Indoor location and navigation method and device based on LED lighting

Abstract

The invention provides an indoor location and navigation method based on LED lighting. Each LED has a programmable ID code, each LED lamp has a different and unique emitting power change mode, a visible data light signal which can be identified by a receiving end is formed, and the programmable ID codes are emitted in the form of time division multiplexing; the receiving end parses the received data light signal, and calculates the received power from different LED lamps; and the initial 3D coordinates of the receiving end are calculated according to a location algorithm, and the initial 3D coordinates are modified through a nonlinear fitting algorithm. The invention correspondingly provides an indoor location and navigation device applied to the method. The brightness change of the LEDs cannot be identified with the naked eye, and thus, an LED lighting system is built. The method can still provide precise location service for users when an individual LED is abnormal. By correcting the coordinates through the nonlinear fitting algorithm, centimeter-level location accuracy is guaranteed.

Description

technical field [0001] The invention relates to an indoor positioning and navigation method and device, belonging to the technical field of positioning and navigation. Background technique [0002] Positioning and navigation services are widely used in commercial activities, search and rescue, and scientific research because of their timeliness and accuracy. In recent years, as a way to realize indoor location services, the indoor positioning system is rapidly expanding its application fields with its irreplaceable convenience and mobility, such as automatic guides for large shopping malls and museums, automatic navigation for parking spaces in large parking lots, Patient tracking in hospitals, automatic positioning and navigation in mines, emergency guidance in buildings, etc. In general, indoor positioning services usually consist of two parts. First, obtain the user's location information through some positioning methods; secondly, push relevant location services to the...

AI Technical Summary

Problems solved by technology

[0005] 1. "The LED lamp array is formed by LED lamps distributed in an equilateral triangle to four sides." In this design, each array consists of three lamps, and its accuracy depends on the distance between LED lamps, so improving accuracy means reducing The distance, the number of lights becomes more and more dense, which is easy to cause glare effect, and the equipment cost increases, the installation requirements increase, and the implementation is difficult;

[0006] 2. Because it is positioned to a certain light corresponding to the sub-cell, once a certain light fails, the accuracy of the positioning system will drop sharply;

[0008] 4. When positioning, comparing the power of the three LED lights in the sub-cell can only get a relative positioning result, and it is impossible to obtain a relatively accurate positioning result by averaging, and it is difficult to improve the accuracy

[0009] 5. Because this technology uses the method of comparing the power to determine the position, in order to ensure the positioning accuracy is about one meter, the sensitivity of the photodetector is very high, so this technology needs to use the avalanche photodiode APD for detection, so that the positioning reception high end cost

[0011] 1. The application provides three positioning methods: "the first method, rough positioning of a single lamp", "the second method, rough positioning of two lamps" and "the third method, precise positioning of multiple lamps". According to the positioning requirements in the area, different lighting methods are used. However, the disadvantage is that this positioning method is not accurate enough, and the experience of positioning services is not good; in addition, if the lights at a certain distance fail, positioning at this distance will not be possible;

[0012] 2. If the image of the light source is only illuminated on one image sensor, the channel matrix will not be full rank, so all channels cannot achieve independent data transmission;

[0013] 3. For this application to achieve the desired effect, the transmitter beam angle must be large enough to illuminate the receiver at the edge of the coverage area, and the diameter of the imaging lens must be large enough to collect enough light to maintain the required link budget, and the above two requirements will greatly increase the total cost of the system

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