CN105824009B - Indoor locating system and localization method based on feature light source and aperture lighting equipment - Google Patents
Indoor locating system and localization method based on feature light source and aperture lighting equipment Download PDFInfo
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- CN105824009B CN105824009B CN201510014139.6A CN201510014139A CN105824009B CN 105824009 B CN105824009 B CN 105824009B CN 201510014139 A CN201510014139 A CN 201510014139A CN 105824009 B CN105824009 B CN 105824009B
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Abstract
The present invention relates to indoor positioning fields, and in particular to a kind of high-precision indoor locating system based on feature light source and aperture lighting equipment and corresponding method.Described is positioned as three dimension location.Present system includes feature light source, aperture lighting equipment and processor these three component parts, and the method for the present invention includes light source arrangement, data input, selects daylighting, characteristic matching and position and calculate this five steps.Compared to traditional indoor locating system, indoor positioning technologies precision provided by the invention is high, at low cost, and real-time is good, is provided simultaneously with outstanding scalability and portability.
Description
Technical field
The present invention relates to indoor positioning fields, and in particular to a kind of high-precision based on feature light source and aperture lighting equipment
Indoor locating system and corresponding method.
Background technique
In recent years, with the progress of science and technology, location technology is also concerned and quickly grows.Now, based on GPS's
Outdoor positioning technology is highly developed and starts to be widely used, but the end as location technology, indoor positioning technologies
Development is relatively slow always.Existing indoor positioning technologies or by means such as infrared ray, ultrasonic waves to the position of indoor object
It sets and movement is perceived, or carry out data friendship by the wireless telecommunications means such as Wi-Fi, bluetooth or ZigBee and object under test
Mutually.Technological means used by the former is able to achieve higher accuracy, but also considerably increases the complexity of indoor arrangement,
And it is at high cost, penetrability, anti-interference are poor；Although the latter reduces costs, have certain penetration capacity, but accuracy
Decline therewith.
Summary of the invention
It is an object of the invention to be directed to the deficiency of existing indoor positioning technologies, provide a kind of based on feature light source and aperture
The indoor locating system of lighting equipment, and provide the method that indoor positioning is realized based on the system.It is of the present invention indoor fixed
Position system can be realized the high-precision interior three dimension location based on angle, and dispose simple, small power consumption, at low cost, in real time
Property is good.Meanwhile indoor locating system of the present invention and method can be combined with indoor navigation technology, for indoor navigation
Technology provides accurate, real-time three-dimensional spatial position information, and scalability is strong.In addition, indoor locating system and side of the invention
Method can be combined with existing intelligent terminal, especially mobile intelligent terminal, have outstanding portability.
The technical solution adopted by the invention is as follows: a kind of indoor positioning system based on feature light source and aperture lighting equipment
System, described is positioned as three dimension location, which includes feature light source, aperture lighting equipment and processor, in which:
The feature light source is made of 3 or 3 or more the light sources with different characteristic, is had for generating and issuing
The optical signal of different characteristic；The feature is frequency and/or coding；
The aperture lighting equipment is made of shell with holes, photographic plate and data transmission module, the shell with holes
For a rigid post body case, there is an aperture at upper bottom, and bottom and photographic plate combine, and photographic plate has the one of photoperceptivity facing towards small
Hole, (the distance between bottom and bottom subtract photosensitive plate thickness on shell i.e. with holes known to the vertical range between photographic plate and aperture
Degree) and be recorded in processor；The densely covered accurate photosensitive element of the photosensitive plate surface, can accurately perceive the light of incident photographic plate
The feature of signal and the position on photographic plate；The data transmission module is by the feature of collected optical signal and is feeling
Position on tabula rasa is transferred to processor by wired or wireless way；
The feature and position indoors that the processor is used to record each and every one feature light source, and according to each characteristic light
Institute's feature of collected optical signal of the feature in source and position indoors and the transmitting of aperture lighting equipment and each comfortable feel
Position on tabula rasa calculates the location of aperture lighting equipment, to realize indoor positioning；The processor is with wired
Or wireless mode and aperture lighting equipment realize data transmission.
The feature quantity of light source is at least 3, to guarantee that subsequent calculating can carry out, to realize the indoor overall situation
Positioning then needs to guarantee indoor every bit at least can to receive 3 or optical signal that features above light source is issued.Meanwhile
It can be by arranging wider scope, greater number of feature light source to improve the accuracy of indoor positioning.
The indoor locating system can be combined with indoor navigation technology, with for indoor navigation technology provide it is accurate,
Real-time three-dimensional spatial position information.I.e. user can use the indoor locating system and obtain oneself accurate position indoors
It sets, in conjunction with the target position of required arrival, finds route using airmanship to approach, still can lead to during approaching
It crosses the indoor locating system and obtains oneself real time position indoors, feedback is realized with the result of continuous correction navigation.
The processor is at least one terminal with photoelectric signal transformation and data-handling capacity.That is, described
For processor either a terminal with photoelectric signal transformation and data-handling capacity, such as one is furnished with the notebook of CCD
Computer；It is also possible to the more combinations for being respectively provided with the terminal of photoelectric signal transformation ability and data-handling capacity, such as a light
The combination of electric signal transducer and the smart phone that can be communicated with one.Preferably, the processor can be one
Platform mobile intelligent terminal.
The present invention also provides a kind of indoor orientation method based on feature light source and aperture lighting equipment, the positioning
For three dimension location, method includes the following steps:
(1) light source is arranged: being arranged 3 or 3 features above light sources indoors, is opened the feature light source arranged and enable it
It shines；The feature is frequency and/or coding；
(2) data input: by the feature and position typing processor of each feature light source arranged in step (1)；
(3) select daylighting: the position of sound production aperture lighting equipment positioned needed for selection carries out daylighting, by aperture lighting equipment
Location information in the feature of collected optical signal and each comfortable photographic plate be transferred to processor；
(4) characteristic matching: processor by aperture lighting equipment photographic plate in step (3) collected optical signal feature
It is matched with the feature of each feature light source recorded in step (2), therefrom chooses the highest " light source-light of 3 matching degrees
Signal " is right, wherein 3 selected feature light sources are different two-by-two, and 3 selected optical signals are also different two-by-two；
(5) position calculates: according to the position of 3 feature light sources and 3 optical signals, calculating position locating for aperture lighting equipment
It sets, to realize indoor positioning.
In the step (1), when arrangement of features light source, should make to be arranged as far as possible according to indoor specific deployment scenarios
The luminous energy that is issued of feature light source cover indoor each position, to guarantee the effect of indoor positioning.The feature is frequency
Rate and/or coding.When the feature is frequency, the frequency for the light that feature light source issues is different, is presented as visible light
Different colours；When the feature is coding, the coding for the light that feature light source issues is different, is presented as light according to not
It is flashed with light and shade interval, the flicker frequency is higher therefore human eye can not identify, but can be had photoelectric signal transformation
It is identified with data-handling capacity processor.
In the step (2), the concrete mode of data input processor can be determined according to actual scene, including
But it is not limited to be manually entered, the modes such as remote download, two-dimensional code scanning, NFC near field communication.The spy of each feature light source
Seek peace position can according to " light source number-light source frequency-light source position " or " light source number-light source coding-light source position " or
Format as " light source number-light source frequency-light source coding-light source position " is recorded in processor.Due to follow-up location meter
The relative position between selected light source is only needed when calculation, so in this step, when recording light source position selected ginseng
According to being to be arbitrary.
In the step (4), it is collected that processor analyzes the photographic plate institute that aperture lighting equipment transmits in (3) first
The feature of optical signal, when collected light there is different frequencies when, then by its successively each spy with typing in step (2)
Levy light source light frequency compared to pair；When collected light have different codings when, then by its successively with step (2) in record
The coding of the light of each feature light source entered compared to pair；When collected light both there is different frequencies or there is different volumes
When code, then it is successively compared again with the frequency of the light of each feature light source of typing in step (2) and coding respectively comprehensive
Close its result；The sequence of matching degree from high to low is obtained with this." light source-optical signal " chosen is selected to must satisfy
3 feature light sources different and selected 3 optical signals also the two different conditions two-by-two two-by-two, to guarantee that subsequent calculating can be with
It carries out.
The step (5) specifically: distance therebetween is calculated according to the position of feature light source；According to three optical signal photographic plates
Vertical range between upper position and aperture and photographic plate calculates the distance that these three points on photographic plate arrive aperture；According to calculating
Three points to aperture distance, calculate these three point to aperture three lines between angle；It is arrived according to these three points small
Angle between three lines in hole obtains three feature light sources to the angle between three lines of aperture；According to three characteristic lights
Source calculates the space of aperture lighting equipment in conjunction with the distance between three feature light sources to the angle between three lines of aperture
Indoor positioning is realized in position.
The beneficial effects of the present invention are:
(1) indoor locating system of the invention and method can be realized the indoor three dimension location based on angle, compare
Traditional indoor positioning technologies have higher accuracy.
(2) indoor locating system of the invention need to only increase feature light source in existing indoor deployment, or use characteristic light
The indoor original lighting installation of source replacement, deployment is simple, small power consumption, at low cost, is with a wide range of applications.
(3) indoor orientation method step of the invention is simple, low to the data-handling capacity requirement of processor, without complexity
It calculates, position fixing process real-time is good.
(4) indoor locating system of the invention and method can be combined with indoor navigation technology, for indoor navigation skill
Art provides accurate, real-time three-dimensional spatial position information, and scalability is strong.
(5) indoor locating system of the invention and method can be with existing intelligent terminals, especially mobile intelligent terminal
It combines, has outstanding portability.
Detailed description of the invention
Fig. 1 is present system composition figure.
Fig. 2 is the method for the present invention flow chart.
Fig. 3 is the schematic diagram that position calculates step.
Fig. 4 is that positioning system and airmanship of the invention combine the schematic diagram for realizing that book is sought in library.
Specific embodiment
In order to which the indoor locating system of the invention based on feature light source and aperture lighting equipment is described in more detail and determines
Position method, below according to attached drawing, the present invention will be described in detail.
As shown in Figure 1, the indoor locating system of the invention based on feature light source and aperture lighting equipment, the positioning
For three dimension location, including feature light source, aperture lighting equipment and processor, in which:
The feature light source is made of 3 or 3 or more the light sources with different characteristic, is had for generating and issuing
The optical signal of different characteristic；The feature is frequency and/or coding；
The aperture lighting equipment is made of shell with holes, photographic plate and data transmission module, the shell with holes
For a rigid post body case, there is an aperture at upper bottom, and bottom and photographic plate combine, and photographic plate has the one of photoperceptivity facing towards small
Hole, (the distance between bottom and bottom subtract photosensitive plate thickness on shell i.e. with holes known to the vertical range between photographic plate and aperture
Degree) and be recorded in processor；The densely covered accurate photosensitive element of the photosensitive plate surface, can accurately perceive the light of incident photographic plate
The feature of signal and the position on photographic plate；The data transmission module is by the feature of collected optical signal and is feeling
Position on tabula rasa is transferred to processor by wired or wireless way；
The feature and position indoors that the processor is used to record each and every one feature light source, and according to each characteristic light
Institute's feature of collected optical signal of the feature in source and position indoors and the transmitting of aperture lighting equipment and each comfortable feel
Position on tabula rasa calculates the location of aperture lighting equipment, to realize indoor positioning；The processor is with wired
Or wireless mode and aperture lighting equipment realize data transmission.
Embodiment 1:
Below by indoor positioning for the application in terms of underground garage, illustrate it is of the invention based on feature light source and
The indoor locating system and localization method of aperture lighting equipment.In the present embodiment, using one piece of low profile edge processor conduct
The processor of positioning system, and it is integrated in aperture lighting equipment outside bottom surface, pass through wired mode and aperture lighting equipment
Data transmission module communicated.Feature light source is using different codings as feature.
(1) light source is arranged: the arrangement of features light source in underground garage room, in order to guarantee the effect of positioning, in the present embodiment,
Feature light source is arranged in each corner in underground garage, and can guarantee that each parking stall of underground garage can receive 3 or 3
The light that a above feature light source issues；After arranging light source, the exact position of each light source is measured；It opens and has arranged later
Feature light source enable its shine.Since feature light source is characterized by different codings, the coding of the light issued is different, body
It is now flashed for light according to different light and shade intervals, the flicker frequency is higher therefore human eye can not identify, but can be small-sized
Embeded processor is identified.
(2) data input: by the feature and position typing low profile edge of each feature light source arranged in step (1)
Processor, the feature of each feature light source and position can be according to " light source numbers-light source coding-light source position " in this way
Format be stored in low profile edge processor.
(3) select daylighting: as certain user, when driving to enter underground garage such as first, staff has provided its outside bottom surface
The aperture lighting equipment of integration of compact embeded processor.First is taken out aperture lighting equipment, is placed in after underground garage has stopped vehicle
Car body a part (the left front corner in such as parking stall) carries out daylighting, and the photographic plate of aperture lighting equipment collects Partial Feature light source hair
After light out, is encoded and the location information on photographic plate is transferred on the outside of aperture lighting equipment by data transmission module
The low profile edge processor of bottom surface.
(4) characteristic matching: in the present embodiment characterized by the coding of light, therefore low profile edge processor is set only to volume
Code is compared processing, processor by the collected optical signal with different coding successively in step (2) typing it is each
The coding of the light of a feature light source obtains the sequence of matching degree from high to low compared to." light source-optical signal " chosen is to must
3 selected feature light sources different and selected 3 optical signals also the two different conditions two-by-two two-by-two must be met, to protect
Demonstrate,proving subsequent calculating can carry out.Such as collected in the position of first parking, on the photographic plate of aperture lighting equipment from A,
B, this 7 optical signals of a, b, c, d, e, f, g of this 5 feature light sources of C, D, E match journey in all " light source-optical signal " centerings
The sequence of degree from high to low are as follows: it is highest that " A-a ", " A-b ", " B-b ", " D-b ", " C-c " ... then choose 3 matching degrees again
" light source-optical signal " clock synchronization, " A-b " because being given up with the repetition of " A-a " feature light source, " D-b " is because of and " B-b " optical signal
Repetition is also given up, and finally obtained 3 matching degrees highest " light source-optical signal " are to should be: " A-a ", " B-b ",
“C-c”。
(5) position calculates: it is right to have selected 3 matching degrees highest " light source-optical signal " in step (4), according to this 3
The position of a feature light source and 3 optical signals, substitute into formula calculate the location of aperture lighting equipment, here optical signal a,
B, position of the c on photographic plate is denoted as A ', B ', C ' respectively, and steps are as follows for specific calculating:
1. distance AB, BC, CA therebetween is calculated according to the position of feature light source A, B, C, when using space right-angle in processor
When coordinate system records typical source position, the position of feature light source A, B, C are respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,
yC,zC) therebetween distance be respectively as follows:
2. calculating A ', B ', C ' according to the vertical range OH between the position and aperture and photographic plate of a, b, c on photographic plate
These three points to the line A ' O of aperture O, B ' O, C ' O length, since OH is perpendicular to A ' H, B ' H, C ' H:
3. according to calculated A ' O, B ' O, C ' O length, in conjunction with A ' B ', B ' C ', C ' A ' length, in △ A ' O B ', △ B ' O
In C ', △ C ' O A ' respectively with the cosine law find out angle ∠ A ' O B ' therebetween, ∠ B ' O C ', ∠ C ' O A ' cosine value it is big
It is small:
4. in tetrahedron ABCO, since vertical angles are equal, having:
∠ AOB=∠ A ' O B '
∠ BOC=∠ B ' O C '
∠ COA=∠ C ' O A '
That is:
Cos ∠ AOB=cos ∠ A ' O B '
Cos ∠ BOC=cos ∠ B ' O C '
Cos ∠ COA=cos ∠ C ' O A '
5. obtaining equation according to the cosine law respectively in △ ABO, △ BCO, △ CAO:
AO2+BO2-AB2=2AOBOcos ∠ AOB
BO2+CO2-BC2=2BOCOcos ∠ BOC
CO2+AO2-CA2=2COAOcos ∠ COA
Xie Zhi obtains AO, BO, CO numerical value, and unique solution can be obtained in the position in conjunction with O in space relative to plane ABC,
The location of aperture lighting equipment has been determined.
By above step, first has just obtained the specific location oneself to be stopped in underground garage.First remembers the position, returns
Also staff's aperture lighting equipment.It can be navigated according to the location information when he picks up the car back after a period of time, simply just
The vehicle oneself stopped is found promptly.
Embodiment 2:
Below again by indoor positioning for the application in terms of library bookshelf, illustrate of the invention based on characteristic light
The indoor locating system and localization method in source and aperture lighting equipment.In the present embodiment, using the smart phone of user as at
Device is managed, wirelessly the data transmission module with aperture lighting equipment is communicated.Feature light source is made with different codings
It is characterized.The application of indoor orientation method of the invention is mounted in smart phone in advance, while smart phone is mounted with have
The software of homing capability.
(1) light source is arranged: the arrangement of features light source in library, in order to guarantee the effect of positioning, in the present embodiment, feature
Light source is arranged in each corner in library, and each position that can guarantee that the position of every book and reader may be passed through can
Receive the light that 3 or 3 or more feature light sources issue；After arranging light source, the exact position of each light source is measured；Later
Opening the feature light source arranged enables it shine.Since feature light source is characterized by different codings, the volume of the light issued
Code is different, is presented as that light is flashed according to different light and shade intervals, and the flicker frequency is higher therefore human eye can not identify, but
Being can be by smart phone processing and identification.
(2) data input: by the coding and position typing library networks of each feature light source arranged in step (1)
Platform, when certain user, such as second come library, need to seek book using the positioning system, he can be by logging in library master
The modes such as page remote download or the two dimensional code for scanning library doorway are incited somebody to action, the coding of each feature light source and position in the network platform
In the smart phone for setting data input oneself.The feature of each feature light source and position can be according to " light source numbers-light
The storage of format as source code-light source position ".
(3) select daylighting: staff provides second aperture lighting equipment.Second takes out aperture lighting equipment and carries out daylighting, small
After the photographic plate of hole lighting equipment collects the light of Partial Feature light source sending, encoded and the location information on photographic plate
The smart phone of second is transferred to by data transmission module.
(4) characteristic matching: the smart phone of second analyzes the collected light of institute, finds other frequencies having the same
Processing only is compared to coding it is thus determined that the feature of light source is coding with different codings.Smart phone will be collected
The light with different coding successively compared with the coding of the light of each feature light source of typing in step (2) pair, matched
The sequence of degree from high to low." light source-optical signal " chosen to must satisfy 3 selected feature light sources it is different two-by-two and
3 selected optical signals also the two different conditions two-by-two, to guarantee that subsequent calculating can carry out.Such as the position locating for second
It sets, a, b, c, d, e, f, g from this 5 feature light sources of A, B, C, D, E has been collected on the photographic plate of aperture lighting equipment
This 7 optical signals, in all " light source-optical signal " centerings, the sequence of matching degree from high to low are as follows: " A-a ", " A-b ", " B-
B ", " D-b ", " C-c " ... then choose highest " light source-optical signal " clock synchronization of 3 matching degrees again, and " A-b " is because of and " A-a "
Feature light source repeats to be given up, and " D-b " with the repetition of " B-b " optical signal because also given up, finally obtained 3 matchings journey
Highest " light source-optical signal " is spent to should be: " A-a ", " B-b ", " C-c ".
(5) position calculates: it is right to have selected 3 matching degrees highest " light source-optical signal " in step (4), according to this 3
The position of a feature light source and 3 optical signals, substitute into formula calculate the location of aperture lighting equipment, here optical signal a,
B, position of the c on photographic plate is denoted as A ', B ', C ' respectively, and steps are as follows for specific calculating:
1. distance AB, BC, CA therebetween is calculated according to the position of feature light source A, B, C, when using space right-angle in processor
When coordinate system records typical source position, the position of feature light source A, B, C are respectively A (xA,yA,zA), B (xB,yB,zB), C (xC,
yC,zC) therebetween distance be respectively as follows:
2. calculating A ', B ', C ' according to the vertical range OH between the position and aperture and photographic plate of a, b, c on photographic plate
These three points to the line A ' O of aperture O, B ' O, C ' O length, since OH is perpendicular to A ' H, B ' H, C ' H:
3. according to calculated A ' O, B ' O, C ' O length, in conjunction with A ' B ', B ' C ', C ' A ' length, in △ A ' O B ', △ B ' O
In C ', △ C ' O A ' respectively with the cosine law find out angle ∠ A ' O B ' therebetween, ∠ B ' O C ', ∠ C ' O A ' cosine value it is big
It is small:
4. in tetrahedron ABCO, since vertical angles are equal, having:
∠ AOB=∠ A ' O B '
∠ BOC=∠ B ' O C '
∠ COA=∠ C ' O A '
That is:
Cos ∠ AOB=cos ∠ A ' O B '
Cos ∠ BOC=cos ∠ B ' O C '
Cos ∠ COA=cos ∠ C ' O A '
5. obtaining equation according to the cosine law respectively in △ ABO, △ BCO, △ CAO:
AO2+BO2-AB2=2AOBOcos ∠ AOB
BO2+CO2-BC2=2BOCOcos ∠ BOC
CO2+AO2-CA2=2COAOcos ∠ COA
Xie Zhi obtains AO, BO, CO numerical value, and unique solution can be obtained in the position in conjunction with O in space relative to plane ABC,
The location of aperture lighting equipment has been determined.
By above step, second has just obtained specific location where oneself in library, such as position A.Later, second passes through figure
Book shop books inquiry system obtains the position of oneself certain desired books, seeks book such as position X, then by airmanship.Second can be with
By navigation, voluntarily book is sought in walking, i.e., the route map of A-X is obtained by the navigation software of smart phone, and go to according to route map
Seek book, at the same second can repeat the above steps in the way for seeking book (3)-(5) with the position of real-time update oneself, correct navigation
As a result.In addition, second can also be using navigation one kinetic control system of driving, such as a motor-driven carrier with mechanical arm, according to leading
Route map determined by navigating voluntarily takes book, which can equally repeat the above steps (3)-in the way for seeking book
(5) with the position of real-time update oneself, the result of navigation is corrected.Since three-dimensional space may be implemented in indoor locating system of the invention
Between position, can also be by navigating and correcting by the bookshelf position where system books required for not only available
Learn its height (such as in which layer of bookshelf), it is simple and convenient to seek book process, as shown in Figure 4.After books required for second is found,
Staff's spherical shape lighting equipment is given back, check out books formality.
To one skilled in the art it should be understood that various modifications can be carried out according to design requirement and other factors,
Combination is combined certainly and is changed, as long as they all fall in appended claims and its equivalent scheme limited range.
Claims (5)
1. a kind of indoor locating system based on feature light source and aperture lighting equipment, described is positioned as three dimension location,
It is characterised in that it includes feature light source, aperture lighting equipment and processor, in which:
The feature light source is made of 3 or 3 or more the light sources with different characteristic, has difference for generating and issuing
The optical signal of feature；The feature is frequency and/or coding；When the feature is frequency, the light of feature light source sending
Frequency it is different, be presented as the different colours of visible light；When the feature is coding, the light of feature light source sending
It encoding different, is presented as that light is flashed according to different light and shades interval, the flicker frequency is higher therefore human eye can not identify,
But can be had photoelectric signal transformation and data-handling capacity processor identifies；
The aperture lighting equipment is made of shell with holes, photographic plate and data transmission module, and the shell with holes is one
There is an aperture at rigid post body case, upper bottom, and bottom and photographic plate combine, and photographic plate has the one of photoperceptivity facing towards aperture,
Vertical range between photographic plate and aperture is recorded in processor；The densely covered accurate photosensitive element of the photosensitive plate surface, energy
The feature of the accurate optical signal for perceiving incident photographic plate and the position on photographic plate；The data transmission module will acquire
To the feature of optical signal and the position on photographic plate processor is transferred to by wired or wireless way；
The feature and position indoors that the processor is used to record each feature light source, and according to each feature light source
The institute's feature of collected optical signal and each leisure photographic plate of feature and position indoors and the transmitting of aperture lighting equipment
On position, the location of aperture lighting equipment is calculated, to realize indoor positioning；The processor is with wired or nothing
Line mode and aperture lighting equipment realize data transmission.
2. a kind of indoor locating system based on feature light source and aperture lighting equipment according to claim 1, feature
Be: the processor is at least one terminal with photoelectric signal transformation and data-handling capacity.
3. a kind of indoor locating system based on feature light source and aperture lighting equipment according to claim 1, feature
Be: the indoor locating system can be combined with indoor navigation technology, specifically: user utilizes the indoor positioning
System obtains oneself exact position indoors, in conjunction with the target position of required arrival, finds route using airmanship to force
Closely, oneself real time position indoors can be obtained, by the indoor locating system still during approaching with not
The result of disconnected correction navigation realizes feedback.
4. a kind of indoor fixed using being carried out described in claim 1 based on the indoor locating system of feature light source and aperture lighting equipment
The method of position, which is characterized in that including following 5 steps:
(1) light source is arranged: being arranged 3 or 3 features above light sources indoors, is opened the feature light source arranged and enable its hair
Light；
(2) data input: by the feature and position typing processor of each feature light source arranged in step (1)；
(3) select daylighting: the position of sound production aperture lighting equipment positioned needed for selection carries out daylighting, and aperture lighting equipment is adopted
Location information in the feature of the optical signal collected and each comfortable photographic plate is transferred to processor；
(4) characteristic matching: processor by aperture lighting equipment photographic plate in step (2) collected optical signal feature and step
Suddenly the feature of each feature light source recorded in (1) is matched, and the highest " light source-light letter of 3 matching degrees is therefrom chosen
Number " right, wherein 3 selected feature light sources are different two-by-two, and 3 selected optical signals are also different two-by-two；Specifically: place
Manage device first in analytical procedure (3) photographic plate of aperture lighting equipment transmitting collected optical signal feature, when being acquired
When the light arrived has different frequencies, then it is successively compared with the frequency of the light of each feature light source of typing in step (2)
It is right；When collected light there is different codings when, then by its successively light with each feature light source of typing in step (2)
Coding compared to pair；When collected light both there is different frequency or there are different codings when, then successively and step by it
Suddenly the frequency of the light of each feature light source of typing and coding are compared integrate its result again respectively in (2)；It is obtained with this
Sequence with degree from high to low；
(5) position calculates: according to the position of 3 feature light sources and 3 optical signals, calculating position locating for aperture lighting equipment
It sets, to realize indoor positioning.
5. the method for indoor positioning according to claim 4, which is characterized in that the step (5) specifically:
1. calculating distance therebetween according to the position of feature light source；
2. according on three optical signal photographic plates between position and aperture and photographic plate vertical range calculate photographic plate on this three
Distance of a point to aperture；
3. calculating these three points to the angle between three lines of aperture according to the distance of calculated three points to aperture；
4. obtaining three feature light sources between three lines of aperture to the angle between three lines of aperture according to these three points
Angle；
5., in conjunction with the distance between three feature light sources, being calculated according to the angle between three lines of three feature light sources to aperture
Indoor positioning is realized in the spatial position of aperture lighting equipment out.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510014139.6A CN105824009B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and aperture lighting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510014139.6A CN105824009B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and aperture lighting equipment |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105824009A CN105824009A (en) | 2016-08-03 |
| CN105824009B true CN105824009B (en) | 2019-01-18 |
Family
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| CN201510014139.6A Active CN105824009B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and aperture lighting equipment |
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| CN107144833B (en) * | 2017-06-30 | 2020-07-21 | 电子科技大学 | Device and method for positioning target object by using laser |
| CN113791377B (en) * | 2021-09-09 | 2024-04-12 | 中国科学院微小卫星创新研究院 | Positioning method based on angle measurement |
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| US6658282B1 (en) * | 2002-12-19 | 2003-12-02 | Bausch & Lomb Incorporated | Image registration system and method |
| CN101825697A (en) * | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Light intensity based location method and system |
| CN102967307A (en) * | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN103983945A (en) * | 2014-05-04 | 2014-08-13 | 苏州昭创光电技术有限公司 | Light locating system and method used for cleaning robot |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6658282B1 (en) * | 2002-12-19 | 2003-12-02 | Bausch & Lomb Incorporated | Image registration system and method |
| CN101825697A (en) * | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Light intensity based location method and system |
| CN102967307A (en) * | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN103983945A (en) * | 2014-05-04 | 2014-08-13 | 苏州昭创光电技术有限公司 | Light locating system and method used for cleaning robot |
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