CN106646369A - Visible light indoor positioning method and system for suppressing indoor reflected light interference - Google Patents
Visible light indoor positioning method and system for suppressing indoor reflected light interference Download PDFInfo
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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
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- H—ELECTRICITY
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- H04B10/00—Transmission systems employing electromagnetic waves other than radio-waves, e.g. infrared, visible or ultraviolet light, or employing corpuscular radiation, e.g. quantum communication
- H04B10/11—Arrangements specific to free-space transmission, i.e. transmission through air or vacuum
- H04B10/114—Indoor or close-range type systems
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Abstract
The invention relates to a visible light positioning method and system, belongs to the technical field of visible light communication, and more particularly relates to a visible light indoor positioning method and system for suppressing indoor reflected light interference. The method and system start from main factors that produce the reflected light. By optimization design of the distribution of the LED illumination sources and the emission angle of the light source and the optimization design of the receiving angle of view angle of a receiver, the method and system suppress the interference of the reflected light, can greatly reduce the influence of the reflected light on the positioning system, and improve the positioning accuracy of the positioning system.
Description
Technical field
The present invention relates to a kind of visible ray localization method and system, belong to technical field of visible light communication, and in particular to one
Plant the visible ray indoor orientation method and system for suppressing the interference of indoor reflection light.
Background technology
LED-based visible light communication location technology have in-door covering wide, energy-conservation, safety, lay simple, low cost,
Electro Magnetic Compatibility waits well outstanding advantages.Realizing the technology of indoor positioning at present mainly has finger geometric measurement method, imaging method and line to know
Other method.Geometric measurement method mainly adopts three side positioning modes, triangulation location and hyperbolic fix method, these three methods to be required for leading to
The length of side crossed in measure geometry relation or angle, so as to calculate the positional information of tested point, specific measuring method mainly has：
Time of arrival (toa) (TOA), signal arrival time difference (TDOA), signal strength signal intensity (RSS), signal two-way time (RTOF), signal
Angle of arrival (AOA) etc..Geometric measurement method needs to measure the distance of light source to receiver, and aforesaid imaging method is also needed
The angle of transmitting light is found range and surveys, indoors environment is due to signal multipath reflection, luminous intensity fluctuation, the screening to flashlight
Gear can all affect the precision and stability for positioning, and the impact of wherein reflected light is maximum.Survey especially with signal strength signal intensity (RSS)
Away from the alignment system of method, the interference of reflected light is more notable.
The method that particularly effective elimination reflected light affects on alignment system is there is presently no, the present invention passes through two methods
Suppress the interference of reflected light, impact of the reflected light to alignment system can be greatly reduced, improve the positioning precision of alignment system.
The content of the invention
The present invention mainly solves the problems, such as above-mentioned existing for prior art, there is provided one kind suppresses indoor reflection light to do
The visible ray indoor orientation method disturbed and system.The method and system are started with from the principal element for producing reflected light, are shone by LED
Mingguang City's source distribution and light source angle of departure optimization design and receiver field of view of receiver orientation optimization design to suppress the dry of reflected light
Disturb, impact of the reflected light to alignment system can be greatly reduced, improve the positioning precision of alignment system.
What the above-mentioned technical problem of the present invention was mainly addressed by following technical proposals：
A kind of visible ray indoor orientation method for suppressing indoor reflection light to disturb, including：
Regional planning step, is arranged at light source in same rectangle plane using just hexagonal honeycomb, adjacent light
Source spacing is a, is a/2 by the light source and metope distance of wall, and a length of m × a in one side of rectangle plane, another side is a length ofM, n are natural number；
Distribution planning step, using formulaAdjust the value of a and m, n to adjust light
The distributed architecture in source is meeting different area coverages and/or requirement for signal coverage.
Wherein, a kind of visible ray indoor orientation method of above-mentioned suppression indoor reflection light interference, the distribution planning step
It is rapid to be specially：
When the area of rectangle plane is fixed, number of light sources is adjusted to meet signal by adjusting adjacent light source spacing a
Coverage strength is required；
When number of light sources is fixed, by adjusting adjacent light source spacing a, required with meeting area coverage and signal strength signal intensity.
Wherein, a kind of visible ray indoor orientation method of above-mentioned suppression indoor reflection light interference, the distribution planning step
It is rapid to be specially：Be ψ=2arctan (a/h) with the light angle of departure of body of wall adjacent light source, the light angle of departure of remaining light source be ψ=
2arctan(1.5a/h)；In formula, h is the distance of receiver place plane and distribution of light sources plane.
Wherein, a kind of visible ray indoor orientation method of above-mentioned suppression indoor reflection light interference, the distribution planning step
It is rapid to be specially：Receiver field of view of receiver angle is Ω=90 °.
A kind of visible ray indoor locating system for suppressing indoor reflection light to disturb, including：
Light source group, including several are arranged in light source in same rectangle plane using just hexagonal honeycombs, wherein,
Adjacent light source spacing is a, is a/2 by wall light source and metope distance, and a length of m × a in one side of rectangle plane, another side is a length ofM, n are natural number；
Receiver, place plane is parallel with light source group, and distance is h, for receiving the light source and being imaged；Receiver connects
Receipts field of view angle is Ω=90 °；
Wherein, it is ψ=2arctan (a/h) with the light angle of departure of body of wall adjacent light source in the light source group, remaining light source
The light angle of departure be ψ=2arctan (1.5a/h).
Therefore, the invention has the advantages that：The LED illumination light source honeycomb design of optimization, greatly improves optical signal
Covering；The selection of flexible quantity of light source, size and space between light sources；The optimization design of the light source light angle of departure, greatly
Reduce the generation of metope reflection；The optimization of receiver field of view of receiver angle, not only ensures the quantity for receiving signal optical source, Er Qieyou
Beneficial to the reception reduced to reflected light；Can be used for any kind of visible ray indoor locating system.
Description of the drawings
Fig. 1 is LED/light source honeycomb distributed architecture figure.
The first LED/light source honeycomb distribution map when Fig. 2-a are reduced for number of light sources.
Second LED/light source honeycomb distribution map when Fig. 2-b are reduced for number of light sources.
Fig. 3-a are the first LED/light source distribution map when number of light sources is minimum.
Fig. 3-b are second LED/light source distribution map when number of light sources is minimum.
Fig. 4 is the light angle of departure schematic diagram according to determined by the first row distribution of light sources situation of accompanying drawing 2-b.
Fig. 5 is the light angle of departure schematic diagram according to determined by the first row distribution of light sources situation of accompanying drawing 2-b.
Fig. 6 is the light angle of departure schematic diagram according to determined by the second line light source distribution situation of accompanying drawing 2-b.
Fig. 7 is the positioning system structure schematic diagram of specific embodiment.
Fig. 8 is positioning principle schematic diagram.
Fig. 9 is image sensing plane and Si length and unit pixel area relationship schematic diagram.
Figure 10-a are the transmitting terminal workflow diagram of the present invention.
Figure 10-b are the receiving terminal workflow diagram of the present invention.
Specific embodiment
Below by embodiment, and accompanying drawing is combined, technical scheme is described in further detail.
Embodiment：
First, light source planning
Geometric measurement method and imaging method need range finding and survey the angle of transmitting light, indoors environment due to signal multipath it is anti-
Penetrate, luminous intensity fluctuation, the precision and stability that can all affect to position that blocks on flashlight, and wherein the impact of reflected light is most
Greatly.Especially with the alignment system of signal strength signal intensity (RSS) telemetry, the interference of reflected light is more notable.
The present invention starts with from the principal element for producing reflected light, and using two methods the interference of reflected light is suppressed：LED illumination
Distribution of light sources and light source angle of departure optimization design；Receiver field of view of receiver orientation optimization is designed.
Indoor LED illumination light source is distributed in ceiling plane in the way of accompanying drawing 1, and distribution of light sources is just hexagonal honeycomb
Structure, the spacing of adjacent LED light source is a, and two rows and two row light sources by wall are a/2 with metope distance, and careat isCareat general expression can be written asM, n takes natural number,
More than or equal to 2, being computed this distribution of light sources design can to greatest extent ensure being uniformly distributed for intensity of illumination.LED illumination light source
Distribution design can be adapted to any careat and flexibly increase and decrease number of light sources, and method is the size for adjusting a and m, n.
As shown in accompanying drawing 2-a, accompanying drawing 2-b, when a is constant, and careat is expressed asWhen, light source
Distribution situation, accompanying drawing 2-a and accompanying drawing 2-b is honeycomb, and difference is that accompanying drawing 2-b can preferably to four corners
Carry out signal covering.
Accompanying drawing 3-a, accompanying drawing 3-b careats are expressed asWhen, the distribution situation of light source is also honeycomb
Partial structurtes.Because light source is few, distribution of light sources is only single cellular local, therefore signal covers uneven, special corner letter
Number of poor quality, position error is big.Improved method is by area formulaBy reducing a, increase
Light source number, can be effectively improved corner and the positioning precision along wall annex.Obviously a is less, and unit area lighting source number is more, letter
Number covering is more uniform, but disadvantage is that the signal that receiver is received is more, and the interference for producing adjacent signals is more serious, therefore
Need the size of appropriate selection a.
To suppress the interference of reflected light, it is necessary to select the size of the appropriate LED/light source light angle of departure, the light angle of departure is bigger
The flashlight coverage of light source transmitting is bigger, but corresponding metope reflection is also bigger, and the light angle of departure is little, can reduce metope reflection
Intensity, but signal cover reduces, and the light source number for causing receiver to receive is less, and receiving light source number can for more than 3
Three-dimensional localization is carried out, receiving light source number can carry out two-dimensional localization for 2, receiving light source number can not be positioned less than 2.Therefore
The size of the LED/light source light angle of departure is also required to optimal design-aside.
Accompanying drawing 4 be according to the distribution of light sources situation of accompanying drawing 2-b determine optimization the light angle of departure computational methods, the institute of accompanying drawing 4
The LED light source distribution shown is the first row distribution of light sources of accompanying drawing 2-b.The first row light source light angle of departure determined by the present invention is ψ
=2-arctan (a/h), wherein h are the distance of receiver place plane and distribution of light sources plane.
LED light source distribution shown in accompanying drawing 5 is the first row distribution of light sources of accompanying drawing 2-b.First row determined by the present invention
The light source light angle of departure is ψ=2-arctan (a/h).
LED light source distribution shown in accompanying drawing 6 is the second line light source distribution of accompanying drawing 2-b.Second row determined by the present invention
The light source light angle of departure is ψ=2-arctan (1.5a/h).
For the distribution of light sources situation of accompanying drawing 2, present invention determine that the light angle of departure be respectively:Near the row of wall two and two row light
Source is ψ=2-arctan (a/h), and remaining is ψ=2-arctan (1.5a/h).
In the case of the distribution of light sources of accompanying drawing 2, with reference to the accompanying drawings 4, shown in accompanying drawing 5, accompanying drawing 6, receiver determined by the present invention connects
Receipts field of view angle is Ω=90 °.
For accompanying drawing 2-a and 2-b, when the spacing of adjacent LED light source is a=1.5 rice, correspondence careat is 27.9 squares
Rice, during a=2 rice, correspondence careat is 47.5 square metres.LED/light source number is 12 or 13.Such as need to increase light source number, with reference to attached
Fig. 1, only need to increase honeycomb number, that is, increase m, n, that is, identical careat can have the distribution of different LED/light source numbers
Design.Identical LED/light source number, can also correspond to different careats, need to only adjust the size of spacing a of adjacent LED light source i.e.
Can.So, being required and concrete condition according to different, the present invention is each provided with being embodied as flexible LED light source distribution design
Method.
From accompanying drawing 4,5,6, the optimization design of the distribution of light sources, the light angle of departure and field of view of receiver angle of the present invention, make
Position away from four metopes more than a/2, metope reflected light seldom, alignment system by reflected light interference very little, therefore positioning precision
Height, within can reach centimetre scale.Can not be ignored by the interference of reflected light along wall displacement less than a/2 away from four metopes, be positioned
Precision is worse than centimetre scale.
Accompanying drawing 7 is a concrete application example of the present invention.System is made up of transmitting terminal and receiving terminal：
Transmitting terminal：It is made up of sending signal modulation module, LED/light source.LED illumination light source is arranged in indoor suspended ceiling plane,
At least 3 LED illumination light sources, such as more than three light source can determine 3 positioned light sources, each LED/light source by the way that light source is preferred
Distribute unique beacon, and have and the coordinate corresponding to it.
Receiving terminal：By lens group, light filtering film, imageing sensor or photodiode array, signal transacting and positioning
Computing module is constituted, and wherein lens group constitutes imaging system with an imageing sensor or photodiode array.Receiving terminal has
The functions such as standby light source imaging, filtering, demodulation transmitting terminal broadcast singal and the calculating of point to be determined position coordinates.
Lens group is used for imaging to light source, light filtering film wiping out background light and other veiling glares, imageing sensor or
Photodiode array receives LED light signal, completes the function of opto-electronic conversion.Signal transacting and location Calculation module complete signal
Amplification, filtering, signal demodulating and decoding, the determination of LED imaging points position, siValue calculates and positions the functions such as point coordinates calculating.Additionally,
If interior has more than 3 LED illumination light sources, signal transacting and location Calculation module also have the preferred function of light source, to select
3 optimal light sources are selected as positioning light source.Receiving terminal lens group plane and imageing sensor or photodiode array plane
Be parallel to each other the method that can adopt static parallel, i.e., by fixed reception end lens group plane and imageing sensor or the pole of photoelectricity two
Pipe array plane is parallel to each other, then finely tunes receiver and be integrally allowed to the receiving plane side parallel with LED illumination light source distribution plane
Method.Because framing signal process is different from image procossing, not only need to read imaging point position, in addition it is also necessary to which the signal to receiving is carried out
Demodulation, decoding etc. are processed, therefore need signal transacting and location Calculation module to possess these functions.Ccd image sensor is such as used,
Due to being electrical signal intensity after the opto-electronic conversion for improving incident light without the need for image color, the colour filter of CCD is can remove, in addition, fixed
Position signal transacting equally such as uses cmos image sensor with the difference of CCD, and framing signal process is also with cmos image signal
Process different.The present embodiment can use photodiode array to replace the function of imageing sensor, can more be directed to actual positioning
Using.
In this application embodiment, as shown in accompanying drawing 1 to accompanying drawing 3-b, for given careat size, according to formulaQuantity of light source and space between light sources can flexibly be selected.
In this application embodiment, the optimization design of the light source light angle of departure is ψ=2- near the row of wall two and two row light sources
Arctan (a/h), remaining is ψ=2-arctan (1.5a/h).In this application embodiment, determined by receiver receive regard
Rink corner degree is Ω=90 °.
Receiver field of view of receiver angle is receiver field of view of receiver angle in Ω=90 °, but replacement scheme in the present embodiment
Ω can flexibly set according to concrete distribution of light sources density case.In the case that distribution of light sources is given, guaranteeing to receive enough
Light source said conditions under, less field of view of receiver angle can preferably suppress the interference of reflected light.The reception of concrete optimization is regarded
Rink corner angle value the method according to the invention determines.
In this application embodiment, careat is about 36 square metres, and receiver is away from LED/light source plane h=3 rice, receiver
Field of view of receiver angle is Ω=90 °, and the optional a=1 rice of spacing of adjacent LED light source is launched near the row of wall two and two row light source lights
Angle is ψ=2-arctan (1/3)=36.9 °, and remaining light source light angle of departure is ψ=2-arctan (1/2)=53.1 °.Choosing
A=2 rice is selected, same 36 square metres of careat, light source number will reduce more than half.
The described imageing sensor image of the present invention is not limited to imageing sensor in general sense, it is possible to use photoelectricity
The array that diode array and other similar electrooptical devices are constituted is replacing imageing sensor.Without the need for finished product image sensing
Device or photodiode array carry out the special design for positioning function, and the signal that need to only obtain sensor is by signal
Reason and location Calculation module are processed to realize positioning function.
The LED illumination light source distribution plane of the present embodiment, receiving terminal lens group plane and imageing sensor or the pole of photoelectricity two
The scheme that pipe array plane is parallel to each other can also adopt the parallel method of dynamic adjustment complete in addition to the method for static parallel
Into.
2nd, localization method
It is as follows to the location algorithm principles and methods of the present embodiment below.
As shown in Figure 8, using any 3 non-colinear LED illumination lamps and its in the imaging of imaging system sensor plane
The geometrical relationship that the line of point is constituted, with reference to imageing sensor or photodiode array signal receiving plane area and pixel
Density size, calculates the coordinate value for determining point to be determined L.
As shown in Figure 8, the coordinate of 3 non-colinear LED illumination lamps is respectively L1(x1, y1,z1)、L2(x2, y2,z2)、L3
(x3, y3,z3), they are respectively D1, D2, D3 to the distance of anchor point L, and L is lens centre for point to be determined, by the lens of L
Plane is parallel with sensor plane, and the vertical range of lens plane center L to sensing plane center N is focal length of lens f, and M is LED
Illuminating lamp L1By lens imageing sensor or photodiode array plane imaging, H be LED illumination lamp L1It is flat to lens
The vertical range in face, A points are on lens plane.Obvious right angled triangle Δ L1AL is similar triangle to right angled triangle Δ LNM
Shape, so D1=H (f2+s1 2)1/2/f,s1For the distance of N to M, other LED illumination lamps can be obtained in the same manner to the distance phase of anchor point L
With expression formula Di=H (f2+si 2)1/2/f.Under normal circumstances three positioning LED/light sources are parallel to imageing sensor or photoelectricity
In diode array plane, therefore z1=z2=z3, then three equations are obtained：
(x-xi)2+(y-yi)2=Di 2-H2, i=1,2,3
Can determine that three unknown quantitys x, y, H from three equations above, only need to measure each LED/light source sensor screen into
Picture point is to center N apart from si, the position coordinates (x, y, z) of point to be determined, wherein z=z can be solvedi-H。
siComputational methods:Accompanying drawing 9 is imageing sensor or photodiode array plane and Si length and unit pixel
Area relationship schematic diagram, it is assumed that sensor plane area is w2, pixel is T, then the area of unit pixel is w2/ T, N are passed in image
The pixel coordinate of sensor or photodiode array plane is (x0′,y0'), the coordinate of M is (xm′,ym'), x directions pixel number
A, y direction pixel number b, therefore Si=[(a2+b2)w2/T]1/2。
Algorithm above is completed by the signal transacting and location Calculation module of receiving terminal.
Additionally, the interference for filtering the veiling glare docking collection of letters number of the light filtering film of receiving terminal, improves system reliability
Property.The signal modulation module of transmitting terminal can adopt the common technical method of communication system, such as frequency division, wavelength-division, code division, the time-division or its
Its technology.Interior has more than 3 LED illumination light sources, and signal transacting and location Calculation module also have the preferred function of light source, with
3 optimal light sources are selected as positioning light source.The foundation of preferred light source mainly has：Image quality, snr of received signal, into
As non-colinear.
Transmitting terminal workflow is as shown in Figure 10-a：Signal modulation module power-up initializing, backstage configuration LED/light source light
Intensity and each LED/light source beacon and coordinate are set, such as the original configured relevant parameter in backstage, when being not required to remodify, necessarily
Shi Yanhou drives LED to light automatically into next step, broadcasts location related information, and state-detection finds to configure or set up data
Wrong, such as coordinate is matched somebody with somebody again or illumination light intensity is not in normal range (NR), then return to backstage and reconfigure and arrange relevant parameter, is such as examined
Survey normal then circulation and retransmit broadcast message, outside the working time arranged in system is detected, such as during evening 12 after,
Then terminate illumination and location information broadcast.
Receiving terminal workflow is as shown in Figure 10-b：Signal transacting and location Calculation module initialization, the biography of imaging system
Sensor plane receives optical signal and is converted to electric signal by light-sensitive device, every road reception electric signal is amplified, wave filter
Filter, signal be demodulated using technology corresponding with transmitting terminal and decoded, select three according to the comparison of received signal quality
Data source, the extraction of three imaging dot position informations and light source coordinates value, positioning ginseng of the individual non-colinear imaging point as location Calculation
The calculating of number Si, calculating determine that point to be determined coordinate, positioning result output and the renewal to previous output, the aforementioned positioning of repetition are flowed
Journey obtains the coordinate information of original site or new definition point.
The present embodiment is capable of achieving three-dimensional localization, and the two dimension of planar point can be completed if height is, it is known that 2 light sources can only be needed
Positioning, method is with three-dimensional localization principle of the invention.LED illumination light source distribution plane, the receiving terminal lens group plane of the present invention
The scheme being parallel to each other with imageing sensor or photodiode array plane can also be adopted in addition to the method for static parallel
The parallel method of dynamic adjustment.
Specific embodiment described herein is only explanation for example spiritual to the present invention.Technology neck belonging to of the invention
The technical staff in domain can be made various modifications to described specific embodiment or supplement or replaced using similar mode
Generation, but without departing from the spiritual of the present invention or surmount scope defined in appended claims.
Claims (5)
1. the visible ray indoor orientation method that a kind of suppression indoor reflection light is disturbed, it is characterised in that include：
Regional planning step, is arranged at light source in same rectangle plane, between adjacent light source using just hexagonal honeycomb
It is a/2 by the light source and metope distance of wall away from for a, a length of m × a in one side of rectangle plane, another side is a length ofM, n are natural number；
Distribution planning step, using formulaAdjust the value of a and m, n to adjust dividing for light source
Cloth structure is meeting different area coverages and/or requirement for signal coverage.
2. the visible ray indoor orientation method that a kind of suppression indoor reflection light according to claim 1 is disturbed, its feature exists
In the distribution planning step is specially：
When the area of rectangle plane is fixed, adjust number of light sources by adjusting adjacent light source spacing a to meet signal covering
Intensity requirement；
When number of light sources is fixed, by adjusting adjacent light source spacing a, required with meeting area coverage and signal strength signal intensity.
3. the visible ray indoor orientation method that a kind of suppression indoor reflection light according to claim 1 is disturbed, its feature exists
In, it is ψ=2arctan (a/h) with the light angle of departure of body of wall adjacent light source, the light angle of departure of remaining light source is ψ=2arctan
(1.5a/h)；In formula, h is the distance of receiver place plane and distribution of light sources plane.
4. the visible ray indoor orientation method that a kind of suppression indoor reflection light according to claim 1 is disturbed, its feature exists
In receiver field of view of receiver angle is Ω=90 °.
5. the visible ray indoor locating system that a kind of suppression indoor reflection light is disturbed, it is characterised in that include：
Light source group, including several are arranged in light source in same rectangle plane using just hexagonal honeycombs, wherein, it is adjacent
Space between light sources are a, are a/2 by wall light source and metope distance, and a length of m × a in one side of rectangle plane, another side is a length ofM, n are natural number；
Receiver, place plane is parallel with light source group, and distance is h, for receiving the light source and being imaged；Receiver is received and regarded
Rink corner degree is Ω=90 °；
Wherein, it is ψ=2arctan (a/h) with the light angle of departure of body of wall adjacent light source in the light source group, the light of remaining light source
The angle of departure is ψ=2arctan (1.5a/h).
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| CN109348568A (en) * | 2018-09-25 | 2019-02-15 | 李沅洁 | A kind of Multipurpose landscape brightening LED illumination device and its custom-built system and method |
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