VLC dynamic positioning method and system based on mean shift and unscented Kalman filtering
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An unscented Kalman and dynamic positioning technology, applied in the field of visible light communication, can solve problems such as algorithm failure, blurred image, and large amount of calculation
Pending Publication Date: 2019-09-13
SOUTH CHINA UNIV OF TECH
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[0006] Theoretically, IS outperforms PD in the field of VLP, but the existing researches have not achieved satisfactory results in terms of positioning accuracy, real-time and robustness.
When the target moves at a faster speed, the image of the LED will become blurred, which may cause positioning failure
In addition, when the optical path between ...
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Embodiment 1
[0080] as attached figure 1 As shown, the present embodiment discloses a VLC dynamic positioning method based on mean shift and unscented Kalman filter, comprising the following steps:
[0081] S1. Control each LED light to turn on and off with high frequency at different frequencies. When the dynamic visible light positioning algorithm is started, find the area where the LED lights are located through the LED-ID identification algorithm, and then identify the ID of each LED, and obtain the initial position of the positioning terminal;
[0082] In a specific embodiment, the step S1 includes the following sub-steps:
[0083] S101. By programming the single-chip microcomputer, different pins output pulse sequences of different frequencies, and input the pulse sequences of different frequencies to the LED drive circuit, and the LED drive circuit controls the on-off of the output current, so that the LED flickers according to the specified frequency;
[0084] S102, as attached ...
Embodiment 2
[0133] Such as Figure 6 As shown, the present embodiment discloses a VLC dynamic positioning system based on mean shift and unscented Kalman filter. The VLC dynamic positioning system includes: a VLC transmitting end, a VLC receiving end and a server end.
[0134] Among them, the VLC transmitter includes 28V constant voltage source, LED drive circuit, LED lamp and power adapter;
[0135] The LED lamp is powered by a 28V constant voltage source, which can make the LED lamp have a constant and appropriate light intensity; the LED drive circuit uses a STM32 system board as a chip, and uses a DD311 high-frequency switch to control the on-off of the current of the LED lamp to make the LED lamp generate The high-frequency on and off that cannot be recognized by the human eye, the on and off frequency of each LED light is different, so the above-mentioned LED can be used as a unique ID light signal transmitter; the power adapter converts the input voltage into a voltage of about 5V ...
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Abstract
The invention discloses a VLC dynamic positioning method and system based on mean shift and unscented Kalman filtering. The method comprises the following steps: firstly, controlling an LED lamp to beon and off at high frequency by an LED driving circuit, finding an area where an LED exists through LED-ID identification, identifying the ID of the LED, and obtaining the initial position of the positioning terminal; secondly, dynamically tracking LEDs in the image sequence by using a mean shift algorithm and unscented Kalman filtering, and calculating the relative positions of the LED pixel coordinates of the current frame and the LED pixel coordinates of the initial frame; and then, obtaining the position of the positioning terminal in the real world in combination with the relative position relationship between the initial position of the positioning terminal and the positioning terminal in a subsequent frame, so that real-time positioning is realized. The method has the capability oftracking the high-speed target, improves the positioning precision when the LED is shielded, and can maintain the precision even if half of the LED is shielded. In addition, the method has good robustness and real-time performance, and has a wide application prospect in the field of indoor positioning.
Description
technical field [0001] The invention relates to the technical field of visible light communication, in particular to a VLC dynamic positioning method and system based on mean shift and unscented Kalman filtering. Background technique [0002] In commercial centers, large public buildings (subways, airports, libraries, etc.), high-risk industrial parks, hospitals, nursing homes and other indoor places where GPS assistance has little effect and urgently needs navigation and positioning services, indoor positioning technology has broad application prospects. [0003] Commonly used indoor positioning technologies include infrared (IR), ultrasonic, radio frequency identification (RFID), wireless local area network (WLAN), Bluetooth and ultra-wideband (UWB), etc. Based on these techniques, different implementations have been developed. However, considering the positioning accuracy or the ability to resist electromagnetic interference, or the high cost of hardware equipment, these...
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