CN207218700U - A kind of monocular alignment system based on visible light communication - Google Patents
A kind of monocular alignment system based on visible light communication Download PDFInfo
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- CN207218700U CN207218700U CN201721022760.8U CN201721022760U CN207218700U CN 207218700 U CN207218700 U CN 207218700U CN 201721022760 U CN201721022760 U CN 201721022760U CN 207218700 U CN207218700 U CN 207218700U
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Abstract
The utility model discloses a kind of monocular alignment system based on visible light communication, the system includes transmitting terminal, channel and receiving terminal, and transmitting terminal is sequentially connected and formed by information source, FDMA modulation modules, LED drive circuit and LED lamp；The square wave of the different frequency of transmission LED lamp transmitting is received as different LED id information by the camera of receiving terminal；Receiving terminal is connected and composed by camera and Intelligent mobile equipment；Information source produces id information of the square wave of different frequency as different LED lamps；FDMA modulation modules control LED with different frequency light on and off by LED drive circuit；Camera is imaged to LED on the image sensor；Intelligent mobile equipment obtains LED stripe information and obtains the distance of LED and receiving terminal by the geometrical relationship of distance, and the elements of a fix of receiving terminal are finally calculated.The utility model receives the complexity for reducing algorithm compared to traditional non-imaged, and eliminates the influence of quantization error, has higher positioning precision.
Description
Technical field
It the utility model is related to communication technical field, and in particular to a kind of monocular alignment system based on visible light communication.
Background technology
Most of existing indoor positioning works based on VLC are the positioning based on PD, and PD depends on the measurement to angle,
The difference of the distance between light, PD and the transmitter of varying strength and receiver can cause effect to differ greatly, therefore exist
High complexity, this problem eventually increase position error, and reduce the precision of system, because in system relevant parameter on a small quantity
Error can cause the percentage error of whole system to increase.In order to improve the precision of system and reduce complexity, connect by changing
The structure of receiving end is come to reduce the error of system relevant parameter be very necessary.In vision positioning, binocular positioning mode is due to LED
Real image center be not always therefore, quantization error occur at the center of pixel.In addition, positioning precision is dependent on figure
As the separation between sensor, while there is also systematic error.
Utility model content
The purpose of this utility model is in view of the shortcomings of the prior art, there is provided a kind of monocular based on visible light communication is determined
Position system.
The purpose of this utility model can be achieved through the following technical solutions：
A kind of monocular alignment system based on visible light communication, the system includes transmitting terminal, channel and receiving terminal, described
Transmitting terminal includes information source, FDMA modulation modules, LED drive circuit and LED lamp；The transmission LED lamp transmitting is not
The square wave of same frequency is received as different LED id information by the camera of receiving terminal；The receiving terminal includes camera and intelligence
Can mobile device；The information source, FDMA modulation modules, LED drive circuit and LED lamp are sequentially connected；The camera and intelligence
Energy mobile device is connected；The information source produces id information of the square wave of different frequency as different LED lamps；The FDMA modulation
Module controls LED with different frequency light on and off by LED drive circuit；The camera is carried out to LED on the image sensor
Imaging；The Intelligent mobile equipment obtain LED stripe information and by the geometrical relationship of distance obtain LED and receiving terminal away from
From the elements of a fix of receiving terminal are finally calculated.
Further, before the FDMA modulation modules include DFT block, sub-carrier mapping module, IDFT modules plus circulation
Louver moudling block sum-mould modular converter；The DFT block, sub-carrier mapping module, IDFT modules plus cyclic prefix module sum-
Mould modular converter is sequentially connected.
Further, every LED lamp is controlled by corresponding LED drive circuit；The LED drive circuit is by inclined
Put power supply, LED power, resistance and LED constant-current driver composition；The input stage of the LED constant-current driver is connected with resistance, electricity
Resistance is connected with bias supply；The output stage of LED constant-current driver is connected with LED negative poles, and LED positive poles are connected with LED power；
The Enable Pin of the LED constant-current driver sends enable signal, controls LED light on and off.
Further, the camera includes lens and imaging sensor；The optical signal that LED is sent focuses on after reaching lens
In a bit on imaging sensor, the LED image with stripe information is obtained.
Further, after the Intelligent mobile equipment obtains LED image on the image sensor, obtained pair by roller shutter effect
The LED answered id information, then the distance to receiving terminal for the geometrical relationship calculating LED for passing through distance, are finally calculated reception
The coordinate at end, realization are accurately positioned.
The utility model compared with prior art, has the following advantages that and beneficial effect：
1st, the utility model uses the monocular location technology scheme based on visible light communication, and receiving terminal is determined using monocular imaging
Position method, without complex modulation, the effect that algorithm complexity and quantization error influence is reduced so as to reach, and the letter of program structure
It is single, a camera is only needed, and possess higher positioning precision.
2nd, the utility model utilizes CMOS roller shutter effects, is decoded by the fringe density of LED id information, so as to reach
Simplify the effect of decoding difficulty.
Brief description of the drawings
Fig. 1 is a kind of structural representation of the monocular alignment system based on visible light communication of the utility model embodiment 1.
Fig. 2 is three LED of the utility model embodiment 2 geometrical relationship schematic diagram.
Fig. 3 is the image coordinate system of the utility model embodiment 2 and the transformation relation figure of pixel coordinate system.
Fig. 4 is the LEDA that the utility model embodiment 2 is enumerated and LEDB geometrical relationship schematic diagram.
Fig. 5 is the geometrical relationship signal that the utility model embodiment 2 calculates receiving terminal coordinate using similar triangle theory
Figure.
Embodiment
The utility model is described in further detail with reference to embodiment and accompanying drawing, but implementation of the present utility model
Mode not limited to this.
Embodiment 1：
A kind of monocular alignment system based on visible light communication is present embodiments provided, structural representation is as shown in figure 1, bag
Transmitting terminal, channel and receiving terminal are included, the transmitting terminal includes information source, FDMA modulation modules, LED drive circuit and LED lamp；Institute
The square wave for stating the different frequency of transmission LED lamp transmitting is received as different LED id information by the camera of receiving terminal；
The receiving terminal includes camera and Intelligent mobile equipment；The information source, FDMA modulation modules, LED drive circuit and LED lamp
It is sequentially connected；The camera is connected with Intelligent mobile equipment；The information source produces the square wave of different frequency as different LEDs
The id information of tool；The FDMA modulation modules control LED with different frequency light on and off by LED drive circuit；The camera
LED is imaged on the image sensor；The Intelligent mobile equipment obtains LED stripe information and the geometry for passing through distance
Relation obtains the distance of LED and receiving terminal, and the elements of a fix of receiving terminal are finally calculated.
Wherein, the FDMA modulation modules include DFT block, sub-carrier mapping module, IDFT modules plus cyclic prefix mould
Block sum-mould modular converter；The DFT block, sub-carrier mapping module, IDFT modules plus cyclic prefix module sum-mould turn
Mold changing block is sequentially connected.Every LED lamp is controlled by corresponding LED drive circuit；The LED drive circuit is by biasing
Power supply, LED power, resistance and LED constant-current driver composition；The input stage of the LED constant-current driver is connected with resistance, resistance
It is connected with bias supply；The output stage of LED constant-current driver is connected with LED negative poles, and LED positive poles are connected with LED power；Institute
The Enable Pin for stating LED constant-current driver sends enable signal, controls LED light on and off.The camera includes lens and image passes
Sensor；A bit on imaging sensor is focused on after the optical signal arrival lens that LED is sent, obtains the LED with stripe information
Image.After the Intelligent mobile equipment obtains LED image on the image sensor, corresponding LED ID is obtained by roller shutter effect
Information, then the distance to receiving terminal for the geometrical relationship calculating LED for passing through distance, are finally calculated the coordinate of receiving terminal, real
Now it is accurately positioned.
Embodiment 2：
A kind of monocular localization method based on visible light communication is present embodiments provided, the described method comprises the following steps：
Step 1, in three LED, the information source of every LED transmitting terminal sends the square wave of different frequency as different LED's
Id information, LED drive circuit Enable Pin is inputted after FDMA modulation modules, LED is with different frequency light on and off for control；
The optical signal that step 2, receiving terminal are sent by three LED of camera seizure, obtains three on the image sensor
LED is with streaky image；
Step 3, Intelligent mobile equipment are after imaging sensor obtains three LED with streaky image, by roller shutter effect
The id information of LED corresponding to obtaining, after three LED are detected, then by the geometrical relationship of distance calculate respectively three LED with
The distance of receiving terminal, is finally calculated the coordinate of receiving terminal, and realization is accurately positioned.
Described image sensor is cmos image sensor, and it is handled every in LED image by way of progressive scan
The pixel of a line, the time of a two field picture is integrated since the first row pixel-reset exposure of imaging sensor, to the end a line
Pixel, which is read, to be terminated, and in this stage, the quick light on and off of LED produce bright dark striped on image, forms LED with streaky
Picture.
Light and shade stripeds of the LED with streaky image is decoded using roller shutter effect, obtains corresponding LED ID letters
Breath：The data that multidigit is detected on a frame picture can be realized by roller shutter effect, and then greatly improve the speed of communication.
While using roller shutter effect by being decoded to the light and shade striped captured in image, due to LED center point light intensity in image
It is higher, so as to cause the electronics saturation of position pixel to be overflowed, the contrast of light and shade striped in having had a strong impact on per two field picture
Degree.If row pixel corresponding to directly choosing LED center point, causes some dark fringes also to become bright wisp because central point is excessively bright
Line, so as to cause to decode or serious distortion occur.So the present embodiment to the pixel of every a line in image by adopting
With second order polynomial fit, the every piece image obtained first carries out the grayvalue transition of 0~255 rank, it is then assumed that per a line
Pixel cell is (pi,bi), wherein, piFor the row ith pixel, biFor the gray value of respective pixel.By setting threshold value to obtain
Interception area between second order polynomial fit curve and gray value curve, one group of gray value y can be obtainedi, then these gray scales
Value is arranged by ascending order, select 20% when value.When detection for dark fringe when, selected gray value will be close to 0；When
Detection for bright fringes when, selected gray value can be much larger than 0.And then the gray value for obtaining column matrix is solved
Code.Typically will not be too high for the extinction ratio for obtaining the gray value of a column matrix its light and shade striped, so as to greatly limit
The interference performance of the distance of transmission and anti-bias light.Therefore, it is uniform point by the pixel transform of image by histogram equalization
Cloth strengthens the interfringe extinction ratio of light and shade in 256 rank gray levels.Sobel wave filter is recycled to further enhance extinction ratio.
Finally, it is fitted using three rank multinomials to set a suitable gray threshold detection to go back the id information of original encoding, so as to obtain
Obtain LED id information.
, it is necessary to calculate the distance of three LED and receiving terminal by the geometrical relationship of distance after LED id information is obtained,
The coordinate of receiving terminal is finally calculated, realization is accurately positioned, and three LED geometrical relationship figure is as shown in Figure 2：Specifically, use
A, B, C represent three LED respectively, and three LED position is respectively：LEDA(x1,y1,z1), LEDB (x2,y2,z2), LEDC (x3,
y3,z3), wherein z1=z2=z3；The position of receiving terminal is (x, y, z), LEDA to ground vertical range z1=H+z, H LEDA
To the vertical height of reception end position, therefore there is z1=z2=z3=H+z, z-zk=-H, wherein k=1,2,3；
Imaging sensor for receiving optical signal is made up of two-dimensional light sensitive element arrays.Therefore, each pixel or member
Element can be used as a single sensor, and multiple LED signals can be detected and demodulate simultaneously by single image sensor.Image
Sensor receives three LED optical signal, and coordinate information is demodulated.Inside camera, installed in imaging sensor
The focal length of lens of top is known.The vertical axis of lens, the center of correspondence image sensor.P points are the centers of lens.P points
Distance with A, B, C is respectively d1、d2、d3.Distance d be by the focal length of lens and LED picture position on the image sensor it
Between geometrical relationship be calculated.Focal length of lens f is known.In the plane of imaging sensor, the center of LED picture and
The distance of image sensor center is ik, k=1,2,3.
Pixel coordinate system and image coordinate system are all on imaging sensor imaging plane, and simply respective origin and measurement are single
Position is different.The transformation relation figure of image coordinate system and pixel coordinate system is as shown in figure 3, the origin of image coordinate system is camera light
The intersection point of axle and imaging sensor imaging plane, it is the midpoint of imaging sensor imaging plane under normal circumstances.Image coordinate system
Unit be mm, belong to physical unit.The unit of pixel coordinate system is pixel, and one pixel of description is all several row of several rows.Institute
It is as follows with the conversion between both：Wherein dx and dy represents each row and how many mm, i.e. 1pixel=is represented respectively per a line
mm.The transformation relation of image coordinate system and pixel coordinate system is as follows：
Turn to matrix form：
Wherein, x, y be image coordinate system under transverse and longitudinal coordinate, u, v be pixel coordinate system under transverse and longitudinal coordinate, (u0,v0) be
The midpoint of pixel coordinate system hypograph sensor imaging plane.Thus we obtain the conversion of pixel coordinate and image coordinate, can
Distance i in the hope of the pictures of LED on the image sensor to center sensor pointk。
As shown in figure 4, by taking LEDA and LEDB as an example, the distance between two LED d are known, and LED is in imaging sensor
On the distance d ' of picture and known, and because focal length of lens f is known, by the relation of similar triangles, LED to reception
The height H at end can be directly obtained：
As shown in figure 5, make a right angled triangle PQR similar to right angled triangle ABP, whereink
=1,2,3.A, B, C represent three LED respectively, and position is respectively (x1,y1,z1)、(x2,y2,z2)、(x3,y3,z3).To unknown section
The position fixing process of point (x, y, z) is as follows：Three LED are highly identical and known, then can be obtained by if obtaining vertical range H
The height z of unknown node.By similar triangles formula, we learn dk=(H × ck)/f.LEDA is public to the distance for receiving end position
Formula is：
By substituting into z-zk=-H, dk=(H × ck)/f, is obtained：
By the distance between LED and unknown node formula, and makeBy equation (3)-
(2), (3)-(1) obtains
The unknown x of unknown node can be derived by by above formula, be worth
The coordinate (x, y, z) of unknown node is finally given, positioning is completed.
It is described above, only the utility model patent preferred embodiment, but the protection domain of the utility model patent is simultaneously
This is not limited to, any one skilled in the art is in the scope disclosed in the utility model patent, according to this
The technical scheme of utility model patent and its inventive concept are subject to equivalent substitution or change, belong to the guarantor of the utility model patent
Protect scope.
Claims (5)
- A kind of 1. monocular alignment system based on visible light communication, it is characterised in that：The system includes transmitting terminal, channel and connect Receiving end, the transmitting terminal include information source, FDMA modulation modules, LED drive circuit and LED lamp；The transmission LED lamp The square wave of the different frequency of transmitting is received as different LED id information by the camera of receiving terminal；The receiving terminal includes taking the photograph As head and Intelligent mobile equipment；The information source, FDMA modulation modules, LED drive circuit and LED lamp are sequentially connected；It is described to take the photograph As head is connected with Intelligent mobile equipment；The information source produces id information of the square wave of different frequency as different LED lamps；It is described FDMA modulation modules control LED with different frequency light on and off by LED drive circuit；The camera is right on the image sensor LED is imaged；The Intelligent mobile equipment obtains LED stripe information and obtains LED with connecing by the geometrical relationship of distance The distance of receiving end, the elements of a fix of receiving terminal are finally calculated.
- A kind of 2. monocular alignment system based on visible light communication according to claim 1, it is characterised in that：The FDMA Modulation module includes DFT block, sub-carrier mapping module, IDFT modules plus cyclic prefix module sum-mould modular converter；Institute DFT block, sub-carrier mapping module, IDFT modules plus cyclic prefix module sum-mould modular converter is stated to be sequentially connected.
- A kind of 3. monocular alignment system based on visible light communication according to claim 1, it is characterised in that：It is described every LED lamp is controlled by corresponding LED drive circuit；The LED drive circuit is by bias supply, LED power, resistance and LED Constant-flow driver forms；The input stage of the LED constant-current driver is connected with resistance, and resistance is connected with bias supply；LED is permanent The output stage of stream driver is connected with LED negative poles, and LED positive poles are connected with LED power；The LED constant-current driver enables End sends enable signal, controls LED light on and off.
- A kind of 4. monocular alignment system based on visible light communication according to claim 1, it is characterised in that：The shooting Head includes lens and imaging sensor；A bit on imaging sensor is focused on after the optical signal arrival lens that LED is sent, is obtained LED image with stripe information.
- A kind of 5. monocular alignment system based on visible light communication according to claim 1, it is characterised in that：The intelligence After mobile device obtains LED image on the image sensor, by roller shutter effect obtain corresponding to LED id information, then by away from From geometrical relationship calculate LED and be accurately positioned to the coordinate that receiving terminal with a distance from receiving terminal, is finally calculated, realization.
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395279A (en) * | 2017-08-16 | 2017-11-24 | 华南理工大学 | A kind of monocular localization method and its system based on visible light communication |
| CN108650026A (en) * | 2018-05-08 | 2018-10-12 | 深圳清创新科技有限公司 | Visible light positioning device and system suitable for a wide range of visible light-seeking |
| CN109861752A (en) * | 2019-01-07 | 2019-06-07 | 华南理工大学 | A kind of underground garage path guiding system and method based on visible light-seeking |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
-
2017
- 2017-08-16 CN CN201721022760.8U patent/CN207218700U/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107395279A (en) * | 2017-08-16 | 2017-11-24 | 华南理工大学 | A kind of monocular localization method and its system based on visible light communication |
| CN108650026A (en) * | 2018-05-08 | 2018-10-12 | 深圳清创新科技有限公司 | Visible light positioning device and system suitable for a wide range of visible light-seeking |
| CN109861752A (en) * | 2019-01-07 | 2019-06-07 | 华南理工大学 | A kind of underground garage path guiding system and method based on visible light-seeking |
| CN109861752B (en) * | 2019-01-07 | 2021-09-21 | 华南理工大学 | Underground garage path navigation system and method based on visible light positioning |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
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