Indoor positioning method based on color ring lamp landmark

Abstract

The invention provides an indoor positioning method based on a color ring lamp landmark. The method comprises the following steps: firstly, calculating the height value of an LED navigation lamp; then, carrying out image preprocessing; carrying out navigation lamp coded image segmentation; extracting features of the coded image of the navigation lamp; then acquiring stripe colors by utilizing an HSV color model; and decoding the data stripes to obtain the landmark value of the navigation lamp so as to realize single-point positioning of the camera. The indoor positioning method is low in algorithm complexity, solves the problem of calibration of different light sources, is optimized to a certain extent in the aspect of inter-symbol interference, has good positioning precision, strong anti-interference capability and high stability, is convenient for cross-platform use, is convenient for maintenance, is low in cost, and has a high application value.

Description

technical field

[0001] The invention belongs to the field of indoor positioning, and in particular relates to an indoor positioning method based on a landmark of a color ring lamp. It is mainly used for high-precision positioning in indoor environments. It has good positioning accuracy, strong anti-interference ability, high stability, easy cross-platform use, easy maintenance, low cost, and great application value. Background technique

[0002] From the very beginning, indoor positioning basically uses radio (that is, the principle of RSS, Received Signal Strength), infrared, and ultrasonic transmission media as the realization carriers of the positioning scheme. Under such circumstances, various universities and major companies have developed many kinds of indoor positioning solutions, such as the Cricket system developed by the MIT Oxygen project. The Cricket positioning system is based on the time difference of arrival of ultrasonic and radio frequency signals to achiev...

Examples

Embodiment Construction

[0079] The present invention is further described below in conjunction with accompanying drawing;

[0080] Such as figure 1 Shown, the inventive method comprises the steps:

[0081] Step 1. Calculation of the height value of the LED navigation light;

[0082] Step 2, image preprocessing;

[0083] Step 3, navigation light coding image segmentation;

[0084] Step 4, feature extraction of navigation light encoding image;

[0085] Step 5, using the HSV color model to obtain the stripe color;

[0086] Step 6, data stripe decoding;

[0087] Step 7. Obtain the landmark value of the navigation light to realize single-point positioning of the camera.

[0088] The step 1, the calculation of the height value of the LED navigation light, is specifically implemented as follows:

[0089] The camera height h of the ordinary monocular camera, the detector pitch angle θ, the vertical half field angle of the detector β, and the horizontal half field angle γ. The formula for calculating ...

technical field

[0001] The invention belongs to the field of indoor positioning, and in particular relates to an indoor positioning method based on a landmark of a color ring lamp. It is mainly used for high-precision positioning in indoor environments. It has good positioning accuracy, strong anti-interference ability, high stability, easy cross-platform use, easy maintenance, low cost, and great application value. Background technique

[0002] From the very beginning, indoor positioning basically uses radio (that is, the principle of RSS, Received Signal Strength), infrared, and ultrasonic transmission media as the realization carriers of the positioning scheme. Under such circumstances, various universities and major companies have developed many kinds of indoor positioning solutions, such as the Cricket system developed by the MIT Oxygen project. The Cricket positioning system is based on the time difference of arrival of ultrasonic and radio frequency signals to achiev...

Examples

Embodiment Construction

[0079] The present invention is further described below in conjunction with accompanying drawing;

[0080] Such as figure 1 Shown, the inventive method comprises the steps:

[0081] Step 1. Calculation of the height value of the LED navigation light;

[0082] Step 2, image preprocessing;

[0083] Step 3, navigation light coding image segmentation;

[0084] Step 4, feature extraction of navigation light encoding image;

[0085] Step 5, using the HSV color model to obtain the stripe color;

[0086] Step 6, data stripe decoding;

[0087] Step 7. Obtain the landmark value of the navigation light to realize single-point positioning of the camera.

[0088] The step 1, the calculation of the height value of the LED navigation light, is specifically implemented as follows:

[0089] The camera height h of the ordinary monocular camera, the detector pitch angle θ, the vertical half field angle of the detector β, and the horizontal half field angle γ. The formula for calculating ...

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