CN105467363A - Triangular positioning system and method based on visible light - Google Patents
Triangular positioning system and method based on visible light Download PDFInfo
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- CN105467363A CN105467363A CN201510873608.XA CN201510873608A CN105467363A CN 105467363 A CN105467363 A CN 105467363A CN 201510873608 A CN201510873608 A CN 201510873608A CN 105467363 A CN105467363 A CN 105467363A
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- led
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Classifications
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/16—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using electromagnetic waves other than radio waves
Abstract
The invention belongs to the technical field of communication and space positioning, and especially relates to a triangular positioning system and method based on visible light. A to-be-positioned target employs an LED lamp for transmitting a visible light signal, and a signal receiving end employs a plurality of light detectors with known coordinates and receives a light signal from an LED. The light detectors enables measured signals to be gathered in a processing unit, and the phase difference is calculated, thereby obtaining an optical path difference from the LED to the plurality of light detectors. The coordinates of the signal receiving end can be calculated according to the triangle geometric principle. According to the invention, a transmission end is simple in hardware, and can be extended to a plurality of positioning targets. Moreover, all calculation and processing can be completed at the receiving end, thereby facilitating the synchronization and control. Therefore, the system and method are low in cost and are wide in application range.
Description
Technical field
The invention belongs to space orientation technique field, particularly a kind of triangulation system based on visible ray and method.
Background technology
LED (LightingEmittingDiode) is called as forth generation lighting source or green light source, has the features such as energy-saving and environmental protection, the life-span is long, volume is little, has been widely used in instruction and illumination.Because LED also can realize High Speed Modulation as semiconductor light sources, visible light wave range can realize radio communication as light carrier, and therefore LED technology is increasingly mature in recent years for visible light communication.
LED-based location is visible light communication application direction had a high potential, and because LED placement is flexible, coverage is comparatively wide, accurately can know the distance of sensing point to LED, realize location and the navigation of similar GPS function by visible light communication means.
Because LED communication system has the feature of light wireless communication, LED location adopts usually based on RSS (ReceivedSignalPower, received signal strength), AOA (Angleofarrival, Received signal strength angle), the method such as TOA (TimeofArrival, time of arrival).Various method cuts both ways: based in the measurement scheme of RSS, and received optical power can be subject to the factor impacts such as the brightness of light source, the scattering of flashlight and reflection, light transmission and reception angle, bias light interference usually, directly the precision of impact range finding and location; Based in AOA measurement scheme, lack accurate and exercisable angle of light degree measuring method; Based in the measurement scheme of TOA, be difficult to realize accurately the synchronous and time measurement of signal.Therefore, also need to explore new Location Mechanism to realize visible ray location easily.
Summary of the invention
For the deficiencies in the prior art, the object of the present invention is to provide a kind of positioning system based on LED visible light and method.The technical solution used in the present invention is: target to be positioned uses LED to send visible light signal, signal receiving end uses multiple known seat target photo-detector to receive light signal from LED simultaneously, measuring-signal is converged to processing unit by photo-detector, calculate phase differential and then show that LED arrives the optical path difference of multiple photo-detector, then the coordinate of signal receiving end can be calculated according to triangle geometrical principle.
Technical scheme of the present invention is: a kind of triangle polyester fibre method based on visible ray, is characterized in that:
Target to be positioned uses LED to send visible light signal, and receive the light signal from LED at signal receiving end at least 3 known seat target photo-detectors, wherein the transmission frequency of LED lamplight is known simultaneously.
The mistiming between LED lamplight to every two different photo-detectors is measured according to light signal;
The range difference of LED to every two different photo-detectors is calculated according to the mistiming between every two different photo-detectors;
By obtaining the path length difference of more than 3 groups or 3 groups different detectors, the single-curved surface of more than 3 groups or 3 groups can be obtained;
By 3 groups of single-curved surfaces, draw the LED coordinate of target to be positioned.
According to the triangle polyester fibre method based on visible ray as above, it is characterized in that: the transmission frequency of described LED lamplight is variable, and adopt the mistiming between multiple transmission frequency measurement LED lamplight to every two different photo-detectors, getting its mean value is final measured value.
According to the triangle polyester fibre method based on visible ray as above, it is characterized in that: after 3 groups of described single-curved surface matchings, being positioned at intersecting point coordinate above photo-detector is LED coordinate.
A kind of triangulation system based on visible ray, comprise at least 3 known seat target photo-detectors and processing unit, described photo-detector and processing unit are interconnected, it is characterized in that: described processing unit gathers LED by photo-detector, processing unit calculates the distance between every two photo-detectors by the light signal of collection and the transmission frequency of LED lamplight, and final mensuration LED coordinate.
The invention has the beneficial effects as follows: utilize multiple photo-detector, by determining the position of LED to the process of measured LED signal and calculating.In this scheme, transmitting terminal hardware is simple, extends to multiple localizing objects, and all calculating and process can complete at receiving end, and convenient synchronous and control, therefore has the feature that low cost is applied widely.
Accompanying drawing explanation
Fig. 1 is the structural representation of the embodiment of the present invention.
Embodiment
Below in conjunction with drawings and Examples, the present invention is described in further detail.
As shown in Figure 1, target to be positioned uses LED to send visible light signal, and signal receiving end has at least 3 known seat target photo-detectors to receive light signal from LED simultaneously, and in Fig. 1, D1, D2, D3 are the photo-detector of 3 uneven distributions.The transmission frequency of transmitting terminal LED lamplight is ω
1, initial phase is q
1sine wave, i.e. sin (ω
1t+q
1).Receiving end has two different photo-detector D1 and D2, and the light signal that D1 receives is expressed as: S
1=A
1sin (ω
1t+ ω
1t
1+ q
1), wherein A
1gain, t
1the transmission delay of light signal to photo-detector D1.The light signal that photo-detector D2 receives is expressed as: S
2=A
2sin (ω
1t+ ω
1t
2+ q
1), wherein A
2gain, t
2the transmission delay of light signal to photo-detector D2.
After receiving end Received signal strength by phase shifter by S
1s
2phase shift can obtain
Obtain amplitude A simultaneously
1a
2.Calculate
Sin (ω can be determined
1(t
2-t
1)) size.At ω
1under known case, t
2-t
1there is multiple possibility value, therefrom choose according to distance range and meet possible value.For improving measuring accuracy, system is by converting different ω
1after repeatedly calculate t
2-t
1get multiple averaging value.
Choose two different photo-detector repetitive measurement, the range difference of LED to different photo-detector can be obtained.Such as, the range difference of LED to D1 and D2 is L
12=c (t
2-t
1), to the range difference of D2 and D3 be L
23=c (t
2-t
3), to the range difference of D1 and D3 be L
13=c (t
1-t
3), wherein c is the light velocity.
At a time, if known LED is L to the path length difference of D1 and D2
12, known LED is positioned at D1 and D2 for focus, with L
12on hyperboloid for real axis length.Same, if know that LED is L to the path length difference of 3 groups of different photo-detectors
12, L
23, L
133 single-curved surfaces can be obtained, according to triangle geometric solution equation, 1-2 intersection point can be tried to achieve, reject obvious irrational intersecting point coordinate, as the position below photo-detector in figure can not be, be positioned at intersecting point coordinate above photo-detector, then can determine that LED coordinate is be positioned on the point of crossing above 3 single-curved surfaces.
Receiving end light photo-detector need be eliminated by digital transmission to the error on the transmission path of processing unit.The all result of detections of receiving end need converge to processing unit to carry out processing and calculating, and finally obtains positioning result.The phase differential of detectable signal directly determines the size of measuring distance, therefore needs by the transmission time of each photo-detector of calibration in advance to processing unit, strict guarantee receiving end detectable signal synchronous.
The present invention is not limited to above-mentioned embodiment, and for those skilled in the art, under the premise without departing from the principles of the invention, can also make some improvements and modifications, these improvements and modifications are also considered as within protection scope of the present invention.The content be not described in detail in this instructions belongs to the known prior art of professional and technical personnel in the field.
Claims (4)
1., based on a triangle polyester fibre method for visible ray, it is characterized in that:
Target to be positioned uses LED to send visible light signal, and at least comprise 3 known seat target photo-detectors at signal receiving end and receive light signal from LED simultaneously, wherein the transmission frequency of LED lamplight is known,
The mistiming between LED lamplight to every two different photo-detectors is measured according to light signal;
The range difference of LED to every two different photo-detectors is calculated according to the mistiming between every two different photo-detectors;
By obtaining the path length difference of more than 3 groups or 3 groups different detectors, the single-curved surface of more than 3 groups or 3 groups can be obtained;
By 3 groups of single-curved surfaces, draw the LED coordinate of target to be positioned.
2. the triangle polyester fibre method based on visible ray according to claim 1, it is characterized in that: the transmission frequency of described LED lamplight is variable, and adopt the mistiming between multiple transmission frequency measurement LED lamplight to every two different photo-detectors, getting its mean value is final measured value.
3. the triangle polyester fibre method based on visible ray according to claim 1 and 2, is characterized in that: after 3 groups of described single-curved surface matchings, and being positioned at intersecting point coordinate above photo-detector is LED coordinate.
4. the triangulation system based on visible ray, comprise at least 3 known seat target photo-detectors and processing unit, described photo-detector and processing unit are interconnected, it is characterized in that: described processing unit gathers LED by photo-detector, processing unit calculates the distance between every two photo-detectors by the light signal of collection and the transmission frequency of LED lamplight, and final mensuration LED coordinate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510873608.XA CN105467363A (en) | 2015-12-03 | 2015-12-03 | Triangular positioning system and method based on visible light |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510873608.XA CN105467363A (en) | 2015-12-03 | 2015-12-03 | Triangular positioning system and method based on visible light |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105467363A true CN105467363A (en) | 2016-04-06 |
Family
ID=55605268
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|---|---|---|---|
| CN201510873608.XA Pending CN105467363A (en) | 2015-12-03 | 2015-12-03 | Triangular positioning system and method based on visible light |
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| CN109476285A (en) * | 2016-12-05 | 2019-03-15 | 深圳市汇顶科技股份有限公司 | Vehicle location is incuded using optical sensor |
| CN109870161A (en) * | 2019-02-26 | 2019-06-11 | 天津大学 | LED based indoor horizontal moves light source localization method |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
| CN112924931A (en) * | 2021-01-27 | 2021-06-08 | 东南大学 | Light source position estimation system and method based on arrival angle estimator |
| CN114460590A (en) * | 2022-04-13 | 2022-05-10 | 南昌大学 | Third-party object detection and positioning method and system, storage medium and electronic equipment |
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| CN109870161A (en) * | 2019-02-26 | 2019-06-11 | 天津大学 | LED based indoor horizontal moves light source localization method |
| CN110113097A (en) * | 2019-04-28 | 2019-08-09 | 天津大学 | Indoor horizontal walking light source localization method based on LED light source |
| CN112924931A (en) * | 2021-01-27 | 2021-06-08 | 东南大学 | Light source position estimation system and method based on arrival angle estimator |
| CN114460590A (en) * | 2022-04-13 | 2022-05-10 | 南昌大学 | Third-party object detection and positioning method and system, storage medium and electronic equipment |
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Application publication date: 20160406 |
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