Power optical communication positioning system and method based on PLC

Abstract

The invention provides an electric power optical communication positioning system and method based on a PLC, and relates to the technical field of PLC electric power optical communication. After a real-time user starts a mobile terminal camera, a real-time optical signal of a target lamp is captured through the camera; the mobile terminal obtains a real-time ID and a real-time physical coordinate by decoding the real-time optical signal; after receiving a target parking space number input by a real-time user, the mobile terminal matches a parking space lamp ID and a parking space physical coordinate pre-bound with the target parking space number; and calculating a navigation path according to the real-time physical coordinates and the parking space physical coordinates, and outputting a real-time navigation path. The technical problem that in the prior art, due to the fact that underground space positioning is high in cost, poor in precision and prone to interruption of positioning communication, sub-meter continuous positioning and intensive management are difficult to carry out in a network-free underground space is solved. The comprehensive technical effects of remarkably saving the cost, improving the positioning precision, optimizing the user experience and enhancing the management efficiency are achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of PLC electric power optical communication, and in particular to a positioning system and method based on PLC electric power optical communication. Background Art

[0002] Underground space positioning technology faces three core bottlenecks: First, traditional wireless solutions are subject to interference from multipath effects in complex underground structures, resulting in severe degradation of positioning accuracy, making it difficult to meet the basic requirements of sub-meter accuracy in modern scenarios; second, although optical positioning technology avoids electromagnetic interference, its rigid line-of-sight transmission characteristics cause significant service interruptions in dynamic occlusion environments, disrupting navigation continuity; third, the hardware deployment and maintenance burden brought by independent positioning beacons creates heavy operational pressure.

[0003] At the same time, existing solutions generally have structural defects, or need to rely on external network infrastructure support, or face the problem of continuous accumulation of sensor errors, or involve user privacy authorization compliance risks. There is always a lack of a complete solution that can systematically take into account high-precision positioning capabilities, anti-occlusion service continuity, lightweight deployment architecture and intensive management efficiency, resulting in the industry pain points of lagging underground space navigation experience and high operating costs remaining unresolved for a long time.

[0004] In summary, the existing technology has technical problems such as high cost, poor accuracy and easy interruption of positioning communication in underground space, which makes it difficult to carry out sub-meter continuous positioning and intensive management in underground space without network. Summary of the Invention

[0005] In response to the above-mentioned defects or improvement needs of the existing technology, the present invention provides a PLC power optical communication positioning system and method, which is used to solve the technical problems in the existing technology that are difficult to perform sub-meter continuous positioning and intensive management in underground spaces without a network due to the high cost, poor accuracy and easy interruption of positioning communication in underground spaces.

[0006] To achieve the above objectives, the present invention provides a PLC-based power optical communication positioning system and method.

[0007] A first aspect of the present invention provides a PLC-based electric power optical communication positioning system, the system comprising: A driver support configuration unit is used to bind the PLC driver support to the lighting fixture array of the underground garage to obtain a PLC power communication lamp array; a gateway configuration unit is used to bind the PLC power communication lamp array to the PLC master gateway, and then assign a unique ID and lamp physical coordinates to each PLC power communication lamp in the PLC power communication lamp array through the PLC master gateway; a collaborative instruction sending unit is used for the PLC master gateway to send synchronization instructions and optical coding frame structure to the PLC power communication lamp array through the power line to perform clock coding protocol; an optical signal sending unit is used for the PLC power communication lamp array to receive the synchronization instructions and optical coding frame structure ... The lamp array drives the LED light source to modulate the high-frequency light signal according to the light coding frame structure; the light signal capture unit is used to capture the real-time light signal of the target lamp through the camera after the real-time user starts the mobile terminal camera; the signal decoding unit is used for the mobile terminal to obtain the real-time ID and real-time physical coordinates by decoding the real-time light signal; the parking space decoding unit is used for the mobile terminal to match the parking space physical coordinates pre-bound to the target parking space number after receiving the target parking space number input by the real-time user; the navigation path output unit is used to calculate the navigation path according to the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

[0008] A second aspect of the present invention provides a positioning method based on PLC power optical communication, the method comprising: Bind PLC driver support to the lighting fixture array of the underground garage to obtain a PLC power communication lamp array; after binding the PLC power communication lamp array to the PLC master gateway, the PLC master gateway assigns a unique ID and lamp physical coordinates to each PLC power communication lamp in the PLC power communication lamp array; the PLC master gateway sends synchronization instructions and light coding frame structure to the PLC power communication lamp array through the power line to perform clock coding protocol; the PLC power communication lamp array drives the LED light source to modulate the high-frequency light signal according to the light coding frame structure; after the real-time user starts the mobile terminal camera, the camera captures the real-time light signal of the target lamp; the mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time light signal; after receiving the target parking space number input by the real-time user, the mobile terminal matches the parking space physical coordinates pre-bound to the target parking space number; the navigation path is calculated according to the real-time physical coordinates and the parking space physical coordinates, and the real-time navigation path is output.

[0009] One or more technical solutions provided in the present invention have at least the following technical effects or advantages: The method provided by an embodiment of the present invention binds a lighting array in an underground garage to a PLC driver support to obtain a PLC power communication lighting array. After binding the PLC power communication lighting array to a PLC master gateway, the PLC master gateway assigns a unique ID and physical coordinates to each PLC power communication lighting array. The PLC master gateway sends synchronization instructions and an optical coding frame structure to the PLC power communication lighting array via power lines to perform a clock coding protocol. The PLC power communication lighting array drives an LED light source to modulate a high-frequency light signal according to the optical coding frame structure. After a real-time user activates a mobile camera, the camera captures the real-time light signal of the target lighting fixture. The mobile terminal decodes the real-time light signal to obtain a real-time ID and real-time physical coordinates. After receiving the target parking space number input by the real-time user, the mobile terminal matches the physical coordinates of the parking space pre-bound to the target parking space number. A navigation path is calculated based on the real-time physical coordinates and the parking space physical coordinates, and a real-time navigation path is output. This method achieves the comprehensive technical effects of significantly saving costs, improving positioning accuracy, optimizing user experience, and enhancing management efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0011] Figure 1 The present invention shows a schematic diagram of the structure of the PLC power optical communication positioning system; Figure 2 The figure shows a flow chart of the positioning method based on PLC power optical communication provided by the present invention.

[0012] Explanation of the accompanying drawings: driving support configuration unit 11, gateway configuration unit 12, coordination instruction sending unit 13, light signal sending unit 14, light signal capturing unit 15, signal decoding unit 16, parking space decoding unit 17, navigation path output unit 18. DETAILED DESCRIPTION

[0013] This invention provides a PLC-based electric optical communication positioning system and method, designed to address the existing technical challenges of achieving sub-meter continuous positioning and intensive management in unconnected underground spaces due to high costs, poor accuracy, and easily interrupted positioning communications. By reusing light, it enables instant, precise navigation and efficient control, achieving the combined technical benefits of significant cost savings, improved positioning accuracy, optimized user experience, and enhanced management efficiency.

[0014] In order to make the objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are merely for explaining the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below may be combined with each other as long as they do not conflict with each other.

[0015] Example 1, a flowchart of a PLC power optical communication positioning system provided by an embodiment of the present invention, see Figure 1 , the system comprising: The driver support configuration unit 11 is used to bind the PLC driver support to the lighting array of the underground garage to obtain the PLC power communication lamp array; the gateway configuration unit 12 is used to bind the PLC power communication lamp array to the PLC master gateway, and then assign a unique ID and lamp physical coordinates to each PLC power communication lamp in the PLC power communication lamp array through the PLC master gateway; the collaborative instruction sending unit 13 is used for the PLC master gateway to send synchronization instructions and optical coding frame structure to the PLC power communication lamp array through the power line to perform clock coding protocol; the optical signal sending unit 14 is used for the PLC power communication lamp array to transmit ... gateway configuration unit 12 is used to bind the PLC power communication lamp array to the PLC master gateway, and then assign a unique ID and lamp physical coordinates to each PLC power communication lamp in the PLC power communication lamp array through the PLC master gateway. The lamp array drives the LED light source to modulate the high-frequency light signal according to the light coding frame structure; the light signal capture unit 15 is used to capture the real-time light signal of the target lamp through the camera after the real-time user starts the mobile terminal camera; the signal decoding unit 16 is used for the mobile terminal to obtain the real-time ID and real-time physical coordinates by decoding the real-time light signal; the parking space decoding unit 17 is used for the mobile terminal to match the parking space physical coordinates pre-bound to the target parking space number after receiving the target parking space number input by the real-time user; the navigation path output unit 18 is used to calculate the navigation path according to the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

[0016] In one implementation, the system is further configured to: The PLC power communication lamp array is obtained by integrating a VLC light coding module and a PLC power communication module into each LED lamp in the lighting lamp array; and the PLC power communication lamp array is connected to the PLC master control gateway via a power line.

[0017] In one implementation, the system is further configured to: After converting the real-time optical signal into a digital code, the positioning frame synchronization header is detected; starting from the frame synchronization header, the digital code is segmented to extract the 16-bit lamp ID segment and the 32-bit coordinate segment; by parsing the 16-bit lamp ID segment and the 32-bit coordinate segment, the real-time ID and real-time physical coordinates are output; the real-time ID is loaded into the parking map database for matching and outputting the verified physical coordinates; the verified physical coordinates and the real-time physical coordinates are verified for consistency; if they are inconsistent, the verified physical coordinates are used to replace the real-time physical coordinates.

[0018] In one implementation, the system is further configured to: The mobile terminal interactively has a built-in IMU to obtain an angular velocity sequence and a three-axis acceleration sequence; the angular velocity sequence and the three-axis acceleration sequence are integrated to obtain a real-time motion trajectory; the real-time motion trajectory is detected for deviation using the real-time navigation path, and when the trajectory deviation scale is greater than a preset trajectory deviation threshold, correction compensation is performed on the real-time navigation path.

[0019] In one implementation, the system is further configured to: The trajectory deviation scale is decomposed to obtain a trajectory deviation direction and a trajectory deviation distance; if the trajectory deviation distance is less than the preset trajectory deviation threshold, the pointing angle of the AR navigation arrow on the mobile terminal display interface is dynamically adjusted according to the trajectory deviation direction; if the trajectory deviation distance is greater than the preset trajectory deviation threshold, the user is prompted to re-collect the light signal through the mobile terminal; light signal decoding is performed based on the re-collected light signal, and an updated ID and updated physical coordinates of the updated lamp are output; a navigation path is calculated based on the updated physical coordinates and the physical coordinates of the parking space, and an updated navigation path is output; and correction compensation is performed by overwriting the real-time navigation path with the updated navigation path.

[0020] In one implementation, the light coding frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field, and a power carrier dimming instruction field.

[0021] In one implementation, the system is further configured to: The PLC power communication lamp array periodically broadcasts a calibration signal array through the power line; after receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs multiple offset lamp nodes; the PLC master control gateway synchronizes the power line carrier phase and sends coordinate correction instructions to the multiple offset lamp nodes to perform local correction.

[0022] In one implementation, the system is further configured to: Monitor the wavelet energy entropy value of the first optical signal output by the first PLC power communication lamp; when the wavelet energy entropy value suddenly changes and exceeds a preset threshold, determine that an occlusion event occurs in the first PLC power communication lamp; after performing the preheating of the built-in IMU of the mobile terminal based on the occlusion event determination result, extract the IMU trajectory from the built-in IMU of the mobile terminal; interact with the Bluetooth beacon array to obtain the Bluetooth RSSI calibration coordinates of the first PLC power communication lamp; extract the LiFi signal from the first optical signal; after dynamically assigning weights to the IMU trajectory, Bluetooth RSSI calibration coordinates and LiFi signal, map them to the Lie group SE space for joint optimization, and output anti-occlusion positioning coordinates.

[0023] In the second embodiment, the present invention provides a positioning method based on PLC power optical communication, see Figure 2 As shown, wherein the method includes: Step A100: Bind the PLC driver support to the lighting fixture array of the underground garage to obtain the PLC power communication lighting fixture array.

[0024] In one implementation, a lighting fixture array of an underground garage is bound to a PLC driver support to obtain a PLC power communication lighting fixture array. Step A100 of the method provided by the present invention includes: Step A110: The PLC power communication lamp array is obtained by integrating a VLC light coding module and a PLC power communication module into each LED lamp in the lighting lamp array.

[0025] Step A120: Connect the PLC power communication lamp array to the PLC master control gateway via a power line.

[0026] Specifically, this embodiment adds two core modules to each LED lamp in the underground garage: a VLC optical coding module and a PLC power communication module. The VLC optical coding module generates optical signals carrying location information, while the PLC power communication module receives gateway commands via power lines. These modifications enable the lamps to simultaneously illuminate, transmit positioning signals, and be remotely controlled, forming a complete PLC power communication lamp array.

[0027] The modified lighting array is physically connected to the PLC master control gateway via the existing power lines (220V AC). This process eliminates the need for additional communication wiring, and the power lines are directly reused for data transmission and command issuance, ensuring that the LED lights in the underground garage are connected to the network as soon as they are powered on.

[0028] This embodiment achieves the technical effect of upgrading the original ordinary lighting fixtures in the underground garage to a smart lighting cluster with PLC communication capabilities, providing underlying technical support for subsequent PLC power optical communication in the underground environment based on the lamps.

[0029] Step A200: After the PLC power communication lamp array is bound to the PLC master control gateway, a unique ID and physical coordinates of the lamp are assigned to each PLC power communication lamp in the PLC power communication lamp array through the PLC master control gateway.

[0030] Specifically, after the lighting fixtures are networked, the PLC master gateway assigns a globally unique identity (ID) and its precise physical location coordinates (accuracy of 0.1 meters) to each smart lamp through the power line. This process directly reuses the power line to implement data configuration, without the need for additional communication wiring.

[0031] This embodiment reuses existing lighting fixtures and power line infrastructure, eliminating the need for additional deployment of independent beacons. Furthermore, the project is highly concealed, reducing construction costs.

[0032] Step A300: The PLC master gateway sends synchronization instructions and optical coding frame structures to the PLC power communication lamp array through the power line to perform clock coding protocol.

[0033] The PLC master control gateway sends key control parameters to the lighting array via the power lines. Synchronization commands ensure internal clock protocol alignment across all lighting fixtures, while the optically coded frame structure defines the data format for subsequent optical signal transmission (including fields such as fixture ID, physical coordinates, and dimming commands). This power carrier achieves unified protocols for all lighting fixtures in the network, laying the foundation for subsequent synchronous optical signal transmission.

[0034] Step A400: The PLC power communication lamp array drives the LED light source to modulate the high-frequency light signal according to the light coding frame structure.

[0035] After receiving and interpreting the light-encoded frame structure, the smart luminaire drives its LED light source to flash at a high frequency (10MHz modulation bandwidth), encoding the ID, coordinates, and other information contained within the frame into a light signal. This high-frequency modulation ensures that it is invisible to the human eye while enabling mobile phone cameras to capture changes in brightness and darkness, achieving the technical goal of using light as a navigation source.

[0036] Step A500: After the real-time user starts the mobile camera, the camera captures the real-time light signal of the target lamp.

[0037] The real-time user is an unspecified driver in an underground garage without internet access and requiring navigation. They open their mobile phone camera at an unspecified location in the garage and aim the lens at the LED light source of a target lamp. The phone's camera's image sensor captures the lamp's high-frequency modulated light signal. This light signal is modulated by the lamp according to a light-coded frame structure, carrying the lamp's ID and physical coordinates through thousands of light-to-dark variations per second.

[0038] It should be understood that the path of the underground garage is fixed and has a large fault tolerance. Therefore, the position of the target lamp at this time is used as the position of the vehicle in the garage. The position of the target lamp can be obtained through the light signal emitted by the LED light source of the mechanical target lamp. The specific acquisition process is shown in the embodiment of step A600.

[0039] The capture process strictly follows the VLC communication principle. The camera records the changes in light intensity at a sampling rate of more than 60 frames per second, converting the light pulse sequence into a processable digital image data stream, providing raw input for subsequent real-time decoding.

[0040] Step A600: The mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal.

[0041] In one implementation, the mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal. Step A600 of the method provided by the present invention includes: Step A610: After converting the real-time optical signal into a digital code, the positioning frame synchronization header is detected.

[0042] Step A620: Starting from the frame synchronization header, the digital code is segmented to extract the 16-bit lamp ID segment and the 32-bit coordinate segment.

[0043] Step A630: Output the real-time ID and real-time physical coordinates by parsing the 16-bit lamp ID segment and the 32-bit coordinate segment.

[0044] Step A640: Load the real-time ID into the parking map database to match and output the verified physical coordinates.

[0045] Step A650: Verify the consistency of the verification physical coordinates and the real-time physical coordinates. If they are inconsistent, replace the real-time physical coordinates with the verification physical coordinates.

[0046] In one implementation, the light coding frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field, and a power carrier dimming instruction field.

[0047] Based on this, the mobile terminal converts the real-time light signal captured by the camera (i.e., the sequence of light and dark changes of the LED light source) into binary digital code. It then detects the preset frame synchronization header (0xF0A1) in the digital code. This synchronization header serves as the starting mark of the data frame, used to identify the beginning of valid data.

[0048] Starting from the detected frame synchronization header, the mobile terminal segments the digital code into fixed lengths, extracting a 16-bit luminaire ID segment and a 32-bit coordinate segment. The luminaire ID uniquely identifies the light source, while the 32-bit coordinate segment contains the luminaire's precise location information (16 bits each for the X and Y coordinates).

[0049] The extracted 16-bit fixture ID segment is parsed to obtain the specific fixture number (e.g., B2031). The 32-bit coordinate segment is also parsed, splitting it into X and Y coordinate values ​​and combining them into physical location coordinates (e.g., 35.2, 18.7). After parsing, the real-time ID and real-time physical coordinates are directly output to form the positioning result of the user's current position.

[0050] The parking space map database stores the mapping relationship between parking space numbers and coordinates, and the mapping relationship between LED light IDs and light coordinates.

[0051] The real-time ID obtained by the analysis is matched with the parking space map database pre-stored on the mobile terminal, and the verification physical coordinates corresponding to the real-time ID are retrieved from the parking space map database.

[0052] The real-time physical coordinates are compared with the verification physical coordinates matched in the database. If the difference between the two exceeds a tolerance threshold (the document does not specify a specific value), the real-time coordinates are replaced with the verification coordinates as the final output. This verification mechanism is intended to improve positioning reliability.

[0053] This embodiment achieves the technical effect of providing an accurate navigation starting point for subsequent navigation functions by converting the coded information contained in the high-frequency light signal into usable positioning data.

[0054] Step A700: After receiving the target parking space number input by the real-time user, the mobile terminal matches the physical coordinates of the parking space pre-bound to the target parking space number.

[0055] In this embodiment, after receiving the target parking space number input by the real-time user, the mobile terminal searches and matches the target parking space number in the parking space map database to obtain the physical coordinates of the parking space. The physical coordinates of the parking space serve as the navigation end point and directly serve the navigation path calculation.

[0056] It should be understood that the input method of the target parking space number in this embodiment is not limited in this embodiment, and includes but is not limited to: receiving voice commands (such as "navigate to No. 105, Area A") through the mobile terminal microphone at the entrance of the underground garage, the local voice engine recognizes the keyword and converts it into a structured parking space number, and the parking space number is received via Bluetooth on the mobile terminal at the entrance of the underground garage.

[0057] It should also be understood that the number of each parking space is unique. In this embodiment, each parking space number is pre-bound to the parking space coordinates so that the user can obtain the corresponding parking space physical coordinates by simply inputting the parking space number.

[0058] Step A800: Calculate the navigation path based on the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

[0059] Specifically, in this embodiment, the mobile terminal calculates the optimal navigation path through a spatial path planning algorithm based on the user's real-time position coordinates (such as 35.2, 18.7) parsed based on the light signal of the lamp and the physical coordinates bound to the target parking space number input by the user (such as the coordinate value corresponding to parking space C209), and outputs the real-time navigation path.

[0060] This process directly reuses the high-precision coordinates (0.1-meter accuracy) carried by the lamp's optical signal, combined with garage map topology data (such as channel and obstacle information) to generate a navigation path that complies with the JGJ / T454-2024 sub-meter positioning standard. Ultimately, AR arrows dynamically guide the user's progress on the mobile interface.

[0061] This embodiment achieves sub-meter continuous positioning in an underground space without a network through the heterogeneous integration of PLC power carrier and VLC optical coding. At the same time, lamps are multiplexed to realize the synchronous transmission of lighting control and navigation signals, achieving the technical effect of low-cost underground navigation while avoiding multipath interference and occlusion interruption.

[0062] This embodiment uses a dual encryption method of PLC power line carrier (physically isolated network intrusion) + VLC visible light communication (line-of-sight reception to eliminate remote eavesdropping). The data transmission security is far superior to traditional Wi-Fi and avoids WPA2 vulnerabilities.

[0063] In one implementation, a navigation path is calculated based on the real-time physical coordinates and the parking space physical coordinates, and a real-time navigation path is output. Then, step A800 of the method provided by the present invention includes: Step A8001: The mobile terminal interacts with the built-in IMU to obtain the angular velocity sequence and three-axis acceleration sequence.

[0064] Step A8002: Perform integration operation on the angular velocity sequence and the three-axis acceleration sequence to obtain a real-time motion trajectory.

[0065] Step A8003: Deviate detection is performed on the real-time motion trajectory using the real-time navigation path. When the trajectory deviation scale is greater than a preset trajectory deviation threshold, deviation correction compensation is performed on the real-time navigation path.

[0066] In one implementation, the real-time navigation path is used to detect deviation of the real-time motion trajectory. When the trajectory deviation scale is greater than a preset trajectory deviation threshold, deviation correction compensation is performed on the real-time navigation path. Step A8003 of the method provided by the present invention includes: Step A8003-1: Decompose the trajectory deviation scale to obtain the trajectory deviation direction and trajectory deviation distance.

[0067] Step A8003-2: If the trajectory deviation distance is less than the preset trajectory deviation threshold, dynamically adjust the pointing angle of the AR navigation arrow on the mobile terminal display interface according to the trajectory deviation direction.

[0068] Step A8003-3: If the trajectory deviation distance is greater than the preset trajectory deviation threshold, the user is prompted to re-collect the optical signal through the mobile terminal.

[0069] Step A8003-4: Decode the optical signal based on the re-collected optical signal, and output the updated ID and updated physical coordinates of the updated lamp.

[0070] Step A8003-5: Calculate the navigation path based on the updated physical coordinates and the parking space physical coordinates, and output the updated navigation path.

[0071] Step A8003-6: Perform correction compensation by using the updated navigation path to cover the real-time navigation path.

[0072] Specifically, in this embodiment, the mobile terminal calls the inertial measurement unit (IMU) built into the device to collect the angular velocity changes (device rotation state) and three-axis linear acceleration (device movement state) during user movement in real time to obtain the angular velocity sequence and three-axis acceleration sequence.

[0073] The angular velocity sequence and the three-axis acceleration sequence are integrated to calculate the real-time motion trajectory of the real-time user, thereby converting the original sensor data into usable positioning information.

[0074] The real-time motion trajectory generated by the IMU is spatially compared with the preset navigation path. When the deviation exceeds the preset threshold, the path correction process is initiated.

[0075] The specific path repair technology is implemented as follows: The detected path deviation is vector-decomposed to separate the trajectory deviation direction (the user's orientation deviation relative to the planned path) and the trajectory deviation distance (the straight-line distance between the user and the planned path).

[0076] If the deviation distance is within the tolerance range (e.g., ≤0.5 meters), the path is fine-tuned only by dynamically adjusting the pointing angle of the AR navigation arrow. The arrow pointing angle is calculated in real time based on the deviation direction, ensuring that the visual guidance always points in the correct path direction.

[0077] If the deviation distance exceeds the threshold (e.g. > 0.5 meters), the user is prompted to rescan the light signals of nearby lamps. Here, the user needs to actively capture new lamp signals to force a refresh of the current position and eliminate positioning drift caused by IMU cumulative errors.

[0078] Decode the user's recaptured light signal to obtain the updated lamp's ID and updated physical coordinates. This process reuses the initial positioning process (A600) to ensure the reliability of the coordinate source. On this basis, the initial trajectory generation process (A800) is reused to calculate the navigation path based on the updated physical coordinates and the parking space physical coordinates, and output the updated navigation path.

[0079] The updated navigation path is used to overwrite the real-time navigation path, and the AR guidance information is updated on the mobile terminal interface to complete the correction action.

[0080] In one implementation, the method further includes: Step A910: The PLC power communication lamp array periodically broadcasts a calibration signal array via the power line.

[0081] Step A920: After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs a plurality of offset lamp nodes.

[0082] Step A930: The PLC master gateway sends coordinate correction instructions to the multiple offset lamp nodes through power line carrier phase synchronization to perform local correction.

[0083] Specifically, in this embodiment, the PLC power communication lamp array periodically broadcasts an array of calibration signals via the power lines. Each signal contains the lamp's unique ID and recorded physical coordinates. This process utilizes the power carrier channel to achieve data broadcast, eliminating the need for additional communication lines and directly reusing the power supply lines to transmit calibration signals.

[0084] After receiving calibration signals broadcast by luminaires, the Bluetooth beacon array pre-deployed in the parking lot compares the coordinates in the signals with pre-stored reference coordinates (derived from construction surveying data). If a luminaire's actual coordinates deviate from the reference coordinates by more than 0.3 meters, the luminaire is marked as an offset node and a list of offset luminaire nodes is generated.

[0085] Based on the list of offset nodes output by the Bluetooth beacon, the PLC master gateway uses power line carrier phase synchronization technology to issue coordinate correction instructions to the designated lamps. Phase synchronization utilizes the waveform characteristics of the power signal to achieve sub-meter precision calibration (error ≤ 0.3 meters), performing local corrections only for the offset nodes, avoiding network-wide disturbances.

[0086] This embodiment achieves the technical effect of maintaining sub-meter positioning accuracy of lamp coordinates and realizing zero manual maintenance.

[0087] In one implementation, the method further includes: Step A1010: Monitor the wavelet energy entropy value of the first optical signal output by the first PLC power communication lamp.

[0088] Step A1020: When the wavelet energy entropy value suddenly changes and exceeds a preset threshold, it is determined that a blocking event occurs in the first PLC power communication lamp.

[0089] Step A1030: After performing preheating of the built-in IMU of the mobile terminal based on the occlusion event determination result, extracting the IMU trajectory from the built-in IMU of the mobile terminal.

[0090] Step A1040: Interact with the Bluetooth beacon array to obtain the Bluetooth RSSI calibration coordinates of the first PLC power communication lamp.

[0091] Step A1050: Extracting a LiFi signal from the first optical signal.

[0092] Step A1060: After dynamically assigning weights to the IMU trajectory, Bluetooth RSSI calibration coordinates, and LiFi signal, they are mapped to the Lie group SE space for joint optimization, and the anti-occlusion positioning coordinates are output.

[0093] It should be understood that the first PLC power communication lamp is an unspecified lamp in the array. This embodiment has consistent anti-shading processing measures for each PLC power communication lamp. Taking this as an example, the technical solution is described in detail.

[0094] This embodiment continuously monitors the wavelet energy entropy of the target luminaire's light signal. This entropy is calculated in real time using a wavelet transform to quantify the complexity and fluctuation characteristics of the light signal. When an obstruction (such as a pedestrian or vehicle) suddenly appears in the light signal transmission path, the light intensity distribution undergoes nonlinear distortion, causing a dramatic change in the wavelet energy entropy. This monitoring mechanism forms the perception layer foundation for anti-occlusion processing. The sampling rate per second is strictly synchronized with the luminaire's light encoding frame rate (≥10Hz), ensuring real-time anomaly detection.

[0095] When the amplitude of the wavelet energy entropy value exceeds a preset threshold (calibrated experimentally but the specific value is undisclosed), the system determines that the target luminaire has been obstructed. This threshold is based on the statistical distribution difference between the entropy values ​​before and after the occlusion: a sudden increase in entropy at the moment of occlusion indicates a turbulent light path. This determination triggers the anti-obstruction process, achieving a 0.3-second advance prediction, creating a critical time window for subsequent multi-source compensation.

[0096] Based on the occlusion determination results, the mobile IMU warmup is immediately initiated: the filter parameters of the gyroscope and accelerometer are initialized to eliminate sensor cold start drift. After the warmup is complete, the angular velocity sequence (device rotation status) and the three-axis acceleration sequence (device movement status) are extracted in real time, and a continuous IMU trajectory is generated through integration.

[0097] The IMU is switched from standby mode to an active positioning source, and the motion trajectory calculation strictly follows the pedestrian dead reckoning (PDR) model to form an inertial navigation base.

[0098] The mobile device calls a pre-deployed Bluetooth beacon array to obtain the Bluetooth RSSI-calibrated coordinates of the target luminaire. Bluetooth beacons calculate their position based on a signal strength attenuation model. Their coordinates are independent of optical signal transmission and can penetrate obstructions to provide an auxiliary positioning source. Beacon deployment strategies are aligned with obstruction hotspots (such as pillars and areas with dense traffic), ensuring an RSSI positioning error of ≤1.5 meters, forming a spatial reference layer for anti-obstruction.

[0099] Despite the obstruction of the optical path, the signal receiver can still capture low-frequency intensity information. Based on this, the residual LiFi signal strength is extracted from the partially blocked first optical signal. This intensity value is used to calculate the signal-to-noise ratio (SNR), which becomes the core parameter for subsequent dynamic weight allocation, maximizing the retention of available optical information.

[0100] The weight coefficients of the three types of positioning sources are dynamically allocated based on the signal-to-noise ratio (SNR) of the LiFi signal: when the SNR is greater than 15dB, the LiFi signal is given a dominant weight of 80%, and when blocked (SNR ≤ 15dB), the weight is adjusted to a complementary weight of 60% for the IMU trajectory and 40% for the Bluetooth RSSI coordinate. The weight allocation strictly follows the mathematical relationship of the dynamic weight formula in the technical briefing document. The weighted LiFi signal, IMU motion vector and Bluetooth calibration coordinate are then mapped to the three-dimensional Lie group SE(3) space. The mathematical expression of heterogeneous data is unified through rotation transformation. The Kalman filter fusion algorithm is executed in this space to effectively suppress the accumulated drift error of the IMU and compensate for the attenuation of the optical signal. The final output is an anti-blocking positioning coordinate with an error of ≤ 1 meter, breaking through the technical bottleneck of the pure LiFi system with an interruption of > 5 seconds and an error of > 3 meters in the blockage scenario, and realizing continuous sub-meter navigation in the dynamic blockage environment of the underground garage.

[0101] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any modifications or substitutions that can be easily conceived by a person skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be based on the scope of protection of the claims.

Claims

1. Based on PLC power optical communication positioning system, it is characterized by: include: The driver support configuration unit is used to bind the PLC driver support to the lighting array of the underground garage to obtain the PLC power communication lighting array; A gateway configuration unit, configured to, after binding the PLC power communication lamp array to the PLC master control gateway, assign a unique ID and lamp physical coordinates to each PLC power communication lamp in the PLC power communication lamp array through the PLC master control gateway; A collaborative instruction sending unit, used for the PLC master control gateway to send synchronization instructions and optical coding frame structures to the PLC power communication lamp array through the power line to perform clock coding protocol; An optical signal sending unit, configured to drive the LED light source to modulate a high-frequency optical signal according to the optical coding frame structure of the PLC power communication lamp array; The light signal capture unit is used to capture the real-time light signal of the target lamp through the camera after the user starts the mobile camera; A signal decoding unit, configured for the mobile terminal to obtain a real-time ID and real-time physical coordinates by decoding the real-time optical signal; A parking space decoding unit, configured to match the physical coordinates of the parking space pre-bound to the target parking space number after the mobile terminal receives the target parking space number input by the real-time user; The navigation path output unit is used to calculate the navigation path according to the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

2. The PLC power optical communication positioning system according to claim 1, characterized in that: The driver support configuration unit is also used to: The PLC power communication lamp array is obtained by integrating a VLC light coding module and a PLC power communication module into each LED lamp in the lighting lamp array; The PLC power communication lamp array is connected to the PLC master control gateway via a power line.

3. The PLC power optical communication positioning system according to claim 1, characterized in that: The signal decoding unit is further configured to: After converting the real-time optical signal into a digital code, detecting and positioning the frame synchronization header; Taking the frame synchronization header as the starting point, the digital code is segmented to extract the 16-bit lamp ID segment and the 32-bit coordinate segment; By parsing the 16-bit lamp ID segment and the 32-bit coordinate segment, outputting the real-time ID and real-time physical coordinates; Load the real-time ID into the parking map database to match and output the verified physical coordinates; The verification physical coordinates and the real-time physical coordinates are verified for consistency. If they are inconsistent, the real-time physical coordinates are replaced by the verification physical coordinates.

4. The PLC-based power optical communication positioning system according to claim 1, characterized in that: The navigation path output unit is also used to: The mobile terminal interacts with the built-in IMU to obtain the angular velocity sequence and the three-axis acceleration sequence; Performing an integration operation on the angular velocity sequence and the three-axis acceleration sequence to obtain a real-time motion trajectory; The real-time navigation path is used to perform deviation detection on the real-time motion trajectory, and when the trajectory deviation scale is greater than a preset trajectory deviation threshold, deviation correction compensation is performed on the real-time navigation path.

5. The PLC power optical communication positioning system according to claim 4, characterized in that: The navigation path output unit is further used for: Decomposing the trajectory deviation scale to obtain a trajectory deviation direction and a trajectory deviation distance; If the trajectory deviation distance is less than the preset trajectory deviation threshold, dynamically adjusting the AR navigation arrow pointing angle of the mobile terminal display interface according to the trajectory deviation direction; If the trajectory deviation distance is greater than the preset trajectory deviation threshold, prompting the user to re-collect the optical signal through the mobile terminal; Decode the optical signal based on the re-collected optical signal and output the updated ID and updated physical coordinates of the updated lamp; Calculate the navigation path based on the updated physical coordinates and the parking space physical coordinates, and output an updated navigation path; By overlaying the real-time navigation path with the updated navigation path, deviation compensation is performed.

6. The PLC power optical communication positioning system according to claim 1, characterized in that: The optical coding frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field and a power carrier dimming instruction field.

7. The PLC-based electric power optical communication positioning system according to claim 1, characterized in that: The system is also used to: The PLC power communication lamp array periodically broadcasts a calibration signal array via the power line; After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs a plurality of offset lamp nodes; The PLC master control gateway sends coordinate correction instructions to the multiple offset lamp nodes to perform local correction through power line carrier phase synchronization.

8. The PLC power optical communication positioning system according to claim 7, characterized in that: The system is also used to: monitoring a wavelet energy entropy value of a first optical signal output by a first PLC power communication lamp; When the wavelet energy entropy value suddenly exceeds a preset threshold, it is determined that a blocking event occurs in the first PLC power communication lamp; After performing a preheating of the mobile terminal built-in IMU based on the occlusion event determination result, extracting an IMU trajectory from the mobile terminal built-in IMU; Interacting with the Bluetooth beacon array to obtain the Bluetooth RSSI calibration coordinates of the first PLC power communication lamp; extracting a LiFi signal from the first optical signal; After dynamically assigning weights to the IMU trajectory, Bluetooth RSSI calibration coordinates, and LiFi signals, they are mapped to the Lie group SE space for joint optimization, and the anti-occlusion positioning coordinates are output.

9. The positioning method based on PLC power optical communication is characterized by: include: Bind the PLC driver support to the lighting array of the underground garage to obtain the PLC power communication lighting array; After the PLC power communication lamp array is bound to the PLC master control gateway, a unique ID and lamp physical coordinates are assigned to each PLC power communication lamp in the PLC power communication lamp array through the PLC master control gateway; The PLC master control gateway sends synchronization instructions and optical coding frame structure to the PLC power communication lamp array through the power line to perform clock coding protocol; The PLC power communication lamp array drives the LED light source to modulate the high-frequency light signal according to the light coding frame structure; After the real-time user starts the mobile camera, the camera captures the real-time light signal of the target lamp; The mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal; After receiving the target parking space number input by the real-time user, the mobile terminal matches the physical coordinates of the parking space pre-bound to the target parking space number; A navigation path is calculated based on the real-time physical coordinates and the parking space physical coordinates, and a real-time navigation path is output.

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