KR20160086244A - Indoor Positioning System and Method - Google Patents

Indoor Positioning System and Method Download PDF

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KR20160086244A
KR20160086244A KR1020150072767A KR20150072767A KR20160086244A KR 20160086244 A KR20160086244 A KR 20160086244A KR 1020150072767 A KR1020150072767 A KR 1020150072767A KR 20150072767 A KR20150072767 A KR 20150072767A KR 20160086244 A KR20160086244 A KR 20160086244A
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optical signal
optical
unit
visible light
optical output
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KR1020150072767A
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KR101743348B1 (en
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강정원
남해운
강인성
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단국대학교 산학협력단
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements

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  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Optical Communication System (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

An indoor positioning system and method are disclosed that can calculate a light output of each of a plurality of LEDs to reduce a positioning error. The present invention provides an indoor positioning system and method capable of calculating the light output value of each LED using the light output measuring unit and using the same to more accurately estimate the light output value of a general receiver .

Description

{Indoor Positioning System and Method}

The present invention relates to an indoor positioning system and method, and more particularly, to an indoor positioning system and method for calculating a light output of each LED to reduce a positioning error.

A lot of studies on the indoor location recognition system are under way. A global positioning system (GPS) is a typical example of a location recognition system. However, since the radio signal of the global positioning system does not pass through the building well, the positioning error becomes large in the room, so it is necessary to use another method that replaces the global positioning system.

Two alternatives are radio frequency and visible light. In the case of the method using the radio frequency, although the positioning error is large as well as the problem of the electromagnetic interference, since such a problem is solved by using the visible light communication, the present invention can be applied in an environment where the radio frequency can not be used.

 Currently, research on indoor positioning systems using visible light communication has been conducted. In most cases, it is a light-emitting diode-identification (LED-ID) -based positioning system, which is a very simple way to know the location of an LED located in a given area. However, this method limits the width that can be applied because only the area where the LED is located is known.

Recently, a method using received signal strength (RSS) in an indoor positioning system using visible light communication has been widely studied. It calculates the distance from the receiver to each LED by analyzing the received signal strength from at least three LEDs, and uses this to determine the position of the receiver. Although it is advanced positioning format than LED-ID format, it is sensitive to light output, and positioning error can be large. This means that there is a large error in the light output value of each LED necessary to calculate the distance in the receiver, or in a case where there is an external light, the positioning error becomes large.

Korean Patent Publication No. 10-2013-0085024

The present invention relates to an indoor positioning system and method capable of reducing a positioning error. That is, it is an object of the present invention to provide an indoor positioning system and method capable of calculating a light output value of each of LEDs by using an optical output measuring unit and using the calculated optical output values, thereby enabling more accurate indoor positioning.

According to an aspect of the present invention, there is provided an indoor positioning system comprising: a visible light transmitting unit that emits an optical signal; a receiving unit that measures a position of the visible light transmitting unit by using the optical output and the optical output; And an optical output measuring unit for transmitting an output value to the receiving unit.

The optical output measuring unit may receive the optical signal to calculate the optical signal intensity, and may calculate the optical output using the calculated optical signal intensity.

The light output measuring unit may transmit the light output value to the receiver through wireless communication such as Zigbee or Wi-Fi.

The receiving unit may receive the optical signal of the visible light transmitting unit and the optical output value calculated by the optical output measuring unit, respectively.

The receiving unit may calculate the optical signal intensity using the received optical signal, and calculate the distance between the visible light transmitting unit and the receiving unit using the calculated optical signal intensity and the optical output value.

The receiving unit may measure the position of the receiving unit using the calculated distance.

The visible light transmitting unit may include a plurality of LEDs (Light Emitting Diodes) that emit light in accordance with the unique pattern by setting a unique pattern in a code or a time slot.

The visible light transmitting unit may include at least three or more LEDs.

According to another aspect of the present invention, there is provided an indoor positioning method including: a visible light transmitting unit that emits an optical signal; a receiving unit that measures a position of the optical signal by using the optical output of the visible light transmitting unit; And a light output measuring unit for transmitting an output value to the receiving unit, the measuring method comprising the steps of: transmitting the optical signal by the visible light transmitting unit; calculating the light output by the light output measuring unit; And measuring the position of the receiver.

Wherein the step of calculating the optical output of the optical output measuring unit comprises the steps of measuring the intensity of the optical signal by receiving the optical signal, calculating the optical output using the intensity of the optical signal, To the receiving unit.

Wherein the step of measuring the position of the receiving unit comprises the steps of measuring the intensity of the optical signal by receiving the optical signal, receiving the optical output value calculated by the optical output measuring unit, Calculating a distance between the visible light transmitter and the receiver using the intensity and the calculated light output, and calculating the position of the receiver using the calculated distance.

The light output measuring unit may transmit the light output value to the receiver through wireless communication such as Zigbee or Wi-Fi.

The visible light transmitting unit may include a plurality of LEDs (Light Emitting Diodes) that emit light by setting a unique pattern in a time slot.

The visible light transmitting unit may include at least three or more LEDs.

INDUSTRIAL APPLICABILITY The indoor positioning system and method based on LED visible light communication using the optical output measuring unit according to the present invention can actively recognize the light output of the LED even in an environment where the light output of the LED is not known, Accurate indoor positioning is possible. In addition, LEDs can be used in practice because they have a low light output when used for a long time.

The technical effects of the present invention are not limited to those mentioned above, and other technical effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a diagram showing the configuration of an indoor positioning system of the present invention.
2 is a flowchart of an indoor positioning system according to a preferred embodiment of the present invention.
3 is a system flow diagram of an optical output measuring unit according to a preferred embodiment of the present invention.
4 is a system flow diagram of a receiver according to a preferred embodiment of the present invention.
FIG. 5 is a graph comparing a positioning error cumulative distribution function when direct sunlight is incident on the indoor positioning system of the present invention and the prior art.
FIG. 6 is a graph comparing the positioning error cumulative distribution function when the sunlight is indirectly incident on the indoor positioning system of the present invention and the prior art.

BRIEF DESCRIPTION OF THE DRAWINGS The present invention is capable of various modifications and various embodiments, and specific embodiments are illustrated in the drawings and described in detail in the detailed description. It is to be understood, however, that the invention is not to be limited to the specific embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the accompanying drawings.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Referring to the accompanying drawings, the same or corresponding components are denoted by the same reference numerals, .

Example

1 is a diagram showing the configuration of an indoor positioning system of the present invention.

1, an indoor positioning system according to the present invention includes a visible light transmitting unit 101, an optical output measuring unit 201, and a receiving unit 301.

The visible light transmitting unit 101 may include a plurality of LEDs (Light Emitting Diodes) that emit light signals and emit light in accordance with the unique pattern by setting a unique pattern in a code or a time slot . Preferably, the visible light transmitting unit 101 includes at least three or more LEDs, and emits each LED in accordance with a unique pattern. The unique pattern includes the position information of the LED. For example, '1' may mean the ON state of the LED, and '0' may mean the OFF state of the LED. Here, the 'ON' state and the 'OFF' state mean that the LED is actually turned on or off, or it may mean the specific brightness level of the LED. Alternatively, the division of each LED can be achieved by configuring the LEDs in different colors, or by synchronizing the time of all LEDs to set the LED's unique pattern in each unique time slot.

The optical output measuring unit 201 receives the optical signal of the visible light transmitting unit 101, calculates the optical output, and transmits the calculated optical output value to the receiving unit 301. [ Since the visible light transmitter 101 emits the LEDs in accordance with the unique pattern of the optical signals, the optical output measuring unit 201 can receive the optical signals according to the codes or unique patterns of the time slots.

Generally, since the line of sight (LOS) component is large in the optical channel, the DC gain is important. The DC gain of the channel can be expressed by Equation (1).

Figure pat00001

here,

Figure pat00002
Is the DC gain of the channel, m is the Lamberian order
Figure pat00003
, d is the distance between the LED and receiver, A is the size of the physical area of the photodiode of the receiver,
Figure pat00004
The radiation angle of the light from the LED,
Figure pat00005
The angle of incidence of light from the receiver,
Figure pat00006
Is a value of an angle that is 1/2 of the maximum light intensity of the LED,
Figure pat00007
Is a half angle of the field of view (FOV) of the LED,
Figure pat00008
The gain of the concentrator,
Figure pat00009
Is the gain of the optical filter.

Figure pat00010
Into a single gain constant G,
Figure pat00011
To the expression of the distance between the LED and the receiver, the intensity of the optical signal emitted from the LED received at the receiver can be expressed by Equation (2).

Figure pat00012

here,

Figure pat00013
The intensity of the optical signal emitted by the LED at the receiver,
Figure pat00014
Is the source power of the LED and h is the vertical distance between the LED and receiver. The receiver for explaining the above formula may be an optical output measuring unit 201 and a receiving unit 301 in the present invention.

Assuming that the position of the optical output measuring unit 201 is fixed in the system in order to obtain the optical output of the LED in the optical output measuring unit 201, it is assumed that at least three LEDs and the optical output measuring unit 201 The position of the light output measuring unit 201 can be known. Conversely, the light output of each of the LEDs can be calculated by the position of the fixed light output measuring unit 201. The optical output value of the LED calculated by the optical output measuring unit 201 can be expressed by Equation (3) using Equation (2).

Figure pat00015

here,

Figure pat00016
Means the light output of the LED.

Generally, since the vertical height of the LED illumination is constant, the distance between the LED and the light output measuring unit 201 can be expressed as Equation (4) by dividing the distance by the vertical distance and the horizontal distance.

Figure pat00017

here,

Figure pat00018
Means a horizontal distance between the LED and the light output measuring unit 201. [

Using Equation (4), the light output value of each LED can be expressed more simply as shown in Equation (5).

Figure pat00019

As described above, the optical output measuring unit 201 separately receives the optical signals emitted from the plurality of LEDs of the visible light transmitting unit 101, and outputs the received signals to the optical output < RTI ID = 0.0 > Respectively.

The optical output measuring unit 201 transmits the calculated optical output value to the receiving unit 301. [ The optical output measuring unit 201 may transmit a signal using a wireless communication such as ZigBee or Wi-Fi to transmit the optical output value to the receiving unit 301. [

The receiving unit 301 receives the optical signals emitted from the plurality of LEDs of the visible light transmitting unit 101 and the optical output values calculated by the optical output measuring unit 201. The receiving unit 301 calculates the distance between the visible light transmitting unit 101 and the receiving unit 301 using the intensity of the optical signal and the optical output value, and measures the current position using the calculated distance.

When the receiving section 301 receives the intensity of the optical signal and the optical output value, the receiving section 301 can calculate the distance between the receiving section 301 and the visible light transmitting section 101. The distance between the receiving unit 301 and the visible light transmitting unit 101 can be expressed by Equation (6) using Equation (5).

Figure pat00020

here,

Figure pat00021
Means the horizontal distance between the LED and the receiving unit 301. [

The receiving unit 301 can measure the position of the receiving unit 301 by calculating the distance between the LED and the receiving unit 301. [ It is preferable that the receiving unit 301 calculates the distance to at least three LEDs in order to measure the position of the receiving unit 301. [ For example, when the intensity of light emitted from two LEDs is used, the predicted position of the receiving section 301 may be one or more. Therefore, the intensity of light emitted from three or more LEDs must be used to measure the exact position of the receiver 301 using the trilateration method.

The positional coordinates of the receiver 301 using the distance between the three LEDs and the receiver 301 according to the preferred embodiment of the present invention can be expressed by Equation (7).

Figure pat00022

here,

Figure pat00023
X 1 , x 2 and x 3 are the x coordinates of the three LEDs, y 1 , y 2 and y 3 are the y coordinates of the three LEDs respectively, and dxy 1 , dxy 2 , and dxy 3 denote the distances between the LEDs for the three LEDs and the receiving unit 301, respectively. Therefore, the receiving unit 301 can finally measure the position of the receiving unit 301 using Equation (7).

As described above, the receiving unit 301 receives the intensity of the optical signal emitted from the plurality of LEDs of the visible light transmitting unit 101 and the optical output value received by the optical output measuring unit 201, And the position of the receiving unit 301 can be measured using the calculated distance value. Therefore, in the indoor positioning system of the present invention, the light output measuring unit 201 provides the light output value to the receiving unit 301 even in a situation where the receiving unit 301 does not know the light output value of the LED, The measurement error can be reduced, and accurate positioning can be performed accordingly.

FIG. 2 is a flowchart of an indoor positioning system according to a preferred embodiment of the present invention. FIG. 3 is a system flow chart of an optical output measuring unit according to a preferred embodiment of the present invention. Fig.

The positioning method of the indoor positioning system of the present invention will be described in detail with reference to FIG. 2 to FIG.

2, a method of positioning an indoor positioning system according to the present invention is a method of measuring an indoor positioning system including a visible light transmission unit 101, an optical output measurement unit 201 and a reception unit 301, The optical output measuring unit 201 calculates the optical output power of the optical fiber by measuring the position of the receiving unit 301 (step S100) S300).

In the step S100 in which the visible light transmitting unit 101 transmits the optical signal, the visible light transmitting unit 101 emits an optical signal and sets a unique pattern in a code or a time slot, And may include a plurality of LEDs (Light Emitting Diodes) that emit light respectively. That is, the visible light transmitting unit 101 includes at least three or more LEDs, and emits each LED in accordance with a unique pattern.

The unique pattern includes the position information of the LED. For example, '1' may mean the ON state of the LED, and '0' may mean the OFF state of the LED. Here, the 'ON' state and the 'OFF' state mean that the LED is actually turned on or off, or it may mean the specific brightness level of the LED. Alternatively, the division of each LED can be achieved by configuring the LEDs in different colors, or by synchronizing the time of all LEDs to set the LED's unique pattern in each unique time slot.

Referring to FIG. 3, the step S200 of calculating the optical output by the optical output measuring unit 201 includes the step of measuring the intensity of the optical signal by receiving the optical signal (S210) (S220) of calculating the optical output by using the optical output of the optical receiver (S230) and transmitting the calculated optical output to the receiver (301).

In step S210 of measuring the intensity of the optical signal by receiving the optical signal, the optical output measuring unit 201 includes a visible light transmitting unit 101 for emitting an optical signal corresponding to a unique pattern of a code or a time slot, Can be received by dividing the optical signal according to the unique pattern. Also, the optical output measuring unit 201 may measure the intensity of the optical signal for each LED using Equation (2) for the received optical signal.

In step S220 of calculating the optical output using the intensity of the optical signal, the optical output measuring unit 201 measures the optical output power of each of the plurality of LEDs emitted by the visible light transmitting unit 101 Can be calculated. That is, the light output measuring unit 201 can calculate the light output for each LED received using Equation (3) or Equation (5) using the distance between each LED and the light output measuring unit 201 .

In step S230 of transmitting the calculated light output to the receiving unit 301, the optical output measuring unit 201 may transmit the calculated optical output values for the respective LEDs to the receiving unit 301. [ At this time, in order to transmit the optical output value to the receiving unit 301, a signal can be transmitted using a wireless communication such as ZigBee or Wi-Fi.

Referring to FIG. 4, a step S300 of measuring the position of the receiving unit 301 by the receiving unit 301 includes the step of measuring the intensity of the optical signal by receiving the optical signal S310, Calculating a distance between the visible light transmitting unit 101 and the receiving unit 301 using the intensity of the optical signal and the calculated optical output in operation S320; (S330) and measuring the position of the receiver 301 using the calculated distance (S340).

In step S310, the receiving unit 301 receives the optical signal and measures the intensity of the optical signal. The receiving unit 301 receives the optical signals of the plurality of LEDs that emit light from the visible light transmitting unit 101, The intensity of the optical signal for each LED can be measured using Equation (2) as in the case of Equation (201).

In step S320 of receiving the optical output value calculated by the optical output measuring unit 201, the receiving unit 301 receives the optical signal from the visible light transmitting unit 101 and measures the intensity of the optical signal, And can receive the optical output value transmitted from the optical output measuring unit 201 using wireless communication such as ZigBee or Wi-Fi.

The receiving unit 301 calculates the distance between the optical signal intensity of the visible light transmitting unit 101 and the light intensity of the optical signal in the step S330 of calculating the distance between the visible light transmitting unit 101 and the receiving unit 301 using the intensity of the optical signal and the calculated optical output. The distance to each LED of the receiving unit 301 and the visible light transmitting unit 101 can be calculated through Equation (6) using the optical output value received by the output measuring unit 201. At this time, the receiving unit 301 preferably calculates the distance between at least three LEDs among the plurality of LEDs of the visible light transmitting unit 101 in order to measure the position of the receiving unit 301.

In step S340 of measuring the position of the receiving unit 301 using the calculated distance, the receiving unit 301 finally calculates the position of the receiving unit 301 by using the distance between each LED and the receiving unit 301, 301 can be measured.

FIG. 5 is a graph comparing the positioning error cumulative distribution function when the sunlight is directly incident on the indoor positioning system of the present invention and the prior art, FIG. 6 is a graph showing the relationship between the indoor positioning system of the present invention, A graph comparing the cumulative positioning error distribution function at the time of incidence.

Referring to FIG. 5 and FIG. 6, in general, when the LED is used for a long time, the light output is lowered. Therefore, in the case of a conventional positioning system that measures the position of the receiver by using the light output value and the intensity of the received signal, assuming that the receiver knows the light output value of each LED, Therefore, as the time passes, the positioning error gradually increases.

5 and 6 are graphs showing the relationship between the indoor positioning system according to the present invention and the conventional indoor positioning system when the solar light is incident directly and indirectly when the sun light is incident on the assumption that the light output of the 1W LED is lowered to 0.9W for a long time. And the cumulative distribution function of the positioning error of the indoor positioning system according to the technology. As shown in the graphs of FIGS. 5 and 6, it can be seen that in FIG. 5 where the sunlight is directly incident due to the generation of the scattering noise of the sunlight, the positioning error is larger than that of FIG. 6 in which the sunlight is indirectly incident. In addition, it can be seen that the positioning error of the indoor positioning system according to the present invention is significantly reduced both when the sunlight is incident directly or indirectly when the sunlight is incident on the indoor positioning system according to the prior art.

As described above, the indoor positioning system according to the present invention includes the optical output measuring unit 201, so that even when the receiver does not know the light output value of the LED, or even in an environment where there is external light in the room, The measurement error can be reduced by providing the optical output value to the receiving section 301 by means of the light receiving section 301. Accordingly, accurate positioning can be performed indoors.

It should be noted that the embodiments of the present invention disclosed in the present specification and drawings are only illustrative of specific examples for the purpose of understanding and are not intended to limit the scope of the present invention. It will be apparent to those skilled in the art that other modifications based on the technical idea of the present invention are possible in addition to the embodiments disclosed herein.

101: Visible light transmission unit 201: Optical output measurement unit
301: Receiver

Claims (14)

A visible light transmitting unit for emitting an optical signal;
A receiver for measuring a position using the optical signal and optical output of the visible light transmitter; And
And an optical output measuring section for calculating the optical output and transmitting the calculated optical output value to the receiving section. The method according to claim 1,
Wherein the optical output measuring unit receives the optical signal, calculates an optical signal intensity, and calculates the optical output using the calculated optical signal intensity. The method according to claim 1,
Wherein the light output measuring unit transmits the light output value to the receiver through wireless communication such as Zigbee or Wi-Fi. The method according to claim 1,
Wherein the reception unit receives the optical signal of the visible light transmission unit and the optical output value calculated by the optical output measurement unit, respectively. The method according to claim 1,
Wherein the receiving unit calculates the optical signal intensity using the received optical signal and calculates the distance between the visible light transmitting unit and the receiving unit by using the calculated optical signal intensity and the optical output value. 6. The method of claim 5,
Wherein the receiver measures the position of the receiver using the calculated distance. The method according to claim 1,
Wherein the visible light transmitting unit includes a plurality of LEDs (Light Emitting Diodes) that emit light in accordance with the unique pattern by setting a unique pattern in a code or a time slot. 8. The method of claim 7,
Wherein the visible light transmitting unit includes at least three or more of the plurality of LEDs. A visible light transmitting unit for emitting an optical signal; A receiver for measuring a position using the optical signal and optical output of the visible light transmitter; And an optical output measuring section for calculating the optical output and transmitting the calculated optical output value to the receiving section,
The visible light transmitting unit transmitting an optical signal;
Calculating the light output of the light output measuring unit; And
And the receiving unit measures the position of the receiving unit. 10. The method according to claim 9, wherein the step of calculating the optical output
Measuring the intensity of the optical signal by receiving the optical signal;
Calculating the light output using the intensity of the optical signal; And
And transmitting the calculated light output to the receiving unit. 10. The method of claim 9, wherein the measuring the position of the receiver comprises:
Measuring the intensity of the optical signal by receiving the optical signal;
Receiving the optical output value calculated by the optical output measuring unit;
Calculating a distance between the visible light transmitter and the receiver using the intensity of the optical signal and the calculated optical output; And
And calculating the position of the receiver using the calculated distance. 11. The method of claim 10,
Wherein the light output measuring unit transmits the light output value to the receiver through wireless communication such as Zigbee or Wi-Fi. 10. The method of claim 9,
Wherein the visible light transmitting unit includes a plurality of LEDs (Light Emitting Diodes) that emit light by setting a unique pattern in a time slot. 14. The method of claim 13,
Wherein the visible light transmitting unit includes at least three or more of the plurality of LEDs.
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CN110325821A (en) * 2017-02-14 2019-10-11 天宝公司 Utilize the geodesic survey of time synchronization
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CN112698269A (en) * 2019-10-22 2021-04-23 精联电子股份有限公司 Intelligent positioning system
CN113341374A (en) * 2021-06-03 2021-09-03 哈尔滨工业大学（威海） Visible light indoor positioning system and method based on reflection depolarization characteristic

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