CN107037404A - A kind of visible ray indoor orientation method - Google Patents
A kind of visible ray indoor orientation method Download PDFInfo
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- CN107037404A CN107037404A CN201710244434.XA CN201710244434A CN107037404A CN 107037404 A CN107037404 A CN 107037404A CN 201710244434 A CN201710244434 A CN 201710244434A CN 107037404 A CN107037404 A CN 107037404A
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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 provides a kind of visible ray indoor orientation method, and simple system, hardware cost are low.Methods described includes：In transmitting terminal, the visible light signal for carrying LED position coordinates is launched to receiver by LED signal source, wherein, the receiver includes：The photodetector and multiple inclined photodetectors of 1 horizontal positioned, the photodetector of the horizontal positioned are located at the center of the receiver；The visible light signal received according to the photodetector on receiver, it is determined that the signal intensity that each photodetector is received；Obtain the position coordinates of the single led lamp, the signal intensity received according to the position coordinates of the single led lamp of acquisition, each photodetector determined and the elevation angle and azimuth of the radius of the predetermined receiver of combination, each angle of inclined photodetector and receiver positive direction, each inclined photodetector, determine the position coordinates of the receiver.The present invention is applied to technical field of visible light communication.
Description
Technical field
The present invention relates to technical field of visible light communication, a kind of visible ray indoor orientation method is particularly related to.
Background technology
With the development of the technologies such as intelligence communication and wireless network, people are more and more stronger to the demand of indoor positioning technologies
It is strong.Indoor positioning technologies have in fields such as personnel positions service, warehouse logistics, rescue and relief work and industrial and mining enterprises widely should
With.Traditional wireless indoor location technology, such as infrared technique, radio frequency identification (Radio Frequency
Identification, RFID) technology and WLAN (Wireless LAN, WLAN) technology etc., although can be indoors
Good locating effect is obtained under environment, but can not be applied in radio frequency susceptible region, and because it needs other equipment
Auxiliary, hardware cost is big.Indoor positioning technologies based on LED (Light Emitting Diode, LED) are not only
Any Radio frequency interference, environmental protection will not be produced, also with the function of realizing illumination and positioning simultaneously, as research in recent years
Focus.
The difference of LED/light source quantity is used according to indoor positioning, LED-based indoor positioning technologies can be divided into light more
The positioning under positioning and monochromatic light source model under source model.Orientation problem under monochromatic light source model is due to only one of which LED/light source
In the presence of the interference problem between light source can be effectively prevented from.
In the prior art, the primary solutions of the visible ray indoor positioning problem under single LED/light source have：Yang S H groups
The localization method based on receiving angle yield value that team proposes, but in order to measure receiving angle yield value, it is necessary to more complicated
Measurement apparatus, add the complexity and hardware cost of system.
The content of the invention
The technical problem to be solved in the present invention is to provide a kind of visible ray indoor orientation method, deposited with solving prior art
System complex, hardware cost is high the problem of.
In order to solve the above technical problems, the embodiment of the present invention provides a kind of visible ray indoor orientation method, including：
In transmitting terminal, launched by LED signal source and carry the visible light signal of LED position coordinates to receiver；Wherein,
The LED signal source includes：Single led lamp；The receiver includes：The photodetector of 1 horizontal positioned and multiple inclinations
Photodetector, the photodetector of the horizontal positioned is located at the center of the receiver, the inclined photodetection
Device and the distance at receiver center are equal to receiver radius；
The visible light signal received according to the photodetector on receiver, it is determined that what each photodetector was received
Signal intensity；
The position that the visible light signal received according to the photodetector on receiver obtains the single led lamp is sat
Mark, the signal intensity, simultaneously received according to the position coordinates of the single led lamp of acquisition, each photodetector determined
Radius, the angle of each inclined photodetector and receiver positive direction with reference to predetermined receiver, each inclination
Photodetector the elevation angle and azimuth, determine the position coordinates of the receiver, wherein, the receiver positive direction be x
Axle positive direction.
Further, the visible light signal that the photodetector according on receiver is received, it is determined that each photoelectricity
The signal intensity that detector is received includes：
The visible light signal received is converted to electric signal by each photodetector on receiver；
The electric signal according to being converted to determines the signal intensity and incline that the photodetector of horizontal positioned receives
The signal intensity that oblique photodetector is received.
Further, the signal strength expression that the photodetector of the horizontal positioned is received is：
Wherein,Represent the photoelectric detector PD of horizontal positioned0The signal intensity received, k is constant, ztRepresent LED
Z-axis coordinate, zrRepresent the photoelectric detector PD of horizontal positioned0Z-axis coordinate, m represents Lambertian radiation coefficient, d0Represent LED
To the photoelectric detector PD of horizontal positioned0Between transmission range.
Further, the number of the inclined photodetector is 3, three inclined photoelectric detector PDsj(j=1,
2nd, 3) it is located at by the center of circle of the photodetector of horizontal positioned, r is on the circle of radius；
The signal strength expression that the inclined photodetector is received is：
Wherein,Represent inclined photoelectric detector PDjThe signal intensity received, k is constant, ztRepresent the z of LED
Axial coordinate, m represents Lambertian radiation coefficient, djRepresent LED to inclined photoelectric detector PDjBetween transmission range,Represent
Incide photoelectric detector PDjThe incidence angle of receiving plane, αjRepresent inclined photoelectric detector PDjThe elevation angle, βjRepresent inclined
Photoelectric detector PDjAzimuth, (xt,yt,zt) represent LED position coordinates,Represent that inclined photoelectricity is visited
Survey device PDjPosition coordinates.
Further, it is described
Wherein, PtThe transmission signal power in LED signal source is represented, m represents Lambertian radiation coefficient, and A represents photodetector
Actual physics area.
Further, the position coordinates of the single led lamp according to acquisition, each photodetector determined connect
The signal intensity received and the radius with reference to predetermined receiver, each inclined photodetector and receiver pros
To angle, each inclined photodetector the elevation angle and azimuth, determining the position coordinates of the receiver includes：
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd azimuthal angle betaj, calculate the first coefficient Aj=
sin(αj)cos(βj) and the second coefficient Bj=sin (αj)sin(βj), j=1,2,3；
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd each photodetector determined is received
The signal intensity arrived, calculates the 3rd coefficientJ=1,2,3；
According to the position coordinates (x of the single led lamp of acquisitiont,yt,zt)、Aj、Bj、Cj, and predetermined receiver
Radius r, the angle ω of each inclined photodetector and receiver positive directionj, determine the position coordinates of the receiver.
Further, the position coordinates (x of the single led lamp according to acquisitiont,yt,zt)、Aj、Bj、Cj, and in advance
The radius r of the receiver first determined, each inclined photodetector and receiver positive direction angle ωj, it is determined that described connect
The position coordinates of receipts machine includes：
Determine inclined photoelectric detector PDjWith the photoelectric detector PD of horizontal positioned0Received signal power it is poor：
Wherein,Represent the photoelectric detector PD of horizontal positioned0The signal intensity received,Represent that inclined photoelectricity is visited
Survey device PDjThe signal intensity received, k is constant, ztThe z-axis coordinate of LED is represented, m represents Lambertian radiation coefficient, djRepresent
LED is to inclined photoelectric detector PDjBetween transmission range, d0Represent LED to the photoelectric detector PD of horizontal positioned0
Between transmission range, (xt,yt,zt) represent LED position coordinates,Represent inclined photoelectric detector PDj
Position coordinates, j=1,2,3；
Make dj=d0, obtain
According to the relative position relation between photodetector on receiver, the position coordinates (x of receiver is obtainedr,yr,
zr) and PDjThe position coordinates of (j=1,2,3)Between relation be：
According toAnd position coordinates (the x of obtained receiverr,yr,
zr) and PDjThe position coordinates of (j=1,2,3)Between relation, obtain：
Ajxr+Bjyr+Cjzr=Ajxt+Bjyt+Cjzt-Ajrcos(ωj)-Bjrsin(ωj)
Order：
Then MX=Q, by MX=Q, determines the position coordinates of receiver.
Further, described by MX=Q, determining the position coordinates of receiver includes：
According to MX=Q, X=(M are obtained using least square methodTM)-1MTQ；
As matrix MTWhen M is nonsingular, X=[x are tried to achiever yr zr]T。
The above-mentioned technical proposal of the present invention has the beneficial effect that：
In such scheme, the positioning function of receiver is completed by using single led lamp and multiple photodetectors, not only
Interference problem between the light source under multiple light courcess model is efficiently avoid, and only needs to obtain the position of single led lamp during positioning
The signal intensity that coordinate and each photodetector are received, it is not necessary to carry out the estimation of receiving angle, you can determine receiver
Position coordinates, it is possible to increase positioning precision is high and simple system, hardware cost are low.
Brief description of the drawings
Fig. 1 is the schematic flow sheet of visible ray indoor orientation method provided in an embodiment of the present invention；
Fig. 2 is the structural representation of visible ray indoor locating system provided in an embodiment of the present invention；
Fig. 3 is receiver floor map provided in an embodiment of the present invention；
Fig. 4 is the idiographic flow schematic diagram of visible ray indoor orientation method provided in an embodiment of the present invention；
Fig. 5 is theory orientation error simulation result figure provided in an embodiment of the present invention.
Embodiment
To make the technical problem to be solved in the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and tool
Body embodiment is described in detail.
There is provided a kind of visible ray indoor orientation method for the problem of present invention is directed to existing system complex, hardware cost is high.
As shown in figure 1, visible ray indoor orientation method provided in an embodiment of the present invention, including：
S101, in transmitting terminal, is launched by LED signal source and carries the visible light signal of LED position coordinates to receiver；
Wherein, the LED signal source includes：Single led lamp；The receiver includes：The photodetector of 1 horizontal positioned and multiple
Inclined photodetector, the photodetector of the horizontal positioned is located at the center of the receiver, the inclined photoelectricity
Detector and the distance at receiver center are equal to receiver radius；
S102, the visible light signal received according to the photodetector on receiver, it is determined that each photodetector connects
The signal intensity received；
S103, the visible light signal received according to the photodetector on receiver obtains the position of the single led lamp
Coordinate is put, it is strong according to the signal that the position coordinates of the single led lamp of acquisition, each photodetector determined are received
Spend and combine the radius of predetermined receiver, the angle of each inclined photodetector and receiver positive direction, each
The elevation angle and azimuth of inclined photodetector, determine the position coordinates of the receiver, wherein, the receiver positive direction
For x-axis positive direction.
Visible ray indoor orientation method described in the embodiment of the present invention, by using single led lamp and multiple photodetections
Device completes the positioning function of receiver, not only efficiently avoid interference problem between the light source under multiple light courcess model, and positioning
When only need to obtain the signal intensity that the position coordinates and each photodetector of single led lamp are received, it is not necessary to connect
Receive the estimation of angle, you can determine the position coordinates of receiver, it is possible to increase positioning precision height and simple system, hardware cost
It is low.
Visible ray indoor orientation method described in the embodiment of the present invention, two dimensional surface can be completed using three photodetectors
Positioning, can complete the positioning of three dimensions using four photodetectors.
In order to realize the visible ray indoor orientation method described in the present embodiment, it is necessary to a set of corresponding visible ray indoor positioning
System, as shown in Fig. 2 the system includes：Control end, LED signal source, receiver and host computer；Wherein, the control end master
To include signal generator, the signal generator is used to produce signal, and the position coordinates of LED is modulated into visible light signal
On；The LED signal source, the visible light signal of LED position coordinates is carried for launching to receiver；The LED signal source
Including：LED drive circuit and single led lamp；The receiver includes：The photoelectric detector PD of one horizontal positioned0With it is multiple
Inclined photoelectric detector PDj, the visible light signal received can be converted to electric signal by photodetector, according to changing
To electric signal obtain the signal intensity that each photodetector is received；Host computer mainly includes processor module and position is aobvious
Show module, be respectively used to perform location algorithm and show receiver current location.
In the present embodiment, in order to realize the positioning of three dimensions, as shown in figure 3, the receiver includes：Four photoelectricity are visited
Device is surveyed, wherein, a photoelectric detector PD0Positioned at receiver center, horizontal positioned, wherein, photoelectric detector PD0Position sit
Mark (xr,yr,zr) namely require the position coordinates of receiver；Its excess-three photoelectric detector PDj(j=1,2,3) are located at PD0
It is these three photoelectric detector PDs on the circle of radius for the center of circle, rjReferred to as inclined photodetector, inclined photodetector
PDjIt is ω with receiver positive direction anglej(ωj∈ (0,360 °), j=1,2,3), inclined photoelectric detector PDjInclination journey
Degree is by respective angle of elevation alphajAnd azimuthal angle betaj(j=1,2,3) are determined, wherein, the receiver positive direction is x-axis positive direction.
In the present embodiment, the radius r of receiver, inclined photoelectric detector PDjWith the angle ω of receiver positive directionjAnd
Its inclined degree αj、βj(j=1,2,3), these parameters are considered as known constant in position fixing process, that is to say, that be true in advance
Fixed, before positioning, above-mentioned parameter can be changed by changing the relative position of four photodetectors in receiver,
Other sensors can be introduced and measure these parameter values in real time.
In the present embodiment, according to the angle of elevation alpha of predetermined each inclined photodetectorjAnd azimuthal angle betaj, calculate the
One coefficient Aj=sin (αj)cos(βj) and the second coefficient Bj=sin (αj)sin(βj), j=1,2,3.
In the present embodiment, fix after receiver, the position coordinates of single led lamp is loaded on visible light signal, pass through
Cross wireless optical channel to transmit the visible light signal for carrying LED position coordinates to receiver, the photodetector on receiver
The visible light signal received is converted into electric signal, the photodetector of horizontal positioned is determined according to the electric signal being converted to
The signal intensity receivedAnd the signal intensity that inclined photodetector is receivedAnd by the light of the horizontal positioned of determination
The signal intensity that electric explorer is receivedThe signal intensity that inclined photodetector is receivedAnd the telecommunications after conversion
Number send processor module into host computer.
In the present embodiment, the signal intensity that the photodetector of horizontal positioned is received is determinedAnd inclined photodetection
The signal intensity that device is receivedSpecific steps can include：
A11, it is determined that the direct projection sighting distance optical channel DC current gain from LED signal source to photodetector, the direct projection sighting distance
Optical channel DC current gain is expressed as：
Wherein, H represents direct projection sighting distance optical channel DC current gain, and m represents Lambertian radiation coefficient, and m is by half-power half angle θ1/2Certainly
It is fixed, m=-ln (2)/ln (θ1/2)；D represents LED to the transmission range between photodetector；A represents that photodetector is actual
Physical area；θ represents the radiation angle of visible light signal；The incidence angle of photodetector receiving plane is incided in expression；WithOptical filter gain and light concentrator gain are represented respectively, wherein,
A12, determines that the signal intensity that photodetector is received is direct projection sighting distance optical channel DC current gain and LED signal source
Transmission signal power product, wherein, the signal strength expression that the photodetector is received is：
Wherein, PrRepresent the signal intensity that photodetector is received, PtRepresent the transmission signal power in LED signal source.
In the present embodiment, because the model only with single led lamp and all photodetectors is consistent, soFor constant, soIt is rewritten as
Because the photoelectric detector PD of horizontal positioned0It is parallel with receiving plane,Wherein,
ztRepresent the z-axis coordinate of LED, zrRepresent the photoelectric detector PD of horizontal positioned0Z-axis coordinate, so the photoelectricity of horizontal positioned
Detector PD0The signal intensity receivedIt is expressed as：
Wherein, d0Represent LED to the photoelectric detector PD of horizontal positioned0Between transmission range.
In the present embodiment, because inclined photoelectric detector PDjThe elevation angle and azimuth be respectively αjAnd βj(j=1,2,
3), so cosIt can be expressed as：
Wherein, due to photoelectric detector PDjTilt, the incidence angleBy the position coordinates of LED, photoelectric detector PDj
Position coordinates and photoelectric detector PDjInclined degree is together decided on, and wide apart just foot is not needed between photodetector
To distinguish the signal intensity that each photodetector is received.
So inclined photoelectric detector PDjThe signal intensity received(j=1,2,3) can be expressed as：
Wherein, djRepresent LED to inclined photoelectric detector PDjBetween transmission range, ztRepresent that the z-axis of LED is sat
Mark,Photoelectric detector PD is incided in expressionjThe incidence angle of receiving plane, (xt,yt,zt) represent LED position coordinates,Represent inclined photoelectric detector PDjPosition coordinates.
In the present embodiment, the electric signal received is handled by the processor module in host computer, obtained single led
Position coordinates (the x of lampt,yt,zt)；Processor module in the host computer, is additionally operable to according to predetermined each inclined
The angle of elevation alpha of photodetectorjAnd the signal intensity that each photodetector determined is received, calculate the 3rd coefficientJ=1,2,3.
In the present embodiment, according to the position coordinates (x of the single led lamp of acquisitiont,yt,zt)、Aj、Bj、Cj, and in advance
The radius r of the receiver of determination, each inclined photoelectric detector PDjWith the angle ω of receiver positive directionj, it is determined that described connect
The position coordinates of receipts machine, realizes three-dimensional fix.
In the present embodiment, as an alternative embodiment, the position coordinates of the single led lamp according to acquisition, really
Signal intensity and the radius of the predetermined receiver of combination, each inclined light that fixed each photodetector is received
Electric explorer and the angle of receiver positive direction, the elevation angle and azimuth of each inclined photodetector, determine the reception
The position coordinates of machine includes：
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd azimuthal angle betaj, calculate the first coefficient Aj=
sin(αj)cos(βj) and the second coefficient Bj=sin (αj)sin(βj), j=1,2,3；
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd each photodetector determined is received
The signal intensity arrived, calculates the 3rd coefficientJ=1,2,3；
According to the position coordinates (x of the single led lamp of acquisitiont,yt,zt)、Aj、Bj、Cj, and predetermined receiver
Radius r, the angle ω of each inclined photodetector and receiver positive directionj, determine the position coordinates of the receiver.
In the present embodiment, by the reception for solving the photodetector that each tilt photodetector is placed with central horizontal
Difference power, is derived by strict mathematical formulae, is being met on the premise of equation has unique solution, can obtained the position of receiver
Coordinate.
It is further, described according to acquisition in the embodiment of foregoing visible ray indoor orientation method
Position coordinates (the x of single led lampt,yt,zt)、Aj、Bj、Cj, and predetermined receiver radius r, each inclined photoelectricity
Detector and the angle ω of receiver positive directionj, determining the position coordinates of the receiver includes：
Determine inclined photoelectric detector PDjWith the photoelectric detector PD of horizontal positioned0Received signal power it is poor：
Wherein,Represent the photoelectric detector PD of horizontal positioned0The signal intensity received,Represent that inclined photoelectricity is visited
Survey device PDjThe signal intensity received, k is constant, ztThe z-axis coordinate of LED is represented, m represents Lambertian radiation coefficient, djRepresent
LED is to inclined photoelectric detector PDjBetween transmission range, d0Represent LED to the photoelectric detector PD of horizontal positioned0
Between transmission range, (xt,yt,zt) represent LED position coordinates,Represent inclined photoelectric detector PDj
Position coordinates, j=1,2,3；
Because the distance between different photodetector is close, so being approximately considered LED to each PD distance phase
Deng i.e. dj=d0=d, is obtained
According to the relative position relation between photodetector on receiver, the position coordinates (x of receiver is obtainedr,yr,
zr) and PDjThe position coordinates of (j=1,2,3)Between relation be：
According toAnd position coordinates (the x of obtained receiverr,yr,
zr) and PDjThe position coordinates of (j=1,2,3)Between relation, obtain：
Ajxr+Bjyr+Cjzr=Ajxt+Bjyt+Cjzt-Ajrcos(ωj)-Bjrsin(ωj)
Order：
Then MX=Q, by MX=Q, determines the position coordinates of receiver.
It is further, described by MX=Q in the embodiment of foregoing visible ray indoor orientation method, it is determined that
The position coordinates of receiver includes：
According to MX=Q, X=(M are obtained using least square methodTM)-1MTQ；
As matrix MTWhen M is nonsingular, MX=Q has unique solution, tries to achieve X=[xr yr zr]T, complete the positioning of three dimensions.
In the present embodiment, as shown in figure 4, position fixing process includes two stages：Off-line phase parameter acquiring and on-line stage
Positioning is realized.In off-line phase, according to the receiver fixed, as shown in figure 3, available parameter has：The half of receiver
Footpath r, inclined photoelectric detector PDjWith the angle ω of receiver positive directionjAnd each inclined photoelectric detector PDjFace upward
Angle αjAnd azimuthal angle betaj(j=1,2,3).By each inclined photoelectric detector PDjAngle of elevation alphajAnd azimuthal angle betaj, obtain coefficient
Aj、Bj(j=1,2,3), the coefficient Aj、BjFor constant coefficient, abbreviation constant coefficient.
In the present embodiment, on-line stage, the receiver being made up of four photodetectors is by the visible light signal received
Electric signal is converted to, the signal intensity that each photodetector is received, the parameter alpha with reference to known to off-line phase is obtainedj, obtain
Coefficient Cj(j=1,2,3).So far, by coefficient Aj、Bj、CjMatrix M value is obtained, wherein matrix M calculating is in processor module
It is middle to complete.
In the present embodiment, the position coordinates of LED is transferred to up to host computer by wireless optical channel, and processor module is obtained
Position coordinates (xt,yt,zt)、Aj、Bj、Cj, receiver radius r and angle ωj, obtain matrix Q value and calculate X=(MTM)- 1MTQ, obtains the current location of receiver, and show corresponding numeral and image information by the position display module in host computer.
In the present embodiment, the MATLAB emulation platforms of a visible ray indoor locating system based on single LED are also built
The present embodiment is verified.The simulation parameter that the present embodiment is used is：Located space size be 200cm × 200cm ×
250cm, the coordinate of LED is (100,100,250), and receiver radius is 2cm, inclined photoelectric detector PDjWith receiver
The angle of positive direction is ω1=30 °, ω2=150 °, ω3=270 °, inclined photoelectric detector PDjAngle of elevation alpha1=α2=α3
=10 °, inclined photoelectric detector PDjAzimuthal angle beta1=30 °, β2=150 °, β3=270 °.Can with reference to simulation result Fig. 5
Know, the theory orientation error for the visible ray indoor orientation method based on single LED that the present embodiment is provided is 10-11Cm, by positioning
Principle understands that the error is by approximately causing in derivation, while simulation result also demonstrates that the approximate caused position error can
To ignore, i.e., this is approximately rational.
It should be noted that herein, such as first and second or the like relational terms are used merely to a reality
Body or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or deposited between operating
In any this actual relation or order.
Described above is the preferred embodiment of the present invention, it is noted that for those skilled in the art
For, on the premise of principle of the present invention is not departed from, some improvements and modifications can also be made, these improvements and modifications
It should be regarded as protection scope of the present invention.
Claims (8)
1. a kind of visible ray indoor orientation method, it is characterised in that including：
In transmitting terminal, launched by LED signal source and carry the visible light signal of LED position coordinates to receiver；Wherein, it is described
LED signal source includes：Single led lamp；The receiver includes：The photodetector and multiple inclined light of 1 horizontal positioned
Electric explorer, the photodetector of the horizontal positioned is located at the center of the receiver, the inclined photodetector with
The distance at receiver center is equal to receiver radius；
The visible light signal received according to the photodetector on receiver, it is determined that the signal that each photodetector is received
Intensity；
The visible light signal received according to the photodetector on receiver obtains the position coordinates of the single led lamp, root
According to the position coordinates of the single led lamp of acquisition, the signal intensity that receives of each photodetector determined and combine pre-
The radius of the receiver first determined, the angle of each inclined photodetector and receiver positive direction, each inclined photoelectricity
The elevation angle and azimuth of detector, determine the position coordinates of the receiver, wherein, the receiver positive direction is that x-axis is square
To.
2. visible ray indoor orientation method according to claim 1, it is characterised in that the photoelectricity according on receiver
The visible light signal that detector is received, it is determined that the signal intensity that each photodetector is received includes：
The visible light signal received is converted to electric signal by each photodetector on receiver；
The electric signal according to being converted to determines the signal intensity that the photodetector of horizontal positioned receives and inclined
The signal intensity that photodetector is received.
3. visible ray indoor orientation method according to claim 2, it is characterised in that the photodetection of the horizontal positioned
The signal strength expression that device is received is：
Wherein, Pr0Represent the photoelectric detector PD of horizontal positioned0The signal intensity received, k is constant, ztRepresent the z of LED
Axial coordinate, zrRepresent the photoelectric detector PD of horizontal positioned0Z-axis coordinate, m represents Lambertian radiation coefficient, d0Represent that LED is arrived
The photoelectric detector PD of horizontal positioned0Between transmission range.
4. visible ray indoor orientation method according to claim 2, it is characterised in that the inclined photodetector
Number is 3, three inclined photoelectric detector PDsj(j=1,2,3) are located at by the center of circle of the photodetector of horizontal positioned, r is
On the circle of radius；
The signal strength expression that the inclined photodetector is received is：
Wherein,Represent inclined photoelectric detector PDjThe signal intensity received, k is constant, ztRepresent that the z-axis of LED is sat
Mark, m represents Lambertian radiation coefficient, djRepresent LED to inclined photoelectric detector PDjBetween transmission range,Represent incident
To photoelectric detector PDjThe incidence angle of receiving plane, αjRepresent inclined photoelectric detector PDjThe elevation angle, βjRepresent inclined photoelectricity
Detector PDjAzimuth, (xt,yt,zt) represent LED position coordinates,Represent inclined photodetector
PDjPosition coordinates.
5. the visible ray indoor orientation method according to claim 3 or 4, it is characterised in that described
Wherein, PtThe transmission signal power in LED signal source is represented, m represents Lambertian radiation coefficient, and A represents the actual thing of photodetector
Manage area.
6. visible ray indoor orientation method according to claim 1, it is characterised in that described according to the described single of acquisition
Signal intensity that the position coordinates of LED, each photodetector determined are received simultaneously combines predetermined receiver
Radius, the angle of each inclined photodetector and receiver positive direction, the elevation angle and side of each inclined photodetector
Parallactic angle, determining the position coordinates of the receiver includes：
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd azimuthal angle betaj, calculate the first coefficient Aj=sin
(αj)cos(βj) and the second coefficient Bj=sin (αj)sin(βj), j=1,2,3；
According to the angle of elevation alpha of predetermined each inclined photodetectorjAnd the letter that each photodetector determined is received
Number intensity, calculates the 3rd coefficient
According to the position coordinates (x of the single led lamp of acquisitiont,yt,zt)、Aj、Bj、Cj, and predetermined receiver half
Footpath r, each inclined photodetector and receiver positive direction angle ωj, determine the position coordinates of the receiver.
7. visible ray indoor orientation method according to claim 6, it is characterised in that described according to the described single of acquisition
Position coordinates (the x of LEDt,yt,zt)、Aj、Bj、Cj, and predetermined receiver radius r, each inclined photodetection
Device and the angle ω of receiver positive directionj, determining the position coordinates of the receiver includes：
Determine inclined photoelectric detector PDjWith the photoelectric detector PD of horizontal positioned0Received signal power it is poor：
Wherein,Represent the photoelectric detector PD of horizontal positioned0The signal intensity received,Represent inclined photodetector
PDjThe signal intensity received, k is constant, ztThe z-axis coordinate of LED is represented, m represents Lambertian radiation coefficient, djRepresent LED
To inclined photoelectric detector PDjBetween transmission range, d0Represent LED to the photoelectric detector PD of horizontal positioned0Between
Transmission range, (xt,yt,zt) represent LED position coordinates,Represent inclined photoelectric detector PDjPosition
Coordinate, j=1,2,3；
Make dj=d0, obtain
According to the relative position relation between photodetector on receiver, the position coordinates (x of receiver is obtainedr,yr,zr) with
PDjThe position coordinates of (j=1,2,3)Between relation be：
According toAnd position coordinates (the x of obtained receiverr,yr,zr) with
PDjThe position coordinates of (j=1,2,3)Between relation, obtain：
Ajxr+Bjyr+Cjzr=Ajxt+Bjyt+Cjzt-Ajr cos(ωj)-Bjr sin(ωj)
Order：
Then MX=Q, by MX=Q, determines the position coordinates of receiver.
8. visible ray indoor orientation method according to claim 7, it is characterised in that described by MX=Q, it is determined that receiving
The position coordinates of machine includes：
According to MX=Q, X=(M are obtained using least square methodTM)-1MTQ；
As matrix MTWhen M is nonsingular, X=[x are tried to achiever yr zr]T。
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