KR20120006306A - Indoor positioning apparatus and method - Google Patents

Indoor positioning apparatus and method Download PDF

Info

Publication number
KR20120006306A
KR20120006306A KR1020100066964A KR20100066964A KR20120006306A KR 20120006306 A KR20120006306 A KR 20120006306A KR 1020100066964 A KR1020100066964 A KR 1020100066964A KR 20100066964 A KR20100066964 A KR 20100066964A KR 20120006306 A KR20120006306 A KR 20120006306A
Authority
KR
South Korea
Prior art keywords
light emitting
emitting diode
target position
emitting diodes
coordinates
Prior art date
Application number
KR1020100066964A
Other languages
Korean (ko)
Other versions
KR101174126B1 (en
Inventor
김기두
사이퍼 라만 모하마드
김병연
Original Assignee
국민대학교산학협력단
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 국민대학교산학협력단 filed Critical 국민대학교산학협력단
Priority to KR1020100066964A priority Critical patent/KR101174126B1/en
Priority to PCT/KR2010/005779 priority patent/WO2012008650A1/en
Publication of KR20120006306A publication Critical patent/KR20120006306A/en
Application granted granted Critical
Publication of KR101174126B1 publication Critical patent/KR101174126B1/en

Links

Images

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
    • G01B11/00—Measuring arrangements characterised by the use of optical techniques
    • G01B11/002—Measuring arrangements characterised by the use of optical techniques for measuring two or more coordinates

Abstract

PURPOSE: A device and method for measuring indoor location are provided to improve precision of measurement by preventing a measurement error due to the interference of an external signal. CONSTITUTION: A device for measuring indoor location comprises a light emitting diode light, dual image sensors and a controller. The light emitting diode light receives position signals and converts them to light signal. The dual image sensor is installed in order to be separated with the light emitting diode light. The dual image sensor output an electric signal after receiving optical signal. The controller receives the outputted electric signal from the dual image sensor. The controller gets the location information of a plurality of light emitting diodes. The controller produces the coordinate of the target position by using the location information of obtained multiple light emitting diodes.

Description

Indoor location measuring device and method {INDOOR POSITIONING APPARATUS AND METHOD}

The present invention relates to an indoor position measuring apparatus and method, and more particularly, to an indoor position measuring apparatus and method using light emitting diode illumination to which visible light communication is applied.

Korean Unexamined Patent Publication No. 2010-0021325 discloses a process and method for enabling satellite signals to be received in a shaded area such as a tunnel and indoors where a GPS signal is not input, to confirm a location, and to provide a navigation service.

However, in this prior art, GPS has a problem that a large position error occurs due to radio wave transmission, multipath disappearance and crosstalk from other radio sources in an indoor environment.

In addition, conventional indoor positioning devices such as WLAN, RFID, Bluetooth, and Ultrasound also include problems due to system instability, long response time, and low accuracy and precision.

SUMMARY OF THE INVENTION An object of the present invention is to solve the above problems, and to provide an indoor position measuring apparatus and method using a light emitting diode illumination and a dual image sensor to which visible light communication (VLC) is applied.

Another object of the present invention is to measure the indoor position using the light signal emitted and irradiated from the light emitting diode illumination to which visible light communication is applied to prevent the measurement error due to the interference of the external signal indoor position measurement that can improve the measurement accuracy An apparatus and method are provided.

An indoor position measuring apparatus of the present invention includes: a light emitting diode illumination receiving a plurality of modulated light emitting diode position signals and converting the light signal into an optical signal; A dual image sensor installed to be spaced apart from the light emitting diode illumination to receive an optical signal and convert the light signal into an electrical signal; And receiving and modulating the electrical signals output from the dual image sensors, thereby obtaining position information of a plurality of light emitting diodes, and calculating a coordinate of a target position using the obtained position information of the plurality of light emitting diodes. It features.

Indoor positioning method of the present invention comprises the steps of storing the distance between the focal length and the optical lens of the optical lens provided in each of the dual image sensor; Demodulating electrical signals according to the modulated plurality of light emitting diode position signals and storing position information of the plurality of light emitting diodes; Calculating and storing distance information between a plurality of light emitting diodes and a target position using a distance between a focal length of the dual image sensor and an optical lens provided in each of the dual image sensors; And calculating coordinates of a target location using location information of the plurality of light emitting diodes and distance information between the plurality of light emitting diodes and a target location, wherein the coordinates of the target location connect the centers of the plurality of optical lenses. It is characterized in that the intermediate position of the straight line.

Indoor positioning apparatus and method of the present invention can improve the measurement accuracy by preventing the measurement error due to interference of the external signal by measuring the indoor position by using the light signal emitted and irradiated from the light emitting diode illumination to which visible light communication is applied There is an advantage to that.

1 is a view showing the configuration of an indoor position measuring apparatus of the present invention,
2 is a view showing the indoor position measuring method of the present invention,
3A and 3B show the range of the measurement area, respectively;
4 is a graph showing a position error using the least squares estimation method of the indoor position measurement method of the present invention,
5 is a graph showing a position error using a vector estimation method of the indoor position measurement method of the present invention,
6 is a graph showing the position error obtained by using the least-squares estimation and the vector estimation method of the indoor position measurement method of the present invention,
FIG. 7A is a graph showing RMS position errors of the least square estimation method and the vector estimation method according to the distance between lenses in the indoor position measuring method of the present invention; FIG.
7b is a graph comparing the RMS error of the least square estimation method and the vector estimation method in a graph of the quadratic exponential function in the indoor position measuring method of the present invention;
8 is a table showing a list of simulation parameters of the indoor position measuring method of the present invention,
9 is a table comparing the indoor positioning method of the present invention and the conventional visible light communication based position measuring method.

Hereinafter, an embodiment of an indoor position measuring apparatus and method of the present invention will be described with reference to the accompanying drawings.

1 and 2, the indoor positioning apparatus of the present invention includes a light emitting diode illumination 10, dual image sensors 20 and 30, and a controller 40. As shown in FIG.

The light emitting diode illumination 10 receives a plurality of modulated light emitting diode position signals, converts them into optical signals, and irradiates them. The dual image sensors 20 and 30 are respectively installed to be spaced apart from the light emitting diode illumination 10 to provide an optical signal. It is irradiated and converted into an electrical signal and output. The controller 40 receives and modulates electric signals output from the dual image sensors 20 and 30, respectively, to obtain position information of the plurality of light emitting diodes 11, and obtains position information of the obtained plurality of light emitting diodes 11. Calculate the coordinates (x, y, z) of the target position (U) using.

Hereinafter, the indoor position measuring apparatus of the present invention having the above configuration will be described in detail.

The light emitting diode illumination 10 receives four light emitting diode position signals modulated as shown in FIG. 1, converts each of them into an optical signal, and irradiates the light emitting diode position signals. The plurality of light emitting diode position signals are respectively provided in the light emitting diode illumination 10. The installation positions A, B, C, and D of the plurality of light emitting diodes 11 are shown. The light emitting diode lighting 10 is fixedly installed in a room, and a plurality of light emitting diodes 11 are arranged in a horizontal and vertical direction, respectively. The light emitting diode illumination 10 is also used as an illumination source and is used for visible light communication (VLC).

The modulated plurality of light emitting diode position signals including information such as the installation positions A, B, C, and D of the plurality of light emitting diodes 11 are modulated by a central controller (not shown). The central controller controls the overall communication of a building (not shown) or controls the blinking of the plurality of light emitting diode lights 10 installed in the building (not shown), and measures indoor positions by modulating a plurality of light emitting diode position signals. To the light emitting diode illumination 10 as a reference.

The dual image sensors 20 and 30 are positioned to be spaced apart from each other on the same plane as in FIG. 1 and FIG. The optical lenses 21 and 31 respectively transmit and receive an optical signal emitted from the light emitting diode illumination 10, and the image elements 22 and 32 are respectively provided below the optical lenses 21 and 31, thereby providing an optical lens ( 21,31) and receives the optical signal transmitted through the electrical signal is converted into an output.

An image pickup device or a plurality of photodiodes are used as the image devices 22 and 32 that receive an optical signal and convert the light signal into an electric signal. When using a plurality of photodiodes as the image elements 22 and 32, each is used as one pixel.

The controller 40 calculates the intermediate position of the straight line L connecting the centers of the plurality of optical lenses 21 and 31 as coordinates (x, y, z) of the target position U. The controller 40, which calculates the coordinates (x, y, z) of the target position U, is an input device such as a memory (not shown) or a keyboard for storing or inputting the distance information f, L, etc., which are known in advance. (Not shown) is provided.

The indoor position measuring method using the indoor position measuring apparatus of the present invention having the above configuration is as follows.

First, the controller 40 stores the focal length f of the optical lenses 21 and 31 and the distance L between the optical lenses provided in the dual image sensors 20 and 30 shown in FIG. 2, respectively. When the focal length f of the optical lenses 21 and 31 and the distance L between the optical lenses are stored, the controller 40 demodulates an electrical signal according to the modulated plurality of light emitting diode position signals, thereby demonstrating a plurality of light emitting diodes ( 11) the position information (A, B, C, D) is stored.

The position information A, B, C, and D of the plurality of light emitting diodes 11 are disposed at corners of the light emitting diode illumination 10, respectively, as shown in FIG. 1 to position the four light emitting diodes 11 sufficiently spaced from each other. It is information and stored in a separate point-and-point controller (not shown) in the central controller (not shown) or the light emitting diode light (10) to measure in advance to control the blinking of the light emitting diode light (10).

When the position information A, B, C, and D of the plurality of light emitting diodes 11 are stored, the controller 40 may control the focal length f of the dual image sensors 20 and 30 and the dual image sensors 20 and 30. The distance information between the plurality of light emitting diodes 11 and the target position U is calculated and stored by using the distance L between the optical lenses 21 and 31 provided in the respective lenses.

When the distance information between the plurality of light emitting diodes 11 and the target position U is stored, the controller 40 may determine the position information A, B, C, and D of the plurality of light emitting diodes 11 and the plurality of light emitting diodes ( 11) and the coordinates (x, y, z) of the target position (U) are calculated using the distance information (d 1 , d 2 , d 3 , d 4 ) between the target position (U). Here, the coordinates (x, y, z) of the target position (U) is the intermediate position of the straight line L connecting the centers of the plurality of optical lenses (21, 31), by measuring the intermediate position of the present invention The center of the indoor position measuring device can be selected as the measuring position and measured.

When explaining the indoor position measuring method of the present invention having such a configuration in more detail as follows.

When selecting a plurality of light emitting diodes 11 used in the indoor position measuring method of the present invention, the same information is arranged in the light emitting diode illumination 10, rather than the same lines as shown in FIG. Choose to have D). That is, the light emitting diodes 11 installed at the corners of the light emitting diode illumination 10 are selected and used, and each of the three-dimensional coordinate information A (x1, y1, z1) and B (x2, y2, z2), C (x3, y3, z3) and D (x4, y4, z4).

When position information A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3) and D (x4, y4, z4) having three-dimensional coordinate information are converted into an optical signal, When irradiated by the dual image sensors 20 and 30 and converted into an electrical signal and outputted, the received signal is received by the controller 40 to three-dimensional axis information of the light emitting diode 11, that is, the position information A, B, C and D. Demodulate and store. The dual image sensors 20 and 30 receive optical signals modulated by light intensity from four light emitting diodes 11 spaced apart from each other using two separate optical lenses 21 and 31 and convert them into electrical signals. To print. These dual image sensors 20 and 30 are mounted on the same surface at lateral distances known as the main axis on the same line pp '. Optical lenses 21 and 31 having the same characteristics and focal lengths are provided above the centers of the respective image sensors 20 and 30.

It will be appreciated that the method of measuring the coordinates (x, y, z) of the target position U using the position information A, B, C and D will be sufficiently calculated from FIG. "U" shown in FIG. 1 represents the intermediate position of the straight line L connecting the centers of the two optical lenses 21 and 31. The unknown three-dimensional coordinates of U (x, y, z), which are the coordinates (x, y, z) of the target position U, are measured from this system. The distance information d1, d2, d3 and d4 are respectively represented between the four light emitting diodes 11 having the positional information A, B, C and D and the target position U, respectively. , d2, d3, and d4 are calculated from the geometrical relationship due to the difference in the light emitting diode images accommodated on the two image sensors 20,30, respectively.

The geometric relationship of the position structure proposed in the indoor position measuring method of the present invention is shown in detail in FIG. 2 shows distance information d1, d2, d3, and d4 from the light emitting element 11 to the target position U through Equations 1 to 8 below.

Figure pat00001

Figure pat00002

Figure pat00003

Figure pat00004

Figure pat00005

Figure pat00006

Figure pat00007

Figure pat00008

In Equations 1 to 8, d i is a distance between the light emitting diode 11 and the coordinates (x, yz) of the target position U, i of d i is 1 to 4, i 1 and i 2 are respectively The distance from the center of the image elements 22 and 32 of the dual image sensors 20 and 30 to the center of the optical signal image, and Pi 1 and Pi 2 are i 1 and the main axes of the image elements 22 and 32, respectively. i 2 is the projected distance, f is the focal length of the optical lens (21, 31) provided in the dual image sensor (20, 30), respectively, L is an optical lens provided in the dual image sensor (20, 30), respectively The distance between 21 and 31 is shown.

When the distance information (d1, d2, d3 and d4) is calculated, the controller 40 determines the distance information (d1, d2, d3 and d4) and the plurality of light emitting diodes (reference) in the light emitting diode illumination (10). 11) position information A, B, C, D, that is, three-dimensional coordinate information A (x1, y1, z1), B (x2, y2, z2), C (x3, y3, z3) and D ( x4, y4, z4) can be used to construct four quadratic equations as shown in Equations 9 to 12, and solve the four quadratic equations to coordinate (x, y, z) of the target position (U). Will yield.

Figure pat00009

Figure pat00010

Figure pat00011

Figure pat00012

In Equations 9 to 12, (x, y, z) is the coordinate of the target position U, (x 1 , y 1 , z 1 ), (x 2 , y 2 , z 2 ), (x 3 , y 3 , z 3 ) and (x 4 , y 4 , z 4 ) represent the coordinates of the installation positions of the plurality of light emitting diodes 11, respectively, and d 1 , d 2 , d 3 , and d 4 each represent a plurality of positions. Distance information between the light emitting diodes 11 and the coordinates (x, y, z) of the target position U is shown.

The method of correcting the error of the coordinates (x, y, z) of the target position U calculated using the indoor position measuring method of the present invention will be described with reference to FIGS. 1 and 2 as follows.

The method of correcting the error of the coordinates (x, y, z) of the target position (U) is first corrected by using Least Square Estimation (LSE). The correction is performed by using vector estimation.

First, when the coordinates (x, y, z) of the target position U is calculated, the correction is performed by the least squares estimation method.

In order to estimate the three-dimensional unknown position, that is, the coordinates (x, y, z) of the target position (U), between the light emitting diodes 11 and the coordinates (x, y, z) of the target position (U). If the distance is estimated correctly, three of the four quadratic equations are sufficient. However, due to the influence of the quantization error in the pixels of the dual image sensors 20 and 30, the exact distance between the light emitting diode 11 and the coordinates (x, y, z) of the target position U cannot be estimated.

An intuitive solution to this problem is to use more of the following three light emitting diodes 11. Mathematically, when converting an equation using three light emitting diodes 11 into an over-determined system equation, this becomes a problem of linear least squares. Therefore, by solving the equations described in the following equations (13) to (16) for X, the position of the coordinates (x, y, z) of the target position (U) is estimated and corrected.

Figure pat00013

here,

Figure pat00014

Figure pat00015

And

Figure pat00016

The condition for the solution of the linear least squares estimation method using Equations 13 to 16 above is that the matrix M must have a full rank. However, a plurality of light emitting diodes 11, each of which has position information A, B, C, and D, which are reference in the light emitting diode illumination 10, respectively, are on the same plane (that is, all have the same z-coordinate value). Therefore, these conditions are not satisfied. Therefore, it is necessary to add a small value to the z-axis value of the light emitting diode 11 having the fourth criterion, that is, the position information D. This method solves the unusual problem of the matrix M or yields an errored z-axis estimate. Vector estimation is used to estimate the z-axis value, and the light emitting diode 11 having three criteria, namely, location information A, B, and C, is used for this estimation.

The vector estimation method for z-axis correction is,

Figure pat00017
,
Figure pat00018
And
Figure pat00019
If is represented as a vector corresponding to the coordinate axes of A, B and C, respectively, the two intersection points are calculated using the equations of Equations 17 to 26.

Figure pat00020

Figure pat00021

Figure pat00022

Figure pat00023

Figure pat00024

Figure pat00025

Figure pat00026

Figure pat00027

Figure pat00028

Figure pat00029

Vectors appear as two intersections as z-axis values

Figure pat00030
,
Figure pat00031
One of them is related to the geometrical relationship of the indoor ceiling.

The performance of the indoor position measuring method of the present invention was evaluated by simulating using a MATLAB.

As a result of evaluation by simulation using MATLAB, one important point of the structure of the indoor position measuring apparatus of the present invention is that the area of the position that can be measured is determined by the area of the light emitting diode illumination 10. If four light emitting diodes 11 can be seen in the dual image sensors 20 and 30, respectively, the coordinates (x, y, z) of the target position U can be estimated by the indoor position measuring apparatus of the present invention. . The position measuring area is reduced to a minimum when the dual image sensors 20 and 30 are parallel to the light emitting diode illumination 10.

3A and 3B show geometric dimensions for calculating a location measurement area, respectively, FIG. 3A is a side view of the LED lighting device 10, and FIG. 3B is a view of the LED lighting device 10 from above. It is a view. Assuming that the image sensors 20 and 30 are parallel to the light emitting diode illumination 10 as shown in FIGS. 3A and 3B, respectively, the position measuring area can be calculated by the equations of Equations 27 and 28.

Figure pat00032

Figure pat00033

Here, φ is half of the field of view (FOV) of the image sensor, q is the side length of the light emitting diode illumination 10, h is the light emitting diode illumination 10 and the dual image sensor (20,30) The vertical distance between and r is the length of the side of the location area.

In the MATLAB simulation model, assuming that the surface area of the light emitting diode illumination 10 is 1 × 1 m 2 , the FOV of the dual image sensors 20, 30 is 45 °, and the light emitting diode illumination 10 and the dual The vertical distance between the image sensors 20 and 30 is called 3.5m. Therefore, the indoor position measuring apparatus of the present invention has an estimated position of 1.8x1.8 m 2 when the light emitting diode illumination 10 has a 3.5m distance, and the parameters of the simulation of the matlab of the present invention. Is shown in FIG. 8.

Simulation of the MATLAB of the present invention assumes that the major axes of the dual image sensors 20 and 30 are parallel to the x axis of the position measurement area. The dual image sensors 20 and 30 apply an APS-C type 6 mega pixel image sensor used in Nikon cameras D40, D50, D70, D100, and Pantax K100D. And the simulation parameters are shown in detail in the table shown in FIG.

The pixels of the dual image sensors 20 and 30 are arranged to be arranged in two dimensions so that the image of the light emitting diode 11, that is, the optical signal image, is composed of a plurality of pixels. For this reason, it is necessary to determine the center of each light signal image before making other measurements.

If N pixels constitute an image of a specific light emitting diode 11, the center of the image is calculated using the following equation (29).

Figure pat00034

In Equation 29, j = 1, 2, 3... , N, (Nr, Nc) is the image center along the columns and rows of the image matrix, (Nrj, Ncj) is the column-row number of the pixel that matches the light emitting diode image, and j is the number of pixels.

 The MATLAB simulation results according to the least squares estimation method of the indoor measurement method of the present invention are as follows.

 Simulation of the least squares estimation method of the indoor measurement method of the present invention first evaluates the coordinates (x, y, z) of the fixed target position (U), and keeps the other elements constant, and the dual image sensor (20,30) The number of pixels per line is increased while increasing from 500 to 3008 in steps of 20 pixels.

The simulation results are shown in FIG. In FIG. 4, the horizontal axis represents pixels per line, and the vertical axis represents position errors in meters (m). The position error decreases as the number of pixels increases. An error represents a fluctuation state caused by quantum errors of pixels. The reason is that the image center is the center of the pixel obtained from the image center estimation using the above equation (29). However, the actual center of the image of the light emitting diode is not always the pixel center. As a result, a quantization error is obtained. The estimation errors from FIG. 4 are 0.156, 0.007 and 0.867 m along the x, y and z axes, respectively, when the pixel per line is 2948. FIG. In this case, the total error is 0.88m. The error along the x and y axes is much smaller than the error along the z axis.

In the least squares estimation method, as mentioned above, a small length was added to the z-axis of the 'D' reference light emitting diode 11 for calculation. As a result, the z-axis estimation error increased. In order to solve this problem, the unknown z-axis using the vector estimation method is estimated from the light emitting diodes 11 having three criteria, namely, position information A, B, and C, respectively.

The MATLAB simulation results according to the vector estimation method are as follows.

Three reference light emitting diodes 11 are required for the three-dimensional unknown position vector estimation method, and data corresponding to the reference light emitting diodes 11 is used. The pixel per line is increased from 500 to 3008 to understand the effect of pixel size on estimation error. All other variables remain unchanged as with the LSE described above. The results of the vector estimation method are as shown in Fig. 5, and the horizontal and vertical axes represent the number of pixels per line and the estimation error, respectively.

Estimation errors are 0.212, 0.078 and 0.013 m along the x, y and z axes, respectively, when the pixel per line is 2948. The total error is 0.226m. Also, as shown in Fig. 5, the vector estimation method gives a smaller error along the z-axis than the least square estimation method. In contrast, the errors along the x and y axes are larger than the least squares estimation method. Also, the error along the x-axis is larger than the error along the y-axis, since in the simulation, the major axes of the dual image sensors 20 and 30 are parallel to the x-axis, since the error along the x-axis is greater than the error along the y-axis. .

In summary, the least squares estimation is used for the x-axis and the y-axis, and the vector estimation for the z-axis in order to obtain a good estimate of the coordinates (x, y, z) of the target position U as a whole. Should be. Estimation errors and overall estimation errors from the combination of least squares estimation and vector estimation along different axes are shown in FIG. 6. The total estimation error according to the specific position is 0.156m when the number of pixels per line is 2948.

In the present invention, the relationship between the distance L and the position error of the optical lenses 21 and 31 is as follows.

In the present invention, in order to find the relationship between the distance (L) of the optical lens (21, 31) and the position error, the distance between the center of the lens from 4cm to 20cm in 2cm steps, the 32761 experiment using the following equation 30 Compute the root mean square (RMS) of the error location (Erms) of the location.

Figure pat00035

Where n is the number of positions to be estimated and Err n is an estimation error of the nth position. The result is shown in Fig. 7A, and the RMS position error decreases in both the vector estimation method and the least-squares estimation method as the distance L between the two optical lenses 21 and 31 increases. Improvements in location performance are important up to 10 cm distance. At 10 cm, the vector and least squares estimation-vector estimation are 0.1239 and 0.09333, respectively. If the lens distance increases more than 7.2 cm, the RMS error of the least squares estimation-vector estimation becomes smaller than the error of the vector estimation. Since there is a trade-off between the location estimate area and the distance between the dual image sensors 20 and 30, it should be well defined while keeping the distance between the sensors 20 and 30 as small as possible. In order to establish the relationship between the RMS error and the distance of the optical lenses 21 and 31, the RMS error for the least squares estimation-vector estimation method was compared as a graph of the quadratic exponential function. This relationship is as shown in Equation 31 below.

Figure pat00036

Therefore, in the present invention, the indoor position measuring method using the light emitting diode illumination 10 and the dual image sensors 20 and 30 can minimize the position error within a range of several centimeters. Compared to the device, it is possible to perform the position measurement more precisely, there is an advantage that can be reduced to light and thin.

10: light emitting diode illumination 11: light emitting diode
20,30: Dual image sensor 21,31: Optical lens
22,23: image element 40: controller

Claims (14)

A light emitting diode illumination configured to receive a plurality of modulated light emitting diode position signals and convert the light emitting diode into an optical signal;
A dual image sensor installed to be spaced apart from the light emitting diode illumination to receive an optical signal and convert the light signal into an electrical signal;
And receiving and modulating the electrical signals output from the dual image sensors, thereby obtaining position information of a plurality of light emitting diodes, and calculating a coordinate of a target position using the obtained position information of the plurality of light emitting diodes. Indoor positioning device characterized in that. The indoor positioning device according to claim 1, wherein the light emitting diode illumination is provided with a plurality of light emitting diodes arranged in a horizontal direction and a vertical direction, respectively. The method of claim 1, wherein the light emitting diode illumination receives the modulated four light emitting diode position signals and converts each of them into an optical signal and irradiates the light emitting diode position signals. Indoor positioning device, characterized in that for indicating. The indoor positioning device of claim 1, wherein the dual image sensors are spaced apart from each other on the same plane. The optical image sensor of claim 4, wherein the dual image sensor comprises: an optical lens configured to transmit and receive an optical signal;
And an image element installed under the optical lens and configured to irradiate an optical signal transmitted through the optical lens and convert the optical signal into an electrical signal. The indoor positioning device according to claim 1, wherein the image device comprises an image pickup device or a plurality of photodiodes. The indoor position measuring apparatus according to claim 1, wherein the controller calculates an intermediate position of a straight line connecting the centers of the plurality of optical lenses as coordinates of a target position. Storing a distance between a focal length and an optical lens of the optical lens, each of which is provided in the dual image sensor;
Demodulating electrical signals according to the modulated plurality of light emitting diode position signals and storing position information of the plurality of light emitting diodes;
Calculating and storing distance information between a plurality of light emitting diodes and a target position using a distance between a focal length of the dual image sensor and an optical lens provided in each of the dual image sensors;
Calculating coordinates of a target location using location information of the plurality of light emitting diodes and distance information between the plurality of light emitting diodes and a target location;
And calculating the coordinate error of the calculated target position when the coordinates of the target position are calculated. The method of claim 8, wherein the calculating of the distance information between the plurality of light emitting diodes and the target position is repeated by calculating the following equation according to the number of the plurality of light emitting diodes.
Figure pat00037

here,
Figure pat00038
,
Figure pat00039
,
Figure pat00040
,
Figure pat00041
,
Figure pat00042
,
Figure pat00043
,
Figure pat00044
,
d i is the distance between the light emitting diode and the coordinate of the target position, i of i is 1 to 4, i 1 and i 2 are the distance from the center of the image sensor of the dual image sensor to the center of the optical signal image, respectively. , Pi 1 and Pi 2 are the distance the i 1 and i 2 is projected on the main axis of the image sensor, respectively, f is the focal length of the optical lens provided in the dual image sensor, respectively, L is provided in the dual image sensor The distance between the optical lenses is shown. The method of claim 8, wherein the calculating of the coordinates of the target position is calculated by the following quadratic equations.
Figure pat00045
,
Figure pat00046
,
Figure pat00047
,
Figure pat00048

Here, (x, y, z) is the coordinate of the target position, (x 1 , y 1 , z 1 ), (x 2 , y 2 , z 2 ), (x 3 , y 3 , z 3 ) and ( x 4 , y 4 , z 4 ) represent coordinates of the installation positions of the plurality of light emitting diodes, respectively, and d 1 , d 2 , d 3 , and d 4 each represent a distance between the coordinates of the target positions of the plurality of light emitting diodes. Indicates. The indoor position measuring method according to claim 8, wherein the coordinates of the target position in the step of calculating the coordinates of the target position are intermediate positions of a straight line connecting the centers of the plurality of optical lenses. The method of claim 8, wherein the correcting of the coordinate error of the target position comprises: correcting an error of the coordinate of the target position by a least squares estimation method when the coordinates of the target position are calculated;
Compensating for the z-axis error of the coordinates of the target position corrected by the least squares estimation method using a vector estimation method. 13. The method of claim 12, wherein the correcting by the least squares estimation method uses the following equation.
Figure pat00049

here,
Figure pat00050
,
And
Figure pat00051
Becomes The method of claim 12, wherein the vector estimation method uses the following equation.
Figure pat00052
,
Figure pat00053

here,
Figure pat00054
,
Figure pat00055
,
Figure pat00056
,
Figure pat00057
,
Figure pat00058
,
Figure pat00059
,
Figure pat00060
,
Figure pat00061
to be.
KR1020100066964A 2010-07-12 2010-07-12 Indoor positioning apparatus and method KR101174126B1 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
KR1020100066964A KR101174126B1 (en) 2010-07-12 2010-07-12 Indoor positioning apparatus and method
PCT/KR2010/005779 WO2012008650A1 (en) 2010-07-12 2010-08-27 Indoor location measuring device and method

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020100066964A KR101174126B1 (en) 2010-07-12 2010-07-12 Indoor positioning apparatus and method

Publications (2)

Publication Number Publication Date
KR20120006306A true KR20120006306A (en) 2012-01-18
KR101174126B1 KR101174126B1 (en) 2012-08-20

Family

ID=45469626

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020100066964A KR101174126B1 (en) 2010-07-12 2010-07-12 Indoor positioning apparatus and method

Country Status (2)

Country Link
KR (1) KR101174126B1 (en)
WO (1) WO2012008650A1 (en)

Cited By (15)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR101358102B1 (en) * 2012-05-14 2014-02-05 주식회사 아이디로 Apparatus for detecting drive distance of vehicles and method for detecting thereof
WO2014051783A1 (en) * 2012-09-28 2014-04-03 Intel Corporation Light id error detection and correction for light receiver position determination
KR101381075B1 (en) * 2013-04-30 2014-04-14 재단법인대구경북과학기술원 Aparatus for estimating position of object and method thereof
US9014564B2 (en) 2012-09-24 2015-04-21 Intel Corporation Light receiver position determination
US9148250B2 (en) 2012-06-30 2015-09-29 Intel Corporation Methods and arrangements for error correction in decoding data from an electromagnetic radiator
US9178615B2 (en) 2012-09-28 2015-11-03 Intel Corporation Multiphase sampling of modulated light with phase synchronization field
US9203541B2 (en) 2012-09-28 2015-12-01 Intel Corporation Methods and apparatus for multiphase sampling of modulated light
US9385816B2 (en) 2011-11-14 2016-07-05 Intel Corporation Methods and arrangements for frequency shift communications by undersampling
US9590728B2 (en) 2012-09-29 2017-03-07 Intel Corporation Integrated photogrammetric light communications positioning and inertial navigation system positioning
KR20170088732A (en) * 2016-01-22 2017-08-02 단국대학교 산학협력단 Indoor Positioning System and Method
US9832338B2 (en) 2015-03-06 2017-11-28 Intel Corporation Conveyance of hidden image data between output panel and digital camera
KR20180026131A (en) * 2016-09-02 2018-03-12 케이와이이앤아이 주식회사 Positioning device, positioning system using optical signal and method thereof
CN108362286A (en) * 2018-01-31 2018-08-03 百色学院 A kind of indoor locating system and method based on icon imaging
KR101985287B1 (en) * 2017-11-30 2019-06-05 (주)코어센스 Correcting device for color camera and thermal camera
KR102086261B1 (en) * 2018-12-03 2020-03-06 국민대학교산학협력단 Method and apparatus for navigation using optical camera communication

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102904639A (en) * 2012-11-05 2013-01-30 北京半导体照明科技促进中心 Visible light communication system, and transmitting device and receiving device thereof
US10849205B2 (en) 2015-10-14 2020-11-24 Current Lighting Solutions, Llc Luminaire having a beacon and a directional antenna
CN105929366B (en) * 2016-04-15 2018-08-31 浙江师范大学 A kind of plan-position method for sensing under indoor environment
CN107192981B (en) * 2017-04-28 2020-02-21 天津大学 Visible light positioning system and method based on illumination shadow and machine learning
US11116157B2 (en) * 2019-12-30 2021-09-14 Rockwool International A/S Method of propagating a Cannabis cutting

Family Cites Families (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2915896B1 (en) 1998-04-02 1999-07-05 株式会社カイジョー Indoor positioning system
JP2004226267A (en) 2003-01-23 2004-08-12 National Institute Of Information & Communication Technology Spatially positioning device
KR100861469B1 (en) * 2006-09-30 2008-10-02 한국 고덴시 주식회사 Position sensor module of light source, apparatus and method for sensing self-position using the same
KR100996180B1 (en) * 2008-08-12 2010-11-23 한국생산기술연구원 Localization system and method for mobile object using led light

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9838121B2 (en) 2011-11-14 2017-12-05 Intel Corporation Apparatus configured for visible-light communications (VLC) using under-sampled frequency shift on-off keying (UFSOOK)
US9385816B2 (en) 2011-11-14 2016-07-05 Intel Corporation Methods and arrangements for frequency shift communications by undersampling
KR101358102B1 (en) * 2012-05-14 2014-02-05 주식회사 아이디로 Apparatus for detecting drive distance of vehicles and method for detecting thereof
US9148250B2 (en) 2012-06-30 2015-09-29 Intel Corporation Methods and arrangements for error correction in decoding data from an electromagnetic radiator
US9014564B2 (en) 2012-09-24 2015-04-21 Intel Corporation Light receiver position determination
US9178615B2 (en) 2012-09-28 2015-11-03 Intel Corporation Multiphase sampling of modulated light with phase synchronization field
US9203541B2 (en) 2012-09-28 2015-12-01 Intel Corporation Methods and apparatus for multiphase sampling of modulated light
US9218532B2 (en) 2012-09-28 2015-12-22 Intel Corporation Light ID error detection and correction for light receiver position determination
WO2014051783A1 (en) * 2012-09-28 2014-04-03 Intel Corporation Light id error detection and correction for light receiver position determination
US9590728B2 (en) 2012-09-29 2017-03-07 Intel Corporation Integrated photogrammetric light communications positioning and inertial navigation system positioning
KR101381075B1 (en) * 2013-04-30 2014-04-14 재단법인대구경북과학기술원 Aparatus for estimating position of object and method thereof
US9832338B2 (en) 2015-03-06 2017-11-28 Intel Corporation Conveyance of hidden image data between output panel and digital camera
KR101877608B1 (en) * 2016-01-22 2018-07-16 단국대학교 산학협력단 Indoor Positioning System and Method
KR20170088732A (en) * 2016-01-22 2017-08-02 단국대학교 산학협력단 Indoor Positioning System and Method
KR20180026131A (en) * 2016-09-02 2018-03-12 케이와이이앤아이 주식회사 Positioning device, positioning system using optical signal and method thereof
KR101985287B1 (en) * 2017-11-30 2019-06-05 (주)코어센스 Correcting device for color camera and thermal camera
CN108362286A (en) * 2018-01-31 2018-08-03 百色学院 A kind of indoor locating system and method based on icon imaging
KR102086261B1 (en) * 2018-12-03 2020-03-06 국민대학교산학협력단 Method and apparatus for navigation using optical camera communication

Also Published As

Publication number Publication date
WO2012008650A1 (en) 2012-01-19
KR101174126B1 (en) 2012-08-20

Similar Documents

Publication Publication Date Title
KR101174126B1 (en) Indoor positioning apparatus and method
Rahman et al. Indoor positioning by LED visible light communication and image sensors
CN105203046B (en) Multi-thread array laser 3 D scanning system and multi-thread array laser 3-D scanning method
US10371791B2 (en) Underwater positioning system
US8542368B2 (en) Position measuring apparatus and method
Yamazato et al. Image sensor based visible light communication and its application to pose, position, and range estimations
US20080259310A1 (en) Optical position detection device and electronic equipment
KR20170135914A (en) Multi-line laser array three-dimensional scanning system and multi-line laser array three-dimensional scanning method
KR101780122B1 (en) Indoor Positioning Device Using a Single Image Sensor and Method Thereof
WO2010054519A1 (en) A device and method for measuring 6 dimension posture of moving object
EP3164673B1 (en) Ground tracking apparatus, systems, and methods
CN111045029A (en) Fused depth measuring device and measuring method
JP2018522235A (en) Imaging device and method for obtaining depth information
US9404999B2 (en) Localization system and localization method
JP2013185851A (en) Positioning apparatus, positioning system including the same, and positioning method
KR101365291B1 (en) Method and apparatus for estimating location in the object
US20190353749A1 (en) Ray-surface positioning systems and methods
US20090265133A1 (en) Localization system and method for mobile object using wireless communication
CN101706262A (en) Absolute non-interfering precision measuring method facing ultra-large spatial complex curved surface
CN111337013A (en) Four-linear-array CCD-based multi-target point distinguishing and positioning system
KR102142923B1 (en) coordinate positioning system
KR20120068668A (en) Apparatus and method for detecting a position
RU68672U1 (en) SMALL DEVICE FOR TILT ANGLE MEASUREMENTS AND AZIMUTES
JP2010043961A (en) Three-dimensional image measuring system
US11762096B2 (en) Methods and apparatuses for determining rotation parameters for conversion between coordinate systems

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant
FPAY Annual fee payment

Payment date: 20140924

Year of fee payment: 5

FPAY Annual fee payment

Payment date: 20170710

Year of fee payment: 6

FPAY Annual fee payment

Payment date: 20180627

Year of fee payment: 7