技术领域technical field
本发明涉及室内定位领域，具体涉及一种基于特征光源和球形采光装置的高精度室内定位系统及相应的方法。The invention relates to the field of indoor positioning, in particular to a high-precision indoor positioning system based on a characteristic light source and a spherical lighting device and a corresponding method.
背景技术Background technique
近年来，随着科学技术的进步，定位技术也备受关注且发展迅速。当今，基于GPS的室外定位技术已经非常成熟并开始被广泛使用，但是作为定位技术的末端，室内定位技术发展一直相对缓慢。现有的室内定位技术或是通过红外线、超声波等手段对室内物体的位置和运动进行感知，或是通过Wi-Fi、蓝牙或ZigBee等无线通讯手段和待测物体进行数据交互。前者所采用的技术手段能实现较高的精确度，但是也大大增加了室内布局的复杂程度，且成本高，穿透性、抗干扰性差；后者虽然降低了成本，具备一定的穿透能力，但是精确度也随之下降。In recent years, with the advancement of science and technology, positioning technology has also attracted much attention and developed rapidly. Today, GPS-based outdoor positioning technology has been very mature and has begun to be widely used, but as the end of positioning technology, the development of indoor positioning technology has been relatively slow. Existing indoor positioning technology senses the position and movement of indoor objects through infrared, ultrasonic and other means, or performs data interaction with the object to be measured through wireless communication means such as Wi-Fi, Bluetooth or ZigBee. The technical means adopted by the former can achieve higher accuracy, but it also greatly increases the complexity of the indoor layout, and the cost is high, and the penetration and anti-interference are poor; although the latter reduces the cost, it has a certain penetration ability , but the accuracy also decreases.
发明内容Contents of the invention
本发明的目的在于针对现有室内定位技术的不足，提供一种基于特征光源和球形采光装置的室内定位系统，并给出基于该系统实现室内定位的方法。本发明所述的室内定位系统能够实现基于角度的高精度室内三维空间定位，且部署简单、功耗小、成本低，实时性好。同时，本发明所述的室内定位系统和方法可以和室内导航技术相结合，以为室内导航技术提供准确、实时的三维空间位置信息，可扩展性强。此外，本发明的室内定位系统和方法可以和现有的智能终端，尤其是移动智能终端相结合，具备了优秀的可移植性。The purpose of the present invention is to provide an indoor positioning system based on a characteristic light source and a spherical lighting device, and to provide a method for realizing indoor positioning based on the system to address the shortcomings of the existing indoor positioning technology. The indoor positioning system of the present invention can realize angle-based high-precision indoor three-dimensional space positioning, and has simple deployment, low power consumption, low cost, and good real-time performance. At the same time, the indoor positioning system and method described in the present invention can be combined with indoor navigation technology to provide accurate and real-time three-dimensional space position information for indoor navigation technology, and has strong scalability. In addition, the indoor positioning system and method of the present invention can be combined with existing smart terminals, especially mobile smart terminals, and has excellent portability.
本发明采用的技术方案如下：一种基于特征光源和球形采光装置的室内定位系统，所述的定位为三维空间定位，该系统包括特征光源、球形采光装置和处理器，其中：The technical scheme adopted by the present invention is as follows: an indoor positioning system based on a characteristic light source and a spherical lighting device, the positioning is a three-dimensional space positioning, and the system includes a characteristic light source, a spherical lighting device and a processor, wherein:
所述的特征光源由3个或3个以上具有不同特征的光源组成，用于产生并发出具有不同特征的光信号；所述的特征为频率和/或编码；The characteristic light source is composed of 3 or more light sources with different characteristics, which are used to generate and send out optical signals with different characteristics; the characteristics are frequency and/or code;
所述的球形采光装置由球形支架、多根光纤和数据传输模块组成，所述的多根光纤中的每一根光纤一端以垂直于球形支架表面的角度嵌入球形支架，交点为采光点，另一端引至数据传输模块；所述的采光点对光的入射角有所限制，用于采集特定角度入射的特征光源发出的光信号并通过光纤传输至数据传输模块，所述的数据传输模块将采集到的光信号特征和采集到该光信号的采光点位置通过有线或无线方式传输给处理器；The spherical lighting device is composed of a spherical bracket, a plurality of optical fibers and a data transmission module, one end of each optical fiber in the plurality of optical fibers is embedded into the spherical bracket at an angle perpendicular to the surface of the spherical bracket, the intersection point is the lighting point, and the other One end leads to the data transmission module; the light-collecting point is limited to the incident angle of light, and is used to collect the light signal sent by the characteristic light source incident at a specific angle and transmit it to the data transmission module through the optical fiber, and the data transmission module will The characteristics of the collected optical signal and the position of the lighting point where the optical signal is collected are transmitted to the processor by wired or wireless means;
所述的处理器用于记录各个特征光源的特征和在室内的位置，并根据各个特征光源的特征和在室内的位置以及球形采光装置传递的各个采光点采集到的光的特征和采光点在球形采光装置上的位置，计算出球形采光装置所处的位置，从而实现室内定位；所述的处理器内嵌在球形采光装置内部或和球形采光装置分离并以有线或无线方式和球形采光装置实现数据传输。The processor is used to record the characteristics of each characteristic light source and the position in the room, and according to the characteristics of each characteristic light source and the position in the room and the characteristics of the light collected by each lighting point delivered by the spherical lighting device and the lighting point in the spherical The position on the lighting device calculates the position of the spherical lighting device, thereby realizing indoor positioning; the processor is embedded in the spherical lighting device or is separated from the spherical lighting device and realized with the spherical lighting device in a wired or wireless manner data transmission.
所述的特征光源数量至少为3个，以保证后续计算可以进行，若要实现室内的全局定位，则需保证室内每一点至少能够接受到3个或以上特征光源所发出的光信号。同时，也可以通过布置更广范围、更多数量的特征光源以提高室内定位的精确度。The number of characteristic light sources is at least three to ensure that subsequent calculations can be performed. To achieve global positioning indoors, it is necessary to ensure that each point in the room can receive at least three or more light signals from characteristic light sources. At the same time, the accuracy of indoor positioning can also be improved by arranging a wider range and a larger number of characteristic light sources.
所述的多根光纤数量视室内定位所需的精确度而定，室内定位所需的精确度越高，所需的光纤数量越多。同时，为了保证采光点对光入射角的限制，所选用的光纤的入射临界角应控制在一定范围内，以实现对特定角度入射光的筛选功能。The number of multiple optical fibers depends on the accuracy required for indoor positioning, and the higher the accuracy required for indoor positioning, the greater the number of optical fibers required. At the same time, in order to ensure that the light-collecting point limits the incident angle of light, the critical incident angle of the selected optical fiber should be controlled within a certain range, so as to realize the screening function for incident light at a specific angle.
所述的处理器为至少一台具有光电信号转换和数据处理能力的终端。即，所述的处理器既可以是一台具有光电信号转换和数据处理能力的终端，如一台配有CCD的笔记本电脑；也可以是多台分别具有光电信号转换能力和数据处理能力的终端的组合，如一个光电信号转换器和与一部之能够通讯的智能手机的组合。作为优选，所述的处理器可以是一台移动智能终端。The processor is at least one terminal capable of photoelectric signal conversion and data processing. That is, the processor can be a terminal with photoelectric signal conversion and data processing capabilities, such as a notebook computer equipped with a CCD; it can also be a plurality of terminals with photoelectric signal conversion capabilities and data processing capabilities. Combination, such as a combination of a photoelectric signal converter and a smartphone capable of communicating with it. Preferably, the processor may be a mobile intelligent terminal.
所述的室内定位系统可以和室内导航技术相结合，以为室内导航技术提供准确、实时的三维空间位置信息。即用户可以利用所述的室内定位系统获得自己在室内的精确位置，结合所需到达的目标位置，利用导航技术寻找路线以逼近，在逼近的过程中仍然可以通过所述的室内定位系统获取自己在室内的实时位置，以不断校正导航的结果实现反馈。The indoor positioning system can be combined with indoor navigation technology to provide accurate and real-time three-dimensional space position information for indoor navigation technology. That is to say, the user can use the indoor positioning system to obtain his precise indoor position, combine the desired target position, and use navigation technology to find a route to approach. During the approaching process, he can still obtain his own location through the indoor positioning system. Indoor real-time position, feedback with the result of constantly correcting navigation.
本发明还提供一种基于特征光源和球形采光装置的室内定位方法，包括以下步骤：The present invention also provides an indoor positioning method based on a characteristic light source and a spherical lighting device, comprising the following steps:
(1)光源布置：在室内布置3个或3个以上的特征光源，打开已布置好的特征光源令其发光；(1) Light source layout: arrange 3 or more characteristic light sources indoors, and turn on the arranged characteristic light sources to make them glow;
(2)信息录入：将步骤(1)中所布置的各个特征光源的特征和位置录入处理器；(2) Information input: input the characteristics and positions of each characteristic light source arranged in step (1) into the processor;
(3)择位采光：选择所需定位的位置安放球形采光装置进行采光，将球形采光装置上各个采光点采集到的光的特征和采光点在球形采光装置上的位置信息传输给处理器；(3) position-selection daylighting: select the position required to locate and place the spherical daylighting device for daylighting, the characteristics of the light collected by each lighting point on the spherical daylighting device and the position information of the daylighting point on the spherical daylighting device are transmitted to the processor;
(4)特征匹配：处理器将步骤(3)中球形采光装置传递的各个采光点采集到的光的特征和步骤(2)中录入的各个特征光源的特征进行匹配，从中选取3个匹配程度最高的“光源-采光点”对，其中，所选取的3个特征光源两两不同，所选取的3个采光点也两两不同；(4) Feature matching: the processor matches the characteristics of the light collected by each lighting point delivered by the spherical lighting device in step (3) with the characteristics of each characteristic light source entered in step (2), and selects 3 matching degrees The highest "light source-lighting point" pair, in which the selected 3 characteristic light sources are different in pairs, and the selected 3 lighting points are also different in pairs;
(5)位置计算：根据3个特征光源和3个采光点的位置，计算出球形采光装置所处的位置，从而实现室内定位。(5) Position calculation: Calculate the position of the spherical lighting device according to the positions of the 3 characteristic light sources and 3 lighting points, so as to realize indoor positioning.
所述的步骤(1)中，布置特征光源时应根据室内的具体布置情况，尽量使得所布置的特征光源所发出的光能覆盖室内的各个位置，以保证室内定位的效果。所述的特征为频率和/或编码。当所述的特征为频率时，特征光源发出的光的频率互不相同，体现为可见光的不同颜色；当所述的特征为编码时，特征光源发出的光的编码互不相同，体现为光按照不同明暗间歇闪烁，该闪烁频率较高因此人的肉眼无法识别，但是可以被具备光电信号转换和数据处理能力处理器所识别。In the above step (1), when arranging the characteristic light source, the light energy emitted by the arranged characteristic light source should cover every position in the room as much as possible according to the specific arrangement in the room, so as to ensure the effect of indoor positioning. Said characteristics are frequency and/or code. When the characteristic is frequency, the frequency of the light emitted by the characteristic light source is different from each other, which is reflected in different colors of visible light; when the characteristic is code, the code of the light emitted by the characteristic light source is different, which is reflected in the It flickers intermittently according to different light and dark. The flickering frequency is relatively high, so it cannot be recognized by human eyes, but it can be recognized by a processor with photoelectric signal conversion and data processing capabilities.
所述的步骤(2)中，将信息录入处理器的具体方式可以根据实际场景来确定，包括但不限于手动录入、远程下载、二维码扫描、NFC近场通讯等方式。所述的各个特征光源的特征和位置可以按照“光源编号-光源频率-光源位置”或“光源编号-光源编码-光源位置”或“光源编号-光源频率-光源编码-光源位置”这样的格式记录在处理器内。由于后续位置计算时仅需所选取的光源之间的相对位置，所以在这一步骤中，记录光源位置时所选取的参照系是任意的。In the step (2), the specific manner of entering information into the processor can be determined according to the actual scene, including but not limited to manual entry, remote download, two-dimensional code scanning, NFC near field communication and other methods. The characteristics and positions of each characteristic light source can be in the format of "light source number-light source frequency-light source position" or "light source number-light source code-light source position" or "light source number-light source frequency-light source code-light source position" recorded in the processor. Since only the relative positions between the selected light sources are needed for the subsequent position calculation, in this step, the reference frame selected when recording the positions of the light sources is arbitrary.
所述的步骤(4)中，处理器首先分析步骤(3)中球形采光装置传递的各个采光点采集到的光的特征，当所采集到的光具有不同的频率时，则将其依次和步骤(2)中录入的各个特征光源的光的频率相比对；当所采集到的光具有不同的编码时，则将其依次和步骤(2)中录入的各个特征光源的光的编码相比对；当所采集到的光既具有不同的频率也具有不同的编码时，则将其依次和步骤(2)中录入的各个特征光源的光的频率和编码分别进行比对再综合其结果；以此得到匹配程度从高到低的序列。选取的“光源-采光点”对必须满足所选取的3个特征光源两两不同和所选取的3个采光点也两两不同这两个条件，以保证后续计算可以进行。In the described step (4), the processor first analyzes the characteristics of the light collected by each lighting point delivered by the spherical lighting device in the step (3), and when the collected light has different frequencies, it is sequentially combined with the step The frequencies of the light of each characteristic light source entered in (2) are compared; when the collected light has different codes, it is compared with the codes of the light of each characteristic light source entered in step (2) in turn ; When the collected light has not only different frequencies but also different codes, then it is compared with the frequency and codes of the light of each characteristic light source entered in step (2) successively and then its result is synthesized; Get a sequence of matching degrees from high to low. The selected "light source-lighting point" pair must meet the two conditions that the selected three characteristic light sources are different in pairs and the selected three lighting points are also different in pairs, so as to ensure that the subsequent calculation can be carried out.
所述的步骤(5)具体为：根据特征光源的位置计算其间距离；根据三个采光点位置计算这三点和球形采光装置球心的三条连线间的夹角；判断三个采光点是否处于同一平面内；根据三个采光点的空间位置关系，计算出球形采光装置的空间位置，实现室内定位。Described step (5) is specifically: calculate the distance therebetween according to the position of characteristic light source; Calculate the included angle between these three points and the three connecting lines of spherical lighting device sphere center according to three lighting point positions; Judge whether three lighting points In the same plane; according to the spatial position relationship of the three lighting points, the spatial position of the spherical lighting device is calculated to realize indoor positioning.
本发明的有益效果是：The beneficial effects of the present invention are:
(1)本发明的室内定位系统和方法能够实现基于角度的室内三维空间定位，相比传统的室内定位技术，具有更高的精确度。(1) The indoor positioning system and method of the present invention can realize angle-based indoor three-dimensional spatial positioning, and has higher accuracy than traditional indoor positioning technologies.
(2)本发明的室内定位系统仅需在现有的室内部署上增加特征光源，或用特征光源替换室内原有的照明设施，部署简单、功耗小、成本低，具有广泛的应用前景。(2) The indoor positioning system of the present invention only needs to add a characteristic light source to the existing indoor deployment, or replace the original indoor lighting facilities with a characteristic light source. The deployment is simple, the power consumption is small, and the cost is low. It has a wide application prospect.
(3)本发明的室内定位方法步骤简单，对处理器的数据处理能力要求低，无需复杂计算，定位过程实时性好。(3) The indoor positioning method of the present invention has simple steps, has low requirements on the data processing capability of the processor, does not need complex calculations, and has good real-time performance in the positioning process.
(4)本发明的室内定位系统和方法可以和室内导航技术相结合，以为室内导航技术提供准确、实时的三维空间位置信息，可扩展性强。(4) The indoor positioning system and method of the present invention can be combined with indoor navigation technology to provide accurate and real-time three-dimensional space position information for indoor navigation technology, and has strong scalability.
(5)本发明的室内定位系统和方法可以和现有的智能终端，尤其是移动智能终端相结合，具备了优秀的可移植性。(5) The indoor positioning system and method of the present invention can be combined with existing smart terminals, especially mobile smart terminals, and has excellent portability.
附图说明Description of drawings
图1是本发明系统组成图。Fig. 1 is the composition diagram of the system of the present invention.
图2是本发明方法流程图。Fig. 2 is a flow chart of the method of the present invention.
图3是位置计算步骤中，采光点a、b、c处于同一平面内时的示意图。Fig. 3 is a schematic diagram when the lighting points a, b, and c are in the same plane in the position calculation step.
图4是位置计算步骤中，采光点a、b、c不处于同一平面内时的示意图。Fig. 4 is a schematic diagram when the lighting points a, b, and c are not in the same plane in the position calculation step.
图5是本发明的定位系统和导航技术相结合实现图书馆寻书的示意图。Fig. 5 is a schematic diagram of combining the positioning system and navigation technology of the present invention to realize searching for books in a library.
具体实施方式Detailed ways
为了更详细地说明本发明的基于特征光源和球形采光装置的室内定位系统和定位方法，下面根据附图详细说明本发明。In order to describe the indoor positioning system and positioning method based on the characteristic light source and the spherical lighting device of the present invention in more detail, the present invention will be described in detail below with reference to the accompanying drawings.
如图1所示，本发明的基于特征光源和球形采光装置的室内定位系统，所述的定位为三维空间定位，包括特征光源、球形采光装置和处理器，其中：As shown in Figure 1, the indoor positioning system based on the characteristic light source and the spherical lighting device of the present invention, the described positioning is a three-dimensional space positioning, including a characteristic light source, a spherical lighting device and a processor, wherein:
所述的特征光源由3个或3个以上具有不同特征的光源组成，用于产生并发出具有不同特征的光信号；所述的特征为频率和/或编码；The characteristic light source is composed of 3 or more light sources with different characteristics, which are used to generate and send out optical signals with different characteristics; the characteristics are frequency and/or code;
所述的球形采光装置由球形支架、多根光纤和数据传输模块组成，所述的多根光纤中的每一根光纤一端以垂直于球形支架表面的角度嵌入球形支架，交点称为采光点，另一端引至数据传输模块；所述的采光点对光的入射角有所限制，用于采集特定角度入射的特征光源发出的光信号并通过光纤传输至数据传输模块，所述的数据传输模块将采集到的光信号特征和采集到该光信号的采光点位置通过有线或无线方式传输给处理器；The spherical lighting device is composed of a spherical bracket, a plurality of optical fibers and a data transmission module, one end of each optical fiber in the plurality of optical fibers is embedded into the spherical bracket at an angle perpendicular to the surface of the spherical bracket, and the intersection point is called the lighting point. The other end leads to the data transmission module; the light-collecting point is limited to the incident angle of light, and is used to collect the light signal sent by the characteristic light source incident at a specific angle and transmit it to the data transmission module through an optical fiber. The data transmission module The characteristics of the collected optical signal and the position of the lighting point where the optical signal is collected are transmitted to the processor by wired or wireless means;
所述的处理器用于记录各个特征光源的特征和在室内的位置，并根据各个特征光源的特征和在室内的位置以及球形采光装置传递的各个采光点采集到的光的特征和采光点在球形采光装置上的位置，计算出球形采光装置所处的位置，从而实现室内定位；所述的处理器内嵌在球形采光装置内部或和球形采光装置分离并以有线或无线方式和球形采光装置实现数据传输。The processor is used to record the characteristics of each characteristic light source and the position in the room, and according to the characteristics of each characteristic light source and the position in the room and the characteristics of the light collected by each lighting point delivered by the spherical lighting device and the lighting point in the spherical The position on the lighting device calculates the position of the spherical lighting device, thereby realizing indoor positioning; the processor is embedded in the spherical lighting device or is separated from the spherical lighting device and realized with the spherical lighting device in a wired or wireless manner data transmission.
实施例1：Example 1:
下面以室内定位在地下车库方面的应用为例，具体说明本发明的基于特征光源和球形采光装置的室内定位系统和定位方法。本实施例中，采用一块小型嵌入式处理器作为定位系统的处理器，并将其集成在球形采光装置内部，通过有线方式和球形采光装置的数据传输模块进行通讯。特征光源以不同的编码作为特征。Taking the application of indoor positioning in underground garages as an example, the indoor positioning system and positioning method based on the characteristic light source and spherical lighting device of the present invention will be described in detail below. In this embodiment, a small embedded processor is used as the processor of the positioning system, and it is integrated inside the spherical lighting device, and communicates with the data transmission module of the spherical lighting device through a wired method. Characteristic light sources are characterized by different codes.
(1)光源布置：在地下车库室内布置特征光源，为了保证定位的效果，本实施例中，特征光源布置在地下车库内各个角落，且能保证地下车库的每个停车位都能接收到3个或3个以上的特征光源发出的光；布置好光源后，测定各个光源的精确位置；之后打开已布置好的特征光源令其发光。由于特征光源以不同的编码为特征，其发出的光的编码互不相同，体现为光按照不同明暗间歇闪烁，该闪烁频率较高因此人的肉眼无法识别，但是可以被小型嵌入式处理器所识别。(1) Light source layout: the characteristic light source is arranged in the underground garage. In order to ensure the positioning effect, in this embodiment, the characteristic light source is arranged in every corner of the underground garage, and it can ensure that each parking space in the underground garage can receive 3 The light emitted by one or more than three characteristic light sources; after the light sources are arranged, the precise position of each light source is measured; then the arranged characteristic light sources are turned on to make them emit light. Since the characteristic light sources are characterized by different codes, the codes of the light emitted by them are different from each other, which is reflected in the intermittent flashing of light according to different brightness and darkness. The flickering frequency is so high that the naked eye cannot recognize it, but it can be detected by a small embedded processor. identify.
(2)信息录入：将步骤(1)中所布置的各个特征光源的特征和位置录入小型嵌入式处理器，所述的各个特征光源的特征和位置可以按照“光源编号-光源编码-光源位置”这样的格式存储在小型嵌入式处理器内。(2) Information input: the characteristics and positions of each characteristic light source arranged in step (1) are entered into the small embedded processor, and the characteristics and positions of each characteristic light source can be according to "light source number-light source code-light source position ” Such a format is stored in a small embedded processor.
(3)择位采光：当某用户，如甲开车进入地下车库时，工作人员发放其内部已集成小型嵌入式处理器的球形采光装置。甲在地下车库停好车后，取出球形采光装置，置于车体某部位(如停车位左前边角)进行采光，球形采光装置上各个采光点采集到部分特征光源发出的光后，将其编码和采光点在球形采光装置上的位置信息传输给球形采光装置内部的小型嵌入式处理器。(3) Location-selective daylighting: When a user, such as A, drives into the underground garage, the staff will issue a spherical daylighting device that has integrated a small embedded processor inside. A. After parking the car in the underground garage, take out the spherical lighting device and place it on a certain part of the car body (such as the left front corner of the parking space) for lighting. The code and the location information of the lighting point on the spherical lighting device are transmitted to a small embedded processor inside the spherical lighting device.
(4)特征匹配：本实施例中以光的编码为特征，因此设定小型嵌入式处理器仅对编码进行比对处理，处理器将所采集到的具有不同编码的光依次和步骤(2)中录入的各个特征光源的光的编码相比对，得到匹配程度从高到低的序列。选取的“光源-采光点”对必须满足所选取的3个特征光源两两不同和所选取的3个采光点也两两不同这两个条件，以保证后续计算可以进行。例如在甲停车的位置，球形采光装置上有a、b、c、d、e、f、g这7个采光点采集到了来自于A、B、C、D、E这5个特征光源的光，在所有“光源-采光点”对中，匹配程度从高到低的序列为：“A-a”、“A-b”、“B-b”、“D-b”、“C-c”……则再选取3个匹配程度最高的“光源-采光点”对时，“A-b”因为和“A-a”特征光源重复予以舍弃，“D-b”因为和“B-b”采光点重复也予以舍弃，最终得到的3个匹配程度最高的“光源-采光点”对应当是：“A-a”、“B-b”、“C-c”。(4) feature matching: in the present embodiment, it is characterized by the coding of light, so it is set that the small embedded processor only compares the codes, and the processor will collect the light with different codes sequentially and step (2) ) to compare the codes of the light of each characteristic light source entered in ), and obtain a sequence of matching degrees from high to low. The selected "light source-lighting point" pair must meet the two conditions that the selected three characteristic light sources are different in pairs and the selected three lighting points are also different in pairs, so as to ensure that the subsequent calculation can be carried out. For example, at the parking position of A, there are seven lighting points a, b, c, d, e, f, and g on the spherical lighting device to collect the light from the five characteristic light sources of A, B, C, D, and E. , in all "light source-lighting point" pairs, the sequence of matching degree from high to low is: "A-a", "A-b", "B-b", "D-b", "C-c"... Then select 3 more matching degrees For the highest "light source-lighting point" alignment, "A-b" is discarded because it overlaps with the characteristic light source of "A-a", and "D-b" is also discarded because it overlaps with the "B-b" lighting point. Finally, the three most matching " "Light source - lighting point" should be: "A-a", "B-b", "C-c".
(5)位置计算：步骤(4)中已选取出3个匹配程度最高的“光源-采光点”对，根据这3个特征光源和3个采光点的位置，带入公式计算出球形采光装置所处的位置，具体计算步骤如下：(5) Position calculation: In step (4), 3 pairs of "light source-lighting point" with the highest matching degree have been selected, and according to the positions of these 3 characteristic light sources and 3 lighting points, enter the formula to calculate the spherical lighting device The specific calculation steps are as follows:
①根据特征光源A、B、C的位置计算其间距离LAB、LBC、LCA，当处理器中采用空间直角坐标系记录特征光源位置时，特征光源A、B、C的位置分别为A(xA,yA,zA)，B(xB,yB,zB)，C(xC,yC,zC)，其间距离分别为：① Calculate the distances LAB , LBC , and LCA according to the positions of the characteristic light sources A, B, and C. When the processor adopts a spatial Cartesian coordinate system to record the positions of the characteristic light sources, the positions of the characteristic light sources A, B, and C are A (xA ,yA ,zA ), B(xB ,yB ,zB ), C(xC ,yC ,zC ), the distances between them are:
②根据采光点a、b、c的位置计算这三个点和球形采光装置球心O连线Oa、Ob、Oc其间的夹角γab、γbc、γca，当处理器中采用球坐标系记录采光点位置时，采光点a、b、c的位置分别为a(ra,θa,φa)，b(rb,θb,φb)，c(rc,θc,φc)，则Oa、Ob、Oc其间的夹角分别为：② Calculate the angles γab , γbc , and γca between these three points and the line Oa, Ob, and Oc connected to the spherical center O of the spherical lighting device according to the positions of the lighting points a, b, and c. When the spherical coordinates are used in the processor When recording the position of the lighting point, the positions of the lighting point a, b, and c are respectively a(ra ,θa ,φa ), b(rb ,θb ,φb ), c(rc ,θc , φc ), the angles between Oa, Ob, and Oc are respectively:
γab＝arccos[cosθacosθbcos(φb-φa)+sinθasinθb]γab ＝ arccos[cosθa cosθb cos(φb -φa )+sinθa sinθb ]
γbc＝arccos[cosθbcosθccos(φc-φb)+sinθbsinθc]γbc ＝ arccos[cosθb cosθc cos(φc -φb )+sinθb sinθc ]
γca＝arccos[cosθccosθacos(φa-φc)+sinθcsinθa]γca ＝ arccos[cosθc cosθa cos(φa -φc )+sinθc sinθa ]
③利用γab、γbc、γca判断采光点a、b、c是否处于同一平面内，当γab+γbc+γca＝360°，判定a、b、c处于同一平面内；当γab+γbc+γca＞360°，判定a、b、c不处于同一平面内。③ Use γab , γbc , γca to judge whether the lighting points a, b, and c are in the same plane. When γab + γbc + γca = 360°, it is determined that a, b, and c are in the same plane; when γab +γbc +γca >360°, it is determined that a, b, and c are not in the same plane.
④(i)若a、b、c处于同一平面内，如图3所示，在△ABO、△BCO、△CAO中分别根据余弦定理得到方程：④(i) If a, b, and c are in the same plane, as shown in Figure 3, in △ABO, △BCO, and △CAO, the equations are obtained according to the law of cosines:
AO2+BO2-LAB2＝2AO BOcosγabAO2 +BO2 -LAB2 ＝2AO BOcosγab
BO2+CO2-LBC2＝2BO COcosγbcBO2 +CO2 -LBC2 =2BO COcosγbc
CO2+AO2-LCA2＝2CO AOcosγcaCO2 +AO2 -LCA2 = 2CO AOcosγca
解之，得到AO、BO、CO数值，因为O位于△ABC平面内，解是唯一的，即得到了球形采光装置所处的位置；After solving it, the values of AO, BO, and CO are obtained, because O is located in the △ABC plane, the solution is unique, that is, the position of the spherical lighting device is obtained;
(ii)若a、b、c不处于同一平面内，如图4所示，在△ABO、△BCO、△CAO中分别根据余弦定理得到方程：(ii) If a, b, and c are not in the same plane, as shown in Figure 4, in △ABO, △BCO, and △CAO, the equations are obtained according to the law of cosines:
AO2+BO2-LAB2＝2AO BOcosγabAO2 +BO2 -LAB2 ＝2AO BOcosγab
BO2+CO2-LBC2＝2BO COcosγbcBO2 +CO2 -LBC2 =2BO COcosγbc
CO2+AO2-LCA2＝2CO AOcosγcaCO2 +AO2 -LCA2 = 2CO AOcosγca
解之，得到AO、BO、CO数值，因为O不位于△ABC平面内，存在处于镜像位置的两组解，此时可以用排除其中的一组，同样可以得到了球形采光装置所处的位置。In other words, the values of AO, BO, and CO can be obtained. Because O is not located in the △ABC plane, there are two sets of solutions in the mirror position. At this time, one set can be excluded, and the position of the spherical lighting device can also be obtained. .
通过以上步骤，甲就得到了地下车库中自己所停车的具体位置。甲记住该位置，归还工作人员球形采光装置。一段时间之后他回来取车时即可根据该位置信息导航，简单便捷地找到自己所停的车。Through the above steps, A has just obtained the specific location of parking in the underground garage. A remember the location and return the spherical lighting device to the staff. After a period of time, when he comes back to pick up the car, he can navigate based on the location information and find the car he parked simply and conveniently.
实施例2：Example 2:
下面再以室内定位在图书馆书架方面的应用为例，具体说明本发明的基于特征光源和球形采光装置的室内定位系统和定位方法。本实施例中，采用用户的智能手机作为处理器，通过无线方式和球形采光装置的数据传输模块进行通讯。特征光源以不同的编码作为特征。智能手机中事先安装了本发明的室内定位方法的应用，同时智能手机安装了具备导航能力的软件。Taking the application of indoor positioning on library bookshelves as an example, the indoor positioning system and positioning method based on the characteristic light source and spherical lighting device of the present invention will be described in detail below. In this embodiment, the user's smart phone is used as the processor to communicate with the data transmission module of the spherical lighting device in a wireless manner. Characteristic light sources are characterized by different codes. The application of the indoor positioning method of the present invention is installed in advance in the smart phone, and at the same time, the smart phone is installed with software capable of navigation.
(1)光源布置：在图书馆内布置特征光源，为了保证定位的效果，本实施例中，特征光源布置在图书馆内各个角落，且能保证每本书的位置和读者所可能经过的每个位置都能接收到3个或3个以上的特征光源发出的光；布置好光源后，测定各个光源的精确位置；之后打开已布置好的特征光源令其发光。由于特征光源以不同的编码为特征，其发出的光的编码互不相同，体现为光按照不同明暗间歇闪烁，该闪烁频率较高因此人的肉眼无法识别，但是可以被智能手机处理和识别。(1) Arrangement of light sources: Arrange characteristic light sources in the library. In order to ensure the effect of positioning, in this embodiment, the characteristic light sources are arranged in every corner of the library, and can ensure the position of each book and every place that readers may pass through. Each position can receive the light from 3 or more characteristic light sources; after the light sources are arranged, measure the precise position of each light source; then turn on the arranged characteristic light sources to make them emit light. Because the characteristic light sources are characterized by different codes, the codes of the light emitted by them are different from each other, which is reflected in the intermittent flashing of light according to different brightness and darkness. The flickering frequency is so high that the naked eye cannot recognize it, but it can be processed and recognized by the smartphone.
(2)信息录入：将步骤(1)中所布置的各个特征光源的编码和位置录入图书馆网络平台，当某用户，如乙来到图书馆，需要利用该定位系统寻书时，他可以通过登录图书馆主页远程下载或扫描图书馆门口的二维码等方式将，该网络平台上各个特征光源的编码和位置信息录入自己的智能手机中。所述的各个特征光源的特征和位置可以按照“光源编号-光源编码-光源位置”这样的格式存储。(2) Information input: input the code and position of each characteristic light source arranged in step (1) into the library network platform, when a user, such as B, comes to the library and needs to use the positioning system to find books, he can By logging in to the library homepage to remotely download or scanning the QR code at the library entrance, you can enter the code and location information of each characteristic light source on the network platform into your smartphone. The features and positions of each characteristic light source may be stored in the format of "light source number-light source code-light source position".
(3)择位采光：工作人员发放乙球形采光装置。乙取出球形采光装置进行采光，球形采光装置上各个采光点采集到部分特征光源发出的光后，将其编码和采光点在球形采光装置上的位置信息通过无线方式传输给乙的智能手机。(3) Location-selective daylighting: The staff distributes spherical daylighting devices. B takes out the spherical lighting device for lighting. After each lighting point on the spherical lighting device collects the light emitted by some characteristic light sources, the code and the position information of the lighting point on the spherical lighting device are transmitted to B's smart phone wirelessly.
(4)特征匹配：乙的智能手机对所采集到的光进行分析，发现其他具有相同的频率和不同的编码，因此确定光源的特征为编码，仅对编码进行比对处理。智能手机将所采集到的具有不同编码的光依次和步骤(2)中录入的各个特征光源的光的编码相比对，得到匹配程度从高到低的序列。选取的“光源-采光点”对必须满足所选取的3个特征光源两两不同和所选取的3个采光点也两两不同这两个条件，以保证后续计算可以进行。例如在乙所处的位置，球形采光装置上有a、b、c、d、e、f、g这7个采光点采集到了来自于A、B、C、D、E这5个特征光源的光，在这所有35个“光源-采光点”对中，匹配程度从高到低的序列为：“A-a”、“A-b”、“B-b”、“D-b”、“C-c”……则再选取3个匹配程度最高的“光源-采光点”对时，“A-b”因为和“A-a”特征光源重复予以舍弃，“D-b”因为和“B-b”采光点重复也予以舍弃，最终得到的3个匹配程度最高的“光源-采光点”对应当是：“A-a”、“B-b”、“C-c”。(4) Feature matching: B's smart phone analyzes the collected light and finds that others have the same frequency and different codes, so it is determined that the feature of the light source is the code, and only the codes are compared. The smart phone compares the collected lights with different codes with the codes of the light of each characteristic light source entered in step (2), and obtains a sequence of matching degrees from high to low. The selected "light source-lighting point" pair must meet the two conditions that the selected three characteristic light sources are different in pairs and the selected three lighting points are also different in pairs, so as to ensure that the subsequent calculation can be carried out. For example, at the position of B, there are seven lighting points a, b, c, d, e, f, and g on the spherical lighting device to collect light from five characteristic light sources A, B, C, D, and E. Light, in all 35 "light source-lighting point" pairs, the sequence of matching degree from high to low is: "A-a", "A-b", "B-b", "D-b", "C-c"... Then select When the three "light source-lighting point" pairs with the highest matching degree are paired, "A-b" is discarded because it overlaps with the characteristic light source of "A-a", and "D-b" is also discarded because it overlaps with the "B-b" lighting point. Finally, the 3 matches are obtained The highest degree of "light source - lighting point" correspondence should be: "A-a", "B-b", "C-c".
(5)位置计算：(4)中已选取出3个匹配程度最高的“光源-采光点”对，根据这3个特征光源和3个采光点的位置，带入公式计算出球形采光装置所处的位置，具体计算步骤如下：(5) Position calculation: In (4), 3 pairs of "light source-lighting point" with the highest matching degree have been selected, and according to the positions of these 3 characteristic light sources and 3 lighting points, they are brought into the formula to calculate the position of the spherical lighting device. The specific calculation steps are as follows:
①根据特征光源A、B、C的位置计算其间距离LAB、LBC、LCA，当处理器中采用空间直角坐标系记录特征光源位置时，特征光源A、B、C的位置分别为A(xA,yA,zA)，B(xB,yB,zB)，C(xC,yC,zC)，其间距离分别为：① Calculate the distances LAB , LBC , and LCA according to the positions of the characteristic light sources A, B, and C. When the processor adopts a spatial Cartesian coordinate system to record the positions of the characteristic light sources, the positions of the characteristic light sources A, B, and C are A (xA ,yA ,zA ), B(xB ,yB ,zB ), C(xC ,yC ,zC ), the distances between them are:
②根据采光点a、b、c的位置计算这三个点和球形采光装置球心O连线Oa、Ob、Oc其间的夹角γab、γbc、γca，当处理器中采用球坐标系记录采光点位置时，采光点a、b、c的位置分别为a(ra,θa,φa)，b(rb,θb,φb)，c(rc,θc,φc)，则Oa、Ob、Oc其间的夹角分别为：② Calculate the angles γab , γbc , and γca between these three points and the line Oa, Ob, and Oc connected to the spherical center O of the spherical lighting device according to the positions of the lighting points a, b, and c. When the spherical coordinates are used in the processor When recording the position of the lighting point, the positions of the lighting point a, b, and c are respectively a(ra ,θa ,φa ), b(rb ,θb ,φb ), c(rc ,θc , φc ), the angles between Oa, Ob, and Oc are respectively:
γab＝arccos[cosθacosθbcos(φb-φa)+sinθasinθb]γab ＝ arccos[cosθa cosθb cos(φb -φa )+sinθa sinθb ]
γbc＝arccos[cosθbcosθccos(φc-φb)+sinθbsinθc]γbc ＝ arccos[cosθb cosθc cos(φc -φb )+sinθb sinθc ]
γca＝arccos[cosθccosθacos(φa-φc)+sinθcsinθa]γca ＝ arccos[cosθc cosθa cos(φa -φc )+sinθc sinθa ]
③利用γab、γbc、γca判断采光点a、b、c是否处于同一平面内，当γab+γbc+γca＝360°，判定a、b、c处于同一平面内；当γab+γbc+γca＞360°，判定a、b、c不处于同一平面内。③ Use γab , γbc , γca to judge whether the lighting points a, b, and c are in the same plane. When γab + γbc + γca = 360°, it is determined that a, b, and c are in the same plane; when γab +γbc +γca >360°, it is determined that a, b, and c are not in the same plane.
④(i)若a、b、c处于同一平面内，如图3所示，在△ABO、△BCO、△CAO中分别根据余弦定理得到方程：④(i) If a, b, and c are in the same plane, as shown in Figure 3, in △ABO, △BCO, and △CAO, the equations are obtained according to the law of cosines:
AO2+BO2-LAB2＝2AO BOcosγabAO2 +BO2 -LAB2 ＝2AO BOcosγab
BO2+CO2-LBC2＝2BO COcosγbcBO2 +CO2 -LBC2 =2BO COcosγbc
CO2+AO2-LCA2＝2CO AOcosγcaCO2 +AO2 -LCA2 = 2CO AOcosγca
解之，得到AO、BO、CO数值，因为O位于△ABC平面内，解是唯一的，即得到了球形采光装置所处的位置，实现室内定位；After solving it, the values of AO, BO, and CO are obtained, because O is located in the △ABC plane, the solution is unique, that is, the position of the spherical lighting device is obtained, and indoor positioning is realized;
(ii)若a、b、c不处于同一平面内，如图4所示，在△ABO、△BCO、△CAO中分别根据余弦定理得到方程：(ii) If a, b, and c are not in the same plane, as shown in Figure 4, in △ABO, △BCO, and △CAO, the equations are obtained according to the law of cosines:
AO2+BO2-LAB2＝2AO BOcosγabAO2 +BO2 -LAB2 ＝2AO BOcosγab
BO2+CO2-LBC2＝2BO COcosγbcBO2 +CO2 -LBC2 =2BO COcosγbc
CO2+AO2-LCA2＝2CO AOcosγcaCO2 +AO2 -LCA2 = 2CO AOcosγca
解之，得到AO、BO、CO数值，因为O不位于△ABC平面内，存在处于镜像位置的两组解，此时可以用排除其中的一组，同样可以得到了球形采光装置所处的位置，实现室内定位。In other words, the values of AO, BO, and CO can be obtained. Because O is not located in the △ABC plane, there are two sets of solutions in the mirror position. At this time, one set can be excluded, and the position of the spherical lighting device can also be obtained. , to achieve indoor positioning.
通过以上步骤，乙就得到了图书馆中自己所在具体位置，如位置A。之后，乙通过图书馆书籍查询系统获取自己想要的某书籍的位置，如位置X，再借助导航技术寻书。乙可以借助导航自行步行寻书，即借助智能手机的导航软件获得A-X的路线图，并按照路线图前往寻书，同时乙在寻书的途中可以重复上述步骤(3)-(5)以实时更新自己的位置，校正导航的结果。此外，乙还可以利用导航驱动一运动控制系统，如一具有机械臂的电动小车，按照导航所确定的路线图自行取书，该运动控制系统在寻书的途中同样可以重复上述步骤(3)-(5)以实时更新自己的位置，校正导航的结果。由于本发明的室内定位系统可以实现三维空间定位，借助该系统不仅可以得到所需要的书籍所在的书架位置，也可以通过导航和校正得知其高度(如在书架的第几层)，寻书过程简单便捷，如图5所示。乙找到所需要的书籍后，归还工作人员球形采光装置，办理借书手续。Through the above steps, B obtains his specific location in the library, such as location A. After that, B obtains the location of a certain book he wants through the library book query system, such as location X, and then uses navigation technology to search for the book. B can search for books on foot with the help of navigation, that is, use the navigation software of the smartphone to obtain the route map of A-X, and follow the route map to search for books. Update your position and correct the navigation results. In addition, B can also use the navigation to drive a motion control system, such as an electric car with a mechanical arm, to pick up the book by itself according to the route map determined by the navigation. The motion control system can also repeat the above steps (3)- (5) To update one's own position in real time and correct the result of navigation. Because the indoor positioning system of the present invention can realize three-dimensional space positioning, not only the bookshelf position where the required books can be obtained by means of the system, but also the height (such as the first floor of the bookshelf) can be known through navigation and correction, and the book can be searched. The process is simple and convenient, as shown in Figure 5. After second finds the required books, return the spherical lighting device to the staff, and handle the book borrowing procedures.
对本领域的技术人员来说应理解，根据设计要求和其他因素可以进行各种修改、组合、自组合和变化，只要它们都落于所附权利要求及其等效方案所限定的范围内。It should be understood by those skilled in the art that various modifications, combinations, self-combinations and changes can be made according to design requirements and other factors, as long as they all fall within the scope defined by the appended claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510014161.0ACN105824010B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and spherical lighting equipment |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510014161.0ACN105824010B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and spherical lighting equipment |
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| CN105824010A CN105824010A (en) | 2016-08-03 |
| CN105824010Btrue CN105824010B (en) | 2018-11-16 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201510014161.0AActiveCN105824010B (en) | 2015-01-10 | 2015-01-10 | Indoor locating system and localization method based on feature light source and spherical lighting equipment |
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| CN113791377B (en)* | 2021-09-09 | 2024-04-12 | 中国科学院微小卫星创新研究院 | Positioning method based on angle measurement |
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| CN101825697A (en)* | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Positioning method and system based on light intensity |
| CN102967307A (en)* | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN103983945A (en)* | 2014-05-04 | 2014-08-13 | 苏州昭创光电技术有限公司 | Light locating system and method used for cleaning robot |
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| US6658282B1 (en)* | 2002-12-19 | 2003-12-02 | Bausch & Lomb Incorporated | Image registration system and method |
| CN101825697A (en)* | 2009-03-06 | 2010-09-08 | 财团法人工业技术研究院 | Positioning method and system based on light intensity |
| CN102967307A (en)* | 2012-11-23 | 2013-03-13 | 清华大学 | Positioning and navigation system based on indoor illumination |
| CN103983945A (en)* | 2014-05-04 | 2014-08-13 | 苏州昭创光电技术有限公司 | Light locating system and method used for cleaning robot |
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