WO2016150146A1 - 一种室内定位装置和室内定位方法 - Google Patents

一种室内定位装置和室内定位方法 Download PDF

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Publication number
WO2016150146A1
WO2016150146A1 PCT/CN2015/092011 CN2015092011W WO2016150146A1 WO 2016150146 A1 WO2016150146 A1 WO 2016150146A1 CN 2015092011 W CN2015092011 W CN 2015092011W WO 2016150146 A1 WO2016150146 A1 WO 2016150146A1
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WO
WIPO (PCT)
Prior art keywords
point
light source
angle
frequency
coding
Prior art date
Application number
PCT/CN2015/092011
Other languages
English (en)
French (fr)
Inventor
谭光
谢波
毛成华
肖钟凯
Original Assignee
中国科学院深圳先进技术研究院
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
Priority claimed from CN201510134488.1A external-priority patent/CN104735780B/zh
Priority claimed from CN201510259750.5A external-priority patent/CN104914407B/zh
Application filed by 中国科学院深圳先进技术研究院 filed Critical 中国科学院深圳先进技术研究院
Priority to US15/309,128 priority Critical patent/US9883351B2/en
Publication of WO2016150146A1 publication Critical patent/WO2016150146A1/zh

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Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
    • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
    • G01C21/20—Instruments for performing navigational calculations
    • G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G01S1/7034—Mounting or deployment thereof
    • 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
    • G01S1/00—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • G01S1/70—Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith using electromagnetic waves other than radio waves
    • G01S1/703—Details
    • G01S1/7032—Transmitters
    • G01S1/7038—Signal details
    • 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
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04B—TRANSMISSION
    • H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
    • H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
    • H04B10/114—Indoor or close-range type systems
    • H04B10/1141—One-way transmission
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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
    • G01S2201/00—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters
    • G01S2201/01—Indexing scheme relating to beacons or beacon systems transmitting signals capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters adapted for specific applications or environments
    • G01S2201/02—Indoor positioning, e.g. in covered car-parks, mining facilities, warehouses

Definitions

  • the invention belongs to the technical field of positioning, and particularly relates to an indoor positioning device and an indoor positioning method.
  • the proximity detection method uses the detected signal source position as the positioning position with low precision.
  • the fingerprint matching method can obtain better positioning accuracy by using signal feature matching in indoor environment, but the positioning result is susceptible to indoor multipath effect and environmental change. The positioning result is unstable, the precision is not high, and the fingerprint database needs to be established. Cumbersome.
  • the multilateral/angle method needs to accurately measure the distance/angle of the positioning point to the reference point through TOA, TDOA, AOA and other algorithms, and then use the trilateration method to locate the target.
  • the reference node position information is accurate and the measurement distance is accurate, the position of the target node can be accurately measured, but in the actual measurement, there will be an error in these data values, which affects the positioning result.
  • a large number of reference points need to be arranged, which is costly.
  • the patent application number CN201110054768.3 proposes a weighted three-edge positioning method based on RSSI.
  • the limitation is that the method cannot accurately measure the distance between nodes, so that the positioning error is large.
  • the patent application number CN201210290193.X proposes a matrix-based WLAN indoor positioning method.
  • the limitation is that collecting indoor environmental feature fingerprints requires a large amount of human and material resources, and because the indoor environment is complex, the multipath effect is obvious, and the wireless signal is susceptible. The positioning accuracy is not high.
  • the object of the present invention is to provide an indoor positioning device, which aims to simplify the structure of the positioning device, has high positioning accuracy, good stability and low cost.
  • an indoor positioning device comprising a base, a light source disposed on the base, a rotating member, a rotating outer casing disposed on the rotating member, and a controller;
  • the rotating outer casing is a hemispherical shell or a shell formed by splicing a plurality of facets or annular faces and circumscribing a hemispherical surface; a light emitting point of the light source is located at a center of the hemisphere;
  • the rotating housing is divided into a plurality of coding loops parallel to the weft, each encoder circle is known in the warp direction with respect to the angle ⁇ of the light source; each coding circle is divided into a plurality of coded bits, the coded bits being opposite in the weft direction
  • the angle ⁇ of the center point of the coding circle is 360/N degrees, where N is the number of coded bits in one coding circle, and the coding bits of different coding circles are arranged differently;
  • each coding circle a plurality of coded bits are in a light transmitting state, and there are no consecutive two or more non-transmissive coded bits, and code bits arranged in a plurality of specific manners constitute a start bit of the code circle or End position
  • the base is further provided with a light coupler having a card slot, and a side of the rotating member facing the base is provided with a light blocking plate, and the rotating member drives the light blocking plate to pass through the card slot once.
  • the controller controls the light source to undergo a frequency jump;
  • the indoor positioning device further includes a receiving end configured to sense a light signal at a point to be positioned and detect a frequency jump point, and perform positioning according to the optical signal and the frequency trip point.
  • Another object of the present invention is to provide an indoor positioning method based on an indoor positioning device, comprising the following steps:
  • the direction indicated by the projection of the end of the start bit or the end bit on the horizontal plane is an initial direction
  • the frequency jump point of the light source and the start are detected by the receiving end Determining an angle ⁇ between the point to be positioned and the initial direction
  • the position of the point to be positioned is determined according to the angle ⁇ and the angle ⁇ .
  • the positioning device provided by the embodiment of the invention provides a rotating structure of a special structure and designs a hopping law of the light source frequency, and the light signal is sensed through a signal receiving end, and is combined with the collection according to the coding circle and the coding bit setting of the rotating outer casing.
  • the optical signal can calculate the coordinates of the signal receiving end in the indoor space by the above method, the device structure is simple and the positioning method is novel, accurate, and stable, and does not require a large amount of human and material resources to collect fingerprints and the like, and does not need to set a large number of reference points. It is not easy to be affected by the external environment, with high precision, good stability and low cost. It is suitable for high-precision positioning in indoors.
  • FIG. 1 is a structural view of an indoor positioning device according to a first embodiment of the present invention
  • FIG. 2 is a perspective structural view of a rotating housing of an indoor positioning device according to a first embodiment of the present invention
  • FIG. 3 is a top plan view showing a rotating housing of an indoor positioning device according to a first embodiment of the present invention
  • FIG. 4 is a schematic view showing an operation state of an indoor positioning device according to a first embodiment of the present invention
  • FIG. 5 is a flowchart of an indoor positioning method according to a first embodiment of the present invention.
  • FIG. 6 is a schematic view showing the projection of the rotating housing of the indoor positioning device according to the first embodiment of the present invention.
  • FIG. 7 is a schematic diagram of positioning of an indoor positioning device according to a first embodiment of the present invention in a preset coordinate system
  • FIG. 8 is a schematic structural diagram of a receiving end of an indoor positioning device according to a first embodiment of the present invention.
  • FIG. 9 is a perspective structural view of a rotating housing of an indoor positioning device according to a second embodiment of the present invention.
  • FIG. 10 is a top plan view showing a rotating housing of an indoor positioning device according to a second embodiment of the present invention.
  • FIG. 11 is a schematic plan view showing a rotating housing of an indoor positioning device according to a second embodiment of the present invention.
  • FIG. 12 is a schematic diagram of positioning of an indoor positioning device according to a second embodiment of the present invention in a preset coordinate system
  • FIG. 13 is a flow chart of obtaining an angle ⁇ of an indoor positioning method according to a second embodiment of the present invention.
  • FIG. 14 is a flowchart of an angle ⁇ acquisition of an indoor positioning method according to a second embodiment of the present invention.
  • Embodiment 1 is a diagrammatic representation of Embodiment 1:
  • a first embodiment of the present invention provides an indoor positioning device, comprising a base 1, a light source 2 disposed on the base 1, a rotating member 3, a rotating housing 4 disposed on the rotating member 3, and further including The controller 5 that controls the frequency jump of the light source 2 can be controlled.
  • the rotary member 3 can be driven to rotate by a drive motor 6, which can also be built into the base 1.
  • the rotating member 3 may specifically include a ring.
  • the rotating outer casing 4 is fixed to the ring and can be rotated synchronously following the ring.
  • the rotating outer casing 4 is a hemispherical casing or a casing which is formed by splicing a plurality of facets or annular faces and is circumscribed to a hemispherical surface.
  • the rotating casing 4 is hemispherical or has a semispherical shape.
  • the base surface has a cross section (a section perpendicular to the rotation axis) which is circular or a regular polygon, and the light-emitting point of the light source 2 is located at the center of the hemisphere.
  • the rotary housing 4 is divided into a plurality of encoder rings 41 parallel to the weft, each encoder ring 41 being known at an angle ⁇ relative to the source 2 in the warp direction (angle ⁇ , ie the inner and outer edges of one encoder circle are in the same direction relative to the source
  • angle ⁇ of each warp circle 41 may or may not be equal.
  • each coding circle 41 is further divided into a plurality of coding bits 411, and the coding bits 411 are sequentially arranged along the latitude direction, and each coding bit 411 is equal in the latitude direction with respect to the center point of the coding circle 41 (angle ⁇ ) That is, the leading and trailing edges of one coded bit with respect to the opening angle of the above center point, which is 360/N degrees, where N is the number of coded bits 411 in one code circle 41.
  • angle ⁇ the leading and trailing edges of one coded bit with respect to the opening angle of the above center point
  • each coding circle 41 a plurality of coding bits 411 are in a light transmitting state, and other coded bits 411 are in a non-transmissive state, and there are no consecutive two or more non-transmissive coding bits 411, and several
  • the coded bits 411 arranged in a particular manner constitute the start or end of the code circle 41, since the rotating casing 4 performs a circumferential rotation, so the start bit and the end bit are the same. For convenience of explanation, the following is simply referred to as an end bit.
  • a plurality of consecutive (2, 3, 4, 5 or more, etc.) light transmissive coding bits can be set in each coding circle 41 as the end bit S, as shown in FIG. 5, and different.
  • the end bits of the code circle 41 contain the same number of coded bits 411 and the same position, that is, aligned up and down in the warp direction.
  • the light transmissive coded bit can be recorded as "1" and the non-transmissive coded bit can be recorded as "0".
  • Each code circle 41 can be represented as a sequence arranged by "1" and "0" according to a certain rule.
  • the above end bit is 5 consecutive light-transmissive coding bits, and is "11111".
  • the finer the division of the coding circle 41 and the coding bit 411 the higher the positioning accuracy.
  • the base 1 is provided with a photocoupler 11 having a card slot.
  • the side of the rotating member 3 facing the base 1 is provided with a light blocking piece 31.
  • the light blocking piece 31 is driven through the card slot once, and the controller 5 control light source 2 A frequency hopping occurs, and the receiving end 7 at the point to be located can sense the frequency hopping, and the system performs positioning according to the optical signal and the frequency hopping point and the ending bit information sensed by the receiving end 7.
  • the specific positioning principle is such that, with further reference to FIGS. 4-6, the rotating housing 4 of the device can be projected by the light source 2 in a space, forming a projection aperture 8 in any horizontal plane in which the point to be positioned is located, and when the rotating housing 4 is rotated
  • the projection aperture 8 also rotates at the same time.
  • the receiving end 7 can detect the change of the light intensity, and the signal corresponds to the corresponding coding circle 41, so that it can be determined which projection the receiving end 7 is located at.
  • the aperture 8 can determine the angle ⁇ between the connection line of the point to be positioned and the light source 2 and the rotation axis of the rotary housing according to the angle of each code circle in the warp direction.
  • the angle ⁇ is not sufficient for positioning by this angle. It is also necessary to determine the angle ⁇ of the point to be positioned with respect to the initial direction, that is, the angle between the line of the point to be positioned and the center of the projection aperture in which it is located, and the initial direction.
  • the direction indicated by the projection of the end of the end position on the horizontal plane of the point to be positioned is the initial direction D, after determining the angle ⁇ of the receiving end 7 with respect to the initial direction, Combined with the known source 2 coordinates, the coordinates of the point to be located can be determined.
  • the light source 2 is set to operate at the first frequency and the second frequency.
  • the state of the optical coupler 11 changes.
  • the external interrupt is triggered.
  • the controller 5 detects the interrupt signal, the flashing frequency of the light source 2 is reset according to the following rules:
  • the rotating housing 4 is further rotated by the angle occupied by one coded bit 411, and then the blinking frequency of the light source 2 is set to the first frequency.
  • the design is because the rotating housing 4 has a non-transmissive coded bit.
  • the receiving end 7 When the receiving end 7 is in the projection of the non-transmissive coded bit, a frequency jump occurs, and the receiving end 7 does not sense, and the above two jump modes are set.
  • the receiving end 7 In combination with the feature that there are no more than two consecutive non-transmissive coded bits, it can be ensured that the receiving end 7 can certainly detect the frequency hopping. It can be further extended that, by setting the above-mentioned hopping rule in advance, it is also possible to determine whether the hopping point is at the initial position or the initial position by the identification of the first frequency and the second frequency. The latter coded bit, in order to accurately calculate the angle ⁇ .
  • the present invention provides an indoor positioning method, as shown in FIG. 6, the method includes the following steps:
  • step S101 the rotating housing is driven to rotate, so that the projection aperture of the rotating housing projected by the light source to the horizontal plane of the point to be positioned also rotates;
  • step S102 the optical signal is sensed by the receiving end located at the point to be located, the projection aperture of the position is determined according to the optical signal, and the connection between the point to be positioned and the light source and the rotating shaft of the rotating housing are determined.
  • step S103 when the light blocking piece is defined to pass through the card slot, the direction indicated by the projection of the end of the end bit on the horizontal plane is an initial direction, and the frequency jump point of the light source is detected by the receiving end and the end An end of the bit, determining an angle ⁇ between the point to be positioned and the initial direction;
  • step S104 the position of the point to be positioned is determined based on the angle ⁇ and the angle ⁇ .
  • the number of rotated coded bits n can be determined during the period from the detection of the frequency hopping point to the end of the end bit.
  • ⁇ (n - 1/2) * ⁇
  • ⁇ (n + 1/2) * ⁇
  • ⁇ is the angle of each coded bit 411 in the weft direction
  • ⁇ 360 ° / N
  • the coordinates of the light source 2 and the vertical distance of the light source 2 to the horizontal plane of the point to be positioned can be determined.
  • the coordinates of the locus can be determined.
  • the coordinates are (x 0 +r*sin( ⁇ )*sin( ⁇ ), y 0 +r*sin( ⁇ )*cos( ⁇ ), z 0 -r*cos( ⁇ )), and the point C connection can also be determined.
  • the coordinates of the point B to be located are calculated according to the least squares method.
  • the base 1 of the positioning device is fixed on the ceiling of the room, the base 1 cannot rotate, the light source 2 illuminates downward to cover the indoor space, and the rotating outer casing 4 rotates around the rotating shaft thereof, and the rotating shaft starts from the light source 2 The apex of the outer casing 4 is rotated and perpendicular to the ground.
  • a right-handed rectangular coordinate system is established with a corner point on the indoor ground as the origin O(0,0,0), so that the X and Y axes coincide with two mutually perpendicular corner edges on the ground, so that the Z-axis It is perpendicular to the X and Y axes and coincides with the corner of the corner pointing vertically to the roof, that is, the XOY plane coincides with the horizontal ground, and the Z axis points vertically to the roof.
  • the initial direction of the rotating casing 4 is set to be parallel to the Y-axis direction and to the positive direction of the Y-axis.
  • the direction indicated by the end of the end bit is the positive direction of the Y axis.
  • the source 2 coordinates (x 0 , y 0 , z 0 ) are known.
  • the receiving end 7 can include a light sensor 71 mounted on a small circuit board 72, on which a processor 73, a wireless transmission module 74, and the like are also disposed. Or use a mobile device with a light sensor as the signal receiving end.
  • the data received by the receiving end 7 is mixed with the environmental interference frequency, a plurality of frequency components generated when the rotating casing 4 rotates, and other interference frequencies, etc., it is necessary to perform processing in the following manner.
  • the data is filtered by a bandpass filter that is less than the lowest frequency signal available to source 2 and the signal that is greater than the highest frequency available to source 2 (in this embodiment, filters less than 20hz and greater than 350hz) and then filters
  • the subsequent data is subjected to time-frequency transform, such as wavelet time-frequency transform, short-time Fourier transform (STFT), etc. (in the present embodiment, wavelet time-frequency transform is used), and finally extracted from the time-frequency transform result coefficients.
  • the outer ring encodes information, including the circle code, the end bit code, and the frequency jump point of the light source 22.
  • the positioning device provided by the embodiment of the present invention can calculate the signal receiving end in the indoor space by setting a special structure rotating shell and designing the hopping law of the light source frequency, and sensing the optical signal through a signal receiving end, combined with the above calculation manner.
  • the coordinates of the device are simple and the positioning method is novel, accurate and stable. It does not require a lot of manpower and material resources to collect fingerprints and other data. It does not need to set a large number of reference points, is not easily affected by the external environment, has high precision, good stability and low cost. Suitable for high precision positioning in the room.
  • Embodiment 2 is a diagrammatic representation of Embodiment 1:
  • the indoor positioning device provided by the second embodiment of the present invention is the same as the indoor positioning device of the first embodiment: the device also includes a base 1 and a light source 2 disposed on the base 1 .
  • the rotary member 3, the rotary housing 4 disposed on the rotary member 3, further includes a controller 5 that can control the frequency jump of the light source 2.
  • the structure of the rotary housing 4 in the second embodiment is further improved.
  • each encoding circle 41 includes a special encoding bit 412 different from other encoding bit shapes.
  • the width of the special coded bit 412 has a preset variation law in the warp direction, such as a distance. The farther the vertex of the rotating outer casing 4 is, the larger the width is, and the overall shape is trapezoidal. Then the width at a certain position is related to the distance from the position to the inner edge of the coding circle 41. According to the width data, the coding bit 411 of the point to be located can be determined. The inner edge a of the projection 81 and the opening angle of the point to be positioned relative to the center of the sphere.
  • the special coded bits 412 may be in a form in which the side edges are not parallel or coincident with the warp, and the whole is trapezoidal.
  • the special coded bits 412 of the different code circles 41 may be in the same warp or in different warp.
  • “inner edge” a refers to the edge near the center of the projection aperture 8
  • “outer edge” b refers to the edge away from the center of the projection aperture.
  • the angle ⁇ of each of the code circles 41 in the present embodiment with respect to the light source is equal.
  • step S102 in the first embodiment "determine between the point to be positioned and the light source.
  • the angle ⁇ between the wire and the rotating shaft of the rotating casing specifically includes the following steps, as shown in FIG. 13:
  • each coding circle 41 since the coding position 411 of each coding circle 41 has its particularity, it can be determined according to the optical signal sensed by the receiving end 7 which projection aperture 8 it is in, and the projection aperture can be determined.
  • There are several projection apertures 8 on the inner side of 8 to determine the angle ⁇ r r* ⁇ between the line connecting the inner edge of the projection aperture 8 and the light source 2 and the rotation axis of the rotating outer casing 4, where r is to be determined.
  • step S103 of the first embodiment "determining the angle ⁇ between the point to be located and the initial direction" specifically includes the following steps, as shown in FIG. 14:
  • leading edge refers to the edge of the projection 81 of the coded bit near the initial direction
  • back edge refers to the edge of the projection 81 of the coded bit away from the initial direction.
  • ⁇ r is determined such that the number n of coded bits rotated by the rotating outer casing 4 (including the coding bit of the receiving end 7 itself) can be determined during the period in which the receiving end 7 detects the frequency hopping point and the end of the ending bit, and further The above angle ⁇ r can be determined.
  • ⁇ r (n-1) * ⁇
  • n is the frequency detected at the receiving end 7
  • ⁇ r n * ⁇ .
  • ⁇ r is determined such that the width of the transparent coded bit information continuously acquired after the receiving end 7 detects the frequency hopping point can obtain the width between the projection of the to-be-positioned point and the nearest non-transmissive coded bit, and according to each of the predicted By encoding the width of the bit 411, it is possible to determine the number of coded bit projections between the point to be located and the nearest non-transmissive coded bit projection, and the width la and the distance between the point to be located and the leading edge c of the coded bit projection.
  • the width lb between the trailing edges d, ⁇ r la / (la + lb) * ⁇ .
  • width is not limited to the size concept, and may be the number of collected data of the receiving end 7.
  • the number of acquired data of the receiving end 7 is determined, so that the above ⁇ r can be determined based on the amount of data collected.
  • the operation method described in the first embodiment can be used to determine the to-be-positioned.
  • the coordinates of the point can be used to determine the to-be-positioned.
  • the positioning device provided by the embodiment of the invention can be more accurately calculated by setting a rotating casing with a special coding bit, combining the setting of a special coding bit, and designing a hopping law of the light source frequency, and sensing the optical signal through a signal receiving end.
  • the signal receiving end is in the coordinates of the indoor space.
  • the device structure is simple and the positioning method is novel, accurate and stable. It does not require a lot of manpower and material resources to collect fingerprints and other data. It does not need to set a large number of reference points, is not easily affected by the external environment, and has high precision. Good stability and low cost, suitable for high-precision positioning in the room.

Abstract

提供了一种室内定位装置，包括底座、设于底座上的光源、旋转件、旋转外壳及控制器；旋转外壳为半球面状的壳体或外切于一个半球面的壳体；发光点位于球心处；旋转外壳划分为多个编码圈，每个编码圈划分为多个编码位，编码位在纬线方向的角度β为360/N度，不同编码圈的编码位排布方式不同；在每个编码圈中若干个编码位为透光状态，不存在连续两个以上非透光的编码位，若干个特定方式排布的编码位构成起始位或结束位；旋转件的挡光片每穿过光耦合器一次，光源发生一次频率跳变；接收端感应光信号并进行定位。通过特殊的旋转外壳及跳变光源，结合接收端感应光信号实现定位，结构简洁而定位方法新颖、准确、稳定性好、成本低，适于室内高精度定位。

Description

一种室内定位装置和室内定位方法 技术领域
本发明属于定位技术领域，特别涉及一种室内定位装置和室内定位方法。
背景技术
随着科技的进步和社会经济的发展，人们对室内定位服务的需求与日俱增，在一些公共场所，如商场、机场、展厅、写字楼、仓库、地下停车场等，精确的室内定位信息，能够方便用户购物、出行、查找室内目标等；能够对可用空间和库存物资实现高效管理；能够导航警察、消防员、士兵、医务工作人员完成特定的室内任务。智能空间、普适计算等都离不开位置服务，因此室内定位具有广阔的应用前景。GPS虽然在室外定位方面能满足很多应用的需求，但是由于建筑物墙壁、室内物体等对信号的阻挡等，在室内环境中其信号很弱或者没有，因此在室内环境中很难使用GPS来进行定位。
国内外关于室内定位技术的研究比较丰富，根据定位原理有邻近检测、指纹匹配和多边/角度方法等。邻近检测方法将检测到的信号源位置作为定位位置，精度较低。指纹匹配方法利用室内环境中的信号特征匹配能够得到较好的定位精度，但定位结果易受室内多径效应和环境变化等影响，定位结果不稳定，精度不高，且需建立指纹数据库，工作繁琐。而多边/角度方法需要先通过TOA、TDOA、AOA等算法精确测量定位点到参考点的距离/角度等信息，再利用三边测量法等对目标进行定位。如果参考节点位置信息准确、测量距离准确，就可以精确地测得目标节点的位置，但在实际测量中这些数据值会存在误差，影响定位结果。如需室内全覆盖，还需布置大量的参考点，成本较高。
申请号为CN201110054768.3的专利提出了基于RSSI的加权三边定位方法，局限之处在于该方法不能精确测得节点间的距离，从而使定位误差较大。
申请号为CN201210290193.X的专利提出基于矩阵相关的WLAN室内定位方法，局限之处在于采集室内环境特征指纹需要大量的人力物力，且由于室内环境复杂，多径效应明显，无线信号易受影响，定位精度不高。
技术问题
本发明的目的在于提供一种室内定位装置，旨在简化定位装置的结构，且定位精度高，稳定性好，成本低。
技术解决方案
本发明是这样实现的，一种室内定位装置，包括底座、设于所述底座上的光源、旋转件、设置于所述旋转件上的旋转外壳，以及控制器；
所述旋转外壳为半球面状的壳体或者是由多个小平面或环形面拼接形成的外切于一个半球面的壳体；所述光源的发光点位于所述半球面的球心处；
所述旋转外壳划分为多个平行于纬线的编码圈，每个编码圈在经线方向相对光源的角度α已知；每个编码圈划分为多个编码位，所述编码位在纬线方向相对该编码圈的中心点的角度β为360/N度，其中N为一个编码圈中的编码位的数量，不同编码圈的编码位排布方式不同；
在每个编码圈中，若干个编码位为透光状态，且不存在连续两个或多个非透光的编码位，若干个特定方式排布的编码位构成该编码圈的起始位或结束位；
所述底座还设有具有卡槽的光耦合器，所述旋转件面对所述底座的一侧设有挡光片，所述旋转件带动所述挡光片每穿过卡槽一次，所述控制器控制所述光源发生一次频率跳变；
所述室内定位装置还包括接收端，用于放置在待定位点感应光信号并检测频率跳变点，并根据所述光信号和频率跳变点进行定位。
本发明的另一目的在于提供一种基于室内定位装置的室内定位方法，包括下述步骤：
驱动旋转外壳进行旋转，使所述旋转外壳由光源投影至待定位点所在水平面的投影光圈也随之旋转；
由位于待定位点的接收端感应光信号，根据所述光信号确定其所在的投影光圈，确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ；
定义挡光片穿过卡槽时，所述起始位或结束位的末端在水平面上的投影所指的方向为初始方向，由所述接收端检测光源的频率跳变点及所述起始位或结束位的末端，确定待定位点与所述初始方向之间的角度ω；
根据所述角度θ和角度ω确定待定位点的位置。
有益效果
本发明实施例提供的定位装置，通过设置特殊结构的旋转外壳，并设计光源频率的跳变规律，通过一个信号接收端感应光信号，根据旋转外壳的编码圈、编码位的设置，结合采集的光信号，通过上述方法可计算出信号接收端在室内空间的坐标，装置结构简洁而定位方法新颖、准确、稳定性好，不需耗费大量人力物力采集指纹等数据，不需设置大量参考点，不易受外界环境影响，精度高且稳定性好，成本低，适用于室内高精度定位。
附图说明
图1是本发明第一实施例提供的室内定位装置结构图；
图2是本发明第一实施例提供的室内定位装置的旋转外壳的立体结构示意图；
图3是本发明第一实施例提供的室内定位装置的旋转外壳的俯视结构示意图；
图4是本发明第一实施例提供的室内定位装置的工作状态示意图；
图5是本发明第一实施例提供的室内定位方法的流程图；
图6是本发明第一实施例提供的室内定位装置的旋转外壳的投影示意图；
图7是本发明第一实施例提供的室内定位装置在预设坐标系中进行定位的示意图；
图8是本发明第一实施例提供的室内定位装置的接收端结构示意图；
图9是本发明第二实施例提供的室内定位装置的旋转外壳的立体结构示意图；
图10是本发明第二实施例提供的室内定位装置的旋转外壳的俯视结构示意图；
图11是本发明第二实施例提供的室内定位装置的旋转外壳的投影示意图；
图12是本发明第二实施例提供的室内定位装置在预设坐标系中进行定位的示意图；
图13是本发明第二实施例提供的室内定位方法的角度θ获取流程图；
图14是本发明第二实施例提供的室内定位方法的角度ω获取流程图。
具体实施方式
为了使本发明的目的、技术方案及优点更加清楚明白，以下结合附图及实施例，对本发明进行进一步详细说明。应当理解，此处所描述的具体实施例仅仅用以解释本发明，并不用于限定本发明。
以下结合具体实施例对本发明的具体实现进行详细描述：
实施例一：
请参考图1～4，本发明第一实施例提供一种室内定位装置，包括底座1、设于底座1上的光源2、旋转件3、设置于旋转件3上的旋转外壳4，还包括可以控制光源2发生频率跳变的控制器5。其中，旋转件3可以由驱动电机6驱动旋转，该驱动电机6也可以内置于底座1中。该旋转件3具体可以包括一圆环， 旋转外壳4固定在圆环上，可跟随圆环同步转动。该旋转外壳4为半球面状的壳体或者是由多个小平面或环形面拼接形成的外切于一个半球面的壳体，总之，该旋转外壳4为半球面形或者具有一半球面形的基面，其横截面(垂直于转轴的截面)为圆形或者为正多边形，光源2的发光点位于半球面的球心处。该旋转外壳4划分为多个平行于纬线的编码圈41，每个编码圈41在经线方向相对光源2的角度α已知(角度α即一个编码圈的内沿和外沿相对于光源在同一经线方向的张角)，每个编码圈41的角度α可以相等，也可以不完全相等。另外，每个编码圈41还划分为多个编码位411，编码位411沿着纬线方向依次排列，每个编码位411在纬线方向相对该编码圈41的中心点的角度β都相等(角度β即一个编码位的前沿和后沿相对于上述中心点的张角)，为360/N度，其中N为一个编码圈41中的编码位411的数量。为了在定位时区分不同的编码圈41，需要使不同编码圈41的编码位411排布方式不同，即每个编码圈41都有其特殊性和唯一性。进一步地，在每个编码圈41中，若干个编码位411为透光状态，其他编码位411为非透光状态，且不存在连续两个或多个非透光的编码位411，若干个特定方式排布的编码位411构成该编码圈41的起始位或结束位，因为旋转外壳4进行圆周转动，因此起始位和结束位相同。为了便于说明，以下均简称为结束位。
在本实施例中，可以在每个编码圈41中设置连续多个(2个、3个、4个、5个或更多等)透光编码位作为结束位S，如图5，并且不同编码圈41的结束位所含的编码位411数量相同且位置相同，即在经线方向上下对齐。在本实施例中，可以将透光编码位记为“1”，非透光编码位记为“0”。每个编码圈41都可表示为由“1”和“0”按照一定规律排列的序列，例如上述结束位是连续5个透光编码位，则为“11111”。当然，该编码圈41和编码位411的划分越精细，定位精度越高。
该底座1设有具有卡槽的光耦合器11，旋转件3面对底座1的一侧设有挡光片31，旋转件3旋转时带动挡光片31每穿过卡槽一次，控制器5控制光源2 发生一次频率跳变，位于待定位点的接收端7可以感应到该频率跳变，系统根据接收端7感应的光信号及频率跳变点及结束位信息进行定位。
具体的定位原理是这样的，进一步参考图4～6，该装置的旋转外壳4可以由光源2投影在空间，在待定位点所在的任一水平面内，形成投影光圈8，旋转外壳4转动时，投影光圈8也同时转动，接收端7所在的投影光圈8转动时，接收端7能够检测出光强的变化，该信号即对应了相应的编码圈41，这样可以确定接收端7位于哪个投影光圈8，根据每个编码圈在经线方向的角度可以确定待定位点与光源2的连接线和旋转外壳的转轴之间的夹角θ。通过该夹角θ还不足以定位。还要确定待定位点相对于初始方向的角度ω，即待定位点和其所在的投影光圈的中心的连线与初始方向之间的角度。定义挡光片31穿过光耦合器11时，结束位的末端在待定位点所在水平面上的投影所指的方向为初始方向D，在确定了接收端7相对该初始方向的角度ω之后，再结合已知的光源2坐标可以确定待定位点的坐标。
进一步的，设定光源2在第一频率和第二频率下工作，测量过程中，当挡光片31刚好从光耦合器11的卡槽中间通过时，光耦合器11的状态会发生改变并触发外部中断，当控制器5检测到此中断信号时，按以下规则重新设置光源2的闪烁频率：
如果光源2当前的闪烁频率为第一频率，则将光源2的闪烁频率设置为第二频率；
如果光源2当前的闪烁频率为第二频率，则使旋转外壳4再继续旋转一个编码位411所占的角度，然后将光源2的闪烁频率设置为第一频率。
这样设计是因为旋转外壳4存在非透光编码位，当接收端7处于非透光编码位的投影中时发生频率跳变，接收端7则感应不到，而设置上述两种跳变方式且结合不存在连续两个以上非透光的编码位的特征，可以保证接收端7一定能够检测到频率跳变。还可以进一步推出，由于预先设定了上述跳变规律，通过第一频率和第二频率的识别也可以判断跳变点是在初始位置还是在初始位置 后一个编码位，进而准确的计算角度ω。
基于上述室内定位装置，本发明提供一种室内定位方法，如图6，该方法包括下述步骤：
在步骤S101中，驱动旋转外壳进行旋转，使所述旋转外壳由光源投影至待定位点所在水平面的投影光圈也随之旋转；
在步骤S102中，由位于待定位点的接收端感应光信号，根据所述光信号确定其所在的投影光圈，确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ；
在步骤S103中，定义挡光片穿过卡槽时，所述结束位的末端在水平面上的投影所指的方向为初始方向，由所述接收端检测光源的频率跳变点及所述结束位的末端，确定待定位点与所述初始方向之间的角度ω；
在步骤S104中，根据所述角度θ和角度ω确定待定位点的位置。
在本发明实施例中，当每个编码圈41在经线方向的角度α都相等时，α＝90°/M，M为总编码圈数，则可以使θ＝(m-1/2)*α，m为接收端7所在的投影光圈8的圈号，即待定位点所在投影光圈的内侧(包含待定位点所在的投影光圈)的投影光圈个数，圈号自内向外依次为1、2…m…M。在其他实施例中，每个编码圈41在经线方向的角度不完全相等时，分别为α1、α2、…αM，则使夹角θ＝α1+α2+…αm/2。
进一步地，在检测到频率跳变点至结束位末端的这段时间内，转过的编码位数量n可以确定。当频率跳变发生在挡光片31穿过卡槽时，ω＝(n-1/2)*β，当频率跳变发生在挡光片31穿过卡槽并继续旋转一个编码位411时，ω＝(n+1/2)*β，β为每个编码位411在纬线方向的角度，β＝360°/N，N为每个编码圈中编码位的数量，例如编码位为48个，则β＝7.5°，还可分为其他数量编码圈，角度β随之改变。
在本发明实施例中，在获得上述角度θ和角度ω后，在预设的坐标系下，结合光源2的坐标和光源2至待定位点所在水平面的垂直距离，就可以确定待定 位点的坐标。
具体参考图7，当光源2到待定位点的垂直高度H已知，且光源2的坐标(x0,y0,z0)已知时，待定位点的坐标为：
(x0+H*tan(θ)*sin(ω),y0+H*tan(θ)*cos(ω),z0-H)。
当光源2到待定位点的垂直高度未知，且光源2的坐标(x0,y0,z0)已知时，采用两个室内定位装置，且两个光源2的照射面具有相交区域，待定位点处于该相交区域，待定位点的坐标由两个已知的光源2坐标和夹角θ和夹角ω确定。假设其中一个光源2的位置为A点，另一光源2的位置为C点，待定位点为B点，可确定唯一一条从光源2点A连接接收端7的定位点B的直线，该直线经过旋转外壳4上一点P(x1,y1,z1)，
坐标为(x0+r*sin(θ)*sin(ω),y0+r*sin(θ)*cos(ω),z0-r*cos(θ))，还可以确定点C连接点B的直线，该直线经过旋转外壳4上一点Q(x3,y3,z3)，其中r为旋转外壳4的已知半径。
已知空间中两点，可建立直线AB的方程L1：
Figure PCTCN2015092011-appb-000001
直线CB的方程L2：
Figure PCTCN2015092011-appb-000002
联合方程L1和L2，根据最小二乘法计算出待定位点B的坐标。
可以理解，在实际进行定位时，需要先确定一个坐标系，再确定初始方向，定位坐标亦是在该坐标系下的坐标。如图4～图7，通常，将定位装置的底座1固定在室内天花板上，底座1不能旋转，光源2向下照射覆盖室内空间，旋转外壳4绕其转轴旋转，转轴自光源2起，经过旋转外壳4的顶点且垂直于地面。在三维室内空间中，以室内地面上一墙角点为原点O(0,0,0)建立右手直角坐标系，使X、Y轴与地面上的两条互相垂直的墙角边重合，使Z轴垂直于X、Y轴，且与垂直指向屋顶的墙角边重合，即XOY平面与水平地面重合，Z轴垂直指向屋顶。设置旋转外壳4的初始方向与Y轴方向平行，且指向Y轴正方向。即，当挡光片31穿过光耦合器11时，结束位的末端所指方向为Y轴正方向。 光源2坐标(x0,y0,z0)已知。
进一步参考图8，接收端7可以包括一光传感器71，其安装在一个小电路板72上，在该电路板72上还设有处理器73和无线传输模块74等。或者使用具有光传感器的移动设备作为信号接收端。
在本发明实施例中，由于接收端7收到的数据中混合了环境干扰频率、旋转外壳4旋转时产生的多个频率分量以及其他干扰频率等，因此需要通过以下方式进行处理。首先数据通过一个带通滤波器，将小于光源2可用最低频率的信号和大于光源2可用最高频率的信号滤除(在本实施方案中，滤除小于20hz和大于350hz的信号)，然后将滤波后的数据进行时频变换，如小波时频变换、短时傅里叶时频变换(STFT)等(在本实施方案中，使用小波时频变换)，最后从时频变换结果系数中提取出外壳圈编码信息，包括圈号编码、结束位编码以及光源22频率跳变点等。
本发明实施例提供的定位装置，通过设置特殊结构的旋转外壳，并设计光源频率的跳变规律，通过一个信号接收端感应光信号，结合上述计算方式，即可计算出信号接收端在室内空间的坐标，装置结构简洁而定位方法新颖、准确、稳定性好，不需耗费大量人力物力采集指纹等数据，不需设置大量参考点，不易受外界环境影响，精度高且稳定性好，成本低，适用于室内高精度定位。
实施例二：
如图1、图9～图12，本发明第二实施例提供的室内定位装置与实施例一中的室内定位装置相同的是：该装置同样包括底座1、设于底座1上的光源2、旋转件3、设置于旋转件3上的旋转外壳4，还包括可以控制光源2发生频率跳变的控制器5。其中，与实施例一的装置不同的是：本实施例二中的旋转外壳4的结构还有进一步的改进。
具体地，本实施例中的旋转外壳4在具有上述实施例一中的结构之外，还具有下述特征，即每个编码圈41中包括一个与其他编码位形状不同的特殊编码位412，该特殊编码位412的宽度在经线方向具有预设的变化规律，例如距离 旋转外壳4的顶点越远，宽度越大，整体呈梯形，那么在某位置处的宽度与该位置到编码圈41的内沿的距离相关，根据该宽度数据可以确定待定位点所在编码位411的投影81的内沿a和该待定位点相对球心的张角。在本实施例中，特殊编码位412可以是两侧边缘不与经线平行或重合的形态，整体呈梯形，不同编码圈41的特殊编码位412可以处于相同经线，也可以处于不同经线。其中，“内沿”a是指靠近投影光圈8中心的边沿，“外沿”b是指远离投影光圈中心的边沿。另一方面，本实施例中的每个编码圈41相对光源的角度α相等。
基于上述结构和原理，本发明实施例也可以对上述实施例一所述室内定位方法进行改进，具体地，上述实施例一中的步骤S102中的“确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ”具体包括下述步骤，如图13：
S201，当每个编码圈在经线方向的角度α相等时，确定待定位点所在的投影光圈的内沿与光源之间的连线和所述旋转外壳的转轴之间的角度θr＝r*α；当每个编码圈在经线方向的角度不等时，确定待定位点所在的投影光圈的内沿与光源之间的连线和所述旋转外壳的转轴之间的角度θr＝α1+α2+…αr；其中，r为待定位点所在投影光圈的内侧的投影光圈数目，α1、α2…αr分别为第一个编码圈、第二个编码圈……第r个编码圈在经线方向的角度；
S202，根据接收端感应到的特殊编码位的宽度确定待定位点与其所在投影光圈的内沿相对光源的夹角Δθr；
S203，确定待定位点和光源之间的连线与所述转轴之间的角度θ＝θr+Δθr。
具体地，如图12，由于每个编码圈41的编码位411排布情况都具有其特殊性，因此根据接收端7感应的光信号可以确定其处于哪个投影光圈8，进而可以确定该投影光圈8的内侧有几个投影光圈8，进而确定其所在投影光圈8的内沿与光源2之间的连线和旋转外壳4的转轴之间的角度θr＝r*α，其中，r为待定位点所在投影光圈8内侧的投影光圈8的数目。进一步，由接收端7感应到的特殊编码位412的投影82的宽度，可以确定待定位点与光源2的连线和 其所在投影光圈8的内沿a与光源2的连线之间的夹角Δθr，即待定位点所在的投影光圈的内沿a与待定位点相对光源2的夹角Δθr，可以理解，该角度θr和Δθr都是经线方向的夹角。获得这两个角度后，可以确定待定位点和光源2之间的连线与转轴之间的角度θ＝θr+Δθr。
进一步地，在实施例一的步骤S103中，其中的“确定待定位点与所述初始方向之间的角度ω”具体包括下述步骤，如图14：
S204，确定所述待定位点所在的投影光圈的前沿与所述初始方向的夹角ωr；
S205，根据接收端检测到频率跳变点之后连续采集的透光编码位数据确定发生频率跳变时待定位点与其所在投影光圈的前沿相对投影光圈中心的夹角Δωr；
S206，确定待定位点与所述初始方向之间的角度ω＝ωr+Δωr。
具体地，如图12，“前沿”c是指编码位的投影81靠近初始方向的边沿，“后沿”d是指编码位的投影81远离初始方向的边沿。ωr这样确定，在接收端7检测到频率跳变点以及结束位的末端这段时间内，旋转外壳4转过的编码位数目n(包括接收端7自身所在的编码位)可以确定，进而可以确定上述夹角ωr。当频率跳变发生在挡光片31穿过卡槽时，即当检测频率由第一频率变为第二频率，ωr＝(n-1)*β，n为在接收端7检测到频率跳变点以及结束位的末端这段时间内，旋转外壳4转过的编码位数目，其中包括待定位点自身所在的编码位；当频率跳变发生在挡光片31穿过卡槽并继续转动一个编码位时，即当检测到频率由第二频率变为第一频率，ωr＝n*β。
Δωr这样确定，根据接收端7检测到频率跳变点后连续采集的透明编码位信息可以得出待定位点和最近的非透光编码位的投影之间的宽度，而根据预知的每个编码位411的宽度，就可以确定待定位点与最近的非透光编码位投影之间间隔的编码位投影个数，以及待定位点与其所在编码位投影的前沿c之间的宽度la以及和后沿d之间的宽度lb，Δωr＝la/(la+lb)*β。可以理解，上述“宽度” 不限于尺寸概念，可以是接收端7的采集的数据个数。对于每个既定的编码位411，接收端7的采集的数据个数是确定的，因此可以根据采集的数据量确定上述Δωr。
在获得上述角度θ和角度ω后，在预设的坐标系下，结合光源2的坐标和光源2至待定位点所在水平面的垂直距离，就可以结合实施例一所述的运算方法确定待定位点的坐标。
本发明实施例提供的定位装置，通过设置具有特殊编码位的旋转外壳，结合特殊编码位的设置，并设计光源频率的跳变规律，通过一个信号接收端感应光信号，可以更加精确的计算出信号接收端在室内空间的坐标，装置结构简洁而定位方法新颖、准确、稳定性好，不需耗费大量人力物力采集指纹等数据，不需设置大量参考点，不易受外界环境影响，精度高且稳定性好，成本低，适用于室内高精度定位。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (14)

  1. 一种室内定位装置，其特征在于，包括底座、设于所述底座上的光源、旋转件、设置于所述旋转件上的旋转外壳，以及控制器；
    所述旋转外壳为半球面状的壳体或者是由多个小平面或环形面拼接形成的外切于一个半球面的壳体；所述光源的发光点位于所述半球面的球心处；
    所述旋转外壳划分为多个平行于纬线的编码圈，每个编码圈在经线方向相对光源的角度α已知；每个编码圈划分为多个编码位，所述编码位在纬线方向相对该编码圈的中心点的角度β为360/N度，其中N为一个编码圈中的编码位的数量，不同编码圈的编码位排布方式不同；
    在每个编码圈中，若干个编码位为透光状态，且不存在连续两个或多个非透光的编码位，若干个特定方式排布的编码位构成该编码圈的起始位或结束位；
    所述底座还设有具有卡槽的光耦合器，所述旋转件面对所述底座的一侧设有挡光片，所述旋转件带动所述挡光片每穿过卡槽一次，所述控制器控制所述光源发生一次频率跳变；
    所述室内定位装置还包括接收端，用于放置在待定位点感应光信号并检测频率跳变点，并根据所述光信号和频率跳变点进行定位。
  2. 如权利要求1所述的室内定位装置，其特征在于，每个编码圈中包括一个与其他编码位形状不同的特殊编码位，所述特殊编码位的宽度在经线方向具有预设的变化规律。
  3. 如权利要求2所述的室内定位装置，其特征在于，所述特殊编码位的两侧边缘不与经线平行或重合，整体呈梯形。
  4. 如权利要求1所述的室内定位装置，其特征在于，所述起始位或结束位为连续多个透光状态的编码位。
  5. 如权利要求1所述的室内定位装置，其特征在于，所述光源的工作频率 为第一频率和第二频率，当所述挡光片穿过卡槽时，如果所述光源的频率为第一频率，则由所述控制器控制光源跳变为第二频率，如果所述光源的频率为第二频率，则由所述控制器控制光源在所述旋转外壳继续转动一个编码位后跳变为第一频率。
  6. 如权利要求1至5任一项所述的室内定位装置，其特征在于，每个编码圈在经线方向的角度相等或不等。
  7. 一种基于室内定位装置的室内定位方法，其特征在于，包括下述步骤：
    驱动旋转外壳进行旋转，使所述旋转外壳由光源投影至待定位点所在水平面的投影光圈也随之旋转；
    由位于待定位点的接收端感应光信号，根据所述光信号确定其所在的投影光圈，确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ；
    定义挡光片穿过卡槽时，所述起始位或结束位的末端在水平面上的投影所指的方向为初始方向，由所述接收端检测光源的频率跳变点及所述起始位或结束位的末端，确定待定位点与所述初始方向之间的角度ω；
    根据所述角度θ和角度ω确定待定位点的位置。
  8. 如权利要求7所述的室内定位方法，其特征在于，所述确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ具体为：
    当每个编码圈在经线方向的角度α相等时，θ＝(m-1/2)*α；
    当每个编码圈在经线方向的角度不等时，θ＝α1+α2+…αm/2；
    其中，m为待定位点内侧的投影光圈个数，其中包含待定位点所在的投影光圈，α1、α2、…αm分别为第一个编码圈、第二个编码圈……第m个编码圈在经线方向的角度。
  9. 如权利要求7所述的室内定位方法，其特征在于，在下述情况下：所述 旋转外壳的每个编码圈中包括一个与其他编码位形状不同的特殊编码位，所述特殊编码位的宽度在经线方向具有预设的变化规律，
    所述确定所述待定位点与光源之间的连线和所述旋转外壳的转轴之间的角度θ具体包括下述步骤：
    当每个编码圈在经线方向的角度α相等时，确定待定位点所在的投影光圈的内沿与光源之间的连线和所述旋转外壳的转轴之间的角度θr＝r*α；当每个编码圈在经线方向的角度不等时，确定待定位点所在的投影光圈的内沿与光源之间的连线和所述旋转外壳的转轴之间的角度θr＝α1+α2+…αr；其中，r为待定位点所在投影光圈的内侧的投影光圈个数，α1、α2…αr分别为第一个编码圈、第二个编码圈……第r个编码圈在经线方向的角度；
    根据接收端感应到的特殊编码位的宽度确定待定位点与其所在投影光圈的内沿相对光源的夹角Δθr；
    确定待定位点和光源之间的连线与所述转轴之间的角度θ＝θr+Δθr。
  10. 如权利要求7所述的室内定位方法，其特征在于，所述确定待定位点与所述初始方向之间的角度ω具体包括下述步骤：
    确定所述待定位点所在的投影光圈的前沿与所述初始方向的夹角ωr，r为待定位点所在投影光圈的内侧的投影光圈个数；
    根据接收端检测到频率跳变点之后连续采集的透光编码位数据确定发生频率跳变时待定位点与其所在投影光圈的前沿相对投影光圈中心的夹角Δωr；
    确定待定位点与所述初始方向之间的角度ω＝ωr+Δωr。
  11. 如权利要求10所述的室内定位方法，其特征在于，当频率跳变发生在挡光片穿过卡槽时，ωr＝(n-1)*β，n为在接收端检测到频率跳变点以及结束位的末端这段时间内，旋转外壳转过的编码位数目，其中包括待定位点自身所在的投影光圈对应的编码位；当频率跳变发生在挡光片穿过卡槽并继续转动一个编码位时，ωr＝n*β。
  12. 如权利要求7～11任一项所述的室内定位方法，其特征在于，当所述光源到待定位点的垂直高度H已知，且所述光源的坐标(x0,y0,z0)已知时，所述待定位点的坐标为：
    (x0+H*tan(θ)*sin(ω),y0+H*tan(θ)*cos(ω),z0-H)。
  13. 如权利要求7～11任一项所述的室内定位方法，其特征在于，当所述光源到待定位点的垂直高度未知，且所述光源的坐标(x0,y0,z0)已知时，采用两个所述室内定位装置，且两个光源的照射面具有相交区域，待定位点处于该相交区域，所述待定位点的坐标由两个已知的光源坐标和所述夹角θ和夹角ω确定。
  14. 如权利要求7～11任一项所述的室内定位方法，其特征在于，设定光源在第一频率和第二频率下工作，当挡光片穿过所述卡槽时，若光源频率为第一频率，则控制其跳变为第二频率，若光源频率为第二频率，则控制光源在旋转外壳继续转动一个编码位后跳变为第一频率。
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