives communication space visible light signal, pass through amplifying circuit and Min-max filter process successively
After obtain id information；
S3, according to the id information and combine triangle polyester fibre algorithm, finally obtain the position coordinates of positioning；
S4, range of motion object is obtained by triangle polyester fibre algorithm according to certain time interval progress position sampling
Coordinate, obtain the movement locus of the target eventually by continuous fitting.
Further, the step S2 is specific as follows：
S21, the communication space form visible light signal and form electric signal after photoelectricity testing part, then pass through
Pending electric signal is formed after amplifying circuit；
S22, the pending electric signal are modeled as follows by offline linear time invariant system：
xk+1=Axk+Bwk+Δk (1)
Wherein, k is time index, xkIt is the matrixes of n × 1 of storage system status, wkIt is 1 × 1 square of storing process noise
Battle array, covariance matrix Q>0, A and B is n × N and the finite term matrix of n × 1, ΔkIt is the matrixes of n × 1 of enemy's interference noise,
Expression formula can be by being given below：
Wherein,It is state estimation,It is evaluated error, L is a gain to be determined, and G is a weight square
Battle array, can be adjusted, nk is the Gaussian noise of zero-mean, covariance square according to the existing knowledge about enemy's interference noise
Battle array Q>0.
Measuring equation is：yk=Cxk+vk (3)
Wherein, C is the matrix of m × n, vkIt is the zero-mean Gaussian noise matrix of m × 1, covariance matrix R>0.
State estimationIt is expressed as：
Wherein, K is the filter gain of n × m specifications.
Evaluated error is enabled to be expressed as:
Evaluated error expression formula by (1) and (4) is：
ek+1=(A-KC+LG) ek+Bwk+Lnk-Kvk
ek+1=Fek+Bwk+Lnk-Kvk (6)
Wherein, F=A-KC+LG, evaluated error can be divided into following two parts：
The value and process noise wkWith measurement noise vkRelated, in order to improve the gain of filter, which needs small as possible.
The value and enemy's interference noise vkIt is related, in order to obtain the relatively good filter gain of robustness, it is considered as the worst
Enemy's disturbed condition, then the value need it is big as possible；
S23, the minimax value filter are modeled by two players of zero-sum game.K is first place sportsman
Strategy, L is the strategy of second place sportsman, then the result function played is defined as follows：
Pk+1=FPkFT+BQBT+KRKT-LSLT (11)
Wherein, thIt is time range.By solving zero-sum game, optimal filter gain K is found out*With filter robust
The best L of property*, then have：
J(K*,L)≤J(K*,L*)≤J(K,L*) (14)
Its solution is：
Wherein
S24, above-mentioned solution can be used as the id information that accurate visible light carries.
Further, the step S3 is specific as follows：
S31, as shown in Fig. 2, according to tri- LED lamps of LEDA, LEDB, LEDC in localization region, calculated using triangulation location
Method can obtain the position coordinates (x of positioning terminale,ye)
Wherein , [xA, xB, xC]And [yA, yB, yC]The respectively x and y coordinates of tri- LED lamps of LEDA, LEDB, LEDC.
dxyA,dxyB,dxyCHorizontal distance respectively between positioning terminal and LEDA, LEDB, LEDC passes through above solution, you can
Go out the exact position (x where positioning terminale,ye)；
S32, by the coordinate of three photodiodes is found out respectively in step S31 after, seek corresponding barycenter oftriangle, that is, ask
Go out accurate position coordinates.
Further, the position location coordinate in the step S3 is the region that positioning is determined by id information, passes through three
Angle location algorithm determine photodiode in localization region at a distance from three different LED lamps, and then realize it is accurate fixed
Position.
According to disclosed embodiment, the second aspect of the utility model discloses a kind of based on minimax value filter
Visible light tracing-positioning system, the visible light tracing-positioning system include：It can be seen that optical information transmitting subsystem and visible light
Information terminal receiving subsystem,
The visible optical information transmitting subsystem includes sequentially connected LED drive circuit and LED lamp, is carried visible
The id information of the LED lamp of optical information emits visible light ID signals by LED drive circuit, driving LED lamp；
The visible light information terminal receiving subsystem includes sequentially connected photoelectricity testing part, amplifying circuit and pole
Big minimum value filter, the visible light ID signals are captured after free space by photoelectricity testing part, photoelectric detector
Part will be seen that first passes around amplifying circuit into horizontal electrical signal amplification after light ID signals are converted into electric signal, then inputs minimax
Accurate visible light id information is obtained after value filter, and then realizes the determination of the position coordinates of positioning terminal.
Further, the photoelectricity testing part by 3 identical photodiodes positioned at ground with certain length of side
Triangular arranged form.
The utility model has the following advantages compared with the existing technology and effect：
(1) the utility model utilizes minimax value filter so that various interference noises reach minimum, and make filter
The robustness of wave device reaches maximization.In known disturbances noise source, minimax value filter and traditional karr
Performance in terms of graceful filter is used for signal processing is suitable, in the case of unknown disturbances noise source, minimax value filtering
The performance of the performance ratio Kalman filter of device is good.
(2) minimax value filter is used in visible light track and localization by the utility model, can give full play to the filter
The performance of wave device, the influence of minimization interference noise, the robustness for the filter that maximizes.
Description of the drawings
Fig. 1 is the principle frame that the utility model realizes the visible light method for tracking and positioning based on minimax value filter
Figure；
Fig. 2 is the principle schematic that the utility model realizes triangle polyester fibre algorithm；
Fig. 3 is the structure of the visible light tracing-positioning system based on minimax value filter disclosed in the utility model
Block diagram.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Based on the implementation in the utility model
Example, every other embodiment obtained by those of ordinary skill in the art without making creative efforts belong to
The range of the utility model protection.
Embodiment one
As shown in Figure 1, a kind of visible light method for tracking and positioning based on minimax value filter.
The visible light for carrying id information first passes through LED drive circuit, is emitted by LED lamp, in free space
It propagates, will certainly be interfered by various extraneous noises in communication process, therefore mix noisy visible light and examined by photoelectricity
It surveys device and is converted into electric signal.
By the electric signal by forming pending electric signal after amplifying circuit；
For pending electric signal using Min-max filter process, the algorithm of minimax value filtering is as follows：
Pending electric signal is modeled as follows by offline linear time invariant system：
xk+1=Axk+Bwk+Δk (1)
Wherein, k is time index, xkIt is the matrixes of n × 1 of storage system status, wkIt is 1 × 1 square of storing process noise
Battle array, covariance matrix Q>0, A and B is n × N and the finite term matrix of n × 1, ΔkIt is the matrixes of n × 1 of enemy's interference noise,
Expression formula can be by being given below：
Wherein,It is state estimation,It is evaluated error, L is a gain to be determined, and G is a weight square
Battle array, can be adjusted, nk is the Gaussian noise of zero-mean, covariance square according to the existing knowledge about enemy's interference noise
Battle array Q>0.
Measuring equation is：yk=Cxk+vk (3)
Wherein, C is the matrix of m × n, vkIt is the zero-mean Gaussian noise matrix of m × 1, covariance matrix R>0.
State estimationIt is expressed as：
Wherein, K is the filter gain of n × m specifications.
Evaluated error is enabled to be expressed as:
Evaluated error expression formula by (1) and (4) is：
ek+1=(A-KC+LG) ek+Bwk+Lnk-Kvk
ek+1=Fek+Bwk+Lnk-Kvk (6)
Wherein, F=A-KC+LG, evaluated error can be divided into following two parts：
The value and process noise wkWith measurement noise vkRelated, in order to improve the gain of filter, which needs small as possible.
The value and enemy's interference noise vkIt is related, in order to obtain the relatively good filter gain of robustness, it is considered as the worst
Enemy's disturbed condition, then the value need it is big as possible；
Minimax value filter is modeled by two players of zero-sum game.K is the strategy of first place sportsman, and L is
The strategy of second place sportsman, the then result function played are defined as follows：
Pk+1=FPkFT+BQBT+KRKT-LSLT (11)
Wherein, thIt is time range.By solving zero-sum game, optimal filter gain K is found out*With filter robust
The best L of property*, then have：
J(K*,L)≤J(K*,L*)≤J(K,L*) (14)
Its solution is：
Wherein
Above-mentioned solution can be used as the id information that accurate visible light carries.
It such as Fig. 2, is handled by triangle polyester fibre algorithm, according to tri- LED light of LEDA, LEDB, LEDC in localization region
Tool, using triangle polyester fibre algorithm, can obtain the position coordinates (x of positioning terminale,ye)
Wherein , [xA, xB, xC]And [yA, yB, yC]The respectively x and y coordinates of tri- LED lamps of LEDA, LEDB, LEDC.
dxyA,dxyB,dxyCHorizontal distance respectively between positioning terminal and LEDA, LEDB, LEDC passes through above solution, you can
Go out the exact position (x where positioning terminale,ye)；
After finding out the coordinate of three photodiodes respectively according to the method described above, corresponding barycenter oftriangle is sought, that is, is found out
Accurate position coordinates.
Its overall thought is：Position location coordinate is the region of the id information determination positioning carried by visible light, then
Determine that photodiode in localization region at a distance from three different LED lamps, and then realizes essence by triangle polyester fibre algorithm
True positioning.
Embodiment two
As shown in figure 3, a kind of visible light tracing-positioning system based on minimax value filter, the system include：It can
Light-exposed information transmitting subsystem, visible light message transmission subsystem and visible light information terminal receiving subsystem.
The visible optical information emits subsystem：LED drive circuit and LED lamp, LED drive circuit and LED
Lamps and lanterns are sequentially connected, and carry the id information of the LED lamp of visible optical information by LED drive circuit, driving LED lamp transmitting can
Light-exposed ID signals；
The visible light message transmission subsystem is free space；
The visible light information terminal receiving subsystem includes：Photoelectricity testing part, amplifying circuit and Min-max
Filter；Photoelectricity testing part, amplifying circuit and minimax value filter are sequentially connected；The visible light ID signals pass through
It is captured by photoelectricity testing part after free space, photoelectricity testing part will be seen that be first passed around after light ID signals are converted into electric signal
Amplifying circuit amplifies into horizontal electrical signal, obtains accurate visible light id information after then inputting minimax value filter, in turn
Realize the determination of the position coordinates of positioning terminal.
Above-described embodiment is the preferable embodiment of the utility model, but the embodiment of the utility model is not by above-mentioned
The limitation of embodiment, under other any Spirit Essences and principle without departing from the utility model made by change, modify, replace
In generation, simplifies combination, should be equivalent substitute mode, is included within the scope of protection of the utility model.
Claims (2)
1. a kind of visible light tracing-positioning system based on minimax value filter, which is characterized in that the visible light with
Track positioning system includes：It can be seen that optical information transmitting subsystem and visible light information terminal receiving subsystem,
The visible optical information transmitting subsystem includes sequentially connected LED drive circuit and LED lamp, carries visible light letter
The id information of the LED lamp of breath emits visible light ID signals by LED drive circuit, driving LED lamp；
The visible light information terminal receiving subsystem includes sequentially connected photoelectricity testing part, amplifying circuit and very big pole
Small value filter, the visible light ID signals are captured after free space by photoelectricity testing part, and photoelectricity testing part will
Visible light ID signals first pass around amplifying circuit into horizontal electrical signal amplification after being converted into electric signal, then input Min-max filter
Accurate visible light id information is obtained after wave device, and then realizes the determination of the position coordinates of positioning terminal.
2. a kind of visible light tracing-positioning system based on minimax value filter according to claim 1, feature
It is, the photoelectricity testing part is by 3 identical photodiodes positioned at ground with the equilateral triangle of certain length of side
It arranges.
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Cited By (1)
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| CN108535693A (en) * | 2018-03-07 | 2018-09-14 | 华南理工大学 | A kind of visible light method for tracking and positioning and its system based on minimax value filter |
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| CN108535693A (en) * | 2018-03-07 | 2018-09-14 | 华南理工大学 | A kind of visible light method for tracking and positioning and its system based on minimax value filter |
| CN108535693B (en) * | 2018-03-07 | 2023-09-26 | 华南理工大学 | Visible light tracking and positioning method and system based on maximum and minimum value filter |
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