CN209280914U - A kind of indoor visible light vision positioning system - Google Patents
A kind of indoor visible light vision positioning system Download PDFInfo
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- CN209280914U CN209280914U CN201820865416.3U CN201820865416U CN209280914U CN 209280914 U CN209280914 U CN 209280914U CN 201820865416 U CN201820865416 U CN 201820865416U CN 209280914 U CN209280914 U CN 209280914U
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Abstract
The utility model discloses a kind of indoor visible light vision positioning system, including transmitting terminal, mobile device receiving end and location-server, the transmitting terminal includes AC-DC conversion module, control signal generating module, LED drive circuit and LED lamp；The mobile device receiving end includes image capture module, signal processing module and display module；The control signal generating module includes microcontroller and modulator, completes the modulation to LED lamp ID by transmitting terminal；The image capture module of the mobile device receiving end carries out Image Acquisition to the optical signal that LED lamp emits, and operation is decoded by signal processing module and obtains the ID code of LED lamp, the corresponding LED lamp location information of verifying acquisition is carried out by the ID code and location-server again, obtains the azimuth information of mobile device receiving end in conjunction with receiving angle location algorithm.The utility model can increase the distance of demodulation visible light signal, improve the precision of visible light positioning system.
Description
Technical field
The utility model relates to visible light communication technology, in particular to a kind of indoor visible light vision positioning system.
Background technique
Visible light communication be one on basic public lighting increase data-transformation facility can build channel radio
The technology of communication network, compared with traditional wireless communication technique, it is seen that there are optical communication technique bandwidth resources to enrich, not by electromagnetism
The advantages that interference.Due to being influenced by multipath effect and path loss, traditional GPS navigation positioning is not able to satisfy people couple
In the requirement of positioning accuracy.Other are based on bluetooth, WIFI, ultrasound, infrared indoor locating system, also due to positioning accuracy and peace
This problem of is dressed up, widespread adoption is not obtained.
It can be seen that light-seeking is the technology of a raising indoor position accuracy, beaconing nodes are attached to light by indoor illumination light fitting
It is sent on source, receiving end receives the identity identification information that identification optical signal parses lamps and lanterns transmission, and utilizes corresponding positioning
Algorithm completes positioning.Compared with other location technologies, it is seen that light-seeking have positioning accuracy is high, take into account illumination and positioning it is excellent
Point.
The visible light positioning system receiving end this paper obtains optical signal using cmos image sensor and forms different light and shade stripeds
The image of width, light and shade width of fringe depends on the flicker frequency of light source in image, by detecting striped number and striped
Width obtains light source frequency, and then obtains the id information of lamps and lanterns, and the positioning of mobile terminal is finally realized using corresponding location algorithm.This
There are obvious drawbacks for kind positioning system: if the distance between mobile terminal and LED light source become larger, the clarity of striped is tight
It destroys again, conventional method will be unable to detect striped well, and then positioning accuracy degradation.
Utility model content
The purpose of the utility model is to overcome shortcoming and deficiency in the prior art, provide a kind of indoor visible light vision
Positioning system, can effectively overcome it is existing based on bias light disturbing influence position stability in camera visible light positioning system with
And the problem of recognition detection bright dark fringe low precision.
In order to achieve the above object, the utility model adopts the following technical scheme:
A kind of indoor visible light vision positioning system, including transmitting terminal, mobile device receiving end and location-server,
It is characterized in that, the transmitting terminal includes AC-DC conversion module, control signal generating module, LED drive circuit and LED
Lamps and lanterns；The mobile device receiving end includes image capture module, signal processing module and display module；
The AC-DC conversion module is used to the alternating current from power supply being converted into direct current；It is described to control signal
Module includes microcontroller and modulator, and the microcontroller is used to the ID number of LED lamp being converted to digital signal concurrent
Modulator is given, the modulator decides whether to provide electric current to driving circuit according to the digital signal that microcontroller is sent, from
And complete the modulation to LED lamp ID；The LED drive circuit provides constant current signal for the illumination of LED lamp；The movement is set
Image capture module in standby receiving end is used to capture the image with bright dark fringe；The signal processing module is used for image
The digital picture of acquisition module acquisition is decoded operation and obtains the unique ID code of LED lamp；It the mobile device receiving end will
The ID code is sent on location-server, and the location-server does identification to the ID code and by the corresponding LED of the ID code
Lamp position information is sent to mobile device receiving end；Mobile device receiving end positions in conjunction with the receiving angle based on camera and calculates
Method obtains the azimuth information of mobile device receiving end, to realize the positioning of mobile device receiving end.
As a preferred technical solution, the mobile device receiving end include image capture module, signal processing module, with
And display module；Described image acquisition module includes cmos image sensor and A/D conversion module；The signal processing module is
Digital signal processor DSP and central processor CPU；The display module is display screen；The cmos image sensor, A/D
It is carried out electrically between conversion module, digital signal processor DSP and display screen and central processor CPU by hardware circuit
Connection, and controlled by the central processor CPU；
The acquisition of described image acquisition module has the optical signal image of bright dark fringe, detailed process are as follows: optical signal image is thrown
It is mapped to cmos image sensor surface, is converted into electric signal；Then number is converted by the electric signal by A/D conversion module
Picture signal；The digital signal processor DSP identifies the ID that digital picture plus signal work extracts striped and obtains LED lamp
Symbol.
The mobile device receiving end has the shifting of camera using smart phone or plate as a preferred technical solution,
Dynamic equipment.
The utility model has the following advantages compared with the existing technology and effect:
1, Tthe utility model system avoids traditional based on receiving end complexity in intensity modulated visible light positioning system
Equipment, view-based access control model positioning alleviate the burden on system hardware composition.
2, Tthe utility model system transmitting terminal uses PWM modulation mode, and mobile device receiving end is sensed using cmos image
Device acquisition image simultaneously identifies lamps and lanterns ID code, and this coding and decoding mode can increase the distance of demodulation visible light signal, communication
Reliability is stronger.
Detailed description of the invention
Fig. 1 is the indoor visible light vision positioning system schematic diagram of the utility model；
Fig. 2 is the hardware system schematic diagram that the utility model realizes indoor visible light vision positioning method；
Fig. 3 is the utility model transmitting terminal structural block diagram；
Fig. 4 (a)-Fig. 4 (c) is respectively the utility model using PWM modulation, the PWM of 10%, 50% and 90% duty ratio
Signal；
Fig. 5 is the utility model mobile device receiving end structural block diagram；
Fig. 6 (a)~Fig. 6 (c) is in the received light and shade width of fringe image in the utility model mobile device receiving end, bright dark
Width of fringe and LED light source flicker frequency (PWM modulation frequency) correspondence diagram；Wherein Fig. 6 (a) is PWM modulation frequency；
Fig. 6 (b) and Fig. 6 (c) is respectively narrow bright dark fringe and the bright dark fringe of width corresponding to PWM modulation frequency；
Fig. 7 is that the utility model iteration averagely eliminates background optical disturbance flow chart；
Fig. 8 is that the utility model mobile device receiving end handles image and obtains LED location procedural block diagram；
Fig. 9 is that the utility model mobile terminal interacts to obtain LED location information schematic diagram with server.
Specific embodiment
The preferred embodiment of the utility model is described in detail with reference to the accompanying drawing, so that the advantages of the utility model
It can be easier to be readily appreciated by one skilled in the art with feature.The utility model is made furtherly below with reference to by embodiment
It is bright, but the utility model is not limited to following embodiment.
Embodiment
As depicted in figs. 1 and 2, the utility model view-based access control model visible light location technology compiles LED lamp ID in transmitting terminal
Number (LED-ID) label information completes cataloged procedure by control signal generating module, generates a series of control signals and is simultaneously transferred to
LED drive circuit, and then LED light light on and off are controlled, encoded information is sent to optical channel space.Movement, which sets receiving end, to be made
The image that optical signal forms different light and shade widths of fringe is obtained with cmos sensor, obtains the coordinate of lamps and lanterns by processing, is completed
Image decoding process.Positioning is realized eventually by receiving angle (AOA) positioning and optimizing algorithm based on camera.
In specific embodiment, the realization of the present embodiment indoor visible light vision positioning method and hardware system and worked
Journey includes the following steps:
Step 1: signal modulation is carried out to unique ID of transmitting terminal LED lamp, continuous modulation waveform is exported, drives LED
Light source luminescent simultaneously transmits signal；The ID of LED lamp localizer beacon is carried in the optical signal；
In the present embodiment, transmitting terminal structural block diagram passes through as shown in figure 3, external power supply provides alternating current for transmitting terminal
AC-DC conversion (AC/DC) module converts alternating current to the direct current for being suitble to LED light to use, and LED lamp ID label information is logical
It crosses control signal generating module to be applied on LED drive circuit, and then encoded information is empty as LED light illumination is sent to optical channel
Between.
In this embodiment, the control signal generating module includes microcontroller and encoder, wherein the microcontroller
LED lamp ID number is converted to digital signal and is sent to modulator, the modulator is sent out according to control signal generating module
The digital signal sent decides whether to provide electric current to driving circuit, to complete the modulated process numbered to LED lamp ID；
In the present embodiment, modulation waveform described in step 1 is modulated using pulse width (PWM), and PWM modulation is
Kind carries out digitally coded method to analog signal level, wherein the duty ratio of square wave is modulated for a physical simulation
The level of signal is encoded, and as shown in Fig. 4 (a)~Fig. 4 (c), the square-wave signal of different duty indicates different PWM letters
Number, wherein Fig. 4 (a) is the pwm signal that output is 10% duty ratio, indicate signal operation during the 10% of period, remaining
It is not run during 90%；Similarly, Fig. 4 (b) and Fig. 4 (c) respectively indicates the pwm signal that duty ratio is 50% and 90%.
In the present embodiment, LED drive circuit provides constant current signal, and the signal of LED light source transmission for the illumination of LED,
Its frequency is greater than 60 hertz, and making one eye can't see light flash；The signal sent between different LED is mutually independent of each other.
Step 2: mobile device receiving end obtains optical signal using cmos image sensor and forms different light and shade widths of fringe
Image, averagely eliminated using successive ignition imaging sensor receive image background optical disturbance；
As shown in figure 5, mobile device receiving end includes image capture module, signal processing module and display module；Institute
Stating image capture module includes cmos image sensor and A/D conversion module；The signal processing module is Digital Signal Processing
Device DSP and central processor CPU；The display module is display screen；The cmos image sensor, A/D conversion module, number
It is electrically connected between signal processor DSP and display screen and central processor CPU by hardware circuit, and by described
Central processor CPU is controlled；
The acquisition of described image acquisition module has the optical signal image of bright dark fringe, detailed process are as follows: optical signal image is thrown
It is mapped to cmos image sensor surface, is converted into electric signal；Then number is converted by the electric signal by A/D conversion module
Picture signal；The digital signal processor DSP extracts striped to digital picture plus signal work and obtains LED lamp ID mark
Symbol.
In the present embodiment, the mobile device receiving end can have camera (CMOS using smart phone or plate
Imaging sensor) mobile device.
As shown in Fig. 6 (a)~Fig. 6 (c), the light and shade width of fringe depends on the flicker frequency (PWM modulation of LED light source
Frequency), it may be assumed that the high LED light source of flicker frequency corresponds to relatively narrow striped, and the low LED light source of flicker frequency corresponds to wider item
Line；If the width of fringe of Fig. 6 (b) is obviously narrow compared to the striped of Fig. 6 (c), the modulating frequency of corresponding top Fig. 6 (a) is also presented
Modulation frequency ratio Fig. 6 (c) of Fig. 6 (b) wants high out.Later by detecting that striped number and width of fringe obtain LED light
Source frequency, and then obtain the ID coding of LED lamp.
As shown in fig. 7, the background optical disturbance averagely eliminated imaging sensor using successive ignition and receive image, specifically
Steps are as follows:
Step 2.1:CMOS imaging sensor receives optical signal and forms original image, and original image is converted to gray level image,
And the position of LED on gray level image is determined by searching for the maximum value of gray value；Wherein, according to the available phase of gray scale maximum value
Corresponding coordinate, and LED location on gray level image is determined with this.
Step 2.2: determining the central point of LED on gray level image using centroid method, take central point gray value of the row；Its
In, centroid method obtains the calculation method that LED center point refers to seeking graphics shape center, specific formula are as follows:
In formula, Xc、YcFor centroid coordinate, a, b are the bounds that LED lamp x-axis is detected in gray level image, and c, d are ash
The bounds of LED lamp y-axis are detected in degree image；
Step 2.3: former array being used as to the be expert at gray value of LED center point that step 2.2 obtains, using iterative method to original
Array is handled；
Iterative method detailed process are as follows: be averaged to the wherein the 1st to n-th element, as the N+1 element, then take the 2nd
The N+2 element of average conduct is taken to the N+1 element, and so on, until former array all elements have been involved in and have been averaged
Process；Wherein, using N+1 to the 2N element as new array；If the former N number of element set of array is { X1、X2......XN,
The new N number of element set of array is { y1、y2......yNIterative method formula are as follows:
And there is following relationship:
yi=XN+i(i=1:N) (3)
Step 2.4: using the obtained a line gray value of step 2.2 as former array, subtracting the new number that step 2.3 obtains
Group, gained difference are the signal eliminated after background optical disturbance.
Step 3: Fast Fourier Transform (FFT) (FFT) is passed through to the picture signal for eliminating bias light interference that step 2 obtains
Image frequency domain signal is obtained, and described image frequency-region signal is filtered, to its amplitude of the signal behavior after filtering processing
Spectrum peak frequency compares frequency-coordinate database in crest frequency and server as the corresponding frequency values of LED lamp ID
To the coordinate of LED lamp, image decoding process is completed；
It in the present embodiment, is specifically that low-pass filter is passed through to image frequency domain signal to image frequency domain signal processing method
And remove the DC voltage in signal (DC) component.
As shown in figure 8, after obtaining amplitude spectrum crest frequency, to selecting range spectrum peak frequency in from step 2 to step 3
A series of processes of rate repeat M times, to obtain M frequency values and choose wherein maximum value as final selecting frequency values.
As shown in figure 9, mobile device receiving end interacts to obtain LED location information with location-server, detailed process is: moving
Dynamic equipment receiving end will for gained frequency values by wireless network transmissions to location-server, location-server receives data simultaneously before
It compares frequency-coordinate database in crest frequency and location-server to obtain the coordinate of LED lamp, by wireless network by institute
It obtains LED lamp location information and returns to mobile device receiving end.
Step 4: indoor location coordinate combination receiving angle (AOA) location algorithm for having obtained LED lamp ID is moved
The position [Tx, Ty, Tz] of equipment receiving end, to realize the positioning of mobile terminal.
In the present embodiment, the angle of arrival based on camera (AOA) location algorithm implementation principle is as follows: the algorithm mentions first
The mutual distance relationship of LED lamp localizer beacon in decoded image is taken, and searches for best proportion factor KiMatching is true
Mutual distance；Wherein, KiIndicate the multiple that beacon i amplifies in the picture；Then according to best proportion factor KiAnd each beacon
Actual position obtain the actual position [Tx, Ty, Tz] of mobile device receiving end；
In the present embodiment, optimum position precision needs enough search spaces, and mobile device receiving end passes through majorized function
Gradient carry out guidance search and then reduce region of search.Optimization problem based on AOA location algorithm can regard non-linear minimum as
Two multiply problem.The algorithm avoids the spacing of measurement transmitting terminal and receiving end, guarantees that system-computed is simple, the speed of service is fast.
Above-described embodiments merely represent several embodiments of the utility model, the description thereof is more specific and detailed,
But it should not be understood as limiting the scope of the patent of the utility model.It should be pointed out that for the common of this field
For technical staff, without departing from the concept of the premise utility, various modifications and improvements can be made, these all belong to
In the protection scope of the utility model.Therefore, the protection scope of the utility model patent should subject to the claims.
Claims (3)
1. a kind of indoor visible light vision positioning system, including transmitting terminal, mobile device receiving end and location-server,
It is characterized in that, the transmitting terminal includes AC-DC conversion module, control signal generating module, LED drive circuit and LED light
Tool；The mobile device receiving end includes image capture module, signal processing module and display module；
The AC-DC conversion module is used to the alternating current from power supply being converted into direct current；The control signal generating module
Including microcontroller and modulator, the microcontroller is used to the ID number of LED lamp being converted to digital signal and be sent to
Modulator, the modulator decides whether to provide electric current to driving circuit according to the digital signal that microcontroller is sent, thus complete
The modulation of pairs of LED lamp ID；The LED drive circuit provides constant current signal for the illumination of LED lamp；The mobile device connects
Image capture module in receiving end is used to capture the image with bright dark fringe；The signal processing module is used for Image Acquisition
The digital picture of module acquisition is decoded operation and obtains the unique ID code of LED lamp；It the mobile device receiving end will be described
ID code is sent on location-server, and the location-server does identification to the ID code and by the corresponding LED lamp of ID code
Location information is sent to mobile device receiving end；Mobile device receiving end is obtained in conjunction with the receiving angle location algorithm based on camera
To the azimuth information of mobile device receiving end, to realize the positioning of mobile device receiving end.
2. indoor visible light vision positioning system according to claim 1, which is characterized in that the mobile device receiving end
Including image capture module, signal processing module and display module；Described image acquisition module includes cmos image sensor
With A/D conversion module；The signal processing module is digital signal processor DSP and central processor CPU；The display module
For display screen；The cmos image sensor, A/D conversion module, digital signal processor DSP and display screen and centre
It is electrically connected between reason device CPU by hardware circuit, and is controlled by the central processor CPU；
The acquisition of described image acquisition module has the optical signal image of bright dark fringe, detailed process are as follows: optical signal image projects
Cmos image sensor surface, is converted into electric signal；Then digital picture is converted by the electric signal by A/D conversion module
Signal；The digital signal processor DSP extracts striped to digital picture plus signal work and obtains the ID identifier of LED lamp.
3. indoor visible light vision positioning system according to claim 1, which is characterized in that the mobile device receiving end
There is the mobile device of camera using smart phone or plate.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108572348A (en) * | 2018-06-06 | 2018-09-25 | 华南理工大学 | A kind of indoor visible light vision positioning method and its hardware system |
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| CN108572348A (en) * | 2018-06-06 | 2018-09-25 | 华南理工大学 | A kind of indoor visible light vision positioning method and its hardware system |
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