Visible light indoor three-dimensional positioning method, device and equipment

Abstract

This invention provides a method, apparatus, and device for indoor three-dimensional positioning using visible light. The method includes: acquiring multiple first received signal data corresponding to visible light signals emitted by at least one optical receiver from different light sources; filtering the multiple first received signal data to obtain multiple second received signal data; performing positioning calculations on multiple data subsets divided from the multiple second received signal data to determine multiple positioning points; and determining three-dimensional positioning points based on the multiple positioning points. The embodiments provided by this invention can filter the acquired first received signal data, removing first received signal data that is detrimental to accurate positioning, effectively reducing the impact of obstacles and wall reflections during the positioning process. Furthermore, the filtered second received signal data is then divided and combined to further improve the accuracy of indoor three-dimensional positioning using visible light.

Description

Technical Field

[0001] This invention relates to the field of visible light positioning, and in particular to a visible light indoor three-dimensional positioning method, apparatus, and device. Background Technology

[0002] Currently, there are more and more indoor activities, and the public's demand for accurate indoor positioning is also becoming stronger. The commonly used method for indoor positioning is visible light positioning.

[0003] Visible light positioning mainly involves obtaining visible light information emitted by indoor light sources for positioning calculations. The commonly used positioning methods in the existing technology are fingerprint positioning and two-step positioning.

[0004] Among them, the fingerprint positioning method compares the processed visible light information with the offline collected model database and obtains the most matching point as the positioning point; the two-step positioning method converts the processed visible light information into the distance between the receiver and the light through the positioning model, and then performs positioning based on these distances and geometric relationships.

[0005] However, in practical applications, neither fingerprint positioning nor two-step positioning can avoid the shadow effect caused by obstacles and the reflection of light by walls. In particular, reflection has a huge impact on the positioning accuracy near walls in two-step positioning. Summary of the Invention

[0006] The purpose of this invention is to provide a visible light indoor three-dimensional positioning method, apparatus, and device to solve the problem of reduced visible light positioning accuracy caused by obstacle obstruction and wall reflection.

[0007] To address the aforementioned technical problems, embodiments of the present invention provide a visible light indoor three-dimensional positioning method, the method comprising:

[0008] Acquire multiple first received signal data corresponding to the light signals of visible light emitted by different light sources at at least one optical receiver;

[0009] Multiple first received signal data are filtered to obtain multiple second received signal data;

[0010] Based on multiple data subsets divided from the second received signal data, positioning calculations are performed to determine multiple positioning points;

[0011] Based on the multiple positioning points, a three-dimensional positioning point is determined.

[0012] Optionally, the first received signal data includes a first received power;

[0013] The step of filtering multiple first received signal data to obtain multiple second received signal data includes:

[0014] The multiple first received signal data are sorted in descending order of their corresponding first received power to form a first sequence;

[0015] Multiple first received signal data in the first sequence are filtered to obtain multiple second received signal data.

[0016] Optionally, the step of filtering multiple first received signal data in the first sequence to obtain multiple second received signal data includes:

[0017] The first received power in the first sequence is accumulated to obtain the second sequence; wherein the nth value in the second sequence is obtained by accumulating the first n first received power in the first sequence, and n is an integer greater than or equal to 1.

[0018] Squaring each item in the second sequence and then dividing by the corresponding sequence number to form the third sequence;

[0019] Obtain the first sequence number i corresponding to the maximum value in the third sequence;

[0020] If the first sequence number i is greater than or equal to the first threshold k, the first i items in the first sequence are determined to be the second received signal data;

[0021] If the first sequence number i is less than the first threshold k, the first k items in the first sequence are determined to be the second received signal data; where i and k are integers greater than or equal to 1.

[0022] Optionally, the method further includes:

[0023] The multiple second received signal data are divided into multiple data subsets; wherein each data subset includes a first preset number of second received signal data.

[0024] Optionally, the step of performing positioning calculations on multiple data subsets divided from the multiple second received signal data to determine multiple positioning points includes:

[0025] Obtain path loss data corresponding to each of the multiple data subsets;

[0026] The path loss data is converted into distance data using a pre-acquired path loss model;

[0027] Multiple positioning points are determined by performing positioning calculations using the distance data.

[0028] Optionally, the method further includes:

[0029] A simulation scenario for visible light indoor communication is constructed on an optical simulation platform; wherein, multiple optical transmitters and multiple optical receivers are set up in the simulation scenario;

[0030] Obtain multiple received powers of the optical signals emitted by each of the optical receivers corresponding to different optical transmitters;

[0031] The path loss model is determined by calculating the path loss based on the transmit power of the optical transmitter and multiple receive powers.

[0032] Optionally, determining the three-dimensional positioning point based on the plurality of positioning points includes:

[0033] The three-dimensional positioning point is determined by combining and calculating multiple positioning points according to a preset combination method; wherein the preset combination method includes one or more of the following: midpoint method, mean method, weighted method, layer-by-layer mean method and nearest mean method.

[0034] Optionally, the preset combination method includes a weighted method, wherein, according to the weighted method, multiple positioning points are combined and calculated to determine the three-dimensional positioning points, including:

[0035] The weight values ​​of the positioning points corresponding to the multiple data subsets are determined based on the number of light sources, the total receiving power of the light receiver, and the total receiving power of each data subset.

[0036] Based on the calculation results of the multiple positioning points and their corresponding weight values, the position coordinates of the multiple first positioning points are obtained;

[0037] The position coordinates of multiple first positioning points are summed to determine the position coordinates of the three-dimensional positioning point.

[0038] This invention also provides a visible light indoor three-dimensional positioning device, the device comprising:

[0039] The acquisition module is used to acquire multiple first received signal data of light signals emitted by at least one optical receiver corresponding to visible light emitted by different light sources;

[0040] The filtering module is used to filter multiple first received signal data to obtain multiple second received signal data;

[0041] The diversity positioning module is used to perform positioning calculations based on multiple data subsets divided from the multiple second received signal data, and determine multiple positioning points respectively;

[0042] The combined positioning module is used to determine a three-dimensional positioning point based on multiple positioning points.

[0043] This invention also provides a control device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory and execute the visible light indoor three-dimensional positioning method as described in any of the preceding embodiments.

[0044] The beneficial effects of the above-described technical solution of the present invention are as follows:

[0045] In the above scheme, the acquired first received signal data is filtered to remove the first received signal data that is not conducive to accurate positioning, which effectively reduces the impact of obstacles and wall reflections during the positioning process. Then, the filtered second received signal data is divided and combined to further improve the accuracy of visible light indoor three-dimensional positioning. Attached Figure Description

[0046] Figure 1 A flowchart illustrating the visible light indoor three-dimensional positioning method provided in an embodiment of the present invention;

[0047] Figure 2 This is a schematic diagram of the process for filtering the first received signal data according to an embodiment of the present invention;

[0048] Figure 3 A schematic diagram of a simulation scenario for visible light indoor communication provided in an embodiment of the present invention;

[0049] Figure 4 A schematic diagram of the path loss model provided in an embodiment of the present invention;

[0050] Figure 5 This is one of the structural schematic diagrams of the visible light indoor three-dimensional positioning device provided in an embodiment of the present invention;

[0051] Figure 6 This is the second schematic diagram of the visible light indoor three-dimensional positioning device provided in an embodiment of the present invention. Detailed Implementation

[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0053] like Figure 1 As shown, this embodiment of the invention provides a visible light indoor three-dimensional positioning method, the method comprising:

[0054] Step S101: Acquire multiple first received signal data of light signals of visible light emitted by at least one optical receiver corresponding to different light sources;

[0055] Step S102: Filter the multiple first received signal data to obtain multiple second received signal data;

[0056] Step S103: Based on the multiple data subsets divided from the multiple second received signal data, perform positioning calculations to determine multiple positioning points;

[0057] Step S104: Determine the three-dimensional positioning point based on the plurality of positioning points.

[0058] In this embodiment of the invention, the light receiving end is a photodiode (PD) and is set on the receiver. The light source is a light-emitting diode (LED). Depending on the number of LEDs used for positioning and the number of PDs at each receiver, the positioning method can be divided into multi-light positioning method and single-light positioning method. The multi-light positioning method can use only one PD or multiple PDs, while the single-light positioning method requires multiple PDs to obtain sufficient positioning information. This embodiment adopts the multi-light positioning method.

[0059] Before step S101, a simulation scenario of visible light indoor communication is constructed on the optical simulation platform according to the actual scenario, and parameters such as room specifications, LEDs and PDs are set in the simulation scenario;

[0060] A fingerprint database or fading model is constructed based on simulation data obtained in the simulation scenario or measured data obtained in the actual scenario, or a radiation model matching the environment is directly selected. The model is used for localization calculation in step S103.

[0061] In step S101, at least one PD receives the light signals emitted by each LED and converts them into electrical signals for output, thereby obtaining first received signal data in the electrical signals. Each first received signal data includes, but is not limited to, the receiving power and receiving delay of the corresponding LED.

[0062] In step S102, the first received signal data is imported into the adaptive system for filtering to obtain multiple relatively reliable data. The adaptive system filters based on information such as the magnitude of the received power and / or the maximization of the total signal-to-noise ratio. The number of filtered second received signal data is related to the complexity of the environment. In environments with many interference factors, fewer reliable data are filtered, and vice versa.

[0063] Before step S103, all the second received signal data are divided into multiple data subsets. In step S103, each data subset is located to generate location points. The location method is either fingerprint location or two-step location. If fingerprint location is used, the data in each data subset is matched with the data in the fingerprint database using methods such as maximum likelihood and / or k-Nearest Neighbor (KNN), and multiple location points corresponding to the data in the fingerprint database that best match each data subset are output. If two-step location is used, firstly, the data in each data subset is converted into geometric parameters such as distance using a fading model or a radiation model. Then, the geometric parameters and geometric constraints are used to locate each data subset using the location method to determine multiple location points. The location method includes, but is not limited to, one or more of the following: least squares method, maximum likelihood method, and method of constructing a loss function and minimizing it using an optimization algorithm.

[0064] In step S104, the multiple positioning points are combined to determine the three-dimensional positioning point of the receiver.

[0065] In this embodiment of the invention, the acquired first received signal data is filtered to remove first received signal data that is not conducive to accurate positioning, which effectively reduces the impact of obstacles and wall reflections during the positioning process. Then, the filtered second received signal data is divided and combined to further improve the accuracy of visible light indoor three-dimensional positioning.

[0066] Optionally, the first received signal data includes a first received power;

[0067] The step of filtering multiple first received signal data to obtain multiple second received signal data includes:

[0068] The multiple first received signal data are sorted in descending order of their corresponding first received power to form a first sequence;

[0069] Multiple first received signal data in the first sequence are filtered to obtain multiple second received signal data.

[0070] In this embodiment of the invention, the first received signal data is filtered according to the method of maximizing the signal-to-noise ratio. Since the transmission power of each LED is the same and the signal transmission power is constant, they are not considered. It is assumed that the receiver receives the same noise for each LED. Therefore, the total signal-to-noise ratio is related to the received power of each LED acquired by the receiver. Multiple first received signal data are filtered according to the received power.

[0071] Optionally, the step of filtering multiple first received signal data in the first sequence to obtain multiple second received signal data includes:

[0072] The first received power in the first sequence is accumulated to obtain the second sequence; wherein the nth value in the second sequence is obtained by accumulating the first n first received power in the first sequence, and n is an integer greater than or equal to 1.

[0073] Squaring each item in the second sequence and then dividing by the corresponding sequence number to form the third sequence;

[0074] Obtain the first sequence number i corresponding to the maximum value in the third sequence;

[0075] If the first sequence number i is greater than or equal to the first threshold k, the first i items in the first sequence are determined to be the second received signal data;

[0076] If the first sequence number i is less than the first threshold k, the first k items in the first sequence are determined to be the second received signal data; where i and k are integers greater than or equal to 1.

[0077] In this embodiment of the invention, the first received signal data is filtered according to the method of maximizing the signal-to-noise ratio (SNR). The total SNR is proportional to the quotient of the square of the sum of the received power of the multiple LEDs acquired by the receiver and the number of LEDs acquired. Therefore, the total SNR is maximized when the above quotient is maximized. The first received signal data of the i LEDs corresponding to the quotient corresponding to the maximum total SNR is determined as the i second received signal data.

[0078] To simplify the above selection process, a greedy algorithm was used to reduce computational complexity. The selection steps are as follows: Figure 2 As shown.

[0079] Step S201: Obtain multiple first received signal data of visible light signals emitted by at least one optical receiver PD corresponding to different light source LEDs, wherein the first received signal data includes received power;

[0080] Step S202: Sort the multiple first received signal data in descending order of received power to form a first sequence;

[0081] Step S203: The multiple first received powers in the first sequence are accumulated to obtain a second sequence; wherein, the nth value in the second sequence is obtained by accumulating the first n first received powers in the first sequence, and n is an integer greater than or equal to 1.

[0082] Step S204: Square each item in the second sequence and then divide by the corresponding sequence number to form the third sequence;

[0083] Step S205: Obtain the first sequence number i corresponding to the maximum value in the third sequence;

[0084] Step S206: Determine whether the first sequence number i is greater than or equal to the first threshold k. If it is greater than or equal to the first threshold k, proceed to step S207; if it is less than the threshold k, proceed to step S208. Where i and k are integers greater than or equal to 1.

[0085] Step S207: Determine that the first i items in the first sequence are the second received signal data;

[0086] Step S208: Determine the first k items in the first sequence as the second received signal data.

[0087] In step S206, the first threshold k is set to ensure that the final three-dimensional positioning point can be output more accurately, in case the selected second received signal data is too small to perform positioning.

[0088] Optionally, the method further includes:

[0089] The multiple second received signal data are divided into multiple data subsets; wherein each data subset includes a first preset number of second received signal data.

[0090] In this embodiment of the invention, before step S103, the filtered second received signal data is imported into the diversity module, wherein the total number of the second received signal data is M; the M second received signal data are distributed according to the permutation and combination formula without considering the order, and each data subset contains a first preset value of second received signal data, wherein the first preset value is greater than or equal to 3 and less than or equal to M;

[0091] Taking a first preset value of 3 as an example, the total number of data subsets is then: Each data subset contains 3 second received signal data; when M equals 3, it is a special case with only one data subset, which is also within the scope of protection of this invention.

[0092] Optionally, the step of performing positioning calculations on multiple data subsets divided from the multiple second received signal data to determine multiple positioning points includes:

[0093] Obtain path loss data corresponding to each of the multiple data subsets;

[0094] The path loss data is converted into distance data using a pre-acquired path loss model;

[0095] Multiple positioning points are determined by performing positioning calculations using the distance data.

[0096] In this embodiment of the invention, positioning calculations are performed on each data subset. Taking an example where each data subset contains three second received signal data points, the positioning calculation steps are explained in detail below:

[0097] The three second received signal data in each data subset are converted into path loss; where path loss

[0098] Substituting the received power and corresponding LED transmit power from each second received signal data into the above formula yields multiple path loss values. Figure 4 The path loss value is converted into distance d, where d is the straight-line distance between the receiver and the corresponding LED.

[0099] Based on three distances *d* in each data subset, positioning is performed using the trilateration method, where the geometric constraints are as follows: Where (x, y, z) are the position coordinates of the location point to be calculated, (x, y, z) i y i , z i ) represents the position coordinates of the corresponding light source LED, and d represents the straight-line distance between the receiver and the corresponding LED.

[0100] Substituting the three distances d from each data subset into the above formula and solving them simultaneously, we get: After rearranging and transposing, it becomes:

[0101] The above equation is a system of linear equations, which can be solved to find the values ​​of x, y, and z, and determine a location point.

[0102] The above method can also be used for positioning when the number of second received signal data in each data subset is greater than 3 and less than or equal to M.

[0103] In summary, when the number of second received signal data in each data subset is greater than or equal to 3 and less than or equal to M, the corresponding positioning point can be determined by AP = b.

[0104] in, i is an integer greater than 1 and less than M.

[0105] Optionally, the method further includes:

[0106] A simulation scenario for visible light indoor communication is constructed on an optical simulation platform; wherein, multiple optical transmitters and multiple optical receivers are set up in the simulation scenario;

[0107] Obtain multiple received powers of the optical signals emitted by each of the optical receivers corresponding to different optical transmitters;

[0108] The path loss model is determined by calculating the path loss based on the transmit power of the optical transmitter and multiple receive powers.

[0109] like Figure 3 As shown, in this embodiment of the invention, before step S101, a simulation scenario of visible light indoor communication is constructed on an optical simulation platform according to the actual environment. In the simulation scenario, room specifications, LED parameters, and receiver parameter information are set. For example, in... Figure 3 In the design, multiple LEDs are evenly spaced 1 meter apart on a 3-meter-high ceiling, totaling 9 LEDs (3 x 3 = 9). The LEDs are Cree Gree-CR6-800L. Receivers (RX) are evenly spaced 0.5 meters apart on the floor, totaling 81 receivers (9 x 9 = 81). Each receiver (Rx) is 1 cm in diameter. 2 A rectangular receiver, equivalent to a PD.

[0110] The simulation was performed in a simulation environment using ray tracing (ray tracing simulation is very close to reality and has very high accuracy). The received power of each LED for all Rx values ​​was calculated, and the emitted power of each LED was obtained. Generally, the emitted power of each LED is the same. Multiple path loss values ​​can be calculated using multiple received power and emitted power values. The path loss...

[0111]

[0112] The path loss model for this scenario is fitted based on multiple path losses. The path loss model includes, but is not limited to, only one of the floating intercept fitting model and the polynomial fitting model.

[0113] like Figure 4 The diagram shown is a schematic of the path loss model provided in an embodiment of the present invention.

[0114] The fitting formula for the floating intercept fitting model is:

[0115] Among them, PL FL denoted as , where d is the straight-line distance between the receiver and the LED light source, X is the fitting error, σ is the standard deviation, and α and β are coefficients.

[0116] The quadratic fitting formula for the polynomial fitting model is PL(d) = a1 + a2d + a3d 2 +X σ ;

[0117] Where PL is the path loss in the quadratic fitting model, d is the straight-line distance between the receiver and the LED light source, X is the fitting error, σ is the standard deviation, and a1, a2, and a3 are coefficients.

[0118] Under this environment, by fitting the above formula, we obtain... Figure 4 ;

[0119] Figure 4 The fitting parameters of the two models are shown in Table 1. The parameters of the models can be modified according to the specific environment (such as the layout of the light source and the room specifications).

[0120] α β <![CDATA[a1]]> <![CDATA[a2]]> <![CDATA[a3]]> 30.95 4.128 24.764 11.10 -0.832

[0121] Table 1

[0122] Optionally, determining the three-dimensional positioning point based on the plurality of positioning points includes:

[0123] The three-dimensional positioning point is determined by combining and calculating multiple positioning points according to a preset combination method; wherein the preset combination method includes one or more of the following: midpoint method, mean method, weighted method, layer-by-layer mean method and nearest mean method.

[0124] The specific steps of the above-mentioned pre-defined combination method will be explained one by one:

[0125] The steps of midpoint method combined positioning are as follows: obtain the midpoint of each dimension of all positioning points, merge all midpoints in the first dimension to obtain the first midpoint, merge all midpoints in the second dimension to obtain the second midpoint, merge all midpoints in the third dimension to obtain the third midpoint, and determine the three-dimensional positioning point by merging the first, second and third midpoints.

[0126] The steps of the mean-based combination positioning method are as follows: calculate the arithmetic mean of all positioning points to determine the three-dimensional positioning points.

[0127] The steps of weighted combination positioning are as follows: construct weighting coefficients for each data subset based on the acquired first received signal data, wherein the sum of all weighting coefficients is 1, and determine the three-dimensional positioning point by multiplying the position coordinates of the positioning point of each data subset by the corresponding weight and then accumulating them.

[0128] The steps of the layer-by-layer mean method for combined positioning are as follows: First, calculate the arithmetic mean of all positioning points to obtain a first average positioning point; Second, calculate the distance from all positioning points to the first average positioning point and remove the point farthest from the first average positioning point. The distance is not limited to, but can only be one of the N-norm distances such as Euclidean distance, Manhattan distance, and maximum distance; Third, repeat the calculations of the first and second steps; and so on, until only the last positioning point remains, which is then determined as the three-dimensional positioning point.

[0129] The steps of the nearest mean method for combined positioning are as follows: First, calculate the arithmetic mean of all positioning points to obtain a second average positioning point; Second, calculate the distance from all positioning points to the second average positioning point, and determine the positioning point closest to the second average positioning point as the three-dimensional positioning point. The distance can be, but is not limited to, one of the N-norm distances such as Euclidean distance, Manhattan distance, and maximum distance.

[0130] In this embodiment of the invention, the preset combination method is not limited to the above-mentioned methods; any combination method that can determine a point based on multiple points is included. By combining the positioning points corresponding to each data subset to determine the three-dimensional positioning point, the method of first dividing and then combining further improves the accuracy of visible light indoor positioning.

[0131] Optionally, the preset combination method includes a weighted method, wherein, according to the weighted method, multiple positioning points are combined and calculated to determine the three-dimensional positioning points, including:

[0132] The weight values ​​of the positioning points corresponding to the multiple data subsets are determined based on the number of light sources, the total receiving power of the light receiver, and the total receiving power of each data subset.

[0133] Based on the calculation results of the multiple positioning points and their corresponding weight values, the position coordinates of the multiple first positioning points are obtained;

[0134] The position coordinates of multiple first positioning points are summed to determine the position coordinates of the three-dimensional positioning point.

[0135] The following provides a more detailed explanation of the weighted combination positioning method described above:

[0136] Taking a data subset containing three second received signal data points as an example, the first step is to calculate the weight value based on the total received power of each data subset. Let the total received power of the j-th data subset be P. j The total received power received by the receiver through at least one optical receiver is P. r If a dataset contains m LEDs, then the weight value of the location point corresponding to that subset of data is... In the first step, the sum of the weight values ​​corresponding to all positioning points is 1; in the second step, the position coordinates of all positioning points are multiplied by their corresponding weight values ​​to obtain the position coordinates of multiple first positioning points; in the third step, the position coordinates of all first positioning points are accumulated to determine the position coordinates of the three-dimensional positioning point.

[0137] In summary, the method described in this invention can achieve an average error of less than 0.15 meters for three-dimensional positioning points even in environments with reflection and obstacle obstruction, and more than half of the positioning points can achieve an error of less than 0.13 meters. In contrast, the average error of three-dimensional positioning points determined by existing visible light positioning methods in environments with reflection and obstacle obstruction is approximately 0.7 meters. The embodiments described in this invention can effectively improve the accuracy of indoor three-dimensional positioning using visible light.

[0138] like Figure 5 As shown, this embodiment of the invention also provides a visible light indoor three-dimensional positioning device, the device comprising:

[0139] The acquisition module 51 is used to acquire multiple first received signal data of light signals emitted by at least one optical receiver corresponding to the visible light emitted by different light sources;

[0140] The filtering module 52 is used to filter multiple first received signal data to obtain multiple second received signal data;

[0141] The diversity positioning module 53 is used to perform positioning calculations based on multiple data subsets divided from the multiple second received signal data, and determine multiple positioning points respectively;

[0142] The combined positioning module 54 is used to determine a three-dimensional positioning point based on the multiple positioning points.

[0143] like Figure 6 The diagram shown is a schematic representation of the device structure provided in an embodiment of the present invention.

[0144] Optionally, the device further includes:

[0145] The model module is used to build a simulation scenario of visible light indoor communication on the optical simulation platform, and to set parameters such as room specifications, LEDs and PDs in the simulation scenario;

[0146] It is used to construct a fingerprint database or fading model based on simulation data obtained in a simulation scenario or measured data obtained in a real scenario, or to directly select a radiation model that matches the environment.

[0147] Optionally, the device further includes:

[0148] A diversity module is used to divide multiple second received signal data into multiple data subsets; wherein each data subset includes a first preset number of second received signal data.

[0149] Optionally, the filtering module 52 further includes:

[0150] The sorting module is used to sort multiple first received signal data in descending order according to their corresponding first received power to form a first sequence;

[0151] The selection module is used to filter multiple first received signal data in the first sequence to obtain multiple second received signal data.

[0152] Optionally, the selection module further includes:

[0153] A sequence unit is used to accumulate and calculate multiple first received powers in the first sequence to obtain a second sequence; wherein the nth value in the second sequence is obtained by accumulating the first n first received powers in the first sequence, and n is an integer greater than or equal to 1.

[0154] This is used to square each item in the second sequence and then divide it by the corresponding sequence number to form the third sequence;

[0155] The judgment unit is used to obtain the first sequence number i corresponding to the maximum value in the third sequence;

[0156] Used to determine the first i items in the first sequence as the second received signal data when the first sequence number i is greater than or equal to the first threshold k;

[0157] This is used to determine the first k items in the first sequence as the second received signal data when the first sequence number i is less than the first threshold k; where i and k are integers greater than or equal to 1.

[0158] Optionally, the diversity positioning module 53 includes:

[0159] The conversion unit is used to acquire path loss data corresponding to multiple data subsets respectively; and to convert the path loss data into distance data through a pre-acquired path loss model.

[0160] The positioning calculation unit is used to perform positioning calculations using multiple distance data to determine multiple positioning points.

[0161] Optionally, the model module further includes:

[0162] The path loss model unit is used to obtain multiple received powers of the optical signals emitted by different optical transmitters corresponding to all the optical receivers;

[0163] The path loss model is determined by calculating the path loss based on the transmit power of the optical transmitter and multiple receive powers.

[0164] Optionally, the combined positioning module 54 further includes:

[0165] The combination module is used to perform combination calculations on multiple positioning points according to a preset combination method to determine the three-dimensional positioning point; wherein, the preset combination method includes one or more of the following: midpoint method, mean method, weighted method, layer-by-layer mean method, and nearest mean method.

[0166] Optionally, the combined module further includes:

[0167] A weighted combination unit is used to determine the weight values ​​of the positioning points corresponding to the multiple data subsets based on the number of light sources, the total received power of the light receiver, and the total received power of each data subset.

[0168] This is used to obtain the position coordinates of multiple first positioning points based on the calculation results of multiple positioning points and their corresponding weight values;

[0169] This is used to accumulate the position coordinates of multiple first positioning points to determine the position coordinates of a three-dimensional positioning point.

[0170] It should be noted that the embodiments of this device are devices corresponding to the embodiments of the above methods. All implementations in the embodiments of the above methods are applicable to the embodiments of this device and can achieve the same technical effect.

[0171] This invention also provides a control device, including: a transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is used to read the program in the memory and execute the visible light indoor three-dimensional positioning method as described in any of the preceding embodiments.

[0172] In summary, the embodiments of the present invention can filter the received light signal data in environments with reflection and obstacle obstruction, remove data that has a significant impact on visible light positioning, and the filtering method has low complexity. Furthermore, the multiple second received signal data obtained by filtering are combined using diversity positioning, which effectively improves the positioning accuracy.

[0173] It should be noted that this invention can be used not only for Received Signal Strength (RSS) positioning, but also for methods that convert received signals into distance for positioning, such as Time of Arrival (TOA) positioning. The same effect can be achieved simply by modifying the transmitter, receiver, model, and signal processing method accordingly.

[0174] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.

Claims

1. A visible light indoor three-dimensional positioning method, characterized in that, The method includes: Acquire multiple first received signal data corresponding to the light signals of visible light emitted by different light sources at at least one optical receiver, wherein the first received signal data includes a first received power; Multiple first received signal data are filtered to obtain multiple second received signal data; Based on multiple data subsets divided from the second received signal data, positioning calculations are performed to determine multiple positioning points; Based on the plurality of positioning points, a three-dimensional positioning point is determined; wherein, the step of filtering the plurality of first received signal data to obtain a plurality of second received signal data includes: The multiple first received signal data are sorted in descending order of their corresponding first received power to form a first sequence; Filter the multiple first received signal data in the first sequence to obtain multiple second received signal data; The step of filtering multiple first received signal data in the first sequence to obtain multiple second received signal data includes: The first received power in the first sequence is accumulated to obtain the second sequence; wherein the nth value in the second sequence is obtained by accumulating the first n first received power in the first sequence, and n is an integer greater than or equal to 1. Squaring each item in the second sequence and then dividing by the corresponding sequence number to form the third sequence; Obtain the first sequence number i corresponding to the maximum value in the third sequence; If the first sequence number i is greater than or equal to the first threshold k, the first i items in the first sequence are determined to be the second received signal data; If the first sequence number i is less than the first threshold k, the first k items in the first sequence are determined to be the second received signal data; where i and k are integers greater than or equal to 1. The step of performing positioning calculations on multiple data subsets divided from multiple second received signal data to determine multiple positioning points includes: Obtain path loss data corresponding to each of the multiple data subsets; The path loss data is converted into distance data using a pre-acquired path loss model; Multiple positioning points are determined by performing positioning calculations using the distance data.

2. The method of claim 1, wherein, The method further includes: The multiple second received signal data are divided into multiple data subsets; wherein each data subset includes a first preset number of second received signal data.

3. The method of claim 1, wherein, The method further includes: A simulation scenario for visible light indoor communication is constructed on an optical simulation platform; wherein, multiple optical transmitters and multiple optical receivers are set up in the simulation scenario; Obtain multiple received powers of the optical signals emitted by each of the optical receivers corresponding to different optical transmitters; The path loss model is determined by calculating the path loss based on the transmit power of the optical transmitter and multiple receive powers.

4. The method of claim 1, wherein, The step of determining the three-dimensional positioning point based on the plurality of positioning points includes: The three-dimensional positioning point is determined by combining and calculating multiple positioning points according to a preset combination method; wherein the preset combination method includes one or more of the following: midpoint method, mean method, weighted method, layer-by-layer mean method and nearest mean method.

5. The method of claim 4, wherein, The preset combination method includes a weighted method, wherein, according to the weighted method, multiple positioning points are combined and calculated to determine the three-dimensional positioning points, including: The weight values ​​of the positioning points corresponding to the multiple data subsets are determined based on the number of light sources, the total receiving power of the light receiver, and the total receiving power of each data subset. Based on the calculation results of the multiple positioning points and their corresponding weight values, the position coordinates of the multiple first positioning points are obtained; The position coordinates of multiple first positioning points are summed to determine the position coordinates of the three-dimensional positioning point.

6. A visible light indoor three-dimensional positioning apparatus characterized by comprising: The device includes: The acquisition module is used to acquire multiple first received signal data of light signals emitted by at least one optical receiver corresponding to visible light emitted by different light sources; The filtering module is used to filter multiple first received signal data to obtain multiple second received signal data; The diversity positioning module is used to perform positioning calculations based on multiple data subsets divided from the multiple second received signal data, and determine multiple positioning points respectively; A combined positioning module is used to determine a three-dimensional positioning point based on multiple positioning points; The filtering module also includes: The sorting module is used to sort multiple first received signal data in descending order according to their corresponding first received power to form a first sequence; The selection module is used to filter multiple first received signal data in the first sequence to obtain multiple second received signal data; The selection module further includes: A sequence unit is used to accumulate and calculate multiple first received powers in the first sequence to obtain a second sequence; wherein the nth value in the second sequence is obtained by accumulating the first n first received powers in the first sequence, and n is an integer greater than or equal to 1. This is used to square each item in the second sequence and then divide it by the corresponding sequence number to form the third sequence; The judgment unit is used to obtain the first sequence number i corresponding to the maximum value in the third sequence; Used to determine the first i items in the first sequence as the second received signal data when the first sequence number i is greater than or equal to the first threshold k; This is used to determine the first k items in the first sequence as the second received signal data when the first sequence number i is less than the first threshold k; where i and k are integers greater than or equal to 1. The diversity positioning module includes: The conversion unit is used to acquire path loss data corresponding to multiple data subsets respectively; and to convert the path loss data into distance data through a pre-acquired path loss model. The positioning calculation unit is used to perform positioning calculations using multiple distance data to determine multiple positioning points.

7. A control device characterized by comprising: include: A transceiver, a memory, a processor, and a computer program stored in the memory and executable on the processor; wherein the processor is configured to read the program from the memory and execute the visible light indoor three-dimensional positioning method according to any one of claims 1 to 5.

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