CN108594174B - Wavelength coding indoor positioning system and method based on infrared dispersion - Google Patents
Wavelength coding indoor positioning system and method based on infrared dispersion Download PDFInfo
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Abstract
本发明公开了一种基于红外光色散的波长编码室内定位系统包括定位仪、光电探测器和处理器；所述定位仪包括红外光源和色散三棱镜，光电探测器均包含无线传输模块；所述处理器包括计算机。本发明还提供了一种基于红外光色散的波长编码室内定位方法，包括以下步骤：第一红外光源发出竖直方向的红外光；第二红外光源发出水平方向的红外光；竖直方向和水平方向的红外光经第一色散三棱镜和第二色散三棱镜色散后布满空间；光电探测器检测红外光信号，将红外光信号的波长信息转换为电信号发送至计算机；计算机对携带有红外光波长信息的电信号进行波长编码，获得定位物体的位置信息。本发明实现了室内物体精准定位。
The invention discloses a wavelength coding indoor positioning system based on infrared light dispersion, comprising a positioning instrument, a photoelectric detector and a processor; the positioning instrument includes an infrared light source and a dispersion prism, and the photoelectric detectors all include a wireless transmission module; the processing The device includes a computer. The invention also provides a wavelength coding indoor positioning method based on infrared light dispersion, comprising the following steps: the first infrared light source emits infrared light in the vertical direction; the second infrared light source emits infrared light in the horizontal direction; the vertical direction and the horizontal direction The infrared light in the direction is dispersed by the first dispersive prism and the second dispersive prism and fills the space; the photodetector detects the infrared light signal, converts the wavelength information of the infrared light signal into an electrical signal and sends it to the computer; the computer carries the infrared light wavelength information. The electrical signal of the information is wavelength encoded to obtain the position information of the positioning object. The invention realizes precise positioning of indoor objects.
Description
Technical Field
The invention relates to the technical field of indoor, in particular to a wavelength coding indoor positioning system and method based on infrared light dispersion.
Background
Currently, with the improvement of the technology level, no matter work or travel, the positioning system has become an indispensable part of people's life. Early Positioning systems are applied to military, and with the improvement of quality of life, Global Positioning systems (GPS for short) are beginning to appear in people's lives and are popularized in various social fields, such as car navigation systems, road engineering, traffic management, smartphone Positioning functions, and the like. Therefore, the positioning system has gone into thousands of households, and the current GPS navigation system can not only plan a route in advance, but also feed back real-time road conditions, thereby greatly facilitating the travel of people. However, GPS is mainly suitable for use in an unobstructed environment, and the transmitted positioning signals cannot penetrate buildings, and therefore, GPS is generally used outdoors. When the satellite positioning can not be carried out in an indoor environment, an indoor positioning technology can be used, and the problems that satellite signals are weak and cannot penetrate through buildings when reaching the ground are solved.
In recent years, because outdoor positioning has low positioning accuracy and large error, the requirements of human beings cannot be met far away, and in order to create higher-quality life and more intelligent service, positioning in some large areas, namely indoor positioning, becomes a research hotspot. The indoor positioning tourist attraction and exhibition hall have great application market and development prospect in the public service fields of realizing positioning guide, exhibit introduction, airport guidance and the like. Currently, widely applied indoor positioning technologies mainly comprise Wi-Fi positioning, Bluetooth positioning, ultrasonic positioning and computer vision positioning, wherein the Wi-Fi positioning is widely applied to many fields due to the fact that Wi-Fi is generally existed in many public places and the cost is low, but the Wi-Fi positioning is easily interfered by other electromagnetic waves, and the accuracy of the Wi-Fi positioning is reduced; the Bluetooth positioning method has higher precision, but the related equipment has high cost, and the positioning distance is greatly limited, so that the positioning in a larger space cannot be realized; ultrasonic positioning is also affected by surrounding obstacles and multipath effects, thereby reducing its accuracy; computer vision positioning requires that the camera needs to find the right angle to perform accurate positioning when shooting a target object, and needs to be improved continuously. In order to solve the above problems, the present invention provides an infrared dispersion-based indoor positioning system and method for wavelength coding, which can accurately position an object.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the wavelength coding indoor positioning system and method based on infrared light dispersion, and the accurate positioning of indoor objects is realized.
In order to realize the purpose, the technical scheme adopted by the invention is as follows:
a wavelength coding indoor positioning system based on infrared light dispersion comprises a positioning instrument, a photoelectric detector and a processor; the locator comprises an infrared light source and a dispersion prism, wherein the infrared light source is an infrared broadband light source, the infrared light source comprises a first infrared light source and a second infrared light source, the first infrared light source is vertically arranged, the second infrared light source is horizontally arranged, one end of the first infrared light source and one end of the second infrared light source are intersected at an upper vertex of a space, and the upper vertex is defined as an origin; a first dispersion triangular prism is arranged on one side of the first infrared light source in parallel, a second dispersion triangular prism is arranged below the second infrared light source in parallel, and any surface of the first dispersion triangular prism and any surface of the second dispersion triangular prism are respectively parallel to the first infrared light source and the second infrared light source; the number of the photoelectric detectors is four, and the photoelectric detectors are arranged on four points on the surface of the positioning object in the same plane; the photoelectric detectors comprise wireless transmission modules; the processor comprises a computer.
Further, the wave band of the first infrared light source is 800-1200 nm; the wave band of the second infrared light source is 1400-1800 nm.
Further, the first dispersive prism and the second dispersive prism are in the same plane; the horizontal distances between the first infrared light source and the first dispersive triangular prism and between the second infrared light source and the second dispersive triangular prism are all 0.5 cm.
Further, the infrared light source is used for emitting infrared light with different wave bands;
the dispersion triple prism is used for dispersing the infrared light source into different infrared light to cover the space.
Furthermore, the photoelectric detector is used for detecting an infrared light signal and converting the infrared light signal into an electric signal, and the electric signal is transmitted to the processor through the wireless transmission module;
and the processor is used for receiving the electric signals, processing the electric signals and calculating the coordinates of the photoelectric detector, so that the position information of the positioned object is obtained.
An indoor wavelength coding positioning method based on infrared light dispersion based on an indoor wavelength coding positioning system based on infrared light dispersion comprises the following steps:
step 1: the first infrared light source emits infrared light in the vertical direction; the second infrared light source emits infrared light in the horizontal direction;
step 2: infrared light in the vertical direction is dispersed by a first dispersion prism and then distributed in the space; infrared light in the horizontal direction is dispersed by a second dispersion prism and then distributed in the space;
and step 3: the photoelectric detector detects infrared light signals passing through the photoelectric detector, converts wavelength information of the infrared light signals into electric signals and sends the electric signals to the computer through the wireless transmission module;
and 4, step 4: the computer carries out wavelength coding on the electric signal carrying the infrared wavelength information, and obtains the position information of the positioned object according to the coding information.
Further, the first infrared light source emits infrared light in the vertical direction; before the second infrared light source emits infrared light in the horizontal direction, the method further comprises the following steps: establishing an xyz three-dimensional coordinate system in a positioning space by taking the vertex as an origin; infrared light in the horizontal direction passes through any point in the space, and the included angle between the point projected on the xOz plane and the z-axis direction is
Infrared light in the vertical direction passes through any point in the space, an included angle between the point after projection on an xOy plane and the x-axis direction is defined as theta, the distance between any point in the space and the origin of coordinates is defined as r, and the coordinates of any point in the space are defined as
Further, the step 3 specifically includes: each photoelectric detector respectively detects infrared light in the horizontal direction and the vertical direction; and the infrared light signal is converted into an electric signal and is sent to a computer through a wireless transmission module.
Further, the step 4 specifically includes:
setting coordinates of a point where each photodetector is locatedIs composed of
The distance between every two photoelectric detectors is d0，d1，d2，d3，d4，d5；
The computer carries out wavelength coding on the received infrared light signal to obtain the point of the photoelectric detector
And a value of θ;
and establishing an equation according to the relation between the coordinates of the points of each photoelectric detector, and solving to obtain the r value so as to obtain the position information of the positioned object.
The invention has the beneficial effects that:
the wavelength coding indoor positioning system and method based on infrared dispersion have high positioning precision and are more accurate, the error magnitude of the positioning method is in millimeter and micron level, and the error of the method is small; and is not easily interfered by visible light and radio electromagnetic waves; in the positioning method, light emitted by the light source is infrared light with different wave bands, and the light subjected to wavelength separation by the dispersion prism is not easily interfered by visible light and common wireless electromagnetic waves; on one hand, the wavelengths of visible light and infrared light have obvious difference; on the other hand, if the frequency of the wi-fi wireless electromagnetic wave is lower, the difference between the wavelength of the wireless electromagnetic wave and the wavelength of the infrared light is more than 5 orders of magnitude, so that the working is more stable and the cost performance is higher; the material used by the dispersion prism in the invention is common material in the market, the photoelectric detector is a common wavelength inspection device, the price is low, and the used technology is simpler; the invention has strong positioning real-time performance. Compared with other positioning methods, the positioning method has stronger positioning real-time performance, and due to the maturity of the wavelength detection technology, the updating speed of the position information is faster, so that the position information of the positioned object can be updated in time, and the positioning method is convenient to carry and use; the whole system of the invention has small volume, good power consumption condition and simple operation, and the infrared light source can be arranged at high places such as ceilings or wall corners and is suitable for positioning moving objects in space. The applicability is strong; the positioning device is suitable for objects with different volumes, different shapes and different motion states, can position any object, and is flexible.
Drawings
FIG. 1 is a schematic structural diagram of an infrared dispersion-based indoor positioning system for wavelength coding according to the present invention.
FIG. 2 is a schematic structural diagram of an infrared light source of the infrared light dispersion-based wavelength-coding indoor positioning system of the present invention.
FIG. 3 is a cross-sectional view taken along A-A of FIG. 2 of the indoor positioning system based on infrared dispersion according to the present invention.
Fig. 4 is a schematic diagram of an infrared dispersion based wavelength-coded indoor positioning system and method according to embodiment 2 of the present invention.
Fig. 5 is a schematic diagram of an infrared dispersion based wavelength-coded indoor positioning system and method according to embodiment 2 of the present invention.
Detailed Description
The invention is described in further detail below with reference to the following figures and detailed description:
example 1: as shown in fig. 1 to 3, an indoor positioning system based on wavelength coding of infrared light dispersion includes a positioning instrument 100, a photodetector 200, and a processor 300; the locator 100 comprises an infrared light source and a dispersion prism, wherein the infrared light source is an infrared broadband light source, the infrared light source comprises a first infrared light source 101 and a second infrared light source 103, the first infrared light source 101 is vertically arranged, the second infrared light source 103 is horizontally arranged, one end of the first infrared light source 101 and one end of the second infrared light source 103 are intersected at an upper vertex of a space, and the upper vertex is defined as an origin; a first dispersion triangular prism 102 is arranged on one side of the first infrared light source 101 in parallel, a second dispersion triangular prism 104 is arranged below the second infrared light source 103 in parallel, and any one surface of the first dispersion triangular prism 102 and the second dispersion triangular prism 104 is respectively parallel to the first infrared light source 101 and the second infrared light source 103; the number of the photoelectric detectors 200 is four, and the photoelectric detectors 200 are arranged on four points on the surface of the positioning object in the same plane; the photodetectors 200 each include a wireless transmission module 201; the processor 300 comprises a computer.
The wave band of the first infrared light source 101 is 800-1200 nm; the wave band of the second infrared light source 103 is 1400-1800 nm; the first dispersive prism 102 and the second dispersive prism 104 are in the same plane; the horizontal distances between the first infrared light source 101 and the first dispersive triangular prism 102, and between the second infrared light source 103 and the second dispersive triangular prism 104 are all 0.5 cm; the infrared light source is used for emitting infrared light of different wave bands; the dispersion triple prism is used for dispersing the infrared light source into different infrared light to cover the space; the photodetector 200 is configured to detect an infrared light signal and convert the infrared light signal into an electrical signal, and the electrical signal is transmitted to the processor 300 through the wireless transmission module 201; the processor 300 is configured to receive the electrical signal, process the electrical signal, and calculate coordinates of the photodetector 200, so as to obtain position information of the located object.
Example 2: an indoor wavelength coding positioning method based on infrared light dispersion based on an indoor wavelength coding positioning system based on infrared light dispersion comprises the following steps:
step 1: the first infrared light source 101 emits infrared light in the vertical direction; the second infrared light source 103 emits infrared light in the horizontal direction;
step 2: infrared light in the vertical direction is dispersed by the first dispersion triple prism 102 and then distributed in the space; the infrared light in the horizontal direction is dispersed by the second dispersion prism 104 and then distributed in the space;
and step 3: the photoelectric detector 200 detects the infrared light signal passing through itself, converts the wavelength information of the infrared light signal into an electric signal, and transmits the electric signal to the computer through the wireless transmission module 201;
and 4, step 4: the computer carries out wavelength coding on the electric signal carrying the infrared wavelength information, and obtains the position information of the positioned object according to the coding information.
Emitting infrared light in a vertical direction at the first infrared light source 101; before the second infrared light source 103 emits infrared light in the horizontal direction, the method further includes: with the top point as the origin, in the positioning spaceEstablishing an xyz three-dimensional coordinate system; infrared light in the horizontal direction passes through any point in the space, and the included angle between the point projected on the xOz plane and the z-axis direction is
Infrared light in the vertical direction passes through any point in the space, an included angle between the point after projection on an xOy plane and the x-axis direction is defined as theta, the distance between any point in the space and the origin of coordinates is defined as r, and the coordinates of any point in the space are defined as
The step, 3 specifically includes: each photodetector 200 detects infrared light in the horizontal direction and the vertical direction, respectively; and converts the infrared light signal into an electrical signal to be transmitted to the computer through the wireless transmission module 201.
The step 4 specifically includes:
set the coordinates of the point at which each photodetector 200 is located to
The distance between each two of the photodetectors 200 is d0，d1，d2，d3，d4，d5；
The computer performs wavelength coding on the received infrared light signal to obtain the point of the photoelectric detector 200
And a value of θ;
an equation is established according to the relationship between the coordinates of the points where each photoelectric detector 200 is located, and the r value is obtained through solving, so that the position information of the positioned object is obtained.
As an implementation manner, in this embodiment, the object to be located according to the present invention is a real hat, and four points a, b, c, and d are selected from the real hat, and the four points are in one plane,as shown in fig. 4, photodetectors 200 are disposed at four points a, b, c, and d, respectively; each photoelectric detector 200 can detect infrared light signals passing through itself in the space, besides a hat, a bracelet or other light objects can be selected, and the locator 100 can accurately locate in real time by wearing the locating objects to move in the locating space. Because there are two kinds of infrared light sources with different wave bands and in two directions in the space, each photo detector 200 will detect two kinds of wavelength infrared light signals at any position in the space, the photo detectors 200 will determine two angle information of each photo detector 200 in the space coordinate system according to the detected light signals,
a value and a value of θ; distance d between four photodetectors 2000,d1,d2,d3,d4,d5It can be set in advance, that is, under known conditions, an equation set can be listed according to the distance between each two photodetectors 200, and the coordinates of the four photodetectors 200 are set
Wherein each coordinate is
Both the value and the value of theta may be derived from known information obtained by the processor 300 from the optical signal detected by the photodetector 200, thus requiring the unique r to be solved for determining the unique coordinates1、r2、r3And r4Taking the distance between each two photodetectors 200 as a known condition, a system of equations can be set forth as follows:
under the limiting condition r1＞0,r2＞0,r3＞0,r4And if the coordinate value is more than 0, the equation set can be solved through mathematica software, and a unique solution is obtained through experimental verification, so that the position of the positioned object can be determined according to the coordinate value.
As shown in fig. 5, it is demonstrated below by way of specific example that first four special points (a, b, c, d) on a plane are found in the localization space, the coordinates of the four points being known:
a(1,180°,0°)、b(2,180°,0°)、
now suppose that four points are known
Value and θ, the four point coordinates are:
a(r1,180°,0°)、b(r2,180°,0°)、c(r3,135°,90°)、d(r4,135°,90°)
knowing the distance between two points, i.e. d0＝1,d1＝2,
d3＝1,
The above conditions are substituted into the simplified equation set to obtain a unique solution r1＝1,r2＝2,
The positioning system and the method can realize the positioning of the space object; if the system is substituted into the equation set to obtain a plurality of solutions, the system can not realize positioning.
The above-described embodiments are merely preferred embodiments of the present invention, and not intended to limit the scope of the invention, so that equivalent changes or modifications in the structure, features and principles described in the present invention should be included in the claims of the present invention.
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