CN106556817A - Terminal positioning method and device - Google Patents

Abstract

The invention provides a positioning method and a positioning device of a terminal, wherein the method comprises the following steps: the method comprises the steps that a first terminal obtains a scene identifier of an environment where the first terminal is located; the method comprises the steps that a first terminal receives an optical signal of an illuminating device in an environment and quantizes the optical signal into a binary gray value, wherein the gray value is used for representing the light intensity value of the optical signal; the first terminal packages the scene identification and the light intensity value in a positioning frame and sends the positioning frame to the second terminal. The invention solves the problem that the terminal positioning can not be realized according to different scenes in the related technology.

Description

Terminal positioning method and device

technical field

The present invention relates to the communication field, in particular, to a terminal positioning method and device.

Background technique

With the rapid increase of data services and multimedia services, people's demand for positioning and navigation is increasing, especially in complex indoor environments, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, etc. , it is often necessary to determine the location information of the mobile terminal or its holder, facilities and objects indoors. However, due to the limitation of positioning time and complex indoor environment and other conditions, the relatively complete outdoor positioning technology is still unable to achieve high-precision indoor applications. Therefore, the research on using visible light communication systems to realize indoor positioning functions has also attracted widespread attention. Compared with the traditional indoor wireless positioning technology, the visible light positioning technology based on LED green lighting source has ubiquitous coverage, "energy saving and consumption reduction", health and safety, "directional radiation", simple layout, "low cost", and good electromagnetic compatibility And other outstanding advantages, so it has a good application prospect in the field of indoor positioning.

At this stage, the research on the visible light indoor high-precision positioning algorithm is still in the preliminary exploration stage. With reference to the wireless electromagnetic wave positioning technology, researchers have proposed some indoor positioning algorithms suitable for visible light. According to different detection devices, it can be divided into image sensor imaging positioning and photodetector signal detection positioning; according to whether ranging is required, it can be divided into visible light positioning based on ranging and visible light positioning without ranging. The photodetector signal detection visible light positioning algorithm can be divided into VLC-ID (Visible Light Communication Identifier) method, triangulation method and so on.

The above methods have their inherent advantages and disadvantages, are highly dependent on the computing power of the terminal, and cannot be applied in different environments, and in different environments or scenarios, there is no unified positioning method, and according to IEEE 802.15.7V1 Several frame structures provided by the MAC layer in the .0 standard (beacon frame, command frame, data frame, management frame, CVD frame) do not have a frame structure dedicated to positioning functions, that is, there is no standard for positioning frames in related technologies .

Contents of the invention

The present invention provides a terminal positioning method and device to at least solve the problem in the related art that terminal positioning cannot be realized according to different scenarios.

According to one aspect of the present invention, a terminal positioning method is provided, including: the first terminal obtains the scene identifier of the environment; the first terminal receives the light signal of the lighting device in the environment, and the light The signal is quantized into a binary grayscale value, where the grayscale value is used to represent the light intensity value of the optical signal; the first terminal encapsulates the scene identifier and the light intensity value in a positioning frame, and sending the positioning frame to the second terminal.

Further, after the first terminal receives the light signal of the lighting device in the environment and quantizes the light signal into a binary gray value, the method further includes: according to the binary code of the gray value Calculate the correction factor for the gray value The correction factor Multiplied by the gray value to obtain the light intensity value; wherein, the correction coefficient Obtained by the following formula: Wherein, the grayscale value includes three channels of R, G, and B, and the grayscale preset weight values of R, G, and B are respectively A, B, and C, and A+B+C=1, Respectively represent the average value of the R, G, and B channels of "0" in all the bits of the gray value, Respectively represent the average value of the R, G, and B channels of "1" in all the bits of the gray value.

Further, the Obtained by the following formula: Wherein, the M is the number of symbols "1" in the bits of the gray value, the N is the number of symbols "0" in the bits of the gray value, X ₁ , Y ₁ , Z ₁ are R, G, and B values corresponding to the symbol "1" in the gray value, and X ₀ , Y ₀ , Z ₀ are R corresponding to the symbol "0" in the gray value. , G, B values.

Further, before the first terminal encapsulates the scene identifier and the light intensity value in the positioning frame, the method further includes: the first terminal adds a Barker code as frame synchronization to the positioning frame in frame.

Further, before the first terminal encapsulates the scene identifier and the light intensity value in a positioning frame, the method further includes: the first terminal generates a cyclic redundancy check code and The redundancy check code is added to the positioning frame as a check code of the positioning frame.

According to an aspect of the present invention, another terminal positioning method is provided, including: the second terminal receives the positioning frame sent by the first terminal, and obtains the bit and the scene identifier used to indicate the positioning scene in the positioning frame A bit used to indicate a light intensity value; according to the scene identifier, search for a sub-database corresponding to the scene identifier in the second terminal preset database, wherein the sub-database stores different light intensity values Position information respectively having a corresponding relationship; searching the sub-database for the position information of the first terminal having a corresponding relationship with the light intensity value.

According to another aspect of the present invention, there is provided a positioning device for a terminal, including: set on the first terminal, including: an acquisition module, used to acquire the scene identifier of the environment in which it is located; a receiving module, used to receive The light signal of the lighting device in the lighting device, and quantize the light signal into a binary gray value, wherein the gray value is used to represent the light intensity value of the light signal; a packaging module is used to identify the scene Encapsulate the light intensity value in a positioning frame, and send the positioning frame to the second terminal.

Further, the device further includes: a first calculation module, configured to, after the receiving module receives the light signal of the lighting device in the environment and quantizes the light signal into a binary gray value, according to the The binary code of the gray value calculates the correction factor for the gray value The second calculation module is used to convert the correction coefficient Multiplied by the gray value to obtain the light intensity value; wherein, the correction coefficient Obtained by the following formula: Wherein, the grayscale value includes three channels of R, G, and B, and the grayscale preset weight values of R, G, and B are respectively A, B, and C, and A+B+C=7, Respectively represent the average value of the R, G, and B channels of "0" in all the bits of the gray value, Respectively represent the average value of the R, G, and B channels of "1" in all the bits of the gray value.

Further, the Obtained by the following formula: Wherein, the M is the number of the symbol "7" in the bits of the gray value, the N is the number of the symbol "0" in the bits of the gray value, X ₁ , Y ₁ , Z ₁ are R, G, and B values corresponding to the symbol "1" in the gray value, and X ₀ , Y ₀ , Z ₀ are R corresponding to the symbol "0" in the gray value. , G, B values.

Further, the device further includes: a first adding module, configured to add a Barker code as frame synchronization to the positioning frame.

Further, the device further includes: a second adding module, configured to generate a cyclic redundancy check code and convert the A cyclic redundancy check code is added to the positioning frame as a check code of the positioning frame.

According to another aspect of the present invention, another positioning device for a terminal is provided, including: a receiving module, configured to receive a positioning frame sent by a first terminal, and acquire a scene identifier used to indicate a positioning scene in the positioning frame Bits and bits used to indicate light intensity values; a search module, configured to search for a sub-database corresponding to the scene ID in the second terminal preset database according to the scene ID, wherein the sub-database The location information corresponding to different light intensity values is stored in it; the search module is configured to search the sub-database for the location information of the first terminal corresponding to the light intensity value.

Through the present invention, the first terminal is used to obtain the scene identifier of the environment; the first terminal receives the light signal of the lighting device in the environment, and quantizes the light signal into a binary gray value, wherein the The gray value is used to represent the light intensity value of the optical signal; the first terminal encapsulates the scene identifier and the light intensity value in a positioning frame, and sends the positioning frame to the second terminal to solve In the related art, the terminal positioning cannot be realized according to different scenarios, and a positioning frame standard is proposed, which realizes the positioning of the terminal in different scenarios, and can reduce the complexity of terminal calculation by directly parsing the positioning frame degree of effect.

Description of drawings

The accompanying drawings described here are used to provide a further understanding of the present invention and constitute a part of the application. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute improper limitations to the present invention. In the attached picture:

FIG. 1 is a flowchart of a method for terminal positioning according to an embodiment of the present invention;

FIG. 2 is a flow chart of another method for terminal positioning according to an embodiment of the present invention;

FIG. 3 is a structural block diagram of a terminal positioning device according to an embodiment of the present invention;

FIG. 4 is an optional structural block diagram 1 of a positioning device according to an embodiment of the present invention;

FIG. 5 is an optional structural block diagram II of a positioning device according to an embodiment of the present invention;

FIG. 6 is a third optional structural block diagram of a positioning device according to an embodiment of the present invention;

FIG. 7 is a structural block diagram of another positioning device for a terminal according to an embodiment of the present invention;

FIG. 8 is a structure diagram of a positioning frame according to an optional embodiment of the present invention;

Fig. 9 is another positioning frame structure diagram according to an optional embodiment of the present invention.

detailed description

Hereinafter, the present invention will be described in detail with reference to the drawings and examples. It should be noted that, in the case of no conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

It should be noted that the terms "first" and "second" in the description and claims of the present invention and the above drawings are used to distinguish similar objects, but not necessarily used to describe a specific sequence or sequence.

In this embodiment, a method for locating a terminal is provided. FIG. 1 is a flow chart of a method for locating a terminal according to an embodiment of the present invention. As shown in FIG. 1 , the process includes the following steps:

Step S102, the first terminal obtains the scene identifier of the environment where it is located;

In this embodiment, the first terminal and the second terminal can be two independent devices in different areas, or they can be two modules in the same device, and the first terminal and the second terminal can be smartphones, PDAs , PAD and other terminals that hold the camera device. Optionally, in this embodiment, the first terminal creates or sends a positioning frame, and the second terminal parses the positioning frame or receives the positioning frame to realize positioning. The second terminal The terminal receives the positioning frame from the sending end and analyzes it to realize the positioning of the first terminal.

Optionally, lighting devices are turned on in the environment, such as LED lights, and the scene identification corresponds to the lighting device, which is equivalent to the logical address of the lighting device. Corresponding to the lighting device, different scenes can be set according to the power and position of the lighting device The identifier, the scene identifier can be specifically represented by a 32-bit bit code. A unique logical address can be assigned to different scenes, so that the first terminal can match the actual scene location more quickly. This greatly shortens the matching process, that is, increases the positioning speed and reduces the positioning complexity. In the specific acquisition process of the scene identification, the identification of the lighting device collected by the camera device analyzed by the first terminal may be used, or the scene identification in the current scene may be received.

Step S104, the first terminal receives the light signal of the lighting device in the environment, and quantizes the light signal into a binary gray value, wherein the gray value is used to represent the light intensity value of the light signal;

Optionally, the optical signal received by the first terminal can be represented by a light intensity value. Since the gray value and the light intensity value are approximately linearly correlated, the light intensity value can be quantified by the gray value. In the prior art, the The collected optical signal is converted into a binary gray value by software to realize the quantization of the optical signal, and then converted into a binary bit code for transmission. According to the image gray scale theory, the three primary colors red (R), green (G), blue (B) It can be quantized into 256 levels from 0 to 255, and each primary color is represented by 8 bits, so the gray value can be represented by a 24-bit bit code.

Step S106, the first terminal encapsulates the scene identifier and the light intensity value in the positioning frame, and sends the positioning frame to the second terminal.

Optionally, the 32-bit scene ID and the 24-bit light intensity value are encapsulated into a positioning frame for transmission, which can be sent to itself to realize its own positioning, or to the second terminal to realize other terminals to the first terminal positioning.

Through the embodiment of the present invention, the first terminal is used to obtain the scene identifier of the environment; the first terminal receives the light signal of the lighting device in the environment, and quantizes the light signal into a binary gray value, wherein, The gray value is used to represent the light intensity value of the optical signal; the first terminal encapsulates the scene identifier and the light intensity value in a positioning frame, and sends the positioning frame to the second terminal , to solve the problem that terminal positioning cannot be realized according to different scenarios in related technologies, and a standard for positioning frames is proposed, which realizes positioning of terminals in different scenarios, and can reduce terminal calculation by directly parsing positioning frames the effect of complexity.

According to an optional implementation manner of the embodiment of the present invention, after the first terminal receives the light signal of the lighting device in the environment and quantizes the light signal into a binary gray value, correction of the gray value is also included, including:

S11, calculating the correction coefficient of the gray value according to the binary code of the gray value

S12, the correction coefficient Multiply by the gray value to get the light intensity value;

Optional, correction factor Obtained by the following formula:

Among them, the grayscale value includes three channels of R, G, and B, and the grayscale preset weight values of R, G, and B are A, B, and C respectively, and A+B+C=1, Respectively represent the average value of the R, G, and B channels of "0" in all the bits of the gray value, Respectively represent the average value of the R, G, and B channels of "1" in all the bits of the gray value.

In the above optional implementation manners according to the embodiments of the present invention, Obtained by the following formula:

Among them, M is the number of the symbol "1" in the bit of the gray value, N is the number of the symbol "0" in the bit of the gray value, X ₁ , Y ₁ , Z ₁ are respectively The R, G, and B values corresponding to the symbol "1" in the degree value, and X ₀ , Y ₀ , and Z ₀ are the R, G, and B values corresponding to the symbol "0" in the gray value, respectively.

In an optional implementation manner according to this embodiment, by calculating:

Then the variance of the overall signal is obtained approximately as: After simplification, we get: Then multiply the corresponding weight values A, B, and C in front of different channel values to obtain the correction coefficient of the gray value Among them, A+B+C=1, the weight value is a preset system, indicating the importance of the three channels R, G, and B in the grayscale process. For example, the values of A, B, and C can be set to 0.3, 0.3, 0.4.

By calculating the correction coefficient of the gray value and correcting the gray value obtained by the software through the correction coefficient, the error of the gray value is reduced, and a more accurate light intensity value is obtained, which also improves the use of the light intensity value to realize the terminal Positioning accuracy.

In an optional implementation according to this embodiment, frame synchronization can also be added to the frame header of the positioning frame, so that the receiving end can accurately and quickly identify the positioning frame, thereby improving the speed of terminal positioning. Before encapsulating the scene identifier and the light intensity value in the positioning frame, the first terminal adds the Barker code used as frame synchronization to the positioning frame.

The Barker code is 7-bit byte 1110010. The advantage of the Barker code as frame synchronization information is that the autocorrelation characteristic curve of the Barker code has a sharp single peak, which is easy to identify from the received symbol sequence, and the hardware is easy to implement , The synchronization signal can be extracted by using 7-bit shift register, counter and basic circuit, which is more reliable and simple than the traditional phase-locked loop method. Optionally, when the indoor environment is small, the positioning frame length is smaller, or the communication environment performance is better, the positioning frame can also be a "short frame", such as reducing the "frame synchronization" to "1111" or "0000".

In an optional implementation according to this embodiment, a check code can also be added at the end of the positioning frame, so that the receiving end can verify the positioning frame, improve security, and reduce the number of positioning frames during transmission. Because of the positioning error caused by byte loss or change, specifically, before the first terminal encapsulates the scene identifier and light intensity value in the positioning frame, the first terminal generates a cyclic redundancy check code and performs a cyclic redundancy check The code is added to the positioning frame as the check code of the positioning frame.

By adopting 8-bit cyclic redundancy check (CRC) code in the parity bit of the positioning frame, and using the principle of division and remainder for error detection (Error Detecting), it has: strong error detection ability, low overhead, easy to use Realize with encoder and detection circuit. In terms of performance and overhead, it is far superior to parity check and arithmetic sum check. However, when the indoor environment is small, the length of the positioning frame is small, or the performance of the communication environment is better, the parity bit can also be changed or omitted.

Another terminal positioning method is provided in this embodiment. FIG. 2 is a flow chart of another terminal positioning method according to an embodiment of the present invention. As shown in FIG. 2 , the process includes the following steps:

Step S201, the second terminal receives the positioning frame sent by the first terminal, and obtains the bit used to indicate the scene identification of the positioning scene and the bit used to indicate the light intensity value in the positioning frame;

Step S202, searching the second terminal preset database for a sub-database corresponding to the scene ID according to the scene ID, wherein the sub-database stores position information corresponding to different light intensity values;

Step S203, searching the sub-database for the location information of the first terminal that has a corresponding relationship with the light intensity value.

In this embodiment, the second terminal is the receiving end of the positioning frame, the first terminal is the sending end, and the second terminal may be a positioning frame analysis module set in the terminal, which may be in the same device as the sending end, optional Yes, the second terminal is provided with a preset database for matching different light intensity values in different scenes, and then obtains the position of the terminal receiving the above-mentioned different light intensity values. The terminal position can be a spatial position or a planar position. Optionally, the preset database also includes multiple sub-databases corresponding to different scenes, such as corresponding to different lighting devices. By using the scene ID as an index, the position of the corresponding sub-database in the preset data can be found, which greatly shortens the The matching process is improved, that is, the positioning speed is improved and the positioning complexity is reduced.

Through the description of the above embodiments, those skilled in the art can clearly understand that the method according to the above embodiments can be implemented by means of software plus a necessary general-purpose hardware platform, and of course also by hardware, but in many cases the former is better implementation. Based on such an understanding, the essence of the technical solution of the present invention or the part that contributes to the prior art can be embodied in the form of software products, and the computer software products are stored in a storage medium (such as ROM/RAM, disk, CD) contains several instructions to make a terminal device (which may be a mobile phone, a computer, a server, or a network device, etc.) execute the method of each embodiment of the present invention.

In this embodiment, a device for positioning a terminal is also provided, which is used to implement the above embodiments and preferred implementation modes, and what has already been described will not be repeated. As used below, the term "module" may be a combination of software and/or hardware that realizes a predetermined function. Although the devices described in the following embodiments are preferably implemented in software, implementations in hardware, or a combination of software and hardware are also possible and contemplated.

FIG. 3 is a structural block diagram of a positioning device for a terminal according to an embodiment of the present invention. The positioning device can be set on a first terminal. As shown in FIG. 3 , the device includes: an acquisition module 30, a receiving module 32, and a packaging module 34. in:

An acquisition module 30, configured to acquire the scene identification of the environment;

In this embodiment, the first terminal and the second terminal can be two independent devices in different areas, or they can be two modules in the same device, and the first terminal and the second terminal can be smartphones, PDAs , PAD and other terminals that hold the camera device. Optionally, in this embodiment, the first terminal creates or sends a positioning frame, and the second terminal parses the positioning frame or receives the positioning frame to realize positioning. The second terminal The terminal receives the positioning frame from the sending end and analyzes it to realize the positioning of the first terminal.

Optionally, lighting devices are turned on in the environment, such as LED lights, and the scene identification corresponds to the lighting device, which is equivalent to the logical address of the lighting device. Corresponding to the lighting device, different scenes can be set according to the power and position of the lighting device The identifier, the scene identifier can be specifically represented by a 32-bit bitcode. A unique logical address can be assigned to different scenes, so that the first terminal can match the actual scene location more quickly. This greatly shortens the matching process, that is, increases the positioning speed and reduces the positioning complexity. In the specific acquisition process of the scene identification, the identification of the lighting device collected by the camera device analyzed by the first terminal may be used, or the scene identification in the current scene may be received.

The receiving module 32 is coupled and connected with the acquisition module 30, and is used to receive the light signal of the lighting device in the environment, and quantize the light signal into a binary gray value, wherein the gray value is used to represent the light intensity value of the light signal ;

Optionally, the optical signal received by the first terminal can be represented by a light intensity value. Since the gray value and the light intensity value are approximately linearly correlated, the light intensity value can be quantified by the gray value. In the prior art, the The collected optical signal is converted into a binary gray value by software to realize the quantization of the optical signal, and then converted into a binary bit code for transmission. According to the image gray scale theory, the three primary colors red (R), green (G), blue (B) It can be quantized into 256 levels from 0 to 255, and each primary color is represented by 8 bits, so the gray value can be represented by a 24-bit bit code.

The encapsulation module 34 is coupled with the receiving module 32, and is used for encapsulating the scene identifier and the light intensity value in the positioning frame, and sending the positioning frame to the second terminal.

Optionally, the 32-bit scene ID and the 24-bit light intensity value are encapsulated into a positioning frame for transmission, which can be sent to itself to realize its own positioning, or to the second terminal to realize other terminals to the first terminal positioning.

Fig. 4 is an optional structural block diagram 1 of a positioning device according to an embodiment of the present invention. As shown in Fig. 4, in addition to all the modules shown in Fig. 3, the device also includes: a first computing module 40, a second computing module 42, of which:

The first calculation module 40 is used to calculate the correction coefficient of the grayscale value according to the binary code of the grayscale value after the receiving module receives the light signal of the lighting device in the environment and quantizes the light signal into a binary grayscale value

The second calculation module 42 is used to convert the correction coefficient Multiply by the gray value to get the light intensity value;

Optional, correction factor Obtained by the following formula:

Among them, the grayscale value includes three channels of R, G, and B, and the grayscale preset weight values of R, G, and B are A, B, and C respectively, and A+B+C=1, Respectively represent the average value of the R, G, and B channels of "0" in all the bits of the gray value, Respectively represent the average value of the R, G, and B channels of "1" in all the bits of the gray value.

In the above optional implementation manners according to the embodiments of the present invention, Obtained by the following formula:

Among them, M is the number of the symbol "1" in the bit of the gray value, N is the number of the symbol "0" in the bit of the gray value, X ₁ , Y ₁ , Z ₁ are respectively The R, G, and B values corresponding to the symbol "1" in the degree value, and X ₀ , Y ₀ , and Z ₀ are the R, G, and B values corresponding to the symbol "0" in the gray value, respectively.

In an optional implementation manner according to this embodiment, by calculating: Then the variance of the overall signal is obtained approximately as:

After simplification, we get: Then multiply the corresponding weight values A, B, and C in front of different channel values to obtain the correction coefficient of the gray value Among them, A+B+C=1, the weight value is a preset system, indicating the importance of the three channels R, G, and B in the grayscale process. For example, the values of A, B, and C can be set to 0.3, 0.3, 0.4.

By calculating the correction coefficient of the gray value and correcting the gray value obtained by the software through the correction coefficient, the error of the gray value is reduced, and a more accurate light intensity value is obtained, which also improves the use of the light intensity value to realize the terminal Positioning accuracy.

Fig. 5 is an optional structural block diagram 2 of a positioning device according to an embodiment of the present invention. As shown in Fig. 5, the device includes, in addition to all the modules shown in Fig. 3 , a first additional module 50 for packaging Before the module encapsulates the scene identification and the light intensity value in the positioning frame, the barker code as frame synchronization is added to the positioning frame. By adding frame synchronization to the frame header of the positioning frame, the receiving end can accurately and quickly identify the positioning frame, thereby improving the speed of terminal positioning.

The Barker code is 7-bit byte 1110010. The advantage of the Barker code as frame synchronization information is that the autocorrelation characteristic curve of the Barker code has a sharp single peak, which is easy to identify from the received symbol sequence, and the hardware is easy to implement , The synchronization signal can be extracted by using 7-bit shift register, counter and basic circuit, which is more reliable and simple than the traditional phase-locked loop method. Optionally, when the indoor environment is small, the positioning frame length is smaller, or the communication environment performance is better, the positioning frame can also be a "short frame", such as reducing the "frame synchronization" to "1111" or "0000".

Fig. 6 is an optional structural block diagram three of a positioning device according to an embodiment of the present invention. As shown in Fig. 6, the device includes not only all the modules shown in Fig. Before the module encapsulates the scene identification and the light intensity value in the positioning frame, it generates a cyclic redundancy check code and adds the cyclic redundancy check code as a check code of the positioning frame to the positioning frame. By adding a check code at the end of the positioning frame, the receiving end can verify the positioning frame, which improves security and reduces positioning errors caused by byte loss or change during transmission of the positioning frame.

By adopting 8-bit cyclic redundancy check (CRC) code in the parity bit of the positioning frame, and using the principle of division and remainder for error detection (Error Detecting), it has: strong error detection ability, low overhead, easy to use Realize with encoder and detection circuit. In terms of performance and overhead, it is far superior to parity check and arithmetic sum check. However, when the indoor environment is small, the length of the positioning frame is small, or the performance of the communication environment is better, the parity bit can also be changed or omitted.

FIG. 7 is a structural block diagram of another positioning device for a terminal according to an embodiment of the present invention. As shown in FIG. 7, the device includes: a receiving module 70, a searching module 72, and a searching module 74, wherein:

The receiving module 70 is configured to receive the positioning frame sent by the first terminal, and obtain the bit for indicating the scene identification of the positioning scene and the bit for indicating the light intensity value in the positioning frame;

The search module 72 is configured to search the second terminal preset database for a sub-database corresponding to the scene ID according to the scene ID, wherein the sub-database stores position information corresponding to different light intensity values;

The search module 74 is configured to search the sub-database for the position information of the first terminal that has a corresponding relationship with the light intensity value.

In this embodiment, the second terminal is the receiving end of the positioning frame, the first terminal is the sending end, and the second terminal may be a positioning frame analysis module set in the terminal, which may be in the same device as the sending end, optional Yes, the second terminal is provided with a preset database for matching different light intensity values in different scenes, and then obtains the position of the terminal receiving the above-mentioned different light intensity values. The terminal position can be a spatial position or a planar position. Optionally, the preset database also includes multiple sub-databases corresponding to different scenes, such as corresponding to different lighting devices. By using the scene ID as an index, the position of the corresponding sub-database in the preset data can be found, which greatly shortens the The matching process is improved, that is, the positioning speed is improved and the positioning complexity is reduced.

The scheme will be further described below in conjunction with an optional present embodiment of the present invention,

Fig. 8 is a positioning frame structure diagram according to an optional embodiment of the present invention, as shown in Fig. 8, the total length of the positioning frame structure in this optional embodiment is 71 bits, and the positioning frame is divided into four parts: frame synchronization, LED-ID (equivalent to The scene identification in the above embodiment), "fingerprint" (equivalent to the light intensity value in the above embodiment), and check digit.

Optionally, the frame synchronization of the positioning frame in this optional embodiment adopts a 7-bit Barker code: {1110010}. The advantage of Barker code as frame synchronization information is: the autocorrelation characteristic curve of Barker code has a sharp single peak, which is easy to identify from the received symbol sequence; and the hardware is easy to implement, using 7-bit shift registers, counters and basic circuits The synchronous signal can be extracted. It is more reliable and simpler than the traditional phase-locked loop method.

Optionally, the LED-ID of the positioning frame in this optional embodiment is defined as a logical address, divided into four 8-bits, and the length is 32 bits. The design idea of LED-ID is analogous to the IP address in the Internet. Each scene in the fingerprint database is assigned a unique logical address, that is, LED-ID, so that the positioning system can match the actual scene location more quickly. The feature of this design is that the LED-ID only corresponds to the scene of the fingerprint library, and has nothing to do with the actual LED, thus greatly shortening the matching process, that is, improving the positioning speed and reducing the positioning complexity.

Optionally, the "fingerprint" of the positioning frame in this optional embodiment is defined as light intensity values at different coordinates under the LED light, and the length is 24 bits. Since the light intensity value needs to be quantized into binary and transmitted in the positioning frame, a gray value read by the mobile terminal camera is proposed to represent the light intensity value. The gray value is approximately linearly related to the light intensity value. According to the image grayscale theory, the three primary colors red (R), green (G), and blue (B) are respectively quantized into 256 magnitudes from 0 to 255, and each primary color is represented by 8 bits.

Optionally, the check bit of the positioning frame in this optional embodiment adopts an 8-bit cyclic redundancy check (CRC) code, which uses the principle of division and remainder to perform error detection (Error Detecting). The characteristics are: strong error detection ability, low overhead, easy to implement with encoder and detection circuit. In terms of performance and overhead, it is far superior to parity check and arithmetic sum check.

Through this optional embodiment, in the visible light indoor positioning system, the computational complexity and power consumption of the mobile terminal are reduced, and a positioning frame structure suitable for demodulation of the mobile phone camera is proposed.

Figure 9 is another positioning frame structure diagram according to an optional embodiment of the present invention, as shown in Figure 9, 1110010 in Figure 9 is the frame header of the positioning frame, after the mobile terminal detects this code, it is defined as receiving positioning frame.

The LED-ID in Figure 9 has a total of 32 bits, which is a logical address, similar to the IP address in the network, and is indexed to the location of the scene where the terminal is located, that is, the "fingerprint" library label in this scene.

The RSSI in FIG. 9 is a "fingerprint", that is, the light intensity value received by the mobile terminal. Considering that the light information extracted by the camera of the mobile terminal is in the form of gray value, and the gray value is approximately linearly correlated with the light intensity value. Therefore, in this embodiment, the gray value is used to represent the light intensity value.

Suppose the "1" symbol is N, the "0" symbol is M, each pixel has three channels of R, G, and B, and its graying weight is set to A, B, C (A+B+C =1), the R, G, and B values corresponding to the "1" symbol are X1, Y1, ZY11; the "0" symbol corresponds to X0, Y0, Z0.

By calculation:

in Represents the average value of the R channel of these M points ("0" symbol), the same Respectively represent the average value of the "0" symbol in the G and B channels. via calculations:

The variance of the obtained overall signal is approximated as:

Simplify and get

The grayscale process is to add corresponding coefficients in front of different channel values, that is,

The CRC in FIG. 9 is an 8-bit cyclic redundancy check code for error correction.

Considering that this optional embodiment is proposed for the mobile phone camera to identify the intensity of light information, the RSSI calculation method and the reserved length (24 bits) proposed in this embodiment are irreplaceable. The lengths of "frame synchronization", "LED-ID" and "check digit" in the positioning frame structure proposed in this embodiment can be changed according to the actual situation. For example, when the indoor environment is small, the smaller the positioning frame length, the better the performance. Based on the principle of "short frame", the "frame synchronization" can be reduced to "1111" or "0000", or the check digit can be omitted. When the indoor environment is large, a complex error correction scheme can be selected to improve the reliability of the information.

It should be noted that each of the above-mentioned modules can be implemented by software or hardware. For the latter, it can be implemented in the following manner, but not limited to this: the above-mentioned modules are all located in the same processor; or, the above-mentioned modules are respectively located in multiple in the processor.

The embodiment of the invention also provides a storage medium. Optionally, in this embodiment, the above-mentioned storage medium may be configured to store program codes for performing the following steps:

S1. The first terminal obtains the scene identifier of the environment;

S2. The first terminal receives the light signal of the lighting device in the environment, and quantizes the light signal into a binary gray value, where the gray value is used to represent the light intensity value of the light signal;

S3. The first terminal encapsulates the scene identifier and the light intensity value in a positioning frame, and sends the positioning frame to the second terminal.

Optionally, for specific examples in this embodiment, reference may be made to the examples described in the foregoing embodiments and optional implementation manners, and details are not repeated in this embodiment.

Obviously, those skilled in the art should understand that each module or each step of the above-mentioned present invention can be realized by a general-purpose computing device, and they can be concentrated on a single computing device, or distributed in a network formed by multiple computing devices Alternatively, they may be implemented in program code executable by a computing device so that they may be stored in a storage device to be executed by a computing device, and in some cases in an order different from that shown here The steps shown or described are carried out, or they are separately fabricated into individual integrated circuit modules, or multiple modules or steps among them are fabricated into a single integrated circuit module for implementation. As such, the present invention is not limited to any specific combination of hardware and software.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the protection scope of the present invention.

Claims (12)

1. a kind of localization method of terminal, it is characterised in that include：

First terminal obtains the scene identity of local environment；

The first terminal receives the optical signal of lighting device in local environment, and the optical signal is quantified as two enters The gray value of system, wherein, the gray value is used for the light intensity value for characterizing the optical signal；

The scene identity is encapsulated in locating frame by the first terminal with the light intensity value, and by the positioning Frame is sent to second terminal.

2. method according to claim 1, it is characterised in that the illumination dress in the first terminal receives local environment The optical signal put, and after the optical signal is quantified as binary gray value, methods described also includes：

The correction coefficient of the gray value is calculated according to the binary code of the gray value

By the correction coefficientIt is multiplied by the gray scale and is worth to the light intensity value；

Wherein, the correction coefficientObtained by below equation：

Wherein, the gray value includes tri- passages of R, G, B, the default weight of gray processing of described R, G, B Value is respectively A, B, C, and A+B+C=1,All bits of the gray value are represented respectively The R of " 0 ", G, the mean value of channel B in position,The all of the gray value are represented respectively The mean value of the R of " 1 ", G, channel B in bit.

3. method according to claim 2, it is characterised in that describedIt is logical Cross below equation to obtain：

$\begin{array}{c}{\stackrel{-}{X}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{X}_1\left(i\right),{\stackrel{-}{Y}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Y}_1\left(i\right),{\stackrel{-}{Z}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Z}_1\left(i\right),{\stackrel{-}{X}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{X}_0\left(i\right),{\stackrel{-}{Y}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Y}_0\left(i\right),\\ {\stackrel{-}{Z}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Z}_0\left(i\right),\end{array}$

Wherein, the M is number of the symbol " 1 " in the bit of the gray value, and the N is symbol " 0 " Number in the bit of the gray value, X₁、Y₁、Z₁It is respectively right with symbol " 1 " in the gray value The R for answering, G, B value, X₀、Y₀、Z₀R respectively corresponding with symbol " 0 " in the gray value, G, B value.

4. method according to claim 1, it is characterised in that the first terminal by the scene identity with it is described Before light intensity value is encapsulated in locating frame, methods described also includes：

The first terminal is added to the Barker code as frame synchronization in the locating frame.

5. method according to claim 1, it is characterised in that the first terminal by the scene identity with it is described Before light intensity value is encapsulated in locating frame, methods described also includes：

The first terminal generates CRC and using the CRC as the locating frame Check code be added in the locating frame.

6. a kind of localization method of terminal, it is characterised in that include：

Second terminal receives the locating frame that first terminal sends, and is used to indicate positioning scene in obtaining the locating frame Scene identity bit and the bit for indicating light intensity value；

Search for corresponding with the scene identity according to the scene identity in the second terminal presetting database Subdata base, wherein, be stored with the subdata base position for having corresponding relation respectively from different light intensity values Information；

The position letter of the first terminal that there is corresponding relation with the light intensity value is searched in the subdata base Breath.

7. a kind of positioner of terminal, is arranged on first terminal, it is characterised in that include：

Acquisition module, for obtaining the scene identity of local environment；

The optical signal for receiving the optical signal of lighting device in local environment, and is quantified as two by receiver module The gray value of system, wherein, the gray value is used for the light intensity value for characterizing the optical signal；

Package module, for the scene identity is encapsulated in locating frame with the light intensity value, and will be described fixed Position frame is sent to second terminal.

8. device according to claim 7, it is characterised in that described device also includes：

First computing module, for the optical signal of lighting device in local environment is received in the receiver module, and will After the optical signal is quantified as binary gray value, the ash is calculated according to the binary code of the gray value The correction coefficient of angle value

Second computing module, for by the correction coefficientIt is multiplied by the gray scale and is worth to the light intensity value；

Wherein, the correction coefficientObtained by below equation：

Wherein, the gray value includes tri- passages of R, G, B, the default weight of gray processing of described R, G, B Value is respectively A, B, C, and A+B+C=7,All bits of the gray value are represented respectively The R of " 0 ", G, the mean value of channel B in position,The all of the gray value are represented respectively The mean value of the R of " 7 ", G, channel B in bit.

9. device according to claim 8, it is characterised in that describedIt is logical Cross below equation to obtain：

$\begin{array}{c}{\stackrel{-}{X}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{X}_1\left(i\right),{\stackrel{-}{Y}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Y}_1\left(i\right),{\stackrel{-}{Z}}_1=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Z}_1\left(i\right),{\stackrel{-}{X}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{X}_0\left(i\right),{\stackrel{-}{Y}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Y}_0\left(i\right),\\ {\stackrel{-}{Z}}_0=\underset{i=1}{\overset{M}{\mathrm{\Σ}}}{Z}_0\left(i\right),\end{array}$

Wherein, the M is number of the symbol " 7 " in the bit of the gray value, and the N is symbol " 0 " Number in the bit of the gray value, X₁、Y₁、Z₁It is respectively right with symbol " 1 " in the gray value The R for answering, G, B value, X₀、Y₀、Z₀R respectively corresponding with symbol " 0 " in the gray value, G, B value.

10. device according to claim 7, it is characterised in that described device also includes：

First add module, it is fixed for being encapsulated in the scene identity and the light intensity value in the package module Before in the frame of position, the Barker code as frame synchronization is added in the locating frame.

11. devices according to claim 7, it is characterised in that described device also includes：

Second add module, it is fixed for being encapsulated in the scene identity and the light intensity value in the package module Position frame in before, generate CRC and using the CRC as the locating frame verification Code is added in the locating frame.

A kind of 12. positioners of terminal, are arranged in second terminal, it is characterised in that include：

Receiver module, for receiving the locating frame of first terminal transmission, and is used for indicating to determine in obtaining the locating frame The bit of the scene identity of potential field scape and the bit for indicating light intensity value；

Search module, for being searched in the second terminal presetting database and the field according to the scene identity Scape identifies corresponding subdata base, wherein, being stored with the subdata base, it is right have from different light intensity values respectively The positional information that should be related to；

Searching modul, has described the first of corresponding relation with the light intensity value for searching in the subdata base The positional information of terminal.