CN107037404B - Visible light indoor positioning method - Google Patents
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Abstract
The invention provides a visible light indoor positioning method which is simple in system and low in hardware cost. The method comprises the following steps: at a sending end, a visible light signal carrying position coordinates of an LED lamp is sent to a receiver through an LED signal source, wherein the receiver comprises: 1 horizontally disposed photodetector and a plurality of tilted photodetectors, said horizontally disposed photodetector being centered on said receiver; determining the signal intensity received by each photoelectric detector according to the visible light signals received by the photoelectric detectors on the receiver; and acquiring the position coordinate of the single LED lamp, and determining the position coordinate of the receiver according to the acquired position coordinate of the single LED lamp, the determined signal intensity received by each photoelectric detector, and the combination of the radius of the receiver, the included angle between each inclined photoelectric detector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photoelectric detector. The invention is suitable for the technical field of visible light communication.
Description
Technical Field
The invention relates to the technical field of visible light communication, in particular to a visible light indoor positioning method.
Background
With the development of technologies such as intelligent communication and wireless networks, people have more and more strong demands on indoor positioning technologies. The indoor positioning technology has wide application in the fields of personnel location service, warehouse logistics, emergency rescue and disaster relief, industrial and mining enterprises and the like. Although conventional Wireless indoor positioning technologies, such as infrared technology, Radio Frequency Identification (RFID) technology, Wireless Local Area Network (WLAN) technology, etc., can achieve a good positioning effect in an indoor environment, they cannot be applied to a Radio frequency sensitive area, and because they require the assistance of other devices, the hardware cost is high. An indoor positioning technology based on a Light Emitting Diode (LED) does not generate any radio frequency interference, is green and environment-friendly, has functions of simultaneously realizing illumination and positioning, and becomes a research hotspot in recent years.
According to the difference of the quantity of the LED light sources adopted for indoor positioning, the indoor positioning technology based on the LED can be divided into positioning under a multi-light-source model and positioning under a single-light-source model. The problem of positioning under the single light source model can be effectively solved because only one LED light source exists.
In the prior art, the main solutions to the indoor positioning problem of visible light under a single LED light source are: the Yang S H group proposed a positioning method based on a reception angle gain value, but in order to measure the reception angle gain value, a relatively complex measuring device is required, which increases the complexity of the system and the hardware cost.
Disclosure of Invention
The invention aims to provide a visible light indoor positioning method to solve the problems of complex system and high hardware cost in the prior art.
In order to solve the above technical problem, an embodiment of the present invention provides a visible light indoor positioning method, including:
at a sending end, a visible light signal carrying the position coordinates of an LED lamp is sent to a receiver through an LED signal source; wherein, the LED signal source includes: a single LED lamp; the receiver includes: 1 horizontal photodetector and a plurality of inclined photodetectors, wherein the horizontal photodetector is positioned at the center of the receiver, and the distance between the inclined photodetectors and the center of the receiver is equal to the radius of the receiver;
determining the signal intensity received by each photoelectric detector according to the visible light signals received by the photoelectric detectors on the receiver;
the method comprises the steps of obtaining the position coordinates of a single LED lamp according to visible light signals received by photoelectric detectors on a receiver, and determining the position coordinates of the receiver according to the obtained position coordinates of the single LED lamp, the determined signal intensity received by each photoelectric detector, the radius of the receiver, the included angle between each inclined photoelectric detector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photoelectric detector, wherein the positive direction of the receiver is the positive direction of an x axis.
Further, the determining the received signal strength of each photodetector according to the visible light signal received by the photodetector on the receiver includes:
each photoelectric detector on the receiver converts the received visible light signal into an electric signal;
and determining the signal intensity received by the horizontally arranged photoelectric detector and the signal intensity received by the inclined photoelectric detector according to the electric signals obtained by conversion.
Further, the signal strength received by the horizontally disposed photodetector is expressed as:
wherein,
indicating a horizontally placed photodetector PD0Received signal strength, k is a constant, ztIndicating the z-axis coordinate, z, of the LED lamprIndicating a horizontally placed photodetector PD0Z-axis coordinate of (a), m represents Lambertian emissivity, d0Photoelectric detector PD for indicating LED lamp to be horizontally placed0The transmission distance between them.
Further, the number of the inclined photodetectors is 3, and three inclined photodetectors PDsj(j 1, 2, 3) is positioned on a circle which takes the horizontal photoelectric detector as the center of a circle and r as the radius;
the signal strength received by the tilted photodetector is expressed as:
wherein,
photodetector PD representing tiltjReceived signal strength, k is a constant, ztDenotes the z-axis coordinate of the LED lamp, m denotes the Lambert radiation coefficient, djPhotodetector PD for indicating inclination of LED lampjThe distance of transmission between them,
indicating incidence to the photodetector PDjIncident angle of the receiving surface, αjPhotodetector PD representing tiltjAngle of elevation of βjPhotodetector PD representing tiltjAzimuth angle (x)t,yt,zt) Indicating the position coordinates of the LED lamp,
photodetector PD representing tiltjThe position coordinates of (a).
Further, the
Wherein, PtThe power of the emission signal of the LED signal source is represented, m represents Lambertian radiance factor, and A represents the actual physical area of the photoelectric detector.
Further, the determining the position coordinates of the receiver according to the acquired position coordinates of the single LED lamp, the determined signal strength received by each photodetector, and the combination of the radius of the receiver, the included angle between each inclined photodetector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photodetector includes:
elevation α of each tilted photodetector based on a predeterminedjAnd azimuth angle βjCalculating a first coefficient Aj＝sin(αj)cos(βj) And a second coefficient Bj＝sin(αj)sin(βj)，j＝1、2、3；
Elevation α of each tilted photodetector based on a predeterminedjAnd determining the intensity of the signal received by each photodetector, calculating a third coefficient
j＝1、2、3；
According to the acquired position coordinates (x) of the single LED lampt,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjAnd determining the position coordinates of the receiver.
Further, the position coordinates (x) of the single LED lamp are obtained according to the obtained informationt,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjDetermining what isThe position coordinates of the receiver include:
photodetector PD for determining tiltjWith the photodetector PD placed horizontally0Received signal power difference of (1):
wherein,
indicating a horizontally placed photodetector PD0The strength of the received signal is such that,
photodetector PD representing tiltjReceived signal strength, k is a constant, ztDenotes the z-axis coordinate of the LED lamp, m denotes the Lambert radiation coefficient, djPhotodetector PD for indicating inclination of LED lampjThe transmission distance between d0Photoelectric detector PD for indicating LED lamp to be horizontally placed0(x) transmission distance between (x)t,yt,zt) Indicating the position coordinates of the LED lamp,photodetector PD representing tiltjJ is 1, 2, 3;
let dj＝d0To obtain
Obtaining the position coordinate (x) of the receiver according to the relative position relationship between the photodetectors on the receiverr,yr,zr) And PDj(j is 1, 2, 3) position coordinates
The relationship between them is:
according to
And the position coordinates (x) of the receiver obtainedr,yr,zr) And PDj(j is 1, 2, 3) position coordinates
The relationship between, yields:
Ajxr+Bjyr+Cjzr＝Ajxt+Bjyt+Cjzt-Ajrcos(ωj)-Bjrsin(ωj)
order:
MX ═ Q, and the position coordinates of the receiver are determined from MX ═ Q.
Further, said determining the position coordinates of the receiver by MX ═ Q comprises:
obtaining X ═ Q (M) by using least square method according to MX ═ QTM)-1MTQ；
When matrix MTWhen M is not singular, X is obtained as [ X ]ryrzr]T。
The technical scheme of the invention has the following beneficial effects:
in the scheme, the positioning function of the receiver is completed by utilizing the single LED lamp and the plurality of photoelectric detectors, so that the problem of interference between light sources under a multi-light-source model is effectively solved, and the position coordinate of the receiver can be determined without estimating the receiving angle by only acquiring the position coordinate of the single LED lamp and the signal intensity received by each photoelectric detector during positioning, so that the positioning accuracy can be improved, the system is simple, and the hardware cost is low.
Drawings
FIG. 1 is a schematic flow chart illustrating a method for visible light indoor positioning according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a visible light indoor positioning system according to an embodiment of the present invention;
fig. 3 is a schematic plan view of a receiver according to an embodiment of the present invention;
FIG. 4 is a schematic flowchart of a visible light indoor positioning method according to an embodiment of the present invention;
fig. 5 is a diagram of a theoretical positioning error simulation result provided in the embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
The invention provides a visible light indoor positioning method aiming at the problems of complex system and high hardware cost in the prior art.
As shown in fig. 1, a visible light indoor positioning method provided by an embodiment of the present invention includes:
s101, at a sending end, sending a visible light signal carrying position coordinates of an LED lamp to a receiver through an LED signal source; wherein, the LED signal source includes: a single LED lamp; the receiver includes: 1 horizontal photodetector and a plurality of inclined photodetectors, wherein the horizontal photodetector is positioned at the center of the receiver, and the distance between the inclined photodetectors and the center of the receiver is equal to the radius of the receiver;
s102, determining the signal intensity received by each photoelectric detector according to the visible light signals received by the photoelectric detectors on the receiver;
s103, acquiring the position coordinates of the single LED lamp according to the visible light signals received by the photoelectric detectors on the receiver, and determining the position coordinates of the receiver according to the acquired position coordinates of the single LED lamp, the determined signal intensity received by each photoelectric detector, the combination of the radius of the predetermined receiver, the included angle between each inclined photoelectric detector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photoelectric detector, wherein the positive direction of the receiver is the positive direction of an x axis.
According to the visible light indoor positioning method, the positioning function of the receiver is completed by the single LED lamp and the plurality of photoelectric detectors, the problem of interference among light sources under a multi-light-source model is effectively solved, the position coordinate of the receiver can be determined only by acquiring the position coordinate of the single LED lamp and the signal intensity received by each photoelectric detector during positioning without estimating a receiving angle, the positioning accuracy can be improved, the system is simple, and the hardware cost is low.
According to the visible light indoor positioning method provided by the embodiment of the invention, the positioning of a two-dimensional plane can be completed by using three photoelectric detectors, and the positioning of a three-dimensional space can be completed by using four photoelectric detectors.
In order to implement the visible light indoor positioning method described in this embodiment, a set of corresponding visible light indoor positioning systems is required, as shown in fig. 2, the systems include: the system comprises a control end, an LED signal source, a receiver and an upper computer; the control end mainly comprises a signal generator, wherein the signal generator is used for generating signals and modulating the position coordinates of the LED lamp onto visible light signals; the LED signal source is used for transmitting a visible light signal carrying the position coordinates of the LED lamp to the receiver; the LED signal source comprises: an LED drive circuit and a single LED lamp; the receiver includes: a horizontally disposed photodetector PD0And a plurality of inclined photodetectors PDjThe photoelectric detectors can convert the received visible light signals into electric signals, and the signal intensity received by each photoelectric detector is obtained according to the electric signals obtained through conversion; the upper computer mainly comprises a processor module and a position display module which are respectively used for executing a positioning algorithm and displaying the current position of the receiver.
In this embodiment, in order to realize positioning in a three-dimensional space, as shown in fig. 3, the receiver includes: four ofPhotodetectors, one photodetector PD0Is positioned at the center of the receiver and is horizontally arranged, wherein, the photoelectric detector PD is positioned at the center of the receiver0Position coordinates (x)r,yr,zr) I.e. the position coordinates of the receiver are required; the remaining three photodetectors PDj(j ═ 1, 2, 3) in PD0Circle as center of circle and r as radius, three photodetectors PDjCalled tilted photodetector, tilted photodetector PDjThe angle between the positive direction of the receiver is omegaj(ωjE (0,360 degree), j 1, 2, 3), tilted photodetector PDjBy respective elevation angles αjAnd azimuth angle βj(j ═ 1, 2, and 3), where the receiver positive direction is the x-axis positive direction.
In this embodiment, the radius r of the receiver, the inclined photodetector PDjAngle omega with positive direction of receiverjAnd its degree of inclination αj、βj(j ═ 1, 2, 3), which are regarded as known constants in the positioning process, that is to say are predetermined, and which can be changed by changing the relative positions of the four photodetectors in the receiver before positioning, or other sensors can be introduced to measure the values of these parameters in real time.
In this embodiment, the elevation α of each tilted photodetector is predeterminedjAnd azimuth angle βjCalculating a first coefficient Aj＝sin(αj)cos(βj) And a second coefficient Bj＝sin(αj)sin(βj)，j＝1、2、3。
In this embodiment, after the receiver is fixed, the position coordinates of the single LED lamp are loaded onto the visible light signal, the visible light signal carrying the position coordinates of the LED lamp is transmitted to the receiver through the wireless optical channel, the received visible light signal is converted into an electrical signal by the photodetector on the receiver, and the signal intensity received by the photodetector horizontally placed is determined according to the electrical signal obtained by conversionAnd the signal strength received by the tilted photodetector
And determining the intensity of the signal received by the horizontally disposed photodetector
Signal strength received by a tilted photodetector
And the converted electric signal is sent to a processor module in an upper computer.
In this embodiment, the signal strength received by a horizontally disposed photodetector is determined
And the signal strength received by the tilted photodetector
The specific steps of (a) may include:
a11, determining direct line-of-sight optical channel direct current gain from an LED signal source to a photoelectric detector, wherein the direct line-of-sight optical channel direct current gain is expressed as:
wherein H represents direct-sight distance optical channel direct current gain, m represents Lambertian radiation coefficient, and m is represented by half-power half-angle theta1/2Determining that m is-ln (2)/ln (theta)1/2) (ii) a d represents the transmission distance between the LED lamp and the photoelectric detector; a represents the actual physical area of the photodetector; θ represents a radiation angle of the visible light signal;
representing an angle of incidence to a receiving face of the photodetector;
andrespectively, an optical filter gain and an optical concentrator gain, wherein,
a12, determining the signal intensity received by the photoelectric detector as the product of the direct-view distance optical channel direct current gain and the emission signal power of the LED signal source, wherein the signal intensity received by the photoelectric detector is expressed as:
wherein, PrRepresenting the intensity of the signal received by the photodetector, PtRepresenting the emitted signal power of the LED signal source.
In this embodiment, since only a single LED lamp is used and all photodetectors have the same type, the LED lamp is used in a single LED lampIs constant, therefore
Is rewritten as
Because of the horizontally placed photodetector PD0Parallel to the receiving plane and parallel to the receiving plane,
wherein z istIndicating the z-axis coordinate, z, of the LED lamprIndicating a horizontally placed photodetector PD0Z-axis coordinate of so horizontally placed photodetector PD0Received signal strengthExpressed as:
wherein d is0Photoelectric detector PD for indicating LED lamp to be horizontally placed0The transmission distance between them.
In this embodiment, because of the tilted photodetector PDjRespectively, are α in elevation and azimuthjAnd βj(j is 1, 2, 3), so cos is
Can be expressed as:
wherein, due to the photoelectric detector PDjInclination, said angle of incidence
By the position coordinates of the LED lamp and the photoelectric detector PDjAnd the photodetector PDjThe degree of tilt is determined in combination, and the photodetectors need not be far enough apart to distinguish the signal strength received by each photodetector.
So inclined photodetector PDjReceived signal strength
(j ═ 1, 2, 3) can be expressed as:
wherein d isjPhotodetector PD for indicating inclination of LED lampjDistance of transmission between, ztRepresenting the z-axis coordinate of the LED lamp,indicating incidence to the photodetector PDjIncident angle of the receiving surface, (x)t,yt,zt) Indicating the position coordinates of the LED lamp,
photodetector PD representing tiltjThe position coordinates of (a).
In this embodiment, the processor module in the upper computer processes the received electrical signal to obtain the position coordinates (x) of a single LED lampt,yt,zt) The processor module in the upper computer is also used for α elevation angles of each inclined photoelectric detector according to the preset valuejAnd determining the intensity of the signal received by each photodetector, calculating a third coefficient
j＝1、2、3。
In this embodiment, the position coordinates (x) of the single LED lamp are obtainedt,yt,zt)、Aj、Bj、CjAnd a predetermined radius r of the receiver, each tilted photodetector PDjAngle omega with positive direction of receiverjAnd determining the position coordinates of the receiver to realize three-dimensional space positioning.
In this embodiment, as an optional embodiment, the determining the position coordinate of the receiver according to the acquired position coordinate of the single LED lamp, the determined signal strength received by each photodetector, and a combination of a predetermined radius of the receiver, an included angle between each inclined photodetector and a positive direction of the receiver, and an elevation angle and an azimuth angle of each inclined photodetector includes:
elevation α of each tilted photodetector based on a predeterminedjAnd azimuth angle βjCalculating a first coefficient Aj＝sin(αj)cos(βj) And a second coefficient Bj＝sin(αj)sin(βj)，j＝1、2、3；
Elevation α of each tilted photodetector based on a predeterminedjAnd determining the intensity of the signal received by each photodetector, calculating a third coefficient
j＝1、2、3；
According to the acquired position coordinates (x) of the single LED lampt,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjAnd determining the position coordinates of the receiver.
In this embodiment, the position coordinates of the receiver can be obtained by solving the receiving power difference between each inclined photodetector and the photodetector horizontally placed at the center and deriving the difference by a strict mathematical formula on the premise that the equation is satisfied with a unique solution.
In an embodiment of the foregoing visible light indoor positioning method, further, the obtaining of the position coordinates (x) of the single LED lamp is based ont,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjDetermining the location coordinates of the receiver comprises:
photodetector PD for determining tiltjWith the photodetector PD placed horizontally0Received signal power difference of (1):
wherein,indicating a horizontally placed photodetector PD0The strength of the received signal is such that,
photodetector PD representing tiltjReceived signal strength, k is a constant, ztDenotes the z-axis coordinate of the LED lamp, m denotes the Lambert radiation coefficient, djPhotodetector PD for indicating inclination of LED lampjThe transmission distance between d0Photoelectric detector PD for indicating LED lamp to be horizontally placed0(x) transmission distance between (x)t,yt,zt) Indicating the position coordinates of the LED lamp,
photodetector PD representing tiltjJ is 1, 2, 3;
since the distances between the different photodetectors are very close, the distance from the LED lamp to each PD is approximately considered equal, i.e., dj＝d0D is obtained
Obtaining the position coordinate (x) of the receiver according to the relative position relationship between the photodetectors on the receiverr,yr,zr) And PDj(j is 1, 2, 3) position coordinates
The relationship between them is:
according to
And the position coordinates (x) of the receiver obtainedr,yr,zr) And PDj(j is 1, 2, 3) position coordinates
The relationship between, yields:
Ajxr+Bjyr+Cjzr＝Ajxt+Bjyt+Cjzt-Ajrcos(ωj)-Bjrsin(ωj)
order:
MX ═ Q, and the position coordinates of the receiver are determined from MX ═ Q.
In an embodiment of the foregoing visible light indoor positioning method, further, the determining the position coordinate of the receiver by MX ═ Q includes:
obtaining X ═ Q (M) by using least square method according to MX ═ QTM)-1MTQ；
When matrix MTWhen M is not singular, MX ═ Q has unique solution, and X ═ X is obtainedryrzr]TAnd completing the positioning of the three-dimensional space.
In this embodiment, as shown in fig. 4, the positioning process includes two stages: and obtaining parameters of an off-line stage and realizing positioning of the on-line stage. In the off-line phase, according to the fixed receiver, as shown in fig. 3, the parameters that can be obtained are: radius r, inclined photodetector PD of receiverjAngle omega with positive direction of receiverjAnd each tilted photodetector PDjElevation angle αjAnd azimuth angle βj(j is 1, 2, 3). By each tilted photodetector PDjElevation angle αjAnd azimuth angle βjTo find the coefficient Aj、Bj(j-1, 2, 3), the coefficient aj、BjIs a constant coefficient, abbreviated as constant coefficient.
In this embodiment, in the online stage, the receiver composed of four photodetectors converts the received visible light signal into an electrical signal to obtain the signal intensity received by each photodetector, and the off-line stage is combined with the known signal intensityParameter αjTo find a coefficient Cj(j is 1, 2, 3). To this end, the coefficient Aj、Bj、CjThe values of the matrix M are obtained, wherein the calculation of the matrix M is done in the processor module.
In this embodiment, the position coordinates of the LED lamp are transmitted to the upper computer through the wireless optical channel, and the processor module obtains the position coordinates (x)t,yt,zt)、Aj、Bj、CjRadius r and angle ω of the receiverjThe value of matrix Q is determined and X ═ M is calculatedTM)- 1MTAnd Q, obtaining the current position of the receiver, and displaying corresponding digital and image information by a position display module in the upper computer.
In this embodiment, a MATLAB simulation platform of a visible light indoor positioning system based on a single LED lamp is also set up to verify this embodiment. The simulation parameters used in this embodiment are: the positioning space is 200cm multiplied by 250cm, the coordinates of the LED lamp are (100,100,250), the radius of the receiver is 2cm, and the inclined photoelectric detector PDjThe angle between the positive direction of the receiver is omega1＝30°、ω2＝150°、ω3270 deg. inclined photoelectric detector PDjElevation angle α1＝α2＝α3Inclined photodetector PD at 10 DEGjAzimuth angle β1＝30°、β2＝150°、β3270. Referring to the simulation result, as can be seen from fig. 5, the theoretical positioning error of the visible light indoor positioning method based on a single LED lamp provided in this embodiment is 10-11cm, which is known from the positioning principle, the error is caused by the approximation in the derivation, and the simulation result also proves that the positioning error caused by the approximation can be ignored, namely the approximation is reasonable.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (6)
1. A visible light indoor positioning method, comprising:
at a sending end, a visible light signal carrying the position coordinates of an LED lamp is sent to a receiver through an LED signal source; wherein, the LED signal source includes: a single LED lamp; the receiver includes: 1 horizontal photodetector and a plurality of inclined photodetectors, wherein the horizontal photodetector is positioned at the center of the receiver, and the distance between the inclined photodetectors and the center of the receiver is equal to the radius of the receiver;
determining the signal intensity received by each photoelectric detector according to the visible light signals received by the photoelectric detectors on the receiver;
acquiring the position coordinates of a single LED lamp according to visible light signals received by a photoelectric detector on a receiver, and determining the position coordinates of the receiver according to the acquired position coordinates of the single LED lamp, the determined signal intensity received by each photoelectric detector, the combination of the predetermined radius of the receiver, the included angle between each inclined photoelectric detector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photoelectric detector, wherein the positive direction of the receiver is the positive direction of an x axis;
wherein, according to the acquired position coordinates of the single LED lamp, the determined signal intensity received by each photoelectric detector, and the combination of the radius of the predetermined receiver, the included angle between each inclined photoelectric detector and the positive direction of the receiver, and the elevation angle and the azimuth angle of each inclined photoelectric detector, the determining the position coordinates of the receiver comprises:
elevation α of each tilted photodetector based on a predeterminedjAnd azimuth angle βjCalculating a first coefficient Aj＝sin(αj)cos(βj) And a second coefficientBj＝sin(αj)sin(βj)，j＝1、2、3；
Elevation α of each tilted photodetector based on a predeterminedjAnd determining the intensity of the signal received by each photodetector, calculating a third coefficient
According to the acquired position coordinates (x) of the single LED lampt,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjDetermining position coordinates of the receiver;
wherein the position coordinates (x) of the single LED lamp are obtained according to the obtained informationt,yt,zt)、Aj、Bj、CjAnd the radius r of the receiver and the included angle omega between each inclined photoelectric detector and the positive direction of the receiver are predeterminedjDetermining the location coordinates of the receiver comprises:
photodetector PD for determining tiltjWith the photodetector PD placed horizontally0Received signal power difference of (1):
wherein,
indicating a horizontally placed photodetector PD0The strength of the received signal is such that,
photodetector PD representing tiltjReceived signal strength, k is a constant, ztDenotes the z-axis coordinate of the LED lamp, m denotes the Lambert radiation coefficient, djPhotodetector PD for indicating inclination of LED lampjTransmission distance betweenFrom, d0Photoelectric detector PD for indicating LED lamp to be horizontally placed0(x) transmission distance between (x)t,yt,zt) Indicating the position coordinates of the LED lamp,
photodetector PD representing tiltjJ is 1, 2, 3;
let dj＝d0To obtain
Obtaining the position coordinate (x) of the receiver according to the relative position relationship between the photodetectors on the receiverr,yr,zr) And PDjPosition coordinates of
The relationship between them is:
according to
And the position coordinates (x) of the receiver obtainedr,yr,zr) And PDjPosition coordinates of
The relationship between, yields:
Ajxr+Bjyr+Cjzr＝Ajxt+Bjyt+Cjzt-Ajrcos(ωj)-Bjrsin(ωj)
order:
MX ═ Q, and the position coordinates of the receiver are determined from MX ═ Q.
2. The visible indoor positioning method of claim 1, wherein the determining the received signal strength of each photodetector from the visible light signals received by the photodetectors on the receiver comprises:
each photoelectric detector on the receiver converts the received visible light signal into an electric signal;
and determining the signal intensity received by the horizontally arranged photoelectric detector and the signal intensity received by the inclined photoelectric detector according to the electric signals obtained by conversion.
3. The visible light indoor positioning method of claim 2, wherein the signal strength received by the horizontally disposed photodetector is expressed as:
wherein,
indicating a horizontally placed photodetector PD0Received signal strength, k is a constant, ztIndicating the z-axis coordinate, z, of the LED lamprIndicating a horizontally placed photodetector PD0Z-axis coordinate of (a), m represents Lambertian emissivity, d0Photoelectric detector PD for indicating LED lamp to be horizontally placed0The transmission distance between them.
4. The visible light indoor positioning method of claim 2, wherein the number of the inclined photodetectorsIs 3, three inclined photodetectors PDjOn a circle with the horizontally placed photoelectric detector as the center of a circle and r as the radius, j is 1, 2 and 3;
the signal strength received by the tilted photodetector is expressed as:
wherein,
photodetector PD representing tiltjReceived signal strength, k is a constant, ztDenotes the z-axis coordinate of the LED lamp, m denotes the Lambert radiation coefficient, djPhotodetector PD for indicating inclination of LED lampjThe distance of transmission between them,
indicating incidence to the photodetector PDjIncident angle of the receiving surface, αjPhotodetector PD representing tiltjAngle of elevation of βjPhotodetector PD representing tiltjAzimuth angle (x)t,yt,zt) Indicating the position coordinates of the LED lamp,
photodetector PD representing tiltjThe position coordinates of (a).
5. The visible light indoor positioning method according to claim 3 or 4, wherein the visible light indoor positioning method is performed by using a camera
Wherein, PtThe power of the emission signal of the LED signal source is represented, m represents Lambertian radiance factor, and A represents the actual physical area of the photoelectric detector.
6. The visible indoor positioning method of claim 1, wherein the determining the position coordinates of the receiver by MX-Q comprises:
obtaining X ═ Q (M) by using least square method according to MX ═ QTM)-1MTQ；
When matrix MTWhen M is not singular, X is obtained as [ X ]ryrzr]T。
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