WO2017058107A1 - Réseau émetteur, récepteur, et système de positionnement - Google Patents

Réseau émetteur, récepteur, et système de positionnement Download PDF

Info

Publication number
WO2017058107A1
WO2017058107A1 PCT/SG2016/050460 SG2016050460W WO2017058107A1 WO 2017058107 A1 WO2017058107 A1 WO 2017058107A1 SG 2016050460 W SG2016050460 W SG 2016050460W WO 2017058107 A1 WO2017058107 A1 WO 2017058107A1
Authority
WO
WIPO (PCT)
Prior art keywords
light
visible light
receiver
visible
emitting diodes
Prior art date
Application number
PCT/SG2016/050460
Other languages
English (en)
Inventor
Wende Zhong
Dehao WU
Chen Chen
Lihua Xie
Original Assignee
Nanyang Technological University
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 Nanyang Technological University filed Critical Nanyang Technological University
Publication of WO2017058107A1 publication Critical patent/WO2017058107A1/fr

Links

Classifications

    • 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
    • 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
    • H04B10/116—Visible light communication
    • 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
    • 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
    • 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

  • Various embodiments relate to a transmitter array, a receiver, and/or a positioning system. Various embodiments relate to a method of forming a positioning system. Various embodiments relate to a method of determining a position of a receiver.
  • GPS Global Positioning System
  • GPS positioning Even if GPS positioning is available, it may not be accurate enough for many indoor applications (in the order of centimeters). The accuracy of GPS is quite low, normally in the order of meters.
  • Current indoor positioning techniques such as infrared (IR), ultrasound, radio-frequency identification (RFID), wireless local area network (WLAN), also known as WiFi), Bluetooth, sensor networks and ultra-wideband (UWB) are being developed. However, such systems have either a low accuracy and/or a high deployment cost.
  • a positioning system may be provided.
  • the positioning system may include a transmitter array including a plurality of visible light positioning (VLP) units.
  • Each visible light positioning unit may include light-emitting diodes (LEDs).
  • Each of the light-emitting diodes may be configured to emit a visible light including an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the positioning system may include a receiver including a detector. The detector may be configured to receive the visible lights emitted by the light-emitting diodes of each of the plurality of visible light positioning units.
  • the receiver may be configured to select one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the receiver may be further configured to determine a position of the receiver based on the phase data portions of the visible lights emitted by light- emitting diodes of the selected visible light positioning unit.
  • a transmitter array may be provided.
  • the transmitter array may include a plurality of visible light positioning units.
  • Each visible light positioning unit may include light-emitting diodes.
  • Each of the light-emitting diodes may be configured to emit a visible light including an identifier portion associating the visible light with the light- emitting diode, and a phase data portion.
  • the visible lights emitted by the light emitting diodes of each of the plurality of visible light positioning units may be configured to be received by a detector of a receiver.
  • the identifier portions of the visible lights may be configured to be used by the receiver to select one visible light positioning unit of the plurality of visible light positioning units.
  • the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit may be configured to be used by the receiver to determine a position of the receiver.
  • a receiver may be provided.
  • the receiver may include a detector configured to receive visible lights emitted by light-emitting diodes of each visible light positioning unit of a plurality of visible light positioning units.
  • Each visible light may include an identifier associating the visible light with the light-emitting diode, and a phase data portion.
  • the receiver may be configured to select one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the receiver may be further configured to determine a position of the receiver based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • a method of forming a position system may be provided.
  • the method may include providing a transmitter array including a plurality of visible light positioning (VLP) units, each visible light positioning unit including light-emitting diodes (LEDs).
  • VLP visible light positioning
  • Each of the light-emitting diodes may be configured to emit a visible light including an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the method may also include providing a receiver including a detector. The detector may be configured to receive the visible lights emitted by the light-emitting diodes of each of the plurality of visible light positioning units.
  • the receiver may be configured to select one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the receiver may be further configured to determine a position of the receiver based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • a method of determining a position of a receiver may be provided.
  • the method may include receiving by a detector of the receiver, visible lights emitted by light-emitting diodes of each of a plurality of visible light positioning units, wherein each visible light may be emitted by a light-emitting diode, and may include an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the method may include selecting by the receiver, one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the method may also include determining by the receiver, the position of the receiver based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • FIG. 1 is a schematic illustrating a positioning system according to various embodiments.
  • FIG. 2A is a schematic illustrating a transmitter array according to various embodiments.
  • FIG. 2B is a schematic illustrating a receiver according to various embodiments.
  • FIG. 3A is a schematic illustrating a method of forming a positioning system according to various embodiments.
  • FIG. 3B is a schematic illustrating a method of determining the position of a receiver according to various embodiments.
  • FIG. 4 is a schematic showing a positioning system according to various embodiments.
  • FIG. 5A is a schematic illustrating the data frame of a modulating signal according to various embodiments.
  • FIG. 5B is a schematic showing the five continuous sine wave signals according to various embodiments.
  • FIG. 6 shows a flow chart of the positioning estimation procedure at a receiver (Rx) according to various embodiments.
  • FIG. 7 is a plot of the cumulative distribution function (CDF) of the estimation error of the i- th VLP unit within a space C; with a dimension of 2.5 x 2.5 x 3 m 3 (length x width x height) as a function of the root mean square error (RMSE) of the receiver position according to various embodiments.
  • CDF cumulative distribution function
  • Embodiments described in the context of one of the methods or devices are analogously valid for the other methods or devices. Similarly, embodiments described in the context of a method are analogously valid for a device, and vice versa.
  • FIG. 1 is a schematic illustrating a positioning system 100 according to various embodiments.
  • the positioning system 100 may include a transmitter array 102 including a plurality of visible light positioning (VLP) units e.g. 104a, 104b.
  • Each visible light positioning unit e.g. 104a, 104b may include light-emitting diodes (e.g. 104a includes 106a, 106b; 104b includes 106c, 106d).
  • Each of the light-emitting diodes e.g. 106a-d may be configured to emit a visible light including an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the positioning system 100 may include a receiver 108 including a detector 110.
  • the detector 110 may be configured to receive the visible lights emitted by the light-emitting diodes e.g. 106a-d of each of the plurality of visible light positioning units e.g. 104a, 104b.
  • the receiver 108 may be configured to select one visible light positioning unit e.g. 104a of the plurality of visible light positioning units e.g. 104a, 104b based on the identifier portions of the visible lights.
  • the receiver 108 may be further configured to determine a position of the receiver 108 based on the phase data portions of the visible lights emitted by light-emitting diodes e.g. 106a, 106b of the selected visible light positioning unit e.g. 104a.
  • the positioning system 100 may include an array 102 of light- emitting diodes e.g. 106a-d, which may be divided into a plurality of VLP units 104a, 104b.
  • the light-emitting diodes e.g. 106a-d may each emit a visible light, which may include an identifier portion encoding information regarding the originating light-emitting diode that emits that particular visible light, as well as a phase data portion.
  • the positioning system 100 may also include a receiver 108 including detector 110, which receives the visible lights from the light-emitting diodes e.g. 106a-d and select one VLP unit for further processing.
  • the phase data portion of the visible lights emitted by the light-emitting diodes e.g. 106a, 106b of the selected VLP unit e.g. 104a may be used to determine the position of the receiver 108.
  • Various embodiments may seek to mitigate or address one or more of the highlighted problems or issues.
  • Various embodiments may have reduced complexity as the receiver 108 only determines the position of the receiver 108 based on information provided by light emitting diodes (e.g. 106a, 106b) of the selected visible light positioning unit (e.g. 104a) instead of light-emitting diodes 106a-d of the entire transmitter array 102.
  • Various embodiments may provide improved accuracy over conventional systems, such as ultra-wide band (UWB), ultrasound, and infrared (IR) based systems by using detecting visible light from light-emitting diodes (LEDs).
  • LEDs light-emitting diodes
  • Various embodiments may make use of LEDs that are already used to provide indoor lighting, thus reducing costs.
  • Various embodiments may not produce electromagnetic interference (EMI), unlike conventional radio-frequency (RF) based positioning systems.
  • Various embodiments may provide a secure and private positioning system as the optical radiation does not penetrate walls
  • FIG. 1 serves to provide a general illustration of the positioning system 100 according to various embodiments, and should not be interpreted in a limiting manner.
  • the number of visible light positioning (VLP) units may not be limited to two, but may include more than two.
  • the number of LEDs in each VLP unit may not be limited to two, but may include more than two.
  • Each visible light may be emitted by one LED, and the identifier portion of a particular visible light may identify or provide information about the one LED that emits the particular visible light.
  • the phase data portion may include or may be a repetitive signal such as a sinusoidal signal. As the visible light travels different distances, the signal of the phase data portion may be at different phases corresponding to the different distances. Accordingly, the phase data portion may provide information on the distance travelled by the visible light.
  • each VLP unit e.g. 104a, 104b may include four or five LEDs.
  • the receiver 108 may be the detector 110.
  • the detector 110 may be or may include a photodiode.
  • the phase data portions of the visible lights emitted by different light-emitting diodes (LEDs), e.g. 106a, 106b of each visible light positioning (VLP) unit, e.g. 104a may be modulated to have substantially equal initial phases, and to have substantially different (modulated) frequencies.
  • the different light- emitting diodes, e.g. 106a, 106b within a VLP unit may be synchronised so that visible light leaving a first LED e.g. 106a and visible light leaving a second LED e.g. 106b may be in the same phase.
  • the visible light leaving the first LED e.g.
  • the local synchronisation of the LEDs in the same VLP i.e. local synchronisation, may reduce the synchronisation complexity, and may remove the need for a local oscillator to be included in the receiver 108 to measure differential phase shift.
  • the phase data portions of the visible lights emitted by different light-emitting diodes of the selected visible light positioning unit and received by the detector 110 may have different phase shifts (relative to one another).
  • the phase data portion of a visible light emitted by a first LED of the selected VLP unit may have a first phase shift
  • the phase data portion of a visible light emitted by a second LED of the selected VLP unit may have a second phase shift different from the first phase shift.
  • the differences in phase shift may be due to the substantially equal initial phases and the substantially different frequencies.
  • the visible lights emitted from different LEDs from the same VLP unit, e.g. 104a travel different distances from the LEDs e.g. 106a, 106b to reach the detector 110, the visible lights may have different phase shifts since they have a common starting phase, but are of different frequencies.
  • the identifier portion and the phase data portion of the visible light emitted by each light-emitting diode may be modulated to substantially equal frequencies.
  • the identifier portion of a visible light may be modulated to the same frequency as the phase data portion of the visible light.
  • the identifier portion and the phase data portion of the visible light emitted by each light-emitting diode may be modulated to a radio frequency (RF).
  • the identifier portion of the visible light emitted by each light-emitting diode may be modulated by an identifier data using binary phase shift keying (BPSK).
  • BPSK binary phase shift keying
  • the identifier data is unique for each LED (and may be associated with the position of the respective LED).
  • Modulating the identifier portion of a visible light to the same frequency as the phase data portion of the visible light so that both the identifier portion and the phase data portion are of a different frequency compared to the identifier portion and the phase data portion of another LED in the same VLP unit may allow signals/ visible lights from different LEDs in the same VLP unit to be more easily differentiated or separated from one another.
  • the receiver 108 may be configured to ignore or reject phase data portions of the visible lights emitted by light-emitting diodes e.g. 106c, 106d of the non-selected visible light positioning units e.g. 104b.
  • the receiver 108 may be configured to determine a position of the receiver 108 by only processing the visible lights emitted by the light-emitting diodes e.g. 106a, 106b of the selected VLP unit e.g. 104a.
  • the visible lights emitted by the light-emitting diodes e.g. 106c, 106d of the non-selected VLP unit e.g. 104b may not be processed.
  • complexity may be reduced.
  • the receiver 108 may be configured to capture the signals from any available neighbouring VLP units e.g. 104a, 104b, then select one visible light positioning unit with light-emitting diodes having the highest signal-to-noise ratio (SNR), e.g. 104a of the plurality of visible light positioning units e.g. 104a, 104b to first determine and select a zone in which the receiver 108 is located, out of a plurality of zones. Each zone may be associated with one visible light positioning unit.
  • the receiver 108 may be further configured to process the phase data portions of the visible lights emitted by the LEDs of the VLP unit associated with the selected zone to identify or determine the exact location of the receiver 108 within the selected zone.
  • the selected visible light positioning unit e.g. 104a may include light-emitting diodes e.g. 106a, 106b having signal-to-noise ratios (SNRs) higher than light-emitting diodes e.g. 106c, 106d of non-selected visible light positioning unit(s), e.g. 104b.
  • SNRs signal-to-noise ratios
  • the visible light positioning unit e.g. 104a with LEDs having the highest SNRs may be selected.
  • the receiver 108 may be configured to determine signal-to- noise ratios (SNRs) of light-emitting diodes of each light positioning unit based on the identifier portions of the visible lights.
  • the receiver 108 may be configured to determine an average signal-to-noise ratio (SNR) of the light-emitting diodes of each visible light positioning unit e.g. 104a, 104b.
  • the receiver 108 may be further configured to select the visible light positioning unit e.g. 104a of the plurality of visible light positioning units e.g. 104a, 104b by comparing the average signal-to-noise ratios (SNRs) of LEDs of different visible light positioning units, e.g. 104a, 104b.
  • the selected visible light positioning unit e.g. 104a may include light-emitting diodes with the average signal-to-noise ratio (SNR) higher than light-emitting diodes of the non-selected visible light positioning unit(s), e.g. 104b.
  • the receiver 108 may be further configured to determine signal-to-noise ratios (SNRs) of the light-emitting diodes (LEDs) e.g. 106a-d of the plurality of visible light positioning units (VLPs) e.g. 104a, 104b before selecting the one VLP unit e.g. 104a out of the plurality of VLP units e.g. 104a, 104b based on the signal-to-noise ratios (SNRs).
  • SNRs signal-to-noise ratios
  • the receiver 108 may proceed to determine the position of the receiver 108.
  • the SNR of the selected VLP unit e.g. 104a may refer to an average SNR of all the LEDs e.g. 106a, 106b in the selected VLP unit e.g. 104a.
  • the SNR of the selected VLP unit e.g. 104a may refer to the lowest SNR of all the LEDs e.g. 106a, 106b in the selected VLP unit e.g. 104a.
  • the LEDs e.g. 106a, 106b in the selected VLP unit e.g. 104a may be required to meet the predetermined SNR threshold requirement before the position of the receiver 108 is determined.
  • the receiver 108 may repeat the selection process after a predetermined duration of time. In other words, if the SNR of the selected VLP unit e.g. 104a is below the predetermined threshold, the receiver 108 may be configured to wait for a predetermined duration of time before re-determining the SNRs of the LEDs e.g. 106a-d of the plurality of the VLP units e.g. 104a, 104b. The receiver 108 may re-determine the SNRs of the LEDs e.g. 106a-d of the plurality of the VLP units e.g. 104a, 104b before selecting the one VLP unit e.g. 104a out of the plurality of VLP units e.g. 104a, 104b based on the SNRs.
  • the receiver 108 may be configured to determine the SNRs before determining the position of the receiver 108.
  • the receiver 108 may be configured to determine the position of the receiver by differential phase shift measurement and/or trilateration algorithm.
  • phase data portion of visible lights emitted by light-emitting diodes (LEDs) of a first visible light positioning (VLP) unit and the phase data portion of visible lights emitted by light-emitting diodes (LEDs) of a second visible light positioning (VLP) unit may have substantially different initial phases. In other words, the LEDs of different VLP units may be unsynchronized.
  • the LEDs may be white LEDs or LEDs configured to emit white light.
  • the LEDs may be blue LEDs, i.e. LED configured to emit blue light, which are coated with yellow phosphor. When the blue LEDs are coated with yellow phosphor, the LEDs may be configured to emit white light.
  • the receiver 108 may further include a demodulator, such as a differential phase- shift measurement based VQ (in-phase and quadrature) demodulator, which is configured to determine the position of the receiver 108.
  • the demodulator may be configured to determine differences in phase shift received by the detector 110.
  • the demodulator may be configured to determine a difference in phase shift between a visible light emitted by a first LED and a visible light emitted by a second LED received by the detector 110, the first LED and the second LED of the same VLP unit.
  • the demodulator may be in electrical connection with the detector 110.
  • the receiver 108 may further include a processor or processing circuit.
  • the processor or processing circuit may be configured to determine the position of the receiver 108 based on the visible lights received by the detector 110 (and emitted by the selected VLP unit e.g. 104a), e.g. by differential phase shift measurement and/or trilateration algorithm.
  • the processor or processing circuit may be configured to determine the SNRs of the LEDs of each VLP unit.
  • the processor or processing circuit may be configured to select one VLP unit with LEDs having the highest SNR out of a plurality of VLP units.
  • the processor or processing circuit may be in electrical connection with the detector and/or the demodulator.
  • the receiver 108 may further include a filter over the detector 110.
  • the filter may be configured to allow blue light to pass through to the detector 110m, but may block or filter off other components of the visible light emitted from the LEDs 106.
  • the receiver 108 may include a post-equalization circuit arrangement in electrical connection with the detector 110.
  • the equalization circuit arrangement may be configured to relax the modulation bandwidth requirement of the LEDs (this is effectively equivalent to increases the modulation bandwidth of the LEDs).
  • the positioning system 100 may achieve a positioning accuracy of less than about 100 cm, less than about 20 cm, or less than about 10 cm, or less than about 7 cm or about 5 cm.
  • the receiver 108 may be configured to determine a position of the receiver 108 with a positioning accuracy of less than about 100 cm, less than about 20 cm, or less than about 10 cm, or less than about 7 cm or about 5 cm.
  • FIG. 2A is a schematic illustrating a transmitter array 202 according to various embodiments.
  • the transmitter array 202 may include a plurality of visible light positioning units e.g. 204a, 204b.
  • Each visible light positioning unit e.g. 204a, 204b may include light-emitting diodes e.g. 206a-d.
  • Each of the light-emitting diodes e.g. 206a-d may be configured to emit a visible light including an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • 204a, 204b may be configured to be received by a detector of a receiver.
  • the identifier portions of the visible lights may be configured to be used by the receiver to select one visible light positioning unit e.g. 204a of the plurality of visible light positioning units e.g. 204a, 204b.
  • the phase data portions of the visible lights emitted by light-emitting diodes e.g. 206a, 206b of the selected visible light positioning unit e.g. 204a may be configured to be used by the receiver to determine a position of the receiver.
  • FIG. 2A serves to provide a general illustration of the transmitter array 202 according to various embodiments, and should not be interpreted in a limiting manner.
  • the number of visible light positioning (VLP) units may not be limited to two, but may include more than two.
  • the number of LEDs in each VLP unit may not be limited to two, but may include more than two.
  • FIG. 2B is a schematic illustrating a receiver 208 according to various embodiments.
  • the receiver 208 may include a detector 210 configured to receive visible lights emitted by light-emitting diodes of each visible light positioning unit of a plurality of visible light positioning units. Each visible light may include an identifier associating the visible light with a light-emitting diode, and a phase data portion.
  • the receiver 208 may be an optical receiver.
  • the receiver 208 may be configured to select one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the receiver 208 may be configured to determine signal-to-noise ratios (SNRs) of light-emitting diodes of each visible light positioning unit based on the identifier portions of the visible lights.
  • SNRs signal-to-noise ratios
  • the selected visible light positioning unit may include light-emitting diodes having signal-to-noise ratios (SNRs) higher than light-emitting diodes of non-selected visible light positioning unit(s).
  • the receiver 208 may be further configured to determine a position of the receiver 208 based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • FIG. 2B serves to provide a general illustration of the receiver 208 according to various embodiments, and should not be interpreted in a limiting manner.
  • FIG. 3A is a schematic 300a illustrating a method of forming a positioning system according to various embodiments.
  • the method may include, in 302, providing a transmitter array including a plurality of visible light positioning (VLP) units, each visible light positioning unit including light-emitting diodes (LEDs). Each of the light-emitting diodes may be configured to emit a visible light including an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the method may also include, in 304, providing a receiver including a detector.
  • the detector may be configured to receive the visible lights emitted by the light-emitting diodes of each of the plurality of visible light positioning units.
  • the receiver may be configured to select one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the receiver may be further configured to determine a position of the receiver based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • a method of forming a positioning system may include providing a transmitter array including a plurality of LEDs grouped into VLP units. Each VLP unit may include a number of LEDs. The method may also include providing a receiver including a detector. The detector may receive visible lights emitted by the plurality of LEDs. After receiving the visible lights, the receiver may proceed to determine which particular one VLP unit to further process. The receiver does the determination by processing the identifier portions of the visible lights emitting from the LEDs. Each visible light may be emitted by one LED, and the identifier portion of a particular visible light may identify or provide information about the one LED that emits the particular visible light. After the determination, the receiver may then determine its location based on the phase data portions of the visible lights emitted by LEDs of the one particular VLP unit.
  • phase data portions of the visible lights emitted by different light-emitting diodes of each visible light positioning unit may be modulated to have substantially equal initial phases, and to have substantially different frequencies.
  • phase data portions of the visible lights emitted by different light-emitting diodes of the selected visible light positioning unit and received by the detector may have different phase shifts.
  • the identifier portion and the phase data portion of the visible light emitted by each light-emitting diode may be modulated to substantially equal frequencies.
  • the identifier portion of the visible light emitted by each light-emitting diode may be modulated by an identified data using binary phase shift keying (BPSK).
  • BPSK binary phase shift keying
  • the receiver may be configured to ignore or reject phase data portions of the visible lights emitted by light-emitting diodes of the non-selected visible light positioning units.
  • the receiver may be configured to determine signal-to-noise ratios (SNRs) of light-emitting diodes of each VLP unit based on the identifier portions of the visible lights.
  • the receiver may be further configured to determine SNRs of the light-emitting diodes of the plurality of visible light positioning units before selecting the one VLP unit out of the plurality of VLP units.
  • the receiver may be configured to select the one VLP unit out of the plurality of VLP units based on the SNRs.
  • the SNRs of the light-emitting diodes of the selected visible light positioning unit may be higher than the SNRs of the light-emitting diodes of non-selected visible light positioning units.
  • the receiver may be further configured to determine the SNRs before determining the position of the receiver.
  • the position of the receiver may be determined by differential phase shift measurement and trilateration algorithm.
  • the visible lights emitted by light-emitting diodes of different visible light positioning units may be unsynchronized.
  • the phase data portion of visible lights emitted by light-emitting diodes of a first visible light positioning unit and the phase data portion of visible lights emitted by light-emitting diodes of a second visible light positioning unit may have substantially different initial phases.
  • a low-cost indoor centimeter-scale positioning system may be provided, which may deliver high-accuracy localization without the need of a complicated and expensive infrastructure.
  • Various embodiments may include white illuminating LEDs. The additional capability of white illuminating LEDs as a positioning tool may be unleashed, resulting in a more complete solution that may provide centimeter- scale positioning resolution.
  • the system according to various embodiments may include modulating each LED with its identification information and a continuous sine wave signal at a pre-determined frequency, and sending the signals periodically. Every four or five LEDs may be grouped as a basic VLP unit and the four or five LEDs may be locally synchronized in phase.
  • a VLP receiver Rx may detect the signals from any one of the VLP units to determine its position by analyzing and processing the received signals and utilizing the pre-determined indoor map.
  • a method of determining a position of a receiver may be provided.
  • FIG. 3B is a schematic 300b illustrating a method of determining a position of a receiver according to various embodiments.
  • the method may include, in 312, receiving by a detector of the receiver, visible lights emitted by light-emitting diodes of each of a plurality of visible light positioning units, wherein each visible light may be emitted by a light- emitting diode, and may include an identifier portion associating the visible light with the light-emitting diode, and a phase data portion.
  • the method may include, in 314, selecting by the receiver, one visible light positioning unit of the plurality of visible light positioning units based on the identifier portions of the visible lights.
  • the method may also include, in 316, determining by the receiver, the position of the receiver based on the phase data portions of the visible lights emitted by light-emitting diodes of the selected visible light positioning unit.
  • a position of a receiver may be determined by using a detector of the receiver to detect visible lights emitted by LEDs of different VLP units. Each visible light may come from one LED.
  • the visible light may include an identifier portion and a phase data portion.
  • the receiver may select a VLP unit out of a plurality of VLP units based on the identifier portion. The receiver may then determine its position based on the phase data portion of the visible lights emitted by LEDs of the selected VLP unit.
  • the method may include, determining by the receiver, signal-to-noise ratios (SNRs) of light-emitting diodes of each visible light positioning (VLP) unit based on the identifier portions of the visible lights.
  • the selected visible light positioning unit may include light-emitting diodes having signal-to-noise ratios (SNRs) higher than light-emitting diodes of non-selected visible light positioning unit(s).
  • the receiver may be secured or attached to an object such as a robot, a piece of equipment etc.
  • the receiver may be held or may be attached to a person or an animal. The position of the object, person or animal may thus be determined.
  • FIG. 4 is a schematic showing a positioning system 400 according to various embodiments.
  • the positioning system 400 may be an indoor VLP system.
  • the positioning system 400 may use white LEDs 406. In order to avoid clutter and to improve clarity of FIG. 4, not all LEDs 406 have been labelled.
  • the LEDs 406 may be installed on a ceiling of an indoor environment for illumination purposes.
  • the LEDs 406 may be divided into multiple VLP units 404a-h, which may also be referred to as localization units.
  • Each VLP unit 404a-h may include 5 LEDs (represented by solid rectangles within each VLP unit 404a-h). In various other embodiments, each VLP unit 404a-h may include 4 LEDs.
  • the visible light emitted from each LED within a VLP unit may be modulated so that the modulated visible light includes a unique identifier portion (which may be referred to as LED location identification (ID), and which may be unique to each LED), and a phase data portion, e.g. a period of continuous sine wave at a pre-determined frequency fi.
  • the VLP units 404a-h may form the transmitter (Tx) array 402.
  • FIG. 5A is a schematic illustrating the data frame 500a of a modulating signal according to various embodiments.
  • the data frame 500a may include the LED location ID information 502, followed by a period of continuous sine wave 504.
  • the modulated signal from each LED 406 may be transmitted periodically.
  • the location ID of each LED 406 may be first modulated to a RF signal of the same frequency as the following sine wave.
  • the modulation may be in the BPSK modulation format.
  • the five continuous sine wave signals of different frequencies may be locally synchronized in phase, i.e. the visible lights emitted may have a common initial starting phase.
  • FIG. 5B is a schematic 500b showing the five continuous sine wave signals according to various embodiments.
  • VLP receivers (Rx) 408a-d may detect the signals, i.e. the modulated visible lights, from LEDs 406 of any one unit of the VLP units 404a-h, but may reject or ignore the signals from LEDs 406 of other neighboring VLP units 404a-h. Each Rx's position may then be determined by analyzing and processing the received signals and utilizing the pre-determined indoor map.
  • a group of five LEDs 406 in a VLP unit 404a-h may be used to estimate the Rx's position to solve the precise synchronization problem between transmitters Txs 402 and each Rx 408a-d.
  • the problem may be solved using local synchronization at the Tx 402 side.
  • a Rx 408a-d may receive five incoming signals, each associated with a radio frequency (RF) fi.
  • the distance (di) between each LED 406 and the Rx 408a-d may be obtained by a differential phase shift measurement, and then the positioning of the Rx 408a-d may be estimated by e.g. trilateration algorithm. It is noted that the phases of the signals at the Rx 408a-d side are distance dependent.
  • the measured phase difference between a transmitted signal and its corresponding received signal may be converted into the associated transmission distance.
  • the initial phase of an input sinusoidal signal (emitted from LEDs 406) may be defined as ⁇ , which is in the range of 0 to 2 ⁇ .
  • the phase of the received signal i.e. the signal received by a receiver 408a-d may increase to ⁇ .
  • phase of the signal received by a receiver 408a-d ( ⁇ ) may be provided by:
  • ⁇ ⁇ is the phase shift of the transmitted sinusoid signal at the frequency of fi.
  • VQ in-phase and quadrature
  • visible lights emitted from different LEDs 406 of the same VLP unit 404a-h may be of the same initial phase ⁇ . Due to different distances di travelled by the visible lights (emitted by different LEDs 406 of the same VLP unit 404a-h) and the different frequencies fi, the visible lights may experience different phase shifts ⁇ , which may result in the visible lights received by a receiver 408a-d having different ⁇ .
  • the receiver 408a-d may not need to be synchronized with the VLP units 404a-h, and only the downlinks may be needed for estimating the position of the receiver 408a-d, which may significantly reduce the complexity of the system.
  • Local synchronization in each VLP unit 404a-h may be required to provide the same initial phase of different sine wave signals in each VLP unit 404a-h, instead of global synchronization among all the VLP units 404a-h.
  • the number of the LEDs 406 within each VLP unit 404a-h may be five. The number of LEDs 406 within a VLP unit 404a-h may be reduced to four if two RF frequencies are modulated onto one of the LEDs 406.
  • FIG. 6 shows a flow chart 600 of the positioning estimation procedure at a receiver (Rx) according to various embodiments.
  • the Rx may start to check if there is a line-of-sight (LOS) downlink from any one of the VLP units for further positioning operation.
  • the system i.e. Rx
  • the system may start to read the LEDs' location ID information (identifier portion) which are received from a VLP unit, and then updates the LEDs' location information to a pre-determined user map.
  • the Rx may start to capture the differential phase-shift information from each LED. The Rx may then compute the SNR associated with each LED in order to determine the reliability of the received signal.
  • the Rx' s location may be estimated using an algorithm in State 4 (608). If the signals are not reliable, they may be ignored and a new capture operation may be executed. After State 4 (608), a decision operation may determine whether the positioning operation is re-executed or terminated.
  • the acquisition rate of the positioning implementation may be been designed accordingly to suit the decision operation for different applications to support the mobility of the user terminal.
  • a common strategy for measuring distances in localization related applications is to compute the time of flight (TOF) of a signal.
  • TOF time of flight
  • a differential phase shift measurement method may be adopted and an averaging technique may be used to achieve a more precise estimation.
  • the position of the receiver may be obtained based on the differential phase shift measurement method and the averaging technique in the positioning system according to various embodiments.
  • Ti may be provided by:
  • ⁇ is the phase shift of the transmitted sinusoid signal at the frequency of fi.
  • di may have a no-ambiguity distance range depending on the frequency fi, due to the 2 ⁇ period of the sinusoid. For instance, if fi is 10 MHz, the corresponding no-ambiguity distance range of di may be about 7.5 m.
  • R is the responsivity of the photodetector (PD)
  • ⁇ is the transmitted optical power
  • m(t) is the additive white Gaussian noise (AWGN).
  • Hi(0) is DC gain of the optical wireless channel, which is given by:
  • m is the Lambertian order of Tx
  • ⁇ is the irradiance angle
  • ⁇ is the incidence angle to Rx.
  • AR is the detecting surface area of Rx
  • r S (6>) is the optical filter gain
  • g(6) is the optical concentrator (lens) gain
  • ⁇ p c is the field of view (FOV, semi-angle) of Rx.
  • the optical received signal S r i ⁇ t) may include a number of periods of the sine signal.
  • one effective method is to use an averaging technique.
  • the averaging method may be based on the principle that each period of the signal has the identical phase-shift information, although these signal periods may be obscured by the AWGN noise m(t). When the noise m(t) is summed, its average tends toward zero.
  • S r i(t) includes Nave periods of a sine signal.
  • the noise m(t) has zero mean and a variance of ⁇ 2 .
  • the received signal at a time t after the kt period is given by:
  • ⁇ (t - kT) RP T H i (0) sin(2 r : (t - kT) + A ⁇ p ⁇ + ⁇ p 0 ) (8)
  • the averaged signal S r t (t) may be given by:
  • S r t (t) is an unbiased estimator of /-(t) .
  • the variance of S r t (t) is given by: _
  • ar[S r t (t)] Var[n(t)] + Var[— ⁇ J3 ⁇ 4? - ⁇ )] + Cov(. ), 0 ⁇ t ⁇ T (13)
  • Equation (14) may be rewritten as:
  • the variance is reduced by a factor of Nave, and hence the SNR of the received signal is improved by a factor of N ave .
  • an VQ (In phase and Quadrature) demodulator may be required.
  • Various embodiments may require a local oscillator (LO) generating a reference signal at the frequency fi with a phase locked loop (PLL) circuit to decode the phase shift ⁇ .
  • This local oscillator may need to be precisely synchronized to the transmitted sinusoidal signal, which may significantly increase the system complexity and affect measurement accuracy, since there are multiple VLP units.
  • Various embodiments may involve a non-LO based differential phase-shift measurement to obtain ⁇ , which may then be used in the triangulation algorithm for the positioning estimation. Equation (5) may be re- written as:
  • Equation (17) Ki is the attenuation factor, di is the distance between the Txi and the Rx.
  • nn(f) is the additive noise term.
  • I, I ⁇ 3 ⁇ 4cos(to_i_ ⁇ toi + fto)
  • the root mean square error (RMSE) of the receiver position of the VLP system may be expressed as:
  • RMSE ⁇ , [( ⁇ / ⁇ - D x f + (u y l - D y ) 2 + (u z - D z ) 2 ] (31) where (U x l ,U y l ,U z ') is the l-th estimated position of Rx, (U x , U y , U z ) is the real location and N is the total number of the measurements.
  • each VLP unit 404a-h may have five LEDs 406 on the ceiling, and these LEDs may be arranged to be a square shape (i.e. 4 LEDs may be placed on the 4 corners of the square, respectively, and one LED may be placed in the center of the square).
  • the distance between a corner LED and the centre LED may be denoted as dint (refer to FIG. 4).
  • the received signal associated with frequency f may include multiple periods of the sinusoid signal. Assuming that the noise has a zero mean, the SNR of the received signal may be improved by the averaging technique, which has been described above.
  • the number of periods for averaging is denoted as Nave and d denotes the area covered by the z ' -th VLP unit.
  • the positioning error of the z ' -th VLP unit within an area C has been simulated and characterized.
  • 5 RF signals of different frequencies are respectively modulated onto the 5 LEDs within one VLP unit.
  • the first frequency f ⁇ is set at 20 MHz and the difference between two adjacent frequencies is set at 100 kHz.
  • FIG. 7 is a plot 700 of the cumulative distribution function (CDF) of the estimation error of the z ' -th VLP unit within a space C; with a dimension of 2.5 x 2.5 x 3 m 3 (length x width x height) as a function of the root mean square error (RMSE) of the receiver position according to various embodiments.
  • CDF cumulative distribution function
  • RMSE root mean square error
  • FIG. 7 The results show that RMSE is improved significantly as dint or Nave increases.
  • the arrangement shape of the LEDs within one VLP unit may have a significant effect on the performance of the positioning error.
  • Various embodiments may include an arrangement of LEDs within a VLP unit, the arrangement selected from a group consisting of a square shape, a rectangular shape, a shape with a center LED, and a rectangular shape with a center LED.
  • the 3dB bandwidth of the white LEDs may be increased from several megahertz to ⁇ 25 MHz or even higher. To the best of our knowledge, this technique may not have been adopted in the indoor VLP systems.
  • pre-equalization technique may also be used to increase the modulation bandwidth of the LED. However, pre-equalization may require extra elements to be installed at each LED.
  • various embodiments may include a post-equalization circuit arrangement.
  • the receiver may include a post-equalization circuit arrangement in electrical connection with the detector.
  • the equalization circuit arrangement may be configured to relax a modulation bandwidth requirement of the LEDs. This is effectively equivalent to increase the modulation bandwidth of the LEDs.
  • Time-of-arrival (TOA) and time-difference-of-arrival (TDOA) methods are more precise methods to estimate the locations.
  • TOA Time-of-arrival
  • TDOA time-difference-of-arrival
  • the modulation bandwidth of the LED may be typically limited to ⁇ 3 MHz. As it is described above, the 3dB modulation bandwidth of the white LEDs may significantly affect the PA of the VLP system. Therefore, various embodiments may include optical blue filtering in the optical Rx design, which filters out the slow-responding phosphor component of the emission, leaving the faster directly modulated blue emission.
  • the receiver may include a filter over the detector. The filter may be configured to allow blue light to pass through to the detector.
  • the blue filter technique in combination with simple Rx post-equalization circuit may be employed in various embodiments, which may allow modulating up to 100 MHz signal with the commercial white LEDs.
  • the PA of the system may be enhanced to about 5 cm.
  • Various embodiments may relate to an indoor white LEDs based VLP positioning system.
  • Various embodiments may relate to a low-cost indoor centimeter-scale positioning system.
  • Various embodiments may employ off-the-shelf white illuminating LEDs, and may not rely upon a complicated infrastructure. Additionally, dual use of LEDs for lightning and localization purposes may provide a transformative green solution for indoor positioning systems.
  • the illumination of a white LEDs based lighting system may be generally restricted between about 300 lx to about 1500 lx. This illumination level may offer a good signal-to- noise ratio (SNR), which may be up to 30 dB for the positioning system.
  • SNR signal-to- noise ratio
  • centimeter-scale PA of less than 10 centimeters may be achieved for a typical indoor illumination environment.
  • various embodiments may rely on the optical radiation and line-of-sight (LOS) transmission, which may mitigate the multipath induced interferences and may improve the accuracy.
  • LOS line-of-sight
  • various embodiments may significantly reduce the installation cost for wide applications in indoor environments.
  • a common strategy for measuring distances in localization applications is to compute the time of flight (TOF) of a signal.
  • TOF time of flight
  • Various embodiments may involve or adopt a method to measure the distance by measuring the changes in the phases of the emitted signals to achieve PA in the centimeter scale. With a continuous sine wave modulated to each of the four or five LEDs in a VLP unit, the distance between each of the LEDs and the Rx may be obtained, and then the spatial positioning of the Rx may be estimated.
  • the number of LEDs grouped as a VLP unit may differ in various different embodiments.
  • Various embodiments may include a local synchronization scheme, which may reduce or minimize the complexity of the system.
  • the LED lamps on the ceilings may be grouped into multiple basic positioning units known as VLP units, each of which may include 4 or 5 LED lamps. Only the LED lamps within one VLP unit may be synchronized, which may significantly reduce the synchronization complexity.
  • various embodiments may employ local synchronization of LEDs within a VLP unit.
  • each VLP unit including or consisting of three transmitters (Txs) or LEDs
  • various embodiments with 4 or 5 LEDs may not require a local oscillator at the Rx side to measure the differential phase shift.
  • the Rx may capture the differential phase- shift information from any available unit of the downlink to estimate its position and may not require synchronization between the Txs and Rx, which may significantly improve the PA of the system.
  • various embodiments may not produce electromagnetic interference (EMI), which is the ideal solution for applications in RF-restricted or prohibited areas such as airport, seaport, hospital, and hazardous environments (e.g. power plants, mines).
  • EMI electromagnetic interference
  • Another advantage is that the optical radiation may not penetrate walls or opaque objects. Therefore, various embodiments may relate to a secure and private positioning system.
  • Txs and Rxs are ideally synchronized, which may be difficult to achieve in the reality, or may achieve centimeter- scale PA based on the infrared (IR) uplinks with multiple Rxs, which cannot be integrated with the downlinks based lighting infrastructure.
  • IR infrared
  • Various embodiments may address two issues, namely the cost and/or accuracy.
  • Various embodiments may relate to a low-cost, high accuracy and reliable indoor positioning system by utilizing the LED lighting infrastructure.
  • the centimeter-scale VLP system may offer certain mobility for e.g. robotic and various other applications. With the help of this technology, more new high-precision positioning based applications may be developed for mass consumer markets. Just as the inventors of the GPS system could never have envisaged the huge range of GPS applications currently in use, it is impossible to predict all the future uses of such a centimeter- scale VLP system.
  • a local synchronization and a continuous sine wave modulation scheme may be adopted in to minimize the complexity of the system.
  • the Rx may not need to synchronize with the Txs, but may only use the received downlink signals to estimate the positioning information. Since the synchronization between the Txs and Rxs is not required, the complexity of the system may be significantly reduced.
  • various embodiments may be suitable for applications in the RF-restricted or prohibited areas such as airport, seaport, and hospital. Another advantage is that the optical radiation may not penetrate walls or opaque objects. Therefore, various embodiments may be suitable for a secure and private positioning system.
  • centimeter PA may become an essential part of the next generation indoor positioning and navigation system for indoor robots, autonomous vehicles, UAVs, UGVs etc.
  • the packaging and commercializing may not be an issue because all the required devices are relatively inexpensive and commercially available in the market, and the operation principle may be relatively simple.
  • exploiting the dual functions of the off-the-shelf illumination LEDs may also significantly reduce the cost of the proposed system. All required components may be low-cost commercial electronic devices.
  • Various embodiments including inexpensive devices may allow for cost-effective large scale production.
  • Consumer applications for indoor location information may potentially be limitless.
  • the applications include not only the navigation and positioning for the indoor robots, autonomous vehicles, unmanned aviation vehicles (UAVs), unmanned ground vehicles (UGVs), but also some high-accuracy positioning based industrial applications.
  • the research results may further stimulate scientific research in the area of next generation indoor high-accuracy positioning and navigation system.
  • Various embodiments may provide a strong foundation for future developments of indoor positioning systems inters of accuracy, cost and reliability.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Automation & Control Theory (AREA)
  • Optical Communication System (AREA)
  • Length Measuring Devices By Optical Means (AREA)

Abstract

L'invention concerne un système de positionnement qui peut comprendre un réseau émetteur comprenant une pluralité d'unités de positionnement de lumière visible. Chaque unité de positionnement de lumière visible peut comprendre des diodes électroluminescentes. Chacune des diodes électroluminescentes peut être configurée pour émettre une lumière visible comprenant une partie d'identificateur qui associe la lumière visible avec la diode électroluminescente, et une partie de données de phase. Le système de positionnement peut comprendre un récepteur comprenant un détecteur configuré pour recevoir les lumières visibles émises par les diodes électroluminescentes de chacune de la pluralité d'unités de positionnement de lumière visible. Le récepteur peut être configuré pour sélectionner une unité de positionnement de lumière visible de la pluralité d'unités de positionnement de lumière visible sur la base des parties d'identificateur des lumières visibles, et peut être en outre configuré pour déterminer une position du récepteur sur la base des parties de données de phase des lumières visibles émise par des diodes électroluminescentes de l'unité de positionnement de lumière visible sélectionnée.
PCT/SG2016/050460 2015-09-30 2016-09-21 Réseau émetteur, récepteur, et système de positionnement WO2017058107A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
SG10201508133X 2015-09-30
SG10201508133X 2015-09-30

Publications (1)

Publication Number Publication Date
WO2017058107A1 true WO2017058107A1 (fr) 2017-04-06

Family

ID=58427779

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/SG2016/050460 WO2017058107A1 (fr) 2015-09-30 2016-09-21 Réseau émetteur, récepteur, et système de positionnement

Country Status (2)

Country Link
TW (1) TW201721094A (fr)
WO (1) WO2017058107A1 (fr)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109324311A (zh) * 2018-09-29 2019-02-12 中山大学 一种基于不同朗伯辐射波瓣模数的双模led定位方法和系统
WO2019048296A1 (fr) * 2017-09-07 2019-03-14 Signify Holding B.V. Système d'intérieur de localisation d'objets mobiles
CN110133591A (zh) * 2019-04-28 2019-08-16 天津大学 基于白光led的室内双光源飞行目标定位方法
WO2020086972A1 (fr) * 2018-10-26 2020-04-30 Current Lighting Solutions, Llc Identification d'appareils d'éclairage pour positionnement en intérieur à l'aide d'un code de bande de couleur
CN112394322A (zh) * 2020-05-27 2021-02-23 南京邮电大学 一种基于两步法实现室内可见光通信系统精确定位的方法

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
TWI676043B (zh) * 2018-11-08 2019-11-01 立積電子股份有限公司 超寬頻雷達收發器及其運作方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120091896A1 (en) * 2009-04-08 2012-04-19 Koninklijke Philips Electronics N.V. Efficient address assignment in coded lighting systems
US20120162633A1 (en) * 2010-12-22 2012-06-28 Roberts Richard D Systems and methods for determining position using light sources
CN103713292A (zh) * 2014-01-17 2014-04-09 清华大学 一种基于可见光通信的精确车载雷达及目标车定位方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20120091896A1 (en) * 2009-04-08 2012-04-19 Koninklijke Philips Electronics N.V. Efficient address assignment in coded lighting systems
US20120162633A1 (en) * 2010-12-22 2012-06-28 Roberts Richard D Systems and methods for determining position using light sources
CN103713292A (zh) * 2014-01-17 2014-04-09 清华大学 一种基于可见光通信的精确车载雷达及目标车定位方法

Non-Patent Citations (3)

* Cited by examiner, † Cited by third party
Title
JUNG S.-Y. ET AL.: "TDOA-Based Optical Wireless Indoor Localization Using LED Ceiling Lamps.", IEEE TRANSACTIONS ON CONSUMER ELECTRONICS, vol. 57, no. 4, 27 December 2011 (2011-12-27), pages 1592 - 1597, XP011398435, [retrieved on 20161130] *
KIM H.-S. ET AL.: "An Indoor Visible Light Communication Positioning System Using a RF Carrier Allocation Technique.", JOURNAL OF LIGHTWAVE TECHNOLOGY, vol. 31, no. 1, 1 January 2013 (2013-01-01), pages 134 - 144, XP011481807, [retrieved on 20161130] *
NADEEM U. ET AL.: "Highly accurate 3D wireless indoor positioning system using white LED lights.", ELECTRONICS LETTERS, vol. 50, no. 11, 22 May 2014 (2014-05-22), pages 828 - 830, XP006048552, [retrieved on 20161130] *

Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2019048296A1 (fr) * 2017-09-07 2019-03-14 Signify Holding B.V. Système d'intérieur de localisation d'objets mobiles
US11703878B2 (en) 2017-09-07 2023-07-18 Signify Holding B.V. Indoor positioning system for mobile objects
CN109324311A (zh) * 2018-09-29 2019-02-12 中山大学 一种基于不同朗伯辐射波瓣模数的双模led定位方法和系统
CN109324311B (zh) * 2018-09-29 2022-08-19 中山大学 一种基于不同朗伯辐射波瓣模数的双模led定位方法和系统
WO2020086972A1 (fr) * 2018-10-26 2020-04-30 Current Lighting Solutions, Llc Identification d'appareils d'éclairage pour positionnement en intérieur à l'aide d'un code de bande de couleur
US11558949B2 (en) 2018-10-26 2023-01-17 Current Lighting Solutions, Llc Identification of lighting fixtures for indoor positioning using color band code
CN110133591A (zh) * 2019-04-28 2019-08-16 天津大学 基于白光led的室内双光源飞行目标定位方法
CN110133591B (zh) * 2019-04-28 2022-08-05 天津大学 基于白光led的室内双光源飞行目标定位方法
CN112394322A (zh) * 2020-05-27 2021-02-23 南京邮电大学 一种基于两步法实现室内可见光通信系统精确定位的方法
CN112394322B (zh) * 2020-05-27 2023-06-20 南京邮电大学 一种基于两步法实现室内可见光通信系统精确定位的方法

Also Published As

Publication number Publication date
TW201721094A (zh) 2017-06-16

Similar Documents

Publication Publication Date Title
WO2017058107A1 (fr) Réseau émetteur, récepteur, et système de positionnement
Yang et al. Indoor location estimation based on LED visible light communication using multiple optical receivers
Hassan et al. Indoor positioning using visible led lights: A survey
Luo et al. Indoor positioning systems based on visible light communication: State of the art
Yang et al. Three-dimensional visible light indoor localization using AOA and RSS with multiple optical receivers
Jiménez et al. Comparing Decawave and Bespoon UWB location systems: Indoor/outdoor performance analysis
CN103823203B (zh) 基于接收器方向的室内可见光三维定位系统及方法
CN103808319B (zh) 基于惯性定位和vlc技术的室内混合定位系统及方法
Zhang et al. iLocScan: Harnessing multipath for simultaneous indoor source localization and space scanning
US9551776B2 (en) Methods and apparatus to determine a position using light sources
Kárník et al. Summary of available indoor location techniques
Hossan et al. A novel indoor mobile localization system based on optical camera communication
Xu et al. Experimental indoor visible light positioning systems with centimeter accuracy based on a commercial smartphone camera
CN106017479B (zh) 室内移动目标的三维实时追踪方法及系统
Yasir et al. Indoor localization using visible light and accelerometer
Dawood et al. A comparative analysis of localization algorithms for visible light communication
CN103809157A (zh) 基于接收器方向的动态室内可见光二维定位系统及方法
Almadani et al. An experimental evaluation of a 3D visible light positioning system in an industrial environment with receiver tilt and multipath reflections
Martin-Gorostiza et al. Infrared local positioning system using phase differences
WO2015019354A1 (fr) Système et procédé pour classification de façon directionnelle de signaux radio
CN110412510A (zh) 一种预定二维空间内的定位方法和定位系统
Moschevikin et al. The impact of nlos components in time-of-flight networks for indoor positioning systems
Zhang et al. Surface centroid TOA location algorithm for VLC system
Pasricha Overview of indoor navigation techniques
Aparicio-Esteve et al. Centralized Optical 3D Positioning System for Emitting Tags

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 16852194

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 16852194

Country of ref document: EP

Kind code of ref document: A1