CN106125046A - A kind of RSS/AOA 3-D positioning method based on CDMA modulation - Google Patents

Abstract

Translated fromChinese

本发明公开一种基于CDMA调制的RSS/AOA三维定位方法。本发明基于CDMA调制技术，使用RSS/AOA三维定位方法，通过利用CDMA调制技术对LED灯具发射的带有LED灯具ID信息的光信号进行编码，由于CDMA扩频编码具有正交性，能在接收端分辨出LED所发出的ID信息以及信号功率大小。通过ID信息来确定接收端的位置区域；通过接收到的光信号的信号功率大小粗略估算接收端的位置；通过测量接收端与LED灯具之间的方位角与仰角，对接收端的位置进行一个比较精确的计算。本发明的三维定位方法中，CDMA调制技术很好地解决了由于多径效应和多个参考点相互干扰所导致的定位精度下降的问题。在相同基础设施条件下，能够在满足照明需求的同时，也能提供精度相对较高的定位服务，具有广阔的应用前景。

The invention discloses an RSS/AOA three-dimensional positioning method based on CDMA modulation. The present invention is based on the CDMA modulation technology, uses the RSS/AOA three-dimensional positioning method, and uses the CDMA modulation technology to encode the optical signal with the ID information of the LED lamp emitted by the LED lamp. Since the CDMA spread spectrum coding has orthogonality, it can The terminal can distinguish the ID information and signal power sent by the LED. The location area of the receiving end is determined by ID information; the position of the receiving end is roughly estimated by the signal power of the received optical signal; by measuring the azimuth and elevation angle between the receiving end and the LED lamp, a more accurate position of the receiving end is calculated calculate. In the three-dimensional positioning method of the present invention, the CDMA modulation technology well solves the problem of decreased positioning accuracy due to multipath effects and mutual interference of multiple reference points. Under the same infrastructure conditions, it can provide relatively high-precision positioning services while meeting lighting needs, and has broad application prospects.

Description

Translated fromChinese

一种基于CDMA调制的RSS/AOA三维定位方法A 3D Positioning Method Based on CDMA Modulation for RSS/AOA

技术领域technical field

本发明涉及可见光通信技术，特别涉及一种基于CDMA调制的RSS/AOA三维定位方法。The invention relates to visible light communication technology, in particular to an RSS/AOA three-dimensional positioning method based on CDMA modulation.

背景技术Background technique

自主机器人控制、私人服务，位置识别、急救和导航援助迅速增加等等。其中定位的一个不可或缺的技术。直到最近，定位系统的研究一直集中在全球卫星定位系统(GPS)、RF-ID，红外，超声波，和WLAN。全球定位系统一直被视为一种有效的在室外环境中对各种对象跟踪的手段，但是，全球定位系统信号在一些区域，如在隧道或建筑物的内部区域中不能使用。由于多径效应和无线电干扰的影响，准确的定位在室内环境中是困难的。室内定位系统的研究已经进行了使用射频，红外线，超声波，和无线局域网，而这些系统也有比较大的各方面的缺陷，如存在额外的基础设施，测量误差大，跟踪范围窄，抗电磁干扰性弱，安全性低，响应时间长，和低的可扩展性。由于这些原因，最近使用光学可见光无线通信的室内定位系统(owvlc)被作为有效的替代手段得到普及。基于发光二极管(LED)owvlc适用于室内定位，因为它的接收信号功率由光电流决定的，而光电流是由接收信号功率产生的的，而它又大大受到传输距离和角度的影响，因此，OWVLC可以提供更准确的位置估计比现有系统。然而,传统的三角定位方法存在由于多径效应和多个参考点而引起的码间干扰所导致的定位准确性不足，数据误差大，不能满足基本照明要求的弊端Autonomous robot control, personal services, location recognition, first aid, and navigation assistance are rapidly increasing, among others. One of the indispensable technologies of positioning. Until recently, positioning system research has focused on Global Positioning System (GPS), RF-ID, infrared, ultrasonic, and WLAN. Global Positioning System has been considered as an effective means of tracking various objects in outdoor environments, however, GPS signals cannot be used in some areas, such as in tunnels or inside areas of buildings. Accurate localization is difficult in indoor environments due to multipath effects and radio interference. Research on indoor positioning systems has been carried out using radio frequency, infrared, ultrasonic, and wireless local area networks, and these systems also have relatively large defects in various aspects, such as the existence of additional infrastructure, large measurement errors, narrow tracking range, and anti-electromagnetic interference. Weak, low security, long response time, and low scalability. For these reasons, an indoor positioning system (owvlc) using optical visible light wireless communication has recently been popularized as an effective alternative. Based on light-emitting diode (LED) owvlc is suitable for indoor positioning, because its received signal power is determined by the photocurrent, and the photocurrent is generated by the received signal power, and it is greatly affected by the transmission distance and angle. Therefore, OWVLC can provide more accurate position estimation than existing systems. However, the traditional triangulation positioning method has the disadvantages of insufficient positioning accuracy due to multipath effects and intersymbol interference caused by multiple reference points, large data errors, and failure to meet basic lighting requirements

发明内容Contents of the invention

为了克服现有技术的上述缺点与不足，本发明的目的在于提出了一种基于CDMA调制的RSS/AOA三维定位方法的高精度室内可见光通信定位系统，通过利用CDMA调制中扩频码的正交性，每个LED发出的具有ID信息的光信号经过特定的PN码直接扩频，经由自适应滤波电路能分辨出各LED的ID信息和对应的信号功率大小。通过所述ID信息确定其所在区域，通过RSS三角定位方法利用信号功率大小的加权粗略估算其所在位置，通过AOA定位方法利用方位角和仰角精确计算其位置，实现室内精确定位。通过融合CDMA调制的RSS/AOA的三维定位方法可实现异步接收的高精度室内可见光通信定位系统。In order to overcome the above-mentioned shortcomings and deficiencies of the prior art, the object of the present invention is to propose a high-precision indoor visible light communication positioning system based on the RSS/AOA three-dimensional positioning method of CDMA modulation. The optical signal with ID information sent by each LED is directly spread by a specific PN code, and the ID information of each LED and the corresponding signal power can be distinguished through an adaptive filter circuit. Determine its location through the ID information, use the RSS triangulation method to roughly estimate its location using the weight of the signal power, and use the AOA positioning method to accurately calculate its location using the azimuth and elevation angles to achieve accurate indoor positioning. A high-precision indoor visible light communication positioning system with asynchronous reception can be realized by combining the three-dimensional positioning method of RSS/AOA modulated by CDMA.

本发明的目的通过以下技术方案实现。The purpose of the present invention is achieved through the following technical solutions.

一种基于CDMA调制的RSS/AOA三维定位方法，包括以下步骤：A kind of RSS/AOA three-dimensional location method based on CDMA modulation, comprises the following steps:

步骤1、对具有LED灯具ID信息的原始信号进行CDMA调制；Step 1. Carry out CDMA modulation on the original signal with the ID information of the LED lamp;

步骤2、经过调制之后的信号通过LED驱动电路驱动LED灯具发出带有ID信息的光信号；Step 2. The modulated signal drives the LED lamp to send a light signal with ID information through the LED drive circuit;

步骤3、接收端同时接收多个从不同LED灯具发射出的具有ID信息的光信号，通过放大电路、自适应滤波电路和CDMA解扩模块对信号进行处理；由于扩频码的正交性，接收端能够分辨出各个具有不同LED灯具ID信息的光信号从而还原出LED灯具的ID信息以及测量各个光信号功率大小，通过RSS三角定位方法对接收端的位置进行粗略的估计；Step 3. The receiving end receives multiple optical signals with ID information emitted from different LED lamps at the same time, and processes the signals through the amplification circuit, adaptive filter circuit and CDMA despreading module; due to the orthogonality of the spreading code, The receiving end can distinguish the optical signals with different ID information of LED lamps to restore the ID information of the LED lamps and measure the power of each optical signal, and roughly estimate the position of the receiving end through the RSS triangulation method;

步骤4、测量出所述接收端与各个LED灯具之间的方位角和仰角，通过AOA定位方法对接收端的位置进行一个精确的计算，得出接收端的位置坐标，从而实现准确定位。Step 4. Measure the azimuth and elevation angles between the receiving end and each LED lamp, and perform an accurate calculation on the position of the receiving end through the AOA positioning method to obtain the position coordinates of the receiving end, thereby realizing accurate positioning.

进一步地，所述步骤1包括以下步骤：Further, said step 1 includes the following steps:

步骤11、对具有LED灯具ID信息的原始信号进行BPSK基带调制，形成基带调制信号，基带调制信号的带宽为A₁；Step 11, performing BPSK baseband modulation on the original signal with the ID information of the LED lamp to form a baseband modulation signal, and the bandwidth of the baseband modulation signal is A1_;

步骤12、将基带调制信号经过PN码发生器进行扩频处理，形成带宽为A₂的扩频信号，而且A₂远大于A₁。Step 12. The baseband modulated signal is subjected to spread spectrum processing by the PN code generator to form a spread spectrum signal with a bandwidth of A₂ , and A₂ is much larger than A₁ .

进一步地，其所述步骤3和步骤4中，定位是通过ID信息确定接收端所在的区域，通过RSS三角定位方法对接收端的位置进行粗略的位置估算，通过AOA定位方法对接收端的位置进行精确的计算。Further, in the step 3 and step 4, the positioning is to determine the area where the receiving end is located through the ID information, to roughly estimate the position of the receiving end through the RSS triangulation method, and to accurately estimate the position of the receiving end through the AOA positioning method. calculation.

进一步地，所述步骤3包括以下步骤：Further, said step 3 includes the following steps:

步骤31、所述接收端接收到多个不同LED灯具发射的具有ID信息的光信号并将其转变为电信号；电信号通过自适应滤波电路处理形成解扩前的信号；Step 31, the receiving end receives a plurality of optical signals with ID information emitted by different LED lamps and converts them into electrical signals; the electrical signals are processed by an adaptive filter circuit to form signals before despreading;

步骤32、所述CDMA解扩模块捕获PN码序列，通过同步电路调整本地PN码的相位，从而产生与发射端相同的PN码，对所述解扩前的信号进行解扩处理；由于扩频码的正交性，所以接收端能够还原出LED灯具的ID信息以及测量出信号功率的大小；通过ID信息来确定接收端所在区域；通过接收到的每个LED灯具的光信号的信号功率大小来对接收端位置进行粗略的估计；所得到的粗略的位置估计是接收到每个信号的信号功率大小的加权，其数学公式为：Step 32, the CDMA despreading module captures the PN code sequence, adjusts the phase of the local PN code through the synchronization circuit, thereby generating the same PN code as the transmitting end, and despreading the signal before the despreading; due to the spread spectrum The orthogonality of the code, so the receiving end can restore the ID information of the LED lamp and measure the signal power; determine the area where the receiving end is located through the ID information; through the received signal power of the optical signal of each LED lamp To make a rough estimate of the position of the receiving end; the obtained rough position estimate is weighted by the signal power of each signal received, and its mathematical formula is:

${\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>R</span>R</span>}\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>{\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>s</span>the\; s</span>}\mathrm{<span><span>k</span>k</span>}}}{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>}$

其中，r_Rj为第j个接收端的坐标，χ_k为第k个灯具附加的二进制权重，P_k，j为就第j个接收端收到第k个灯具的信号功率大小，r_sk为第k个灯具的理想坐标。Φ_k,j是LED灯具发射的光信号的出射角，θ_k,j是接收端接收到的光信号的入射角。Among them, r_Rj is the coordinate of the jth receiver, χ_k is the binary weight attached to the kth lamp, P_{k, j} is the signal power of the kth lamp received by the jth receiver, r_sk is the Ideal coordinates of k luminaires. Φ_k,j is the outgoing angle of the optical signal emitted by the LED lamp, and θ_k,j is the incident angle of the optical signal received by the receiving end.

进一步地，所述步骤4包括以下步骤：Further, said step 4 includes the following steps:

步骤41、测量得出各LED灯具与接收端之间的方位角β_k与仰角α_k；Step 41, measure and obtain the azimuth angle β_k and elevation angle α_k between each LED lamp and the receiving end;

步骤42、利用几何关系计算出接收端的精确坐标，其数学表达式是：Step 42, using the geometric relationship to calculate the precise coordinates of the receiving end, the mathematical expression is:

$\left[\begin{array}{c}\mathrm{<span><span>X</span>x</span>}\\ \mathrm{<span><span>Y</span>Y</span>}\\ \mathrm{<span><span>Z</span>Z</span>}\end{array}\right]<span><span>=</span>=</span>\left[\begin{array}{c}{\mathrm{<span><span>X</span>x</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Y</span>Y</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Z</span>Z</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]<span><span>+</span>+</span>\left[\begin{array}{c}{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>cos\&beta;</span>cos\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>sin\&beta;</span>sin\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>cos\&alpha;</span>cos\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]$

其中X，Y，Z是接收端的坐标，X_k，Y_k，Z_k是第k个灯具的坐标D_k，j＝|r_Rj-r_sk|，Where X, Y, Z are the coordinates of the receiving end, X_k , Y_k , Z_k are the coordinates of the kth lamp D_k,j = |r_Rj -r_sk |,

而D_k，j则可通过几何关系计算出来,其数学表达式为And D_{k, j} can be calculated by geometric relationship, its mathematical expression is

${\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\mathrm{<span><span>D</span>D.</span>}\sqrt{\mathrm{<span><span>1</span>1</span>}<span><span>+</span>+</span>{<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>)</span>)</span>}^{\mathrm{<span><span>2</span>2</span>}}}}{{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>2</span>2</span>}}<span><span>)</span>)</span>}$

D＝|r_sk1-r_sk2|；在每一个灯具与接收端之间都存在一个D_k，j,但只要算出其中一个灯具与接收端之间的D_k，j,即可计算出接收端的位置。D＝|r_sk1 -r_sk2 |; There is a D_{k, j} between each lamp and the receiving end, but as long as the D_{k, j} between one of the lamps and the receiving end is calculated, the receiving end can be calculated Location.

所述基于CDMA调制的RSS/AOA三维定位方法的可见光通信室内定位方法采用的系统包括：信号发射部分、传输信道、信号接收部分。BPSK基带调制模块、CDMA扩频模块、LED驱动电路和LED灯具依次连接组成所述信号发射部分；光信号接收端、放大电路、自适应滤波电路和CDMA解扩模块依次连接组成所述信号接收部分；所述传输信道为三维室内空间。具有LED灯具ID信息的原始信号通过所述信号发射部分的BPSK基带调制模块和CDMA扩频模块进行基带调制和扩频后，驱动LED灯具将电信号转换为带有ID信息的光信号并且发射出去；所述光信号通过三维自由空间传输到达信号接收部分。所述光信号接收端接收经过三维室内空间传输的带有ID信息的光信号后,还原为电信号；所述电信号经过放大电路进行放大处理,然后通过自适应滤波电路去除噪声,接着通过CDMA解扩模块解扩。最终获得具有各个ID信息的电信号和信号功率大小。所述ID信息确定其所在区域，通过信号功率的加权粗略估算其所在位置，通过方位角和仰角精确计算其位置，实现精确定位。The system adopted by the visible light communication indoor positioning method based on the CDMA modulation RSS/AOA three-dimensional positioning method includes: a signal transmitting part, a transmission channel, and a signal receiving part. BPSK baseband modulation module, CDMA spread spectrum module, LED drive circuit and LED lamps are sequentially connected to form the signal transmitting part; optical signal receiving end, amplifier circuit, adaptive filter circuit and CDMA despreading module are connected in sequence to form the signal receiving part ; The transmission channel is a three-dimensional indoor space. After the original signal with ID information of the LED lamp is baseband modulated and spread by the BPSK baseband modulation module and CDMA spread spectrum module of the signal transmitting part, the LED lamp is driven to convert the electrical signal into an optical signal with ID information and emit it ; The optical signal reaches the signal receiving part through three-dimensional free space transmission. The optical signal receiving end receives the optical signal with ID information transmitted through the three-dimensional indoor space, and restores it to an electrical signal; the electrical signal is amplified through an amplification circuit, and then the noise is removed through an adaptive filter circuit, and then passed through a CDMA The despreading module despreads. Finally, the electrical signal and signal power with each ID information are obtained. The ID information determines its location, roughly estimates its location through the weighting of signal power, and accurately calculates its location through azimuth and elevation angles to achieve precise positioning.

与现有技术相比，本发明具有以下优点和有益效果：Compared with the prior art, the present invention has the following advantages and beneficial effects:

(1)创新性地将CDMA调制技术应用于VLC系统中，在不增加器件带宽的前提下，成倍地提高了无线通信的速率与质量。(1) The innovative application of CDMA modulation technology to the VLC system doubles the rate and quality of wireless communication without increasing the bandwidth of the device.

(2)创新性的将RSS定位方法和AOA定位方法融合起来引用于VLC系统中，在减少了所需基础设施(LED灯具的数量)的同时，还提高了定位的准确度。(2) Innovatively integrate the RSS positioning method and the AOA positioning method into the VLC system, which reduces the required infrastructure (the number of LED lamps) and improves the positioning accuracy.

附图说明Description of drawings

图1为所模拟的室内环境示意图。Figure 1 is a schematic diagram of the simulated indoor environment.

图2为实现CDMA调制与解调的原理框图。Figure 2 is a functional block diagram for realizing CDMA modulation and demodulation.

图3为实现RSS/AOA的混合三维定位方法的原理框图。Fig. 3 is a functional block diagram of a hybrid three-dimensional positioning method for realizing RSS/AOA.

图4为实现RSS/AOA的混合三维定位方法的原理示意图。FIG. 4 is a schematic diagram of the principle of a hybrid three-dimensional positioning method for realizing RSS/AOA.

具体实施方式detailed description

下面结合实施例及附图，对本发明作进一步地详细说明，但本发明的实施方法不限于此。The present invention will be described in further detail below in conjunction with the embodiments and accompanying drawings, but the implementation method of the present invention is not limited thereto.

实施例1Example 1

如图1所示，一种基于CDMA调制的RSS/AOA可见光通信定位方法的系统模型。这是一个4m*4m*3.5m米的房间，图中①是参与定位的LED灯具；②是贡献噪声的LED灯具；③是离散的接收端的位置。十二盏LED灯具分成四行四列间隔均匀地分布在天花板上，以每四个LED灯具作为一个定位单元，通过四个灯具实现RSS定位方法，再通过上述四个灯具中的其中两个实现AOA定位方法，从而实现接收端的准确定位As shown in Figure 1, a system model of the RSS/AOA visible light communication positioning method based on CDMA modulation. This is a 4m*4m*3.5m room. In the figure ① is the LED lamps participating in the positioning; ② is the LED lamps contributing noise; ③ is the position of the discrete receiving end. Twelve LED lamps are divided into four rows and four columns and evenly distributed on the ceiling. Every four LED lamps are used as a positioning unit, and the RSS positioning method is realized through four lamps, and then realized through two of the above four lamps. AOA positioning method to achieve accurate positioning of the receiving end

进一步的，如图2所示，所述的BPSK基带调制模块把具有LED灯具ID信息的原始信号转换成基带调制信号，基带调制信号的带宽为A₁；所述CDMA扩频模块通过PN码发生器对基带调制信号进行扩频处理，将其转换成扩频信号；扩频信号的带宽为A₂，A₂远大于A₁；在本案例中，采用直接序列扩频技术，并且采用PN码为扩频码；所述扩频信号经过LED驱动电路驱动LED灯具发射具有ID信息的光信号；所述光接收端接收经过自由空间到达的具有LED灯具ID信息的光信号并且转换为电信号；所述放大电路把电信号放大；所述放大后的信号经过自适应滤波电路去除噪声，形成解扩前的信号；所述CDMA解扩模块捕获PN码序列，通过同步电路调整本地PN码的相位，从而产生与发射端相同的PN码，对所述解扩前的信号进行解扩处理。从而还原出LED灯具的ID信息以及测量出信号功率的大小。Further, as shown in Figure 2, the BPSK baseband modulation module converts the original signal with the LED lamp ID information into a baseband modulation signal, and the bandwidth of the baseband modulation signal is A1_; the CDMA spread spectrum module generates The device performs spread spectrum processing on the baseband modulation signal and converts it into a spread spectrum signal; the bandwidth of the spread spectrum signal is A₂ , and A₂ is much larger than A₁ ; in this case, the direct sequence spread spectrum technology is used, and the PN code is used It is a spread spectrum code; the spread spectrum signal drives the LED lamp to emit an optical signal with ID information through the LED drive circuit; the light receiving end receives the optical signal with the ID information of the LED lamp that arrives through free space and converts it into an electrical signal; The amplifying circuit amplifies the electrical signal; the amplified signal removes noise through an adaptive filter circuit to form a signal before despreading; the CDMA despreading module captures the PN code sequence, and adjusts the phase of the local PN code through a synchronization circuit , so as to generate the same PN code as that at the transmitting end, and perform despreading processing on the signal before despreading. In this way, the ID information of the LED lamp can be restored and the signal power can be measured.

进一步地，如图3、图4所示，首先根据信号的ID信息确定接收端所在的区域。然后利用RSS三角定位方法对接收端的位置进行一个粗略的估算；其数学公式为：Further, as shown in FIG. 3 and FIG. 4 , firstly, the area where the receiving end is located is determined according to the ID information of the signal. Then use the RSS triangulation method to make a rough estimate of the location of the receiving end; the mathematical formula is:

${\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>R</span>R</span>}\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>{\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>s</span>the\; s</span>}\mathrm{<span><span>k</span>k</span>}}}{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{\mathrm{<span><span>\&Sigma;</span>\&Sigma;</span>}}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>}$

其中，r_Rj为第j个接收端的坐标。χ_k为第k个灯具附加的二进制权重；P_k，j为就第j个接收端收到第k个灯具的信号功率大小；r_sk为第k个灯具的理想坐标，Φ_k,j是LED灯具发射的光信号的出射角，即光信号的传播方向与LED灯具的方向的夹角，其中LED灯具的方向用向量表示；θ_k,j是接收端接收到的光信号的入射角即光信号传播方向与接收端方向的夹角，其中接收端方向用向量表示。Among them, r_Rj is the coordinate of the jth receiving end. χ_k is the binary weight attached to the k-th light fixture; P_k,j is the signal power received by the j-th receiving end from the k-th light fixture; r_sk is the ideal coordinate of the k-th light fixture, Φ_k,j is the outgoing angle of the optical signal emitted by the LED lamp, that is, the angle between the propagation direction of the optical signal and the direction of the LED lamp, where the direction of the LED lamp is represented by the vector Indicates; θ_k,j is the incident angle of the optical signal received by the receiving end, that is, the angle between the propagation direction of the optical signal and the direction of the receiving end, where the direction of the receiving end is represented by the vector express.

利用上述公式，计算出接收端粗略的位置坐标，将坐标信息发送回LED灯具，对接收端的位置信息进行更新。Using the above formula, calculate the rough position coordinates of the receiving end, send the coordinate information back to the LED lamp, and update the position information of the receiving end.

进一步地，在RSS定位方法所得到的粗略的位置上，利用AOA定位方法通过几何关系对接收端的位置进行一个精确的计算。测量出接收端与两个灯具之间的方位角和仰角，利用下列公式对接收端位置进行精确的计算。Further, based on the rough position obtained by the RSS positioning method, the AOA positioning method is used to perform an accurate calculation of the position of the receiving end through the geometric relationship. Measure the azimuth and elevation angles between the receiving end and the two lamps, and use the following formula to calculate the position of the receiving end accurately.

⑴---D＝|r_sk1-r_sk2|⑴---D＝|r_sk1 -r_sk2 |

$<span><span>(</span>(</span>\mathrm{<span><span>2</span>2</span>}<span><span>)</span>)</span><span><span>-</span>-</span><span><span>-</span>-</span><span><span>-</span>-</span>{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\mathrm{<span><span>D</span>D.</span>}\sqrt{\mathrm{<span><span>1</span>1</span>}<span><span>+</span>+</span>{<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>)</span>)</span>}^{\mathrm{<span><span>2</span>2</span>}}}}{{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>2</span>2</span>}}<span><span>)</span>)</span>}$

$<span><span>(</span>(</span>\mathrm{<span><span>3</span>3</span>}<span><span>)</span>)</span><span><span>-</span>-</span><span><span>-</span>-</span><span><span>-</span>-</span>\left[\begin{array}{c}\mathrm{<span><span>X</span>x</span>}\\ \mathrm{<span><span>Y</span>Y</span>}\\ \mathrm{<span><span>Z</span>Z</span>}\end{array}\right]<span><span>=</span>=</span>\left[\begin{array}{c}{\mathrm{<span><span>X</span>x</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Y</span>Y</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Z</span>Z</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]<span><span>+</span>+</span>\left[\begin{array}{c}{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>cos\&beta;</span>cos\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>sin\&beta;</span>sin\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>cos\&alpha;</span>cos\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]$

其中X，Y，Z是接收端的坐标，X_k，Y_k，Z_k是第k个灯具的坐标D_k，j＝|r_Rj-r_sk|是LED灯具与接收端之间的向量，β_k是LED灯具与接收端之间的方位角，α_k是各LED灯具与接收端之间的仰角。Where X, Y, Z are the coordinates of the receiving end, X_k , Y_k , Z_k are the coordinates of the kth lamp D_{k, j} = |r_Rj -r_sk | is the vector between the LED lamp and the receiving end, β_k is the azimuth angle between the LED lamp and the receiving end, α_k is the elevation angle between each LED lamp and the receiving end .

首先使用公式(1)计算出两个实现AOA定位方法的LED灯具之间的位置向量D；接着使用公式(2)计算出其中一个LED灯具与接收端之间的向量D_k，j；最后使用公式(3)计算出接收端的坐标r_Rj，First use the formula (1) to calculate the position vector D between two LED lamps that implement the AOA positioning method; then use the formula (2) to calculate the vector D_{k, j} between one of the LED lamps and the receiving end; finally use Formula (3) calculates the coordinate r_Rj of the receiving end,

从而实现接收端的精确定位。把得到的精确的坐标发送给LED灯具，更新接收端的位置信息。So as to realize the precise positioning of the receiving end. Send the obtained precise coordinates to the LED lamps and update the location information of the receiving end.

进一步的，在一定的时间间隔之后，再重新利用RSS定位方法对接收端的位置进行粗略的估计，在此基础上再进行AOA定位方法对接收端的位置进行计算，更新接收端的位置信息。不断重复以上过程，从而实现对接收端准确的室内定位与跟踪。Further, after a certain time interval, the RSS positioning method is used again to roughly estimate the position of the receiving end, and on this basis, the AOA positioning method is used to calculate the position of the receiving end and update the position information of the receiving end. The above process is repeated continuously to achieve accurate indoor positioning and tracking of the receiving end.

上述实施例仅为本发明的一种实施方法，但本发明的实施方法并不受上述实施例的限制，其他任何未背离本发明的精神实质与原理下所作的改变、修饰、替代、组合、简化均应为等效的置换方法，都包含在本发明的保护范围之。The above-mentioned embodiment is only an implementation method of the present invention, but the implementation method of the present invention is not limited by the above-mentioned embodiment, and any other changes, modifications, substitutions, combinations, All simplifications should be equivalent replacement methods, and all are included in the protection scope of the present invention.

Claims (5)

Translated fromChinese

1.一种基于CDMA调制的RSS/AOA三维定位方法，其特征在于，包括以下步骤：1. a kind of RSS/AOA three-dimensional positioning method based on CDMA modulation, it is characterized in that, may further comprise the steps:步骤1、对具有LED灯具ID信息的原始信号进行CDMA调制；Step 1. Carry out CDMA modulation on the original signal with the ID information of the LED lamp;步骤2、经过调制之后的信号通过LED驱动电路驱动LED灯具发出带有ID信息的光信号；Step 2. The modulated signal drives the LED lamp to send a light signal with ID information through the LED drive circuit;步骤3、接收端同时接收多个从不同LED灯具发射出的具有ID信息的光信号，通过放大电路、自适应滤波电路和CDMA解扩模块对信号进行处理；由于扩频码的正交性，接收端能够分辨出各个具有不同LED灯具ID信息的光信号从而还原出LED灯具的ID信息以及测量各个光信号功率大小，通过RSS三角定位方法对接收端的位置进行粗略的估计；Step 3. The receiving end receives multiple optical signals with ID information emitted from different LED lamps at the same time, and processes the signals through the amplification circuit, adaptive filter circuit and CDMA despreading module; due to the orthogonality of the spreading code, The receiving end can distinguish the optical signals with different ID information of LED lamps to restore the ID information of the LED lamps and measure the power of each optical signal, and roughly estimate the position of the receiving end through the RSS triangulation method;步骤4、测量出所述接收端与各个LED灯具之间的方位角和仰角，通过AOA定位方法对接收端的位置进行一个精确的计算，得出接收端的位置坐标，从而实现准确定位。Step 4. Measure the azimuth and elevation angles between the receiving end and each LED lamp, and perform an accurate calculation on the position of the receiving end through the AOA positioning method to obtain the position coordinates of the receiving end, thereby realizing accurate positioning.2.根据权利要求1所述的一种基于CDMA调制的RSS/AOA三维定位方法，其特征在于，所述步骤1包括以下步骤：2. a kind of RSS/AOA three-dimensional positioning method based on CDMA modulation according to claim 1, is characterized in that, described step 1 comprises the following steps:步骤11、对具有LED灯具ID信息的原始信号进行BPSK基带调制，形成基带调制信号，基带调制信号的带宽为A₁；Step 11, performing BPSK baseband modulation on the original signal with the ID information of the LED lamp to form a baseband modulation signal, and the bandwidth of the baseband modulation signal is A1_;步骤12、将基带调制信号经过PN码发生器进行扩频处理，形成带宽为A₂的扩频信号，而且A₂远大于A₁。Step 12. The baseband modulated signal is subjected to spread spectrum processing by the PN code generator to form a spread spectrum signal with a bandwidth of A₂ , and A₂ is much larger than A₁ .3.根据权利要求1所述的一种基于CDMA调制的RSS/AOA三维定位方法，其特征在于，其所述步骤3和步骤4中，定位是通过ID信息确定接收端所在的区域，通过RSS三角定位方法对接收端的位置进行粗略的位置估算，通过AOA定位方法对接收端的位置进行精确的计算。3. a kind of RSS/AOA three-dimensional location method based on CDMA modulation according to claim 1, it is characterized in that, in its described step 3 and step 4, location is to determine the area where receiving end is by ID information, by RSS The triangulation positioning method can roughly estimate the position of the receiving end, and the AOA positioning method can accurately calculate the position of the receiving end.4.根据权利要求1所述的一种基于CDMA调制的RSS/AOA三维定位方法，其特征在于，所述步骤3包括以下步骤：4. a kind of RSS/AOA three-dimensional positioning method based on CDMA modulation according to claim 1, is characterized in that, described step 3 comprises the following steps:步骤31、所述接收端接收到多个不同LED灯具发射的具有ID信息的光信号并将其转变为电信号；电信号通过自适应滤波电路处理形成解扩前的信号；Step 31, the receiving end receives a plurality of optical signals with ID information emitted by different LED lamps and converts them into electrical signals; the electrical signals are processed by an adaptive filter circuit to form signals before despreading;步骤32、所述CDMA解扩模块捕获PN码序列，通过同步电路调整本地PN码的相位，从而产生与发射端相同的PN码，对所述解扩前的信号进行解扩处理；由于扩频码的正交性，所以接收端能够还原出LED灯具的ID信息以及测量出信号功率的大小；通过ID信息来确定接收端所在区域；通过接收到的每个LED灯具的光信号的信号功率大小来对接收端位置进行粗略的估计；所得到的粗略的位置估计是接收到每个信号的信号功率大小的加权，其数学公式为：Step 32, the CDMA despreading module captures the PN code sequence, adjusts the phase of the local PN code through the synchronization circuit, thereby generating the same PN code as the transmitting end, and despreading the signal before the despreading; due to the spread spectrum The orthogonality of the code, so the receiving end can restore the ID information of the LED lamp and measure the signal power; determine the area where the receiving end is located through the ID information; through the received signal power of the optical signal of each LED lamp To make a rough estimate of the position of the receiving end; the obtained rough position estimate is weighted by the signal power of each signal received, and its mathematical formula is:${\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>R</span>R</span>}\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{<span><span>\&Sigma;</span>\&Sigma;</span>}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>{\mathrm{<span><span>r</span>r</span>}}_{\mathrm{<span><span>s</span>the\; s</span>}\mathrm{<span><span>k</span>k</span>}}}{\underset{\mathrm{<span><span>k</span>k</span>}<span><span>=</span>=</span>\mathrm{<span><span>1</span>1</span>}}{\overset{\mathrm{<span><span>N</span>N</span>}}{<span><span>\&Sigma;</span>\&Sigma;</span>}}{\mathrm{<span><span>\&chi;</span>\&chi;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>P</span>P</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>\&Phi;</span>\&Phi;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>,</span>,</span>{\mathrm{<span><span>\&theta;</span>\&theta;</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>)</span>)</span>}$其中，r_Rj为第j个接收端的坐标，χ_k为第k个灯具附加的二进制权重，P_k，j为就第j个接收端收到第k个灯具的信号功率大小，r_sk为第k个灯具的理想坐标。Φ_k,j是LED灯具发射的光信号的出射角，θ_k,j是接收端接收到的光信号的入射角。Among them, r_Rj is the coordinate of the jth receiver, χ_k is the binary weight attached to the kth lamp, P_{k, j} is the signal power of the kth lamp received by the jth receiver, r_sk is the Ideal coordinates of k luminaires. Φ_k,j is the outgoing angle of the optical signal emitted by the LED lamp, and θ_k,j is the incident angle of the optical signal received by the receiving end.5.根据权利要求1所述的一种基于CDMA调制的RSS/AOA三维定位方法，其特征在于所述步骤4包括以下步骤：5. a kind of RSS/AOA three-dimensional positioning method based on CDMA modulation according to claim 1, is characterized in that described step 4 comprises the following steps:步骤41、测量得出各LED灯具与接收端之间的方位角β_k与仰角α_k；Step 41, measure and obtain the azimuth angle β_k and elevation angle α_k between each LED lamp and the receiving end;步骤42、利用几何关系计算出接收端的精确坐标，其数学表达式是：Step 42, using the geometric relationship to calculate the precise coordinates of the receiving end, the mathematical expression is:$\left[\begin{array}{c}\mathrm{<span><span>X</span>x</span>}\\ \mathrm{<span><span>Y</span>Y</span>}\\ \mathrm{<span><span>Z</span>Z</span>}\end{array}\right]<span><span>=</span>=</span>\left[\begin{array}{c}{\mathrm{<span><span>X</span>x</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Y</span>Y</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>Z</span>Z</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]<span><span>+</span>+</span>\left[\begin{array}{c}{\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>cos\&beta;</span>cos\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}{\mathrm{<span><span>sin\&beta;</span>sin\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\\ {\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}{\mathrm{<span><span>cos\&alpha;</span>cos\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}\end{array}\right]$其中X，Y，Z是接收端的坐标，X_k，Y_k，Z_k是第k个灯具的坐标D_k，j＝|r_Rj-r_sk|，Where X, Y, Z are the coordinates of the receiving end, X_k , Y_k , Z_k are the coordinates of the kth lamp D_k,j = |r_Rj -r_sk |,而D_k，j则可通过几何关系计算出来,其数学表达式为And D_{k, j} can be calculated by geometric relationship, its mathematical expression is${\mathrm{<span><span>D</span>D.</span>}}_{\mathrm{<span><span>k</span>k</span>}<span><span>,</span>,</span>\mathrm{<span><span>j</span>j</span>}}<span><span>=</span>=</span>\frac{\mathrm{<span><span>D</span>D.</span>}\sqrt{\mathrm{<span><span>1</span>1</span>}<span><span>+</span>+</span>{<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>)</span>)</span>}^{\mathrm{<span><span>2</span>2</span>}}}}{{\mathrm{<span><span>sin\&alpha;</span>sin\&alpha;</span>}}_{\mathrm{<span><span>k</span>k</span>}}<span><span>(</span>(</span>{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>1</span>1</span>}}{\mathrm{<span><span>tan\&beta;</span>tan\&beta;</span>}}_{\mathrm{<span><span>2</span>2</span>}}<span><span>)</span>)</span>}$D＝|r_sk1-r_sk2|；在每一个灯具与接收端之间都存在一个D_k，j,但只要算出其中一个灯具与接收端之间的D_k，j,即可计算出接收端的位置。D＝|r_sk1 -r_sk2 |; There is a D_{k, j} between each lamp and the receiving end, but as long as the D_{k, j} between one of the lamps and the receiving end is calculated, the receiving end can be calculated Location.