CN107131885B - Indoor infrared 3D positioning measurement system and positioning measurement method - Google Patents
Indoor infrared 3D positioning measurement system and positioning measurement method Download PDFInfo
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Abstract
The invention discloses an indoor infrared 3D positioning measurement system and a positioning measurement method, which comprise a system master station, a transmitting base station, a receiving device and a positioning measurement device, wherein the system master station is used for generating and modulating a transmitting signal, generating a wireless signal through a wireless transmitting module to transmit the position coordinate of a current transmitting base station, the transmitting base station is used for converting the modulated electric signal transmitted by the system master station into an infrared light signal and transmitting the infrared light signal, the receiving device is used for receiving the infrared light signal, demodulating and measuring the phase, and after the distance between the receiving device and n transmitting base stations is calculated, the three-dimensional coordinate of a receiving detector in space is calculated. The system master station generates modulated transmitting signals through a master control oscillator and a local oscillator and transmits the modulated infrared light signals through n transmitters; sinusoidal reference signals generated by the main control crystal oscillator of the transmitting system and the main control crystal oscillator of the receiving module are in the same frequency and different phases in a short time, and the actual distance between the transmitter and the receiver is obtained by solving a navigation positioning equation. The invention can realize the positioning with higher precision in the factory environment.
Description
Technical Field
The invention belongs to the technical field of precision measurement and navigation positioning, and relates to an indoor infrared 3D coordinate positioning measurement system and a positioning measurement method.
Background
Due to the continuous development of modern informatization, positioning services have become an essential part of our lives. The most well-known positioning system is the Global Positioning System (GPS), which is a network of 24 orbiting satellites and receivers carried by targets to perform navigation and positioning functions. In recent years, indoor positioning provides a new automatic system called automatic detection of the position of an object. In reality there are many examples of such automated indoor positioning. For example, detecting the location of an article in a warehouse, locating medical staff or detecting medical instruments in a hospital, detecting the location of fire fighters in a fire building, finding maintenance tools and equipment scattered in various places in a factory, and more importantly, providing accurate location and navigation functions for factory automation equipment, thereby greatly improving the automation level of industrial production.
The application of the GPS technology to indoor measurement not only has complicated equipment and high price, but also can generate serious multipath effects. The common indoor positioning technologies include an Infrared (IR) technology, a Wi-Fi technology, an Ultra Wideband (UWB) technology, a Radio Frequency Identification (RFID) technology and the like, the positioning precision of the positioning technologies is basically above centimeter level, and the positioning technologies can be adopted in occasions with low precision requirements.
Disclosure of Invention
In order to solve the above defects in the prior art, the present invention aims to provide an indoor infrared 3D positioning and measuring system, which combines the principles of phase method laser ranging and GPS positioning, has higher ranging accuracy, and can achieve mm-level positioning accuracy. On one hand, the distance is obtained by utilizing phase measurement, and the positioning precision of the method is higher than the precision levels of the general Wi-Fi technology, the Ultra Wide Band (UWB) technology and the Radio Frequency Identification (RFID) technology; on the other hand, the cost and complexity of each module is lower than those of the GPS system.
The invention also aims to provide an indoor infrared 3D positioning measurement method.
The invention is realized by the following technical scheme.
An indoor infrared 3D positioning measurement system, comprising:
the system master station is used for generating and modulating a transmitting signal and generating a wireless signal through the wireless transmitting module to transmit the position coordinate of the current transmitting base station;
the transmitting base station is used for converting the modulated electric signal transmitted by the system main station into an infrared light signal and transmitting the infrared light signal;
the receiving equipment is used for receiving the infrared light signals, demodulating and measuring phases, calculating the distances from the n transmitting base stations, and then calculating the three-dimensional coordinates of the receiving detector in the space by using a least square method;
the system main station and the transmitting base station comprise transmitting modules, and the receiving equipment comprises a receiving module;
the transmitting module comprises a master control oscillator I and a local oscillator I, wherein the master control oscillator I is connected with a channel selector, and n transmitters are connected to the channel selector to transmit modulated infrared light signals; the local oscillator I is connected with two frequency mixers together, the master oscillator I is connected with one frequency mixer I, the calibration receiver is connected with the other frequency mixer II through signals, the two frequency mixer signals enter the MCU controller to observe the initial phase difference of the transmitting signals of the transmitting base station, and the MCU controller sends the transmitting base station and the corresponding initial phase difference to the receiver through the wireless transmitting module to carry out coordinate equation solution;
the receiving module comprises a receiver for receiving infrared light signals modulated by the transmitter, the receiver is connected to a signal mixer, one path of the signal mixer is connected with a local oscillator II, a master oscillator II and the local oscillator II are sequentially connected with a reference mixer and the signal mixer together, and a signal output by the signal mixer through a filter amplifier I and the reference mixer through a filter amplifier II and an initial phase difference wireless signal received by the wireless receiving module are connected to the MCU phase comparator; after phase comparison and coordinate solution, the three-dimensional coordinate of infrared 3D positioning measurement is displayed through a display.
Preferably, the emitter is a Si avalanche photodiode which emits visible light and near infrared light with the working wave band of 400-1100 nm; or 1300nm optical communication band emitted by Ge and InGaAs avalanche photodiodes.
The invention further provides an indoor infrared 3D positioning measurement method, which comprises the following steps:
1) The system master station generates modulated transmitting signals through a master control oscillator I and a local oscillator I and transmits the modulated infrared light signals through n transmitters;
2) The master oscillator I and the local oscillator I are connected with two frequency mixers together, the master oscillator I is connected with one frequency mixer, the calibration receiver signal is connected with the other frequency mixer, and the signals of the two frequency mixers enter the MCU controller to observe the initial phase difference of the transmitting signal of the transmitting base station
The MCU controller sends the transmitting base station and the corresponding initial phase difference to a receiver through a wireless transmitting module to carry out coordinate equation solution;
3) Sinusoidal reference signals generated by the main control crystal oscillator of the transmitting system and the main control crystal oscillator of the receiving module are in the same frequency and different phases in a short time, and the actual distance between the transmitter and the receiver is obtained by solving a navigation positioning equation.
As a preferable scheme of the method, in the step 3), the actual distance between the transmitter and the receiver is realized by the following steps:
3a) The sine reference signals generated by the master control crystal oscillator of the transmitting system and the master control crystal oscillator of the receiving module have the same frequency and different phases in a short time, and the initially generated phase difference is
Determining a phase of a transmitter relative to a master reference>
All initial phases are determined by calibration, and then the distance observation equation is as follows:
subtracting the initial phase difference of the transmitter from the phase difference observed by the detector
Subtracting the difference between the transmitted and received reference signals
Correspond toThe distance of (d) is the actual distance between the transmitter and the receiver:
in the formula (I), the compound is shown in the specification,
calculating a relative distance for the receiver from a phase difference between the transmitting station and the receiver obtained by direct observation; λ is the emission modulation signal wavelength; />
The jth emitter to detector phase; />
The initial phase difference of the calibrated ith transmitting base station relative to the reference signal of the transmitting module; />
Is the initial phase difference of the reference signal of the receiving module relative to the reference signal of the transmitting module; x is a radical of a fluorine atom j ,y j ,z j Three components of the coordinate value of the measured base station j in the world coordinate system are respectively;
each transmitting station corresponds to a distance observation equation, if n transmitting stations exist, j takes a value from 1 to n, and n observation equations exist in total;
3b) Placing the formula (1.1) at the target approximate position x 0 ,y 0 ,z 0 And phase difference of infrared detector
The Taylor expansion is a linear equation to obtain: />
L＝A·ΔX (1.5)。
As a preferable scheme of the method, according to the difference of the number of the transmitting base stations received by the receiver, the following calculation method is available: when signals of 4 base stations are observed, m =4, which can be solved by equation (1.5):
ΔX＝A -1 ·L (1.7)
or is provided with
In the formula, X 0 Initially estimating coordinates for the probe;
the point coordinates of the detector to be solved in the three-dimensional space are obtained.
As a preferable scheme of the method, according to the difference of the number of the transmitting base stations received by the receiver, the following calculation method is available: when more than 4 base station signals are observed, and m is greater than 4, the estimation value of the undetermined parameter is obtained by applying Gaussian-Markov estimation:
in the formula, A T Is the transpose of matrix A;
the point coordinates of the detector to be solved in the three-dimensional space.
The indoor infrared 3D positioning and measuring system solves the distance and the coordinate by measuring the signal phase, adopts the apFFT precision phase measurement technology to improve the precision of the whole positioning system, does not need a complex signal conditioning mechanism of a GSP system, expensive atomic clock equipment and a rotating mechanism similar to iGPS, can realize the positioning with higher precision (mm level) in a factory environment in a lower cost mode, and thus can greatly promote the automation level of the factory.
Drawings
FIG. 1 is a schematic diagram of an indoor infrared 3D positioning system;
FIG. 2 is a functional block diagram of an indoor infrared positioning system;
FIG. 3 is a schematic diagram of transmitter coverage;
FIG. 4 is a time division multiple access timing sequence for each base station and receiving photodetector;
FIG. 5 is a sinusoidal reference test signal;
FIG. 6 is an apFFT amplitude spectrum and phase spectrum compared to an FFT amplitude phase spectrum;
fig. 7 is a plot of phase estimation error versus signal-to-noise ratio.
Detailed Description
The invention is further described in detail below with reference to the drawings and examples, but the invention is not limited thereto.
As shown in fig. 1, the whole system includes a system master station, n transmitting base stations and a receiving device, the system master station mainly functions to generate and modulate transmitting signals, generate wireless signals through a wireless transmitting module to transmit the position coordinates of the current transmitting base station, and when a receiving detector samples the current signals transmitted by an infrared tube, the wireless module receives the position coordinates of the infrared tube at the same time; the transmitting base station has the main functions of converting the modulated electric signal from the main station into infrared light signal and transmitting it, and the receiving equipment is used to receive the infrared light signal, demodulate and measure the phase, and calculate the distance from n transmitting stations and the three-dimensional coordinate of the receiving detector in space by least square method.
As shown in fig. 2, the system master station and the transmitting base station include a transmitting module, and the receiving device includes a receiving module. The transmitting module comprises a master oscillator I and a local oscillator I, wherein the master oscillator I is connected with a channel selector, and n transmitters are connected to the channel selector to transmit modulated infrared light signals; the local oscillator I is connected with two frequency mixers together, the master oscillator I is connected with one frequency mixer I, the calibration receiver is connected with the other frequency mixer II through signals, the two frequency mixer signals enter the MCU controller to observe initial phase difference of transmitting signals of the transmitting base station, and the MCU controller sends the transmitting base station and the corresponding initial phase difference to the receiver through the wireless transmitting module to carry out coordinate equation solving.
The receiving module comprises a receiver for receiving infrared light signals modulated by the transmitter, the receiver is connected to a signal mixer, one path of the signal mixer is connected with a local oscillator II, a master oscillator II and the local oscillator II are sequentially connected with a reference mixer and the signal mixer together, and a signal output by the signal mixer through a filter amplifier I and the reference mixer through a filter amplifier II and an initial phase difference wireless signal received by the wireless receiving module are connected to the MCU phase comparator; and after phase comparison and coordinate solution, displaying the three-dimensional coordinate of the infrared 3D positioning measurement through a display.
Wherein, the emitter is a Si avalanche photodiode which emits visible light and near infrared light with the working wave band of 400-1100 nm; or 1300nm optical communication band emitted by Ge and InGaAs avalanche photodiodes.
Because the signals sent by the infrared transmitting base stations are all generated by the system master station, and the base stations have the difference of distance and devices, even if the connecting lines from the base stations to the system master station adopt equal-length optical fibers, the base stations cannot be ensured to transmit signals in the same phase at the same time, so the calibration receiving base station is adopted to observe the initial phase difference of the infrared transmitting tube base stations
And sending the data to a receiver for resolving. The phase difference of the reference signal of the transmitting and receiving module is initially->
As unknowns, solution equations can be solved for ^ based on observation equations for at least 4 stations and 4 or more stations>
The indoor infrared 3D positioning measurement method comprises the following steps:
1) The system master station generates modulated transmitting signals through a master control oscillator I and a local oscillator I and transmits the modulated infrared light signals through n transmitters;
2) The master control oscillator I and the local oscillator I are connected with two frequency mixers together, the master control oscillator I is connected with one frequency mixer, the calibration receiver signal is connected with the other frequency mixer, and the signals of the two frequency mixers enter the MCU controller to observe the emissionInitial phase difference of transmitting signal of radio base station
The MCU controller sends the transmitting base station and the corresponding initial phase difference to a receiver through a wireless transmitting module to carry out coordinate equation solution;
3) Sinusoidal reference signals generated by the main control crystal oscillator of the transmitting system and the main control crystal oscillator of the receiving module are in the same frequency and different phases in a short time, and the actual distance between the transmitter and the receiver is obtained by solving a navigation positioning equation.
As shown in FIG. 2, it is assumed that sinusoidal reference signals generated by a master control crystal oscillator of a transmitting system and a master control crystal oscillator of a receiving module are in the same frequency and different phases in a short time, the distance is short, no whole period ambiguity exists, and the initially generated phase difference is
And the transmission phase of the transmitter 1 relative to the master reference->
The transmitting phase of the transmitter 2 relative to the master reference is ≥>
The emitter 3 is->
And so on. All initial phases are determined by calibration. The range observation equation is as follows:
the phase difference observed by the detector minus the initial phase difference of the transmitter
Subtracting the difference between the transmitted and received reference signals
The corresponding distance is the actual distance between the transmitter and the receiver:
in the formula x j ,y j ,z j Three components of the coordinate value of the measured base station j in a world coordinate system; x is a radical of a fluorine atom i ,y i ,z i Three components of coordinate values of the photoelectric detector in a world coordinate system;
a relative distance calculated for the receiver by directly observing the phase difference between the transmitting station and the receiver; λ is the wavelength of the emission modulation signal; />
The jth emitter to detector phase; />
The initial phase difference of the calibrated ith transmitting base station relative to the reference signal of the transmitting module; />
Is the initial phase difference of the reference signal of the receiving module relative to the reference signal of the transmitting module; />
Linearized observation equation
Since equation (1.1) is a nonlinear equation with respect to unknown parameters, a linearization process must be performed when solving the equation. Each transmitting station corresponds to one distance observation equation, if n transmitting stations are in total, j takes values from 1 to n, and n observation equations are in total.
Now, the formula (1.1) is set at the approximate target position x 0 ,y 0 ,z 0 And phase difference of infrared detector
The Taylor expansion is a linear equation, then there are:
wherein
In the formula, Δ x, Δ y, Δ z are correction values of the target position coordinates, that is, Δ x = x i -x 0 ，Δy＝y i -y 0 ，Δz＝z i -z 0 (ii) a In a short observation time, the receiver is used for phase difference
And (4) showing.
Now, the equation set (1.2) obtained by transforming (1.1) is combined and ordered
Wherein L is the sum of the Taylor expansion error and the distance error caused by the phase difference of the transmitting and receiving reference signals; l is a radical of an alcohol i (t i ) The sum of the distance error between the ith transmitting base station and the receiver caused by the Taylor expansion error and the phase difference of the transmitting and receiving reference signals; a is a coefficient matrix of the Taylor expansion error and the phase difference of the transmitting and receiving reference signals; l i (t i ) For the distance error between the ith transmitting station and the receiver in the x directionA coefficient; m is i (t i ) The distance error coefficient between the ith transmitting station and the receiver in the y direction; n is i (t i ) The distance error coefficient between the ith transmitting station and the receiver in the z direction; Δ X is the distance error between the ith transmitting station and the receiver in the X direction; Δ Y is the distance error between the ith transmitting station and the receiver in the Y direction; Δ Z is the distance error between the ith transmitting station and the receiver in the Z direction;
receiving a reference signal phase difference for transmission;
obtaining:
L＝A·ΔX (1.6)
according to the difference of the number of the transmitting base stations received by the receiver, the following two resolving methods are provided:
(1) When signals of 4 base stations are observed (m = 4), it can be solved from equation (1.6):
ΔX＝A -1 ·L (1.7)
or is provided with
In the formula, X 0 Initially estimating coordinates for the probe;
the point coordinates of the detector to be solved in the three-dimensional space are obtained.
(2) When observing more than 4 base station signals (m > 4), applying Gaussian-Markov estimation to obtain the estimation value of the undetermined parameter as follows:
in the formula, A T Is the transpose of matrix A;
for the detector to be detected in three dimensionsPoint coordinates in between.
The requirements of the invention for the transmitter are given below.
1) Transmitter type and operating band:
the transmitter type: an LED.
The working wave band is as follows: 400-1100 nm visible light and near infrared light wave bands;
1300nm optical communication band;
modulation frequency requirements: 10-40 MHz
Transmission half-power angle: the specific emission angle is determined by the formulas (2.1) and (2.2) and a station distribution mode;
the selection of the emission band is mainly determined by the response frequency band of the APD photoelectric detector which can be inquired at present, and the APD photoelectric detector is mainly a Si avalanche photodiode in the 400-1100 nm band. The optical communication special waveband 1300nm is provided with Ge and InGaAs avalanche photodiodes.
Relation of half power angle, station distribution height and signal coverage:
the emitter is mainly composed of a light emitting LED, and as shown in fig. 3, the emitter has a half-power angle θ and a distance H from the uppermost edge of the measurement space, so that the LED emitting light projects out of an elliptical area in the measurement area, and the major axis and the minor axis of the elliptical area are respectively:
AB＝Hgtan(θ) (2.1)
the measurement range covered by the signal of the LED transmitting tube is as follows:
assuming that the LED half-power angle is 60 degrees, the signal covers a measuring space of 5m × 5m, and the height of the emitter from the uppermost edge of the measuring space is at least 3.64m according to the calculation of (2.1) and (2.2).
2) Distance of action of infrared emission tube
Distance of action of infrared emission tube andthe transmitting tube power is related to the receiving detector response sensitivity. The transmitter has an open solid angle of
R is the radius of the photosensitive surface of the photodetector, and the corresponding solid angle at a distance R from the detector>
The average power received by the detector is as follows: />
Assuming that the diameter of the photodetector is phi 5, the detector sensitivity is 50 uA-60 uA/uW, and the lowest response current is 10uA, the minimum optical power required by the photodetector is 0.2uW, and as can be seen from the above equation (2.4), if the maximum distance R =10m, the minimum emission power of the LED is 857mW.
3) Modulatable frequency for infrared transmitting tube
At present, an LED transmitting tube capable of achieving 25MHz modulation frequency is inquired, the wavelength of a corresponding modulation wave is 12 meters, if the distance measurement precision of 7.5mm is to be achieved, the requirement of the phase measurement precision is 0.625 per thousand, if the modulatable frequency of an LED is improved to 40MHz, the corresponding modulation wavelength is 7.5m, under the condition of the same distance measurement precision of 7.5mm, the phase measurement precision only needs to reach 1 per thousand, and along with the improvement of the modulatable frequency of the LED, the requirement on the phase measurement precision can be reduced under the same distance measurement precision.
The system adopts time division multiple access to distinguish multi-station signals, the system time sequence control is shown in figure 4, the system generates synchronous pulse trigger signals under the precise time control of a high-precision clock, infrared light transmitting signals of four base stations are triggered in one period in a time division mode, a photoelectric receiving module has a precise clock source, respective local oscillation signals are generated, the clocks can be relatively independent, and the phase difference between transmitting and receiving main oscillations is relatively independent
The method can be solved from an equation, and after phase information of each base station reaching a detector is obtained by carrying out high-speed sampling and apFFT conversion on an optical signal of each station, the distance information of the photoelectric detector reaching each base station can be obtained.
The modulation and demodulation method can also adopt a method of modulating pseudo-random codes to distinguish signals of each station, primary modulation is generated on navigation messages (mainly coordinate information of a base station) and the pseudo-random codes, secondary modulation is generated on the navigation messages and carrier signals, and signals of corresponding base stations are obtained through matching of the pseudo-random codes at a receiving end and carrier phase calculation is carried out.
Phase detection using apFFT
The phase measurement precision of the apFFT method can reach 10 theoretically -9 Magnitude, a reference test signal is generated in MATLAB, and an initial phase is set (initial setting 100 °), as shown in fig. 5 below.
As can be seen from fig. 6, the phase carried by the spectrum is the true phase of the signal only when the normal FFT is performed with strict whole-cycle sample truncation, otherwise, a large phase error occurs, and the phase measurement accuracy is seriously affected. The apFFT has phase invariance, namely the apFFT can truly reflect the initial phase of the original signal under any condition after being preprocessed and transformed, the phase measurement precision is quite high, and under the condition of no measurement noise, the measured phase is 100.000000000531 degrees, and the error is 10 degrees -9 In order of magnitude, in practical applications, the phase measurement accuracy may deteriorate due to the presence of measurement noise, but measurement errors may be reduced by measurement averaging. There is a certain requirement on the signal-to-noise ratio of the measurement signal, and the approximate relationship is shown in fig. 7.
The present invention is not limited to the above-mentioned embodiments, and based on the technical solutions disclosed in the present invention, those skilled in the art can make some substitutions and modifications to some technical features without creative efforts according to the disclosed technical contents, and these substitutions and modifications are all within the protection scope of the present invention.
Claims (5)
1. An indoor infrared 3D positioning measurement method is characterized by comprising the following steps:
1) The system master station generates modulated transmitting signals through a master control oscillator I and a local oscillator I, and transmits the modulated infrared light signals through n transmitters;
2) The master oscillator I and the local oscillator I are connected with two frequency mixers together, the master oscillator I is connected with one frequency mixer, the calibration receiver signal is connected with the other frequency mixer, and the signals of the two frequency mixers enter the MCU controller to observe the initial phase difference of the transmitting signal of the transmitting base station
The MCU controller sends the transmitting base station and the corresponding initial phase difference to a receiver through a wireless transmitting module to carry out coordinate equation solution;
3) The sinusoidal reference signals generated by the main control crystal oscillator of the transmitting system and the main control crystal oscillator of the receiving module are in the same frequency and different phases in a short time, and the actual distance between the transmitter and the receiver is obtained by solving a navigation positioning equation;
in the step 3), the actual distance between the transmitter and the receiver is realized by the following steps:
3a) Sinusoidal reference signals generated by a main control crystal oscillator of the transmitting system and a main control crystal oscillator of the receiving module have the same frequency and different phases in a short time, and the phase difference of the initially generated transmitting and receiving reference signals is
Determining an initial phase difference ^ er of the ith transmitting base station relative to the reference signal of the transmitting module>
All initial phases are determined by calibration, and the distance observation equation is as follows:
subtracting the initial phase difference of the ith transmitting base station of the transmitter relative to the reference signal of the transmitting module from the phase difference observed by the detector
Then subtracting the phase difference of the transmitting and receiving reference signals>
The corresponding distance is the relative distance calculated by the receiver from the phase difference between the transmitting station and the receiver obtained by direct observation:
in the formula (I), the compound is shown in the specification,
λ is the emission modulation signal wavelength; />
The jth emitter to detector phase; />
Receiving a reference signal phase difference for transmission; x is the number of j ,y j ,z j Three components of the coordinate value of the measured base station j in the world coordinate system are respectively;
3b) Placing the formula (1.1) at the target approximate position x 0 ,y 0 ,z 0 And transmitting/receiving reference signal phase difference
The Taylor expansion is a linear equation, then there are:
wherein
In the formula, Δ x, Δ y, Δ z are correction values of the target position coordinates, that is, Δ x = x i -x 0 ，Δy＝y i -y 0 ，Δz＝z i -z 0 (ii) a For transmitting and receiving reference signal phase difference in short observation time
Represents;
3c) The equation set (1.1) obtained after the conversion is combined and ordered
Wherein L is the sum of the Taylor expansion error and the distance error caused by the phase difference of the transmitting and receiving reference signals; l is m (t i ) The sum of the distance error between the ith transmitting base station and the receiver caused by the Taylor expansion error and the phase difference of the transmitting and receiving reference signals; a is a coefficient matrix of the Taylor expansion error and the phase difference of the transmitting and receiving reference signals; l m (t i ) The distance error coefficient between the ith transmitting station and the receiver in the x direction; m is m (t i ) The distance error coefficient between the ith transmitting station and the receiver in the y direction; n is m (t i ) The distance error coefficient between the ith transmitting station and the receiver in the z direction; Δ x is the distance error between the ith transmitting station and the receiver in the x direction; Δ y is the distance error between the ith transmitting station and the receiver in the y direction; Δ z is the distance error between the ith transmitting station and the receiver in the z direction;
obtaining:
L＝A·ΔX (1.5)。
2. the indoor infrared 3D positioning measurement method according to claim 1, characterized in that, according to the number of the transmitting base stations received by the receiver, the following calculation methods are provided:
when signals of 4 base stations are observed, m =4, which is solved by equation (1.5):
ΔX＝A -1 ·L (1.6)
or is provided with
In the formula, X 0 Initially estimating coordinates for the probe;
the point coordinates of the detector to be solved in the three-dimensional space are obtained.
3. The indoor infrared 3D positioning measurement method according to claim 1, characterized in that, according to the number of the transmitting base stations received by the receiver, the following calculation methods are provided:
when observing more than 4 base station signals, m >4, applying Gaussian-Markov estimation to obtain the estimated value of the undetermined parameter as follows:
in the formula, A T Is the transpose of matrix A;
the point coordinates of the detector to be solved in the three-dimensional space.
4. An indoor infrared 3D positioning measurement system used in the method of claim 1, comprising:
the system master station is used for generating and modulating a transmitting signal and generating a wireless signal through the wireless transmitting module to transmit the position coordinate of the current transmitting base station;
the transmitting base station is used for converting the modulated electric signal transmitted by the system main station into an infrared light signal and transmitting the infrared light signal;
the receiving equipment is used for receiving the infrared light signals, demodulating and measuring phases, calculating the distances from the n transmitting base stations, and then calculating the three-dimensional coordinates of the receiving detector in the space by using a least square method;
the system master station and the transmitting base station comprise transmitting modules, and the receiving equipment comprises receiving modules;
the transmitting module comprises a master control oscillator I and a local oscillator I, wherein the master control oscillator I is connected with a channel selector, and n transmitters are connected to the channel selector to transmit modulated infrared light signals; the local oscillator I is connected with two frequency mixers together, the master oscillator I is connected with one frequency mixer I, the calibration receiver is connected with the other frequency mixer II through signals, the two frequency mixer signals enter the MCU controller to observe the initial phase difference of the transmitting signals of the transmitting base station, and the MCU controller sends the transmitting base station and the corresponding initial phase difference to the receiver through the wireless transmitting module to carry out coordinate equation solution;
the receiving module comprises a receiver for receiving infrared light signals modulated by the transmitter, the receiver is connected to a signal mixer, one path of the signal mixer is connected with a local oscillator II, a master oscillator II and the local oscillator II are sequentially connected with a reference mixer and the signal mixer together, and a signal output by the signal mixer through a filter amplifier I and the reference mixer through a filter amplifier II and an initial phase difference wireless signal received by the wireless receiving module are connected to the MCU phase comparator; after phase comparison and coordinate solution, the three-dimensional coordinate of infrared 3D positioning measurement is displayed through a display.
5. The indoor infrared 3D positioning measurement system as claimed in claim 4, wherein the emitter is a Si avalanche photodiode emitting visible light and near infrared light bands with an operating band of 400-1100 nm; or 1300nm optical communication band emitted by Ge and InGaAs avalanche photodiodes.
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| CN108037484A (en) * | 2017-11-30 | 2018-05-15 | 百色学院 | A kind of interior LED visible light localization method, system and device |
| CN110333478B (en) * | 2018-03-30 | 2022-05-17 | 华为技术有限公司 | Method for determining arrival angle and departure angle and communication device |
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| CN109799481A (en) * | 2018-12-20 | 2019-05-24 | 广东云立方互动科技有限公司 | A kind of indoor orientation method and system based on infrared ray |
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