CN103017758A - Indoor real-time high-precision positioning system - Google Patents
Indoor real-time high-precision positioning system Download PDFInfo
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- CN103017758A CN103017758A CN2012105589456A CN201210558945A CN103017758A CN 103017758 A CN103017758 A CN 103017758A CN 2012105589456 A CN2012105589456 A CN 2012105589456A CN 201210558945 A CN201210558945 A CN 201210558945A CN 103017758 A CN103017758 A CN 103017758A
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Abstract
一种室内实时高精度定位系统，包括发射装置和接收装置，发射装置由LED照明灯和驱动电路组成，驱动电路的功能除了提供LED照明灯的驱动电流外，还加载了LED照明灯的位置信息进行调制，LED照明灯在实现照明功能的同时，广播着自身的位置信息，相邻的LED照明灯之间利用码分多址复用来区分；接收装置包括手持接收终端，手持接收终端的传感器有两种，一种为摄像头，另一种是光电二极管PD，光电二极管PD的作用是接收LED照明灯所广播的位置信息，获取LED照明灯的绝对位置；摄像头的作用是向上拍摄灯的场景图像，以计算出接收终端与LED照明灯的相对位置，本发明不需要额外安装发射设备，不耗费任何频谱资源，同时避免额电磁辐射。
An indoor real-time high-precision positioning system, including a transmitting device and a receiving device. The transmitting device is composed of an LED lighting lamp and a driving circuit. The function of the driving circuit is not only to provide the driving current of the LED lighting lamp, but also to load the position information of the LED lighting lamp. Modulation, the LED lighting lamps broadcast their own position information while realizing the lighting function, and use code division multiple access to distinguish between adjacent LED lighting lamps; the receiving device includes a hand-held receiving terminal and a sensor of the hand-held receiving terminal There are two types, one is the camera, the other is the photodiode PD, the function of the photodiode PD is to receive the position information broadcast by the LED lighting, and obtain the absolute position of the LED lighting; the function of the camera is to shoot the scene of the light upwards image to calculate the relative position of the receiving terminal and the LED lighting. The present invention does not require additional installation of transmitting equipment, does not consume any spectrum resources, and avoids electromagnetic radiation at the same time.
Description
Technical field
The present invention relates to a kind of positioning system, be specifically related to a kind of indoor real-time high-precision positioning system.
Background technology
Positional information all has great significance for people's live and work, and positional information is provided in real time, very large facility is provided can for people's live and work.For example, the navigation of complex environment etc. under the guide to visitors in the shopping guide of large department store, museum, the parking stall of seeking the airport underground garage, the mine.
Under outdoor environment, the GPS GPS can satisfy basic positioning requirements, but in indoor situation, because blocking and multipath effect of building, the bearing accuracy of gps system sharply descends, do not satisfy people's needs, indoor locating system arises at the historic moment, such as radio-frequency (RF) identification (RFID) positioning system, ultra broadband (UWB) indoor locating system, infrared, the ultrasonic bluetooth indoor locating system etc. that involves, these systems have satisfied the ask for something of people for indoor location information more or less, but also exist some drawbacks, as: need the extra transceiver of installing, produce electromagnetic radiation etc.
Summary of the invention
In order to overcome the shortcoming of above-mentioned prior art, the object of the present invention is to provide a kind of indoor real-time high-precision positioning system, do not need additionally to install transmitter, do not expend any frequency spectrum resource, avoid simultaneously the volume electromagnetic radiation.
In order to achieve the above object, the technical scheme taked of the present invention is:
A kind of indoor real-time high-precision positioning system, comprise emitter and receiving trap, emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, the positional information that has also loaded the LED illuminating lamp is modulated, the LED illuminating lamp is being broadcasted the positional information of self when realizing illumination functions;
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
The relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of the height of indoor ceiling, hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, then holding the built-in magnetic compass of receipts terminal according to catcher determines, concern according to geometric projection, add the sensing of hand-held receiving terminal, just can get terminal for the relative position of LED illuminating lamp.
The field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
The process of the present invention location is: hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map;
When photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards;
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction;
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
Advantage of the present invention is: do not need additionally to install transmitter, do not expend any frequency spectrum resource, avoid simultaneously the volume electromagnetic radiation.
Description of drawings
Fig. 1 is structural representation of the present invention.
Fig. 2 is that the relative position of camera and LED illuminating lamp calculates schematic diagram.
Fig. 3 is position fixing process process flow diagram of the present invention.
Fig. 4 is the theory diagram of emitter of the present invention.
Fig. 5 is the theory diagram of receiving trap of the present invention.
Embodiment
Below in conjunction with accompanying drawing the present invention is described in detail.
With reference to Fig. 1, a kind of indoor real-time high-precision positioning system, comprise emitter and receiving trap, emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, and the positional information that has also loaded the LED illuminating lamp is modulated, and the LED illuminating lamp is when realizing illumination functions, broadcast the positional information of self, utilizing CDMA multiplexing to distinguish between the adjacent LED illuminating lamp.
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
The relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of the height of indoor ceiling, hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, and then determines according to the hand-held built-in magnetic compass of receiving terminal, concerns according to geometric projection, as shown in Figure 2
Add from the direction sensing of the hand-held receiving terminal of magnetic compass extraction, just can get terminal for the relative position of LED illuminating lamp.
The field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
The process of the present invention location is: as shown in Figure 3, hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map.
Because the attribute of device itself, the field angle of camera is greater than the field of view of receiver angle of photodiode PD, so, when photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards.
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction.
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
Referring to Fig. 4, emitter comprises CPU (central processing unit), power module, WIFI module, driving circuit, LED lamp, control center is transferred to location service information by WIFI the WIFI module of transmitting terminal, the WIFI module passes to CPU (central processing unit) with information, CPU (central processing unit) is responsible for information is encoded, and signal is modulated on the LED illuminating lamp via driving circuit broadcasts away by spatial light.
Referring to Fig. 5, receiving trap comprises the assemblies such as CPU (central processing unit), power module, photodiode PD, self-adaptation amplifying circuit, camera and display, photodiode PD receives the spatial light broadcast message of LED illuminating lamp, via the self-adaptation amplifying circuit signal is passed to CPU (central processing unit), simultaneously, camera passes to CPU (central processing unit) with the illumination image of LED illuminating lamp, CPU (central processing unit) is decoded the signal that PD receives, the image that simultaneously camera is received is processed, and the positional information of clearing place is presented in the display in real time.
Claims (4)
1. indoor real-time high-precision positioning system, comprise emitter and receiving trap, it is characterized in that: emitter is comprised of LED illuminating lamp and driving circuit, the function of driving circuit is except the drive current that the LED illuminating lamp is provided, the positional information that has also loaded the LED illuminating lamp is modulated, the LED illuminating lamp is being broadcasted the positional information of self when realizing illumination functions;
Receiving trap comprises hand-held receiving terminal, the sensor of hand-held receiving terminal has two kinds, and a kind of is camera, and another kind is photodiode PD, the effect of photodiode PD is to receive the positional information that the LED illuminating lamp is broadcasted, the absolute position that obtains the LED illuminating lamp; The effect of camera is the scene image to the photographs lamp, to calculate the relative position of receiving terminal and LED illuminating lamp.
2. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that: the relative position of described camera and LED illuminating lamp calculates, need three parameters: the height of indoor ceiling, the height of hand-held receiving terminal and the direction of receiving terminal are pointed to, wherein the elevation information of indoor ceiling is preset in the indoor scene map, the height of hand-held receiving terminal is then estimated by the input height information, the direction of hand-held receiving terminal is pointed to, then holding the built-in magnetic compass of receipts terminal according to catcher determines, concern according to geometric projection, add the sensing of hand-held receiving terminal, just can get terminal for the relative position of LED illuminating lamp.
3. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that: the field angle of described camera is greater than the field of view of receiver angle of photodiode PD.
4. a kind of indoor real-time high-precision positioning system according to claim 1, it is characterized in that, the process of location is: hand-held receiving terminal is downloaded the map of place indoor scene, and this process can be passed through the LED illuminating lamp broadcasting of fixed point, is received by photodiode PD and downloads; Hand-held receiving terminal flush end up, the location is begun by the positional information that photodiode PD receives first LED illuminating lamp, calculated simultaneously the relative position of hand-held receiving terminal and LED illuminating lamp by camera, so add hand-held receiving terminal and LED illuminating lamp relative position by LED illuminating lamp absolute position, just obtain the particular location of hand-held receiving terminal, and be presented in real time in the indoor scene map;
When photodiode PD walks out the broadcasting area of first LED illuminating lamp, hand-held receiving terminal continues to follow the tracks of first LED illuminating lamp by camera and positions, until photodiode PD receives till the broadcasting of next second LED illuminating lamp, camera begins to follow the tracks of second LED illuminating lamp and carries out the relative position calibration afterwards;
When photodiode PD receives the broadcast message of two or more LED illuminating lamps simultaneously, by scene that camera is clapped and photodiode PD received each LED illuminating lamp issued light power different to come image that camera and photodiode PD are received and positional information to carry out corresponding one by one, and a LED illuminating lamp following the tracks of the received power maximum carries out position correction;
Like this, in using the indoor environment of LED illuminating lamp as illuminator, just real-time high-accuracy position system can have been realized.
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Cited By (18)
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| CN103442436A (en) * | 2013-08-27 | 2013-12-11 | 华为技术有限公司 | Indoor positioning terminal, network, system and method |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN103869284A (en) * | 2014-02-28 | 2014-06-18 | 北京邮电大学 | Visible light communication-based indoor positioning system and method |
| CN105004344A (en) * | 2015-07-31 | 2015-10-28 | 中辰环能技术（北京）有限公司 | AGV light navigating/positioning system |
| CN105444751A (en) * | 2014-08-26 | 2016-03-30 | 深圳市芯通信息科技有限公司 | LED-lamp-based indoor positioning method, device and system |
| CN105444752A (en) * | 2014-09-02 | 2016-03-30 | 深圳市芯通信息科技有限公司 | Light source brightness-based indoor positioning method, and apparatus and system thereof |
| CN105806330A (en) * | 2014-12-29 | 2016-07-27 | 北京贝虎机器人技术有限公司 | Indoor robot |
| CN105953786A (en) * | 2016-04-20 | 2016-09-21 | 清华大学 | Indoor precise positioning method and system based on imaging communication |
| CN105979472A (en) * | 2016-04-18 | 2016-09-28 | 清华大学 | Method and system for cooperative work of visible light positioning and bluetooth communication |
| CN106301566A (en) * | 2016-08-24 | 2017-01-04 | 网易（杭州）网络有限公司 | A kind of alignment system based on light and the method utilizing mobile terminal to carry out positioning |
| CN106595639A (en) * | 2016-12-27 | 2017-04-26 | 纳恩博（北京）科技有限公司 | Positioning system and positioning method and device thereof and robot |
| CN107219517A (en) * | 2017-07-25 | 2017-09-29 | 中航联创科技有限公司上海分公司 | Mobile phone Android camera alignment system and its method based on LED visible light communication |
| CN108346309A (en) * | 2018-03-01 | 2018-07-31 | 西安理工大学 | It is a kind of that vehicle system and method is sought based on the underground parking lot positioning for imaging communication |
| CN109341687A (en) * | 2018-06-01 | 2019-02-15 | 上海大学 | A single LED visible light communication indoor positioning method based on any horizontal orientation angle of mobile phone |
| CN109459025A (en) * | 2018-11-08 | 2019-03-12 | 中北大学 | A kind of class brain air navigation aid based on light stream UWB combination |
| CN109756267A (en) * | 2017-11-07 | 2019-05-14 | 珠海横琴华策光通信科技有限公司 | A kind of camera positioning system and its application based on LED light emission device light-seeking |
| WO2019141177A1 (en) * | 2018-01-16 | 2019-07-25 | 京东方科技集团股份有限公司 | Voronoi diagram based indoor space positioning |
| CN111352070A (en) * | 2020-03-19 | 2020-06-30 | 东南大学 | An indoor three-dimensional light localization method based on photodiode array |
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| CN103442436A (en) * | 2013-08-27 | 2013-12-11 | 华为技术有限公司 | Indoor positioning terminal, network, system and method |
| CN103759724B (en) * | 2014-01-16 | 2016-10-26 | 西安电子科技大学 | A kind of indoor navigation method based on lamp decoration feature and system |
| CN103759724A (en) * | 2014-01-16 | 2014-04-30 | 西安电子科技大学 | Indoor navigation method based on decorative lighting characteristic and system |
| CN103869284A (en) * | 2014-02-28 | 2014-06-18 | 北京邮电大学 | Visible light communication-based indoor positioning system and method |
| CN105444751A (en) * | 2014-08-26 | 2016-03-30 | 深圳市芯通信息科技有限公司 | LED-lamp-based indoor positioning method, device and system |
| CN105444752A (en) * | 2014-09-02 | 2016-03-30 | 深圳市芯通信息科技有限公司 | Light source brightness-based indoor positioning method, and apparatus and system thereof |
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| CN105004344A (en) * | 2015-07-31 | 2015-10-28 | 中辰环能技术（北京）有限公司 | AGV light navigating/positioning system |
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| WO2019141177A1 (en) * | 2018-01-16 | 2019-07-25 | 京东方科技集团股份有限公司 | Voronoi diagram based indoor space positioning |
| CN108346309A (en) * | 2018-03-01 | 2018-07-31 | 西安理工大学 | It is a kind of that vehicle system and method is sought based on the underground parking lot positioning for imaging communication |
| CN109341687A (en) * | 2018-06-01 | 2019-02-15 | 上海大学 | A single LED visible light communication indoor positioning method based on any horizontal orientation angle of mobile phone |
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| CN111352070A (en) * | 2020-03-19 | 2020-06-30 | 东南大学 | An indoor three-dimensional light localization method based on photodiode array |
| CN111352070B (en) * | 2020-03-19 | 2022-02-22 | 东南大学 | Indoor three-dimensional optical positioning method based on photodiode array |
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