CN102967307B - Positioning and navigation system based on indoor illumination - Google Patents

Abstract

The invention relates to a positioning and navigation system based on indoor illumination and belongs to the technical field of indoor positioning and navigation. The positioning and navigation system comprises a control computer, an emitting component, a receiving component and a plurality of portable devices, wherein the emitting component consists of an information loading circuit, an LED (Light Emitting Diode) driving circuit and an LED light source, and the receiving component is formed in a manner that a convex lens, a photoelectric receiver, a filter amplifying shaping circuit and a demodulation decoder are connected. The control computer sends accessorial service information and a control command to the emitting component, the receiving component decodes the accessorial service information together with ID (identity card) address information of an LED and sends the accessorial service information and the ID address information to the portable devices to be displayed, wherein the photoelectric receiver adopts a light path receiving scheme in which the convex lens and a photoelectric detection PD array are cooperated and is convenient for precisely determining geographic position of a user. The accessorial service information includes scene and border switching information, navigation map refreshing information and urgent evacuation information. According to the positioning and navigation system based on the indoor illumination, the deficiencies that specific devices are required to be mounted and use regions are limited in the conventional systems are broken through.

Description

Positioning and navigation system based on indoor lighting

technical field

The invention belongs to the technical field of indoor positioning and navigation, in particular to a positioning and navigation system based on indoor LED lighting.

Background technique

Regardless of ordinary commercial activities, scientific research, or search and rescue industries, positioning and navigation services have important applications. As a mature wireless positioning system, GPS has been widely used in open outdoor environments. However, it cannot be used in indoor environments where people's activities are most frequent due to poor reception. Indoor positioning and navigation has broad market prospects, such as automated guides for large shopping malls and museums, automatic navigation for parking spaces in large parking lots, patient tracking in hospitals, automatic positioning and navigation for mines, emergency guidance in buildings, etc.

The current indoor positioning and navigation system is mainly based on infrared technology, ultrasonic technology, wireless local area network, bluetooth technology and so on. The use of these technologies often determines the relative position between the moving target and the fixed unit through communication, and then deduces the real position of the target. However, these technologies often require additional installation of specific equipment (such as Wi-Fi access points, infrared transmitters), which greatly increases the cost of installation, maintenance, and management. In addition, the places where these technologies can be used are also subject to certain restrictions. For example, in areas where wireless communication is prohibited or restricted, such as mines, gas stations, hospitals, and aircraft cabins, it is impossible to use wireless local area network or Bluetooth technology for positioning. Finally, these technologies also have certain deficiencies in stability and anti-interference ability, which are also problems that modern indoor wireless positioning technology needs to focus on solving.

Contents of the invention

The visible light positioning and navigation system based on indoor lighting is characterized in that it is a positioning and navigation system based on indoor LED lighting sources, including a control part, a transmitting part, a receiving part and a client, wherein:

The control part is a control computer, which communicates with the transmitting part through any method of Internet, Wi-Fi, USB, serial port or power line supported by power line networking, and transmits input data and its format to the transmitting part and control commands, where:

The format of the input data adopts the data packet format of the visible light signal, including the frame header, the ID of the emitting LED, the function service type, the data length, the function service data, the error detection and correction check bit and the frame tail, among which:

Frame header and frame tail, indicating the beginning and end of the data packet;

ID is the address of the emitting LED, and the information is a 32-bit binary address, which is composed of four 8-bit fields, each field is separated by a dot, and is used to identify the LED lighting source at different positions. The first two fields represent the LED lighting source. The external position of the LED lighting source, the last two fields represent the internal environment of the LED lighting source;

Functional service type, indicating the functional type of additional service information, including: scene description, navigation map refresh, emergency evacuation instructions, and other location-based service information, also known as location service information;

Data length, which is the total length of information data;

Functional service data, indicating specific additional service content;

Error detection and correction parity bit, used to verify data packets and correct errors;

The specific content in the ID of the emitting LED is missing in the input data sent by the control computer, but appears in the form of an empty field, to be filled;

The binary code stream of the input data adopts Manchester coding method to prevent the LED lights from flickering when sending signals due to the alternation of binary codes "0" and "1";

The binary stream of the input data adopts any modulation method including OOK, PPM, VPPM:

Use PPM modulation in the case of bad channel;

When the user requests to change the brightness of the LED, VPPM modulation is used under the condition that the working DC remains unchanged;

OOK modulation is used when the bandwidth is large and the implementation is simple;

Control commands, including turning on or off the LED;

The input data sent by the control computer to the transmitting part only includes the location service information and control commands;

The transmitting part includes information loading circuit, LED driving circuit and LED light source, among which:

Information loading circuit to judge the content of the input data:

If: it is the location service information, after adding the ID address of the local LED, and the location service information is encapsulated into a data packet according to the data packet format of the visible light signal, and then sent within the interval between two adjacent lighting signals Data, forming an information transmission cycle composed of lighting signals and visible light signals, sending to the receiving component, and maintaining communication when the LED sleeps and emits dim light;

If it is the control command, the control command in the data packet format is encoded and modulated and then input into the LED drive circuit to control the working state of the corresponding LED;

The receiving part includes a convex lens and a discrete receiving part formed by a series connection of a photoelectric receiver, a filter amplification and shaping circuit and a demodulation decoder. The electric signal converted from the received visible light signal output by the transmitting unit for positioning and navigation, including the ID information of the local LED and the location service information, is demodulated and decoded to include the local Sending the visible light signal for positioning and navigation output by the transmitting component including the ID information of the LED and the location service information to the client,

The client is a portable device that interacts with the user and provides positioning and navigation services. It includes at least a mobile communication terminal and a PDA with built-in positioning and navigation software. After receiving the data packet of the positioning and navigation sent by the receiving component, First use the error detection and correction check bit to judge whether there is an error code, if not, then take out the position ID of the emitting LED and the position information corresponding to the photoelectric detection PD array in the photoelectric receiver and the functional service data, and use the positioning The algorithm calculates the current location of the user, and together with the functional service data, provides relevant information to the user on the portable device through multimedia. There are three positioning algorithms, which are single-light rough positioning, dual-light Rough positioning of lights and precise positioning of multiple lights to meet different scenarios and different positioning accuracy requirements:

The first one, rough positioning of a single lamp: when the receiving component can only receive the ID position information of one LED light source, the receiving component sends the received ID position information of a single LED to the user terminal, and the user terminal The positioning and navigation software of the software loads the received position information of the LED to the positioning and navigation interface to represent the user's current geographic location. This algorithm is suitable for the corridor area, and the positioning accuracy is the radius of the single-light lighting area;

The second type, rough positioning of double lamps: when the receiving part can receive the ID position information of the two LED light sources, the PD array in the receiving part maps the received ID information of the two LEDs and the two LEDs The relative position information on the array is sent to the user terminal together, and the positioning and navigation software of the user terminal loads the geographical location obtained by dichotomizing the received positions of the two LEDs into the positioning and navigation interface to represent the user's current geographic location. Position, this algorithm is suitable for corridors or indoor lighting overlapping areas, and the positioning accuracy is the maximum radius of adjacent LED lighting overlapping areas;

The third type is precise positioning of multiple lamps: when the receiving part can receive the ID position information of three or more LED light sources that are not on the same straight line, the PD array in the receiving part will receive the three The ID information of one or more than three LEDs and the relative position information of the LEDs mapped to the array are sent to the user terminal together, and the positioning and navigation software of the user terminal calculates the receiving component by analyzing the relative position information of the LEDs mapped to the array. The relative angle between the LED light source and the current precise geographic location of the user terminal is obtained by solving the equation, and loaded to the positioning navigation interface to represent the current geographic location of the user. This algorithm is suitable for indoor lighting-intensive areas, and the positioning accuracy is on the order of centimeters , the user's current unknown geographic location (x, y, z) is obtained by the following formula:

$\begin{array}{c}\frac{k_{11}(x_i-x)+k_{12}({\mathrm{the\; y}}_i-\mathrm{the\; y})+k_{13}(z_i-z)}{k_{32}(x_i-x)+k_{32}({\mathrm{the\; y}}_i-\mathrm{the\; y})+k_{33}(z_i-z)}=-\frac{x_i}{l}\\ \frac{k_{\mathrm{twenty\; one}}(x_i-x)+k_{\mathrm{twenty\; two}}({\mathrm{the\; y}}_i-\mathrm{the\; y})+k_{\mathrm{twenty\; three}}(z_i-z)}{k_{31}(x_i-x)+k_{32}({\mathrm{the\; y}}_i-\mathrm{the\; y})+k_{33}(z_i-z)}=-\frac{Y_i}{l}\end{array}$ ,

Among them, (xi _, y _i , zi ₎ is the three-dimensional position of the i-th LED, l is the focal length of the convex lens of the receiving part, (X _i , Y _i ) is the two-dimensional position of the i-th LED mapped to the PD array Relative position, _kij is a parameter related to the azimuth angle of the convex lens in the receiving part:

$\begin{array}{c}{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 11</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 12</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 13</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; one</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; two</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; twenty\; three</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\\ {\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 31</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; -</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 32</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; +</span>\mathrm{<span\; class="notranslate">\; sin</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&alpha;</span>}<span\; class="notranslate">\; ,</span>{\mathrm{<span\; class="notranslate">\; k</span>}}_{\mathrm{<span\; class="notranslate">\; 33</span>}}<span\; class="notranslate">\; =</span>\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&beta;</span>}\mathrm{<span\; class="notranslate">\; cos</span>}\mathrm{<span\; class="notranslate">\; \&phi;</span>}\end{array}$

Wherein, φ is the vertical angle of the convex lens of the receiving part, α is the rotation angle, and β is the horizontal angle.

The receiving component is embedded in the user terminal equipment.

The advantages of the present invention are that there is no need to install additional specific equipment, the application range is wide, and the positioning accuracy is high.

Description of drawings

Fig. 1 Framework diagram of positioning and navigation system.

Figure 2 Optical receiver structure.

Figure 3 Schematic diagram of the positioning scene; a rough positioning of a single light; b rough positioning of a double light; c precise positioning of multiple lights.

Figure 4 is a schematic diagram of the scene of Embodiment 1 of the present invention.

Figure 5 is a scene map of Embodiment 1 of the present invention.

Fig. 6 Information transmission cycle of Embodiment 1 of the present invention: a. import and export area; b. commodity area; c. corridor; d. functional area; e. emergency evacuation information.

Detailed ways

Further description will be made below in conjunction with the accompanying drawings.

Example 1

Figure 4 shows the application of the indoor LED visible light positioning and navigation system. The system is mainly composed of three parts: the computer control terminal in the large shopping mall, the LED light source as the transmitting part, and the user's handheld terminal as the receiving part. The mobile terminal preloads the shopping mall map shown in FIG. 5 . The mall map includes imports and exports, commodity areas, aisles, and functional areas (ticketing offices, restrooms, etc.). The control terminal controls lighting LED light sources in different areas to send different location service information.

When a user with a mobile terminal enters the mall, he will receive the following location service information: scene switching command, the positioning and navigation software switches the navigation map from the map outside the urban area to the map inside the mall; the map of the mall is refreshed, and the map of the mall is refreshed in real time; the information of the mall is refreshed , such as promotions, shopping guides, etc.

When the user holding the mobile terminal walks in the corridor, the map and information of the shopping mall will be refreshed, and at the same time, the current location will be analyzed according to the received location ID data.

Users can select a destination on the map by selecting coordinate points or inputting text. Navigation software provides the best recommended route in real time based on current location and destination. Users can also determine the destination through the commodities they need to buy. The navigation software will display the coordinates of the store that sells the product to the user for the user to choose.

When the user holding the mobile terminal is in the commodity area, he will receive the following location service information: mall map refresh, real-time refresh of the mall map; regional map switching command, switch the regional map to the current region; regional map refresh, refresh the regional map; Commodity information in the area, providing information on the commodities sold in each store.

When the user holding the mobile terminal is in the functional area, in addition to the shopping mall map will be refreshed, the information of the functional area will be refreshed if necessary, for example, the user terminal in the bathroom will receive a reminder of "cleaning".

When there is an emergency evacuation in the shopping mall, all signal lights will emit the information cycle shown in Figure 6(e). At the same time, after the positioning and navigation software receives the emergency signal, it will enter the emergency mode, the evacuation route will become highlighted, and the destination will be automatically Selected as the best emergency exit for crowd evacuation navigation, realizing the emergency guidance function.

The above is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present invention can easily think of changes or Replacement should be covered within the protection scope of the present invention. Therefore, the protection scope of the present invention should be determined by the protection scope of the claims.

Claims (2)

1. based on the visible ray Position Fixing Navigation System of room lighting, it is characterized in that, be a kind of Position Fixing Navigation System based on indoor LED illumination light source, comprise control section, radiating portion, receiving unit and client, wherein:

Control section is a computer for controlling, communicated with described radiating portion by Internet, Wi-Fi, USB, serial ports or any one mode obtained in the line of electric force of line of electric force networking support, input data and form thereof and control command is launched to described radiating portion, wherein:

The form of input data, adopts the data packet format of visible light signal, comprises frame head, the ID launching LED, function services type, data length, function services data, EDC error detect correction check bit and postamble, wherein:

Frame head and postamble, represent beginning and the end of packet;

ID is the address of launching LED, information is 32 binary addresses, be made up of 48 bit fields, separate with period between each field, for identifying the LED illumination light source of diverse location, the external position at this LED illumination light source place of the first two field references, the internal environment at this LED illumination light source place of latter two field references;

Function services type, represents the function type of additional service information, comprising: the refreshing of scene description, navigation map, in emergency circumstances exit signs and other information on services location-based, also claim location service information;

Data length is information data overall length;

Function services data, represent concrete Additional Services content;

EDC error detect correction check bit, for checking data bag and error correction;

Lack in the input data that particular content in the ID of described transmitting LED sends at described computer for controlling, but occur with null field form, wait to mend;

The binary code stream of described input data adopts Manchester's cde mode, to prevent the alternately flicker of initiation LED lamplight when sending signal due to binary code " 0 " and " 1 ";

The binary code stream of described input data adopts any one modulation system comprising OOK, PPM, VPPM:

PPM modulation is adopted in bad channel occasion;

When user requires to change LED luminance, under the condition that working direct current is constant, VPPM is adopted to modulate;

Be with roomy, realize simple time adopt OOK modulation;

Control command, comprises and opens or closes LED;

Described location service information and control command is only included in the input data that described computer for controlling sends to described radiating portion;

Radiating portion, comprises information loaded circuit, LED drive circuit and LED light source, wherein:

Information loaded circuit, differentiates the content of input data:

If: be described location service information, after then adding the ID address of local LED, after being packaged into packet with described location service information by the data packet format of described visible light signal, data are sent in the interval of adjacent two illumination signs, form an information transmitting cycle be jointly made up of illumination sign and visible light signal, send to described receiving-member, maintain communication when described LED sleep glimmers;

If: be described control command, then the control command of data packet format inputted LED drive circuit after coding, modulation, control the duty of corresponding LED;

Receiving-member, comprise the receiving-member that convex lens and are connected in series by photelectric receiver, filter and amplification shaping circuit and demodulating and decoding device and of being formed is discrete, the visible light signal received is converted to electric signal, the electric signal converted to for the visible light signal of location navigation exported by described emission element of id information and the described location service information comprising described local LED is parsed after demodulating and decoding, send to described client

Client, it is a kind of and user interactions, the portable equipment that location navigation is served is provided, at least comprise mobile communication terminal and PDA, be built-in with location navigation software, after the packet receiving the described location navigation that described receiving-member sends, first EDC error detect correction check bit is utilized to judge whether to there is error code, if do not have, then take out and launch positional information in described photelectric receiver on Photoelectric Detection PD array of the position ID of LED and correspondence and described function services data, the position at active user place is calculated with location algorithm, together with described function services data, by multimedia form, relevant information is supplied to user on described portable equipment, wherein said location algorithm has three kinds, single lamp coarse localization respectively, two lamp coarse localization and many lamps are accurately located, to tackle different scene and different positioning precision demands:

The first, single lamp coarse localization: when described receiving-member can only receive the ID positional information of a described LED light source, the single led ID positional information received is sent to described user terminal by receiving-member, the positional information of the LED received is loaded into location navigation interface by the location navigation software of user terminal, to represent the current geographic position of user, this algorithm is applicable to corridor area, and positioning precision is the radius of single lamp field of illumination;

The second, two lamp coarse localization: when described receiving-member can receive the ID positional information of two described LED light sources, the relative position information that the id information of receive two LED and two LED are mapped on array is sent to described user terminal by PD array in receiving-member together, the position of receive two LED is carried out the geographic position that dichotomy process obtains and is loaded into location navigation interface by the location navigation software of user terminal, to represent the current geographic position of user, this algorithm is applicable to corridor or room lighting overlapping region, positioning precision is the maximum radius of adjacent LED illumination overlapping region,

The third, many lamps are accurately located: when described receiving-member can receive more than three or three and the ID positional information of LED light source not on same straight line time, the relative position information that the id information of receive three or more than three LED and LED are mapped on array is issued described user terminal by PD array in receiving-member together, the location navigation software of user terminal calculates the relative angle of described receiving-member and LED light source by analyzing the LED relative position information be mapped on array, the current accurate geographic position of user terminal is tried to achieve by solving equation, and be loaded into location navigation interface to represent the current geographic position of user, this algorithm is applicable to room lighting close quarters, positioning precision is centimetres, the current unknown geographic position (x of user, y, z) obtain by following formula:

$\frac{k_{11}(x_i-x)+k_{12}(y_i-y)+k_{13}(z_i-z)}{k_{31}(x_i-x)+k_{32}(y_i-y)+k_{33}(z_i-z)}=-\frac{X_i}{l}$

$\frac{k_{21}(x_i-x)+k_{22}(y_i-y)+k_{23}(z_i-z)}{k_{31}(x_i-x)+k_{32}(y_i-y)+k_{33}(z_i-z)}=-\frac{Y_i}{l},$

Wherein, (x _i, y _i, z _i) be the three-dimensional position of i-th LED, l is the focal length of the convex lens of receiving-member, (X _i, Y _i) be the two-dimentional relative position that i-th LED is mapped on PD array, k _ijthe parameter relevant to the position angle of convex lens in receiving-member:

k ₁₁＝cosφcosα,k ₁₂＝-cosφcosα,k ₁₃＝sinφ

k ₂₁＝sinβsinφcosα+cosβsinα,k ₂₂＝-sinβsinφsinα+cosβcosα,k ₂₃＝-sinβcosφ

k ₃₁＝-cosβsinφcosα+sinβsinα,k ₃₂＝cosβsinφsinα+sinβcosα,k ₃₃＝cosβcosφ

Wherein, φ is the vertical angle of the convex lens of receiving-member, and α is the anglec of rotation, and β is level angle.

2. the visible ray Position Fixing Navigation System based on room lighting according to claim 1, is characterized in that, receiving-member embeds in subscriber terminal equipment.