Indoor positioning method and platform based on visible light communication and inertial sensor fusion
A visible light communication and inertial sensor technology, applied in the field of indoor wireless positioning, can solve problems such as visible light positioning vulnerable to environmental occlusion or interference, inertial sensor accumulated errors, etc., to make up for limitations and improve positioning accuracy.
Active Publication Date: 2020-08-11
SOUTHEAST UNIV
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[0005] In order to solve the problems in the prior art that visible light positioning is susceptible to environmental occlusion or interference, and inertial sensors have cumulative errors, the present invention provides an indoor positioning method and its platform based on the fusion of visible light communication and inertial sensors. The fusion positioning method achieves high precision indoor positioning
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[0020] The present invention is an indoor positioning method based on the fusion of visible light communication and inertial sensors, collecting data to establish a calibration model and an RSS-distance model, performing calibration calculations on positioning data, and using corresponding calculation methods to calculate blind node coordinates according to data acquisition conditions. Steps such as figure 1 Shown, the scheme design of the present invention is further specifically analyzed and described below in conjunction with the accompanying drawings.
[0021] Such as figure 2 As shown, the fusion positioning platform is mainly divided into three parts: the anchor node ( figure 2 LED in), the blind node and the positioning server, the blind node is a controller including a photoelectric converter, a wireless signal receiver and an ARM processor, which sends the acquired visible light communication RSS data and inertial sensor data to the positioning server, based on vis...
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The invention discloses an indoor positioning method and platform based on the fusion of visible light communication and an inertial sensor. The high precision positioning of an indoor mobile blind node is achieved based on the visible light communication technology and in combination with the inertial sensor. The method specifically comprises the following steps: establishing a propagation modelof received signal strength (RSS) and distance and an RSS normalized calibration model according to visible light propagation characteristics; establishing a calibration model of inertial sensing dataand a linear model of error factors, and performing adaptive Calman filtering on the error factors to optimize model parameters; calibrating and collecting visible light RSS data and the inertial sensing data in a positioning process; obtaining a distance value between the blind node and an anchor node according to a RSS-distance model, and obtaining a displacement distance and a displacement direction within a unit time; and performing fusion operation on the visible light data and the inertial sensing data to obtain a blind node positioning result at last.
Description
technical field [0001] The invention relates to an indoor positioning method based on fusion of visible light communication and inertial sensors and a platform thereof, belonging to the technical field of indoor wireless positioning. Background technique [0002] Visible light communication is a way of communicating with light in the visible light band as an information carrier. It is also a wireless optical communication technology that has emerged in recent years. It not only has the flexibility of wireless communication, but also saves the increasingly tense radio spectrum resources. Visible light communication is based on indoor LED (Light Emitting Diode, LED) lighting. In practical applications, both lighting and communication can be taken into account, which saves energy and reduces capital investment in communication facilities. Visible light communication has fast speed, no radio frequency radiation, good confidentiality, strong anti-interference ability, no need to ...
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IPC IPC(8): H04B10/116H04W4/024H04W4/33H04W4/38G01S5/02
CPCG01S5/0252H04B10/116H04W4/023
Inventor 夏玮玮邹倩黄博南张静燕锋沈连丰
Owner SOUTHEAST UNIV