CN105301562B - Visible light communication wireless location system - Google Patents
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- 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
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Abstract
The present invention relates to visible light communication wireless location system, including mobile receiving end, relaying positioning fusing device and some transmitting terminals, transmitting terminal includes microprocessor, LED light source, the RFID label tag in storage LED light source geographical position, the first photoelectric signal converter, the first bluetooth module and solar cell；LED light source equably sets the luminous lattices of square LED of some independent numberings；Black light LED, blue-ray LED, green light LED and red-light LED are all provided with the luminous lattices of LED；Mobile receiving end includes that central processing unit, d GPS locating module, optical signal receiver, signal amplifier, filter are made an uproar device, signal comparator, the second photoelectric signal converter, camera, LTE communication module, the second bluetooth module, location matches device and display screen；Relaying positioning fusing device includes fusion treatment module and the 3rd bluetooth module.The system can be accurately positioned using visible ray, and can be using multidimensional coloured silk code or Quick Response Code interaction abundant information.
Description
Technical field
The present invention relates to field of locating technology, more particularly to a kind of visible light communication wireless location system.
Background technology
With the development of mobile Internet, the various position service systems based on positioning are constantly released in succession.Currently, should
It is the GPS geo-location system based on the U.S. with most commonly used outdoor wireless location system.Set by mobile terminal
D GPS locating module, can be outdoor for mobile terminal provides positioning service higher.However, in the more family of people's activity
Indoor or building than in the particular surroundings of comparatively dense, gps signal can be blocked so that the positioning of these particular surroundings
Poor-performing.
In recent years, with LED green light sources visible light communication technology development and LED green light sources continuous universal cloth
Put, the localization method based on visible light communication is proposed in succession.The visible light communication is located through the position of each LED green light sources
After confidence breath data are converted to optical signal, will be seen that light is launched by LED green light sources, then being received by mobile terminal should
Light, and the position data changed, extract in light signal, so as to obtain the current location of mobile terminal.However, existing can
See that optic communication positioning depends solely on visible light communication and positioned, its locating effect is limited.
The content of the invention
The technical problems to be solved by the invention are directed to above-mentioned prior art and provide one kind can be obtained currently exactly
Geographical position, can realize the visible light communication wireless location system of abundant information interaction again.
The present invention solve the technical scheme that is used of above-mentioned technical problem for：Visible light communication wireless location system, it is special
Levy and be, including mobile receiving end, relaying position fusing device and some transmitting terminals, the transmitting terminal is evenly distributed and is arranged on
Around relaying positioning fusing device；Wherein,
The transmitting terminal includes microprocessor and the respectively LED light source of connection microprocessor, storage LED light source geography position
RFID label tag, the first photoelectric signal converter, the first bluetooth module and solar cell that confidence ceases；On the LED light source
The luminous lattices of some square LED with independent numbering are set evenly；Black light is provided with the luminous lattices of described each LED
LED, blue-ray LED, green light LED and red-light LED, the black light LED, blue-ray LED, green light LED and red-light LED connect micro- place respectively
Reason device；The LED light source connects solar cell；Wherein,
The microprocessor, is used to read the LED light source geographical location information of RFID label tag memory storage, and by LED light source
Geographical position letter is respectively converted into optical information, 2 D code information and multidimensional coloured silk code information, and orders the luminous lattices of LED to perform hair
Light；
First photoelectric signal converter, to the modulation orders according to microprocessor, by LED light source geographical position letter
Breath is converted to optical signal by electric signal；
First bluetooth module, is used to receive, detect the Bluetooth signal of mobile receiving end, and the Bluetooth signal that will be detected
Intensity level is sent to relaying positioning fusing device；
The LED light source, on the one hand after LED light source geographical location information is converted to 2 D code information, according to microprocessor
Luminous or black out order of the device to the luminous lattices of LED, sends light and dark image in 2 D code；On the other hand on LED light source ground
After reason positional information is converted to multidimensional coloured silk code information, according to microprocessor respectively to black light LED, blue-ray LED, green light LED and red
The luminous or black out order of light LED, sends the multidimensional coloured silk code image being made up of different colours；
The mobile receiving end includes central processing unit and the respectively d GPS locating module of connection central processing unit, light letter
Number receiver, signal amplifier, filter make an uproar device, signal comparator, the second photoelectric signal converter, camera, LTE communication module,
Second bluetooth module, location matches device and display screen；The signal amplifier connects optical signal receiver respectively and filter is made an uproar device, institute
Signal comparator connection filter is stated to make an uproar device and the second photoelectric signal converter；The location matches device connects the second photosignal respectively
Converter and display screen, the display screen connect camera, and the d GPS locating module connects LTE communication module and display screen；Its
In, the d GPS locating module to obtain the positional information of mobile receiving end in outdoor environment, and shows position by display screen
Put；
The optical signal receiver, is used to receive the optical signal that LED light source in each transmitting terminal sends, and send the light of reception
Signal is amplified treatment to signal amplifier；
It is described to filter device of making an uproar, it is used to make an uproar the optical signal filter after amplification, it is then sent to signal comparator and judges：Work as light
When signal intensity exceedes predetermined threshold value, then will determine that result is sent to the second photoelectric signal converter, start opto-electronic conversion；
Second photoelectric signal converter, is used to be converted to the optical signal of reception the telecommunications in LED light source geographical position
Number, show the geographical position of the LED light source to the matching result of electric signal according to location matches device by display screen；
The camera, is used to scan image in 2 D code or multidimensional coloured silk code image that LED light source sends, and by centre
Reason device extracts the LED light source geographical location information in image in 2 D code or multidimensional coloured silk code image；
Second bluetooth module, the light signal strength value for being used to filter each transmitting terminal after device treatment of making an uproar is sent to relaying
Positioning fusing device；
The relaying positioning fusing device includes fusion treatment module and the 3rd bluetooth module, and the 3rd bluetooth module connects respectively
Connect the first bluetooth module, fusion treatment module and the second bluetooth module；
The fusion treatment module, the light signal strength value of each transmitting terminal that reception mobile receiving end sends, and according to
Each light signal strength value for receiving, calculates the geographical position that mobile receiving end is presently in, and be sent to through the 3rd bluetooth module
Mobile receiving end；Wherein, the process for calculating mobile receiving end current geographic position in turn includes the following steps：
(1) set each transmitting terminal and be respectively R1、R2、R3、R4、...、RN, transmitting terminal R1、R2、R3、R4、...、RNGeographical seat
Mark is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、...、(xN,yN,zN), fusion treatment module exists
The light signal strength value respectively p of each transmitting terminal received in time period T11,p12,p13,…,p1M；p21,p22,p23,…,
p2M；p31,p32,p33,…,p3M；...；pN1,pN2,pN3,…,pNM；The reference geographical coordinate of mobile receiving end is (x, y, z), is moved
The actual geographic coordinate of dynamic receiving terminal is (xR,yR,zR), N >=4, M >=1；
(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates each
The signal intensity root-mean-square value p of the light signal strength value of transmitting terminali；Wherein,
Wherein, piRepresent transmitting terminal RiLight signal strength value root-mean-square value, pijRepresent transmitting terminal RiSome light letter
Number intensity level；
(3) according to the light signal strength root-mean-square value p of each transmitting terminal for receiving1、p2、p3、p4、...、pN, choose signal
Intensity root-mean-square value size is located at the value p ' of first four1、p′2、p′3With p '4；
(4) the signal intensity root-mean-square value p according to each transmitting terminal1、p2、p3And p4, transmitting terminal R is obtained respectively1、R2、R3And R4
To mobile receiving end apart from d1、d2、d3And d4；Wherein,
Wherein, piIt is transmitting terminal RiLight signal strength root-mean-square value, n is path loss index, and ξ is to meet Gaussian Profile
Random number, its average is zero, diIt is transmitting terminal RiTo the distance of mobile receiving end, d0It is reference distance, p0It is that distance movement connects
Receiving end d0The signal strength values at place, v is distance estimations error, is the stochastic variable that a numerical value is positive number, and
(5) according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) and (x4,
y4,z4), and obtain apart from d1、d2、d3And d4, solve the reference geographical coordinate (x, y, z) of mobile receiving end, solution procedure
Including：
A () is to transmitting terminal R1、R2、R3And R4It is grouped for one group with three, is obtained four groups of transmitting terminal combinations：R1(x1,
y1,z1)、R2(x2,y2,z2) and R3(x3,y3,z3), R1(x1,y1,z1)、R2(x2,y2,z2) and R4(x4,y4,z4), R1(x1,y1,
z1)、R3(x3,y3,z3) and R4(x4,y4,z4), R2(x2,y2,z2)、R3(x3,y3,z3) and R4(x4,y4,z4)；
B () is according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,
y4,z4) and apart from d1、d2、d3And d4, the first geographical coordinate (x ', y ', z '), the second geographical seat of mobile receiving end are calculated respectively
Mark (x ", y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ")；Wherein,
(c) according to obtain first geographical coordinate (x ', y ', z ') of mobile receiving end, the second geographical coordinate (x ", y ",
Z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " "), calculate the reference of mobile receiving end
Geographical coordinate (x, y, z)；Wherein,
(6) according to the first geographical coordinate (x ', y ', z '), second geographical coordinate of the mobile receiving end calculated in step (5)
(x ", y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ") and the movement that obtains
The reference geographical coordinate (x, y, z) of receiving terminal, calculates mobile receiving end actual geographic coordinate (xR,yR,zR) position error Δ x,
Δ y, Δ z, wherein：
(7) reference geographical coordinate (x, y, z) and the position error Δ x of calculating according to the mobile receiving end for calculating, Δ
Y, Δ z, calculate the actual coordinate (x of mobile receiving endR,yR,zR)：
Compared with prior art, the advantage of the invention is that：Each photoelectric signal converter of transmitting terminal geographical position first
After switching to optical signal by electric signal, lighted intracell black light LED, blue-ray LED, green light LED and red by microprocessor order LED
Light LED lights according to the optical signal situation after modulation, to irradiate multidimensional coloured silk code or the Quick Response Code containing transmitting terminal geographical position,
By mobile receiving terminal using camera scanning, the geographical location information obtained in multidimensional coloured silk code or Quick Response Code；It is mobile to receive eventually
After the optical signal of each transmitting terminal that end is received, demodulation is received, the geographic position data in extraction optical signal, and d GPS locating module
Then independently obtain the geographic position data under outdoor environment；The optical signal that relaying positioning fusing device is received according to mobile receiving end
Intensity level, fusion obtains the current geographic position data of mobile receiving end, and is supplied to mobile receiving end.The visible light communication without
On the basis of outdoor GPS location, the visible ray sent with reference to each transmitting terminal carries out accurate fusion positioning to line alignment system, while also
The information such as abundant geographical position are sent into mobile receiving end in the form of multidimensional coloured silk code or Quick Response Code to extract, were both obtained exactly
Mobile receiving end current geographic position is taken, the purpose that the alignment system interacts abundant information using multidimensional coloured silk code can be realized again.
Brief description of the drawings
Fig. 1 is the structural representation of visible light communication wireless location system in the embodiment of the present invention；
Fig. 2 is the localization method schematic flow sheet that alignment system shown in Fig. 1 is used；
Fig. 3 is the emulation positioning performance curve synoptic diagram of alignment system in the embodiment of the present invention.
Specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing embodiment.
As shown in figure 1, the visible light communication wireless location system of the present embodiment, including mobile receiving end 1, relaying positioning are melted
Attach together and put 2 and some transmitting terminals 3, transmitting terminal 3 is evenly distributed and is arranged on around relaying positioning fusing device 2；Wherein,
Transmitting terminal 3 includes microprocessor 300 and the respectively LED light source 301 of connection microprocessor 300, storage LED light source
The RFID label tag 302 of 301 geographical location information, the first photoelectric signal converter 303, the first bluetooth module 304 and solar-electricity
Pond 305；Some square LED with independent numbering luminous lattices are equably set on LED light source 301；Each LED lights lattice
Inside it is provided with black light LED3011, blue-ray LED 3012, green light LED 3013 and red-light LED 3014, black light LED3011, blue light
LED3012, green light LED 3013 and red-light LED 3014 connect microprocessor 300 respectively；LED light source 301 connects solar cell
305；Wherein,
Microprocessor 300, is used to read the LED light source geographical location information of the memory storage of RFID label tag 302, and by LED light
Source geographical position letter is respectively converted into optical information, 2 D code information and multidimensional coloured silk code information, and orders the luminous lattices of LED to perform hair
Light；
First photoelectric signal converter 303, to the modulation orders according to microprocessor 300, by LED light source geographical position
Information is converted to optical signal by electric signal；
First bluetooth module 304, is used to receive, detect the Bluetooth signal of mobile receiving end 1, and the Bluetooth signal that will be detected
Intensity level is sent to relaying positioning fusing device 2；
LED light source 301, on the one hand after LED light source geographical location information is converted to 2 D code information, according to microprocessor
300 pairs of luminous or black out orders of the luminous lattices of LED, send light and dark image in 2 D code；On the other hand on LED light source ground
After reason positional information is converted to multidimensional coloured silk code information, according to microprocessor 300 respectively to black light LED3011, blue-ray LED 3012,
The luminous or black out order of green light LED 3013 and red-light LED 3014, sends the multidimensional coloured silk code image being made up of different colours；
Mobile receiving end 1 includes central processing unit 100 and connects the d GPS locating module of central processing unit 100 respectively
101st, optical signal receiver 102, signal amplifier 103, filter is made an uproar device 104, signal comparator 105, the second photoelectric signal converter
106th, camera 107, LTE communication module 108, the second bluetooth module 109, location matches device 110 and display screen 111；Signal is put
Big device 103 connect optical signal receiver 102 respectively and filter is made an uproar device 104, signal comparator 105 connects filter and makes an uproar the light of device 104 and second
Electric signal transducer 106；Location matches device 110 connects the second photoelectric signal converter 106 and display screen 111, display screen respectively
111 connection cameras 107, the connection LTE communication of d GPS locating module 101 module 108 and display screen 111；Wherein,
D GPS locating module 101, to obtain the positional information of mobile receiving end 1 in outdoor environment, and by display screen
111 display locations；
Optical signal receiver 102, is used to receive the optical signal that LED light source 301 in each transmitting terminal 3 sends, and send reception
Optical signal be amplified treatment to signal amplifier 103；
Device 104 of making an uproar is filtered, is used to make an uproar the optical signal filter after amplification, be then sent to signal comparator 105 and judge：When
When light signal strength exceedes predetermined threshold value, then will determine that result is sent to the second photoelectric signal converter 106, start photoelectricity and turn
Change；
Second photoelectric signal converter 106, is used to be converted to the optical signal of reception the telecommunications in LED light source geographical position
Number, the geographical position of the LED light source is shown by display screen 111；
Camera 107, is used to scan image in 2 D code or multidimensional coloured silk code image that LED light source sends, and by centre
Reason device 100 extracts the LED light source geographical location information in image in 2 D code or multidimensional coloured silk code image；
Second bluetooth module 109, the light signal strength value for being used to filter each transmitting terminal after device 104 of making an uproar is processed is sent to
After positioning fusing device 2；
Relaying positioning fusing device 2 includes the bluetooth module 21 of fusion treatment module 20 and the 3rd, the 3rd 21 points of bluetooth module
The first bluetooth module 304, the bluetooth module 109 of fusion treatment module 20 and second are not connected；
Fusion treatment module 20, the light signal strength value that each transmitting terminal 3 that reception mobile receiving end 1 sends sends,
And according to each light signal strength value for receiving, the geographical position that mobile receiving end 1 is presently in is calculated, and through the 3rd bluetooth module
21 are sent to mobile receiving end 1；Wherein, the process for calculating the current geographic position of mobile receiving end 1 in turn includes the following steps：
(1) set each transmitting terminal and be respectively R1、R2、R3、R4、...、RN, transmitting terminal R1、R2、R3、R4、...、RNGeographical seat
Mark is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、...、(xN,yN,zN), fusion treatment module exists
The light signal strength value respectively p of each transmitting terminal received in time period T11,p12,p13,…,p1M；p21,p22,p23...,
p2M；p31,p32,p33,…,p3M；...；pN1,pN2,pN3,…,pNM；The reference geographical coordinate of mobile receiving end is (x, y, z), is moved
The actual geographic coordinate of dynamic receiving terminal is (xR,yR,zR), N >=4, M >=1；
(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates each
The signal intensity root-mean-square value p of the light signal strength value of transmitting terminali；Wherein,
Wherein, piRepresent transmitting terminal RiLight signal strength value root-mean-square value, pijRepresent transmitting terminal RiSome light letter
Number intensity level；
(3) according to the light signal strength root-mean-square value p of each transmitting terminal for receiving1、p2、p3、p4、...、pN, choose signal
Intensity root-mean-square value size is located at the value p ' of first four1、p′2、p′3With p '4；
(4) the signal intensity root-mean-square value p according to each transmitting terminal1、p2、p3And p4, transmitting terminal R is obtained respectively1、R2、R3And R4
To mobile receiving end apart from d1、d2、d3And d4；Wherein,
Wherein, piIt is transmitting terminal RiLight signal strength root-mean-square value, n is path loss index, and ξ is to meet Gaussian Profile
Random number, its average is zero, diIt is transmitting terminal RiTo the distance of mobile receiving end, d0It is reference distance, p0It is that distance movement connects
Receiving end d0The signal strength values at place, v is distance estimations error, is the stochastic variable that a numerical value is positive number, and
(5) according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) and (x4,
y4,z4), and obtain apart from d1、d2、d3And d4, solve the reference geographical coordinate (x, y, z) of mobile receiving end, solution procedure
Including：
A () is to transmitting terminal R1、R2、R3And R4It is grouped for one group with three, is obtained four groups of transmitting terminal combinations：R1(x1,
y1,z1)、R2(x2,y2,z2) and R3(x3,y3,z3), R1(x1,y1,z1)、R2(x2,y2,z2) and R4(x4,y4,z4), R1(x1,y1,
z1)、R3(x3,y3,z3) and R4(x4,y4,z4), R2(x2,y2,z2)、R3(x3,y3,z3) and R4(x4,y4,z4)；
B () is according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,
y4,z4) and apart from d1、d2、d3And d4, the first geographical coordinate (x ', y ', z '), the second geographical seat of mobile receiving end are calculated respectively
Mark (x ", y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ")；Wherein,
(c) according to obtain first geographical coordinate (x ', y ', z ') of mobile receiving end, the second geographical coordinate (x ", y ",
Z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " "), calculate the reference of mobile receiving end
Geographical coordinate (x, y, z)；Wherein,
(6) according to the first geographical coordinate (x ', y ', z '), second geographical coordinate of the mobile receiving end calculated in step (5)
(x ", y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ") and the movement that obtains
The reference geographical coordinate (x, y, z) of receiving terminal, calculates mobile receiving end actual geographic coordinate (xR,yR,zR) position error Δ x,
Δ y, Δ z, wherein：
(7) reference geographical coordinate (x, y, z) and the position error Δ x of calculating according to the mobile receiving end for calculating, Δ
Y, Δ z, calculate the actual coordinate (x of mobile receiving endR,yR,zR)：
Fig. 3 gives the simulation result curve synoptic diagram of the localization method of visible light communication alignment system in the present embodiment,
Traditional GPS location method is also emulated simultaneously.As seen from Figure 3, in the case where transmitting terminal quantity is certain, this reality
The Positioning estimation error for applying the localization method that an alignment system is used is lower than traditional GPS location method, this explanation the present embodiment
The localization method that alignment system is used has more preferable positioning performance；It can also be seen that being continuously increased with transmitting terminal number,
The positioning performance of the visible ray localization method used in the present embodiment is gradually stepped up.This fully shows, is adopted in the present embodiment system
Visible ray localization method has than traditional more preferable positioning performance of GPS location method.
The course of work of the visible light communication wireless location system in the present embodiment is as follows：Transmitting terminal geographical position first
After photoelectric signal converter 303 switchs to optical signal by electric signal, LED is ordered to light intracell black light by microprocessor 300
LED3011, blue-ray LED 3012, green light LED 3013 and red-light LED 3014 light according to the optical signal situation after modulation, to irradiate
Go out multidimensional coloured silk code or Quick Response Code containing the transmitting terminal geographical position, microprocessor 300 can also order the luminous lattices of LED to send
Multidimensional coloured silk code or Quick Response Code containing other abundant informations；Mobile receiving end 1 is scanned using camera 107, obtains multidimensional coloured silk code
Or the geographical location information in Quick Response Code, and after receiving, solving dim signal, the geographic position data in optical signal is extracted, and
D GPS locating module 101 then independently obtains the geographical position under outdoor environment, and is shown by display screen 111；Relaying positioning fusion dress
2 are put according to each light signal strength for receiving, fusion obtains the current geographic position data of mobile receiving end 1, and fusion institute is provided
Geographic position data is obtained to mobile receiving end 1.
Claims (1)
1. visible light communication wireless location system, it is characterised in that including mobile receiving end, relaying positioning fusing device and some
Transmitting terminal, the transmitting terminal is evenly distributed and is arranged on around relaying positioning fusing device；Wherein,
The transmitting terminal includes microprocessor and the respectively LED light source of connection microprocessor, storage LED light source geographical position letter
The RFID label tag of breath, the first photoelectric signal converter, the first bluetooth module and solar cell；On the LED light source equably
The luminous lattices of some square LED with independent numbering are set；Black light LED, indigo plant are provided with the luminous lattices of described each LED
Light LED, green light LED and red-light LED, the black light LED, blue-ray LED, green light LED and red-light LED connect microprocessor respectively；
The LED light source connects solar cell；Wherein,
The microprocessor, is used to read the LED light source geographical location information of RFID label tag memory storage, and LED light source is geographical
Position letter is respectively converted into optical information, 2 D code information and multidimensional coloured silk code information, and it is luminous to order the luminous lattices of LED to perform；
First photoelectric signal converter, to the modulation orders according to microprocessor, by LED light source geographical location information by
Electric signal is converted to optical signal；
First bluetooth module, is used to receive, detect the Bluetooth signal of mobile receiving end, and the bluetooth signal intensity that will be detected
Value is sent to relaying positioning fusing device；
The LED light source, on the one hand after LED light source geographical location information is converted to 2 D code information, according to microprocessor pair
The luminous or black out order of the luminous lattices of LED, sends light and dark image in 2 D code；On the other hand in LED light source geography position
After confidence breath is converted to multidimensional coloured silk code information, according to microprocessor respectively to black light LED, blue-ray LED, green light LED and red-light LED
Luminous or black out order, send the multidimensional coloured silk code image being made up of different colours；
The mobile receiving end includes central processing unit and the d GPS locating module of connection central processing unit, optical signal connect respectively
Device, signal amplifier, filter is received to make an uproar device, signal comparator, the second photoelectric signal converter, camera, LTE communication module, second
Bluetooth module, location matches device and display screen；The signal amplifier connects optical signal receiver respectively and filter is made an uproar device, the letter
The connection filter of number comparator is made an uproar device and the second photoelectric signal converter；The location matches device connects the second photoelectric signal transformation respectively
Device and display screen, the display screen connect camera, and the d GPS locating module connects LTE communication module and display screen；Wherein,
The d GPS locating module, to obtain the positional information of mobile receiving end in outdoor environment, and by display screen display location；
The optical signal receiver, is used to receive the optical signal that LED light source in each transmitting terminal sends, and send the optical signal of reception
Treatment is amplified to signal amplifier；
It is described to filter device of making an uproar, it is used to make an uproar the optical signal filter after amplification, it is then sent to signal comparator and judges：Work as optical signal
When intensity exceedes predetermined threshold value, then will determine that result is sent to the second photoelectric signal converter, start opto-electronic conversion；
Second photoelectric signal converter, is used to be converted to the optical signal of reception the electric signal in LED light source geographical position, by
Display screen shows the geographical position of the LED light source according to location matches device to the matching result of electric signal；
The camera, is used to scan image in 2 D code or multidimensional coloured silk code image that LED light source sends, and by central processing unit
Extract the LED light source geographical location information in image in 2 D code or multidimensional coloured silk code image；
Second bluetooth module, the light signal strength value for being used to filter each transmitting terminal after device treatment of making an uproar is sent to relaying positioning
Fusing device；
The relaying positioning fusing device includes fusion treatment module and the 3rd bluetooth module, and the 3rd bluetooth module connects the respectively
One bluetooth module, fusion treatment module and the second bluetooth module；
The fusion treatment module, receives the light signal strength value of each transmitting terminal that mobile receiving end sends, and according to reception
Each light signal strength value, calculate the geographical position that is presently in of mobile receiving end, and movement is sent to through the 3rd bluetooth module
Receiving terminal；Wherein, the process for calculating mobile receiving end current geographic position in turn includes the following steps：
(1) set each transmitting terminal and be respectively R1、R2、R3、R4、...、RN, transmitting terminal R1、R2、R3、R4、...、RNGeographical coordinate point
Wei not (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)、...、(xN,yN,zN), fusion treatment module is in the time
The light signal strength value respectively p of each transmitting terminal received in section T11,p12,p13,…,p1M；p21,p22,p23,…,p2M；p31,
p32,p33,…,p3M；…；pN1,pN2,pN3,…,pNM；The reference geographical coordinate of mobile receiving end is (x, y, z), mobile receiving end
Actual geographic coordinate be (xR,yR,zR), N >=4, M >=1；
(2) the light signal strength value of each transmitting terminal received in time period T according to fusion treatment module, calculates each transmitting
The signal intensity root-mean-square value p of the light signal strength value at endi；Wherein,
Wherein, piRepresent transmitting terminal RiLight signal strength value root-mean-square value, pijRepresent transmitting terminal RiSome optical signal it is strong
Angle value；
(3) according to the light signal strength root-mean-square value p of each transmitting terminal for receiving1、p2、p3、p4、...、pN, choose signal intensity
Root-mean-square value size is located at the value p of first four1'、p'2、p'3And p'4；
(4) the signal intensity root-mean-square value p according to each transmitting terminal1、p2、p3And p4, transmitting terminal R is obtained respectively1、R2、R3And R4To shifting
Dynamic receiving terminal apart from d1、d2、d3And d4；Wherein,
Wherein, piIt is transmitting terminal RiLight signal strength root-mean-square value, n is path loss index, ξ be meet Gaussian Profile with
Machine number, its average is zero, diIt is transmitting terminal RiTo the distance of mobile receiving end, d0It is reference distance, p0It is apart from mobile receiving end
d0The signal strength values at place, v is distance estimations error, is the stochastic variable that a numerical value is positive number, andI=1,
2,3,4；
(5) according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3) and (x4,y4,
z4), and obtain apart from d1、d2、d3And d4, solve the reference geographical coordinate (x, y, z) of mobile receiving end, solution procedure bag
Include：
A () is to transmitting terminal R1、R2、R3And R4It is grouped for one group with three, is obtained four groups of transmitting terminal combinations：R1(x1,y1,
z1)、R2(x2,y2,z2) and R3(x3,y3,z3), R1(x1,y1,z1)、R2(x2,y2,z2) and R4(x4,y4,z4), R1(x1,y1,z1)、R3
(x3,y3,z3) and R4(x4,y4,z4), R2(x2,y2,z2)、R3(x3,y3,z3) and R4(x4,y4,z4)；
B () is according to transmitting terminal R1、R2、R3And R4Geographical coordinate (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3)、(x4,y4,z4)
And apart from d1、d2、d3And d4, calculate respectively first geographical coordinate (x', y', z') of mobile receiving end, the second geographical coordinate (x ",
Y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ")；Wherein,
(c) according to obtain first geographical coordinate (x', y', z') of mobile receiving end, the second geographical coordinate (x ", y ", z "), the
Three geographical coordinates (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " "), calculate the geographical seat of reference of mobile receiving end
Mark (x, y, z)；Wherein,
(6) according to calculated in step (5) first geographical coordinate (x', y', z') of mobile receiving end, the second geographical coordinate (x ",
Y ", z "), the 3rd geographical coordinate (x " ', y " ', z " ') and the 4th geographical coordinate (x " ", y " ", z " ") and the mobile reception that obtains
The reference geographical coordinate (x, y, z) at end, calculates mobile receiving end actual geographic coordinate (xR,yR,zR) position error Δ x, Δ y,
Δ z, wherein：
(7) reference geographical coordinate (x, y, z) and position error the Δ x, Δ y, Δ of calculating according to the mobile receiving end for calculating
Z, calculates the actual coordinate (x of mobile receiving endR,yR,zR)：
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| CN106842124A (en) * | 2017-01-16 | 2017-06-13 | 苏州优函信息科技有限公司 | Multispectral space-location method and system |
| CN107479079A (en) * | 2017-07-13 | 2017-12-15 | 临沂大学 | A kind of method closed based on PDR and LED junction |
| CN109990775B (en) * | 2019-04-11 | 2021-09-14 | 杭州简简科技有限公司 | Travel geographic positioning method and system |
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