Visible light information communication method, device and equipment based on field of view alignment

Abstract

The present invention relates to the field of optical information communication technology, solves the problem of low field of view alignment accuracy and high delay of signal transmitter and receiver in indoor visible light information communication in the prior art, and provides a visible light information communication method, device and equipment based on field of view alignment. The method includes: obtaining a global map of indoor visible light information communication; analyzing the target tag information on the receiver that has received the optical signal in combination with a preset light source position to obtain the first position of the receiver; performing distance measurement and signal angle measurement on the receiver to obtain the second position of the receiver and the target signal angle from the light source to the receiver; obtaining the target light source, adjusting the actual position of the receiver through a preset control algorithm, and aligning the field of view of the signal transmitter and receiver. The present invention realizes the field of view alignment of the transmitter and receiver with high precision and low delay, meeting the high requirements of field of view alignment in indoor visible light information communication.

Description

Technical Field

[0001] The present invention relates to the field of optical information communication technology, and in particular to a visible light information communication method, device and equipment based on field of view alignment. Background Art

[0002] In visible light information communication systems, to achieve high-speed data transmission, it is necessary to align the fields of view of the signal transmitter and receiver to obtain the maximum channel response. In practical applications, it is very common for the receiver to move and change direction. For example, in indoor access networks based on visible light information communication, the light sensor equipped with a smartphone will move and deflect with the user's movements, which means that the field of view of the receiver is difficult to be fixed and aligned with the transmitter; due to this misalignment, the performance of the receiver will be greatly reduced, and the continuous automatic alignment function is particularly important. The existing solution is to use a photodetector array to sense the intensity and direction of the light signal emitted by the transmitter, and then drive the actuator to actually adjust the physical position of the transmitter or receiver. In this way, the photodetector needs to be highly sensitive to light and can respond quickly. The photodetector also needs a two-dimensional planar array or a more complex three-dimensional configuration to capture possible incident light from all directions in a timely manner. However, this will lead to a high degree of system complexity.

[0003] The existing Chinese patent CN111953417A discloses an automatic alignment system and method for indoor visible light information communication, the method comprising: reading the coordinate value of the centroid of the LED light spot in the USB camera pixel when the PIN photoelectric detector receives the best light signal, and taking it as the standard value of system tracking, which is set as (X0, Y0); when the receiving direction of the receiving end changes, reading the original image of the LED light source collected by the USB camera (13) and performing image processing by MATLAB to obtain the two-dimensional image coordinates of the centroid of the LED light spot image, which is set as (X, Y); obtaining the centroid coordinates (X, Y) of the LED light spot in the field of view of the USB camera (13) and the set standard coordinates (X0, Y0); obtaining the horizontal and vertical coordinate differences between the two: by calculating the standard two The coordinate difference ΔXΔY between the coordinate value of the 3D coordinate system and the LED spot in the camera field of view is calculated; the calculated coordinate difference ΔX and ΔY are fed back to the system and judged, where E is the upper limit of the error. When |X0-X|>E, the corresponding control amount is obtained through the PID control algorithm to control the steering gear drive unit to rotate and adjust the receiving direction to continuously correct the position deviation. When the difference is less than the set value E, the system believes that the target has been reached; when |Y0-Y|>E, the corresponding control amount is obtained through the PID control algorithm to control the steering gear drive unit to rotate and adjust the receiving direction to continuously correct the position deviation. When the difference is less than the set value E, the system believes that the target has been reached. However, this method involves multiple steps such as image acquisition, image processing, calculation of coordinate difference, PID control, etc. Each step will introduce a certain delay, which may lead to a long response time of the system. In applications such as indoor visible light information communication that require fast response, this delay is unacceptable; at the same time, the accuracy of the system depends on factors such as the performance of the camera and photoelectric detector, image processing algorithm, PID control parameters, etc. This method is not enough to meet the high-precision requirements of indoor visible light information communication.

[0004] Therefore, how to align the field of view of the signal transmitter and receiver with high precision and low latency in indoor visible light information communication is an urgent problem to be solved. Summary of the invention

[0005] In view of this, the present invention provides a visible light information communication method, device and equipment based on field of view alignment, which is used to solve the problems of low field of view alignment accuracy and high delay between the signal transmitter and the receiver in indoor visible light information communication in the prior art.

[0006] The technical solution adopted by the present invention is:

[0007] In a first aspect, the present invention provides a visible light information communication method based on field of view alignment, the method comprising:

[0008] S1: Obtain a global map of indoor visible light information communication;

[0009] S2: Analyze the target tag information on the receiver that has received the optical signal according to the global map and in combination with the preset light source position to obtain the first position of the receiver;

[0010] S3: According to the optical signal received by the receiver and in combination with the first position, the distance measurement and signal angle measurement of the receiver are performed to obtain the second position of the receiver and the target signal angle from the light source to the receiver;

[0011] S4: Acquire a target light source corresponding to the second position and angle, and adjust the actual position of the receiver according to the target light source through a preset control algorithm to align the fields of view of the signal transmitter and the receiver.

[0012] Preferably, the S1 includes:

[0013] S11: calibrate the position of the light source and measure the radiation range to obtain the radiation information of the light source and the position of the light source;

[0014] S12: Acquire indoor environment information related to optical signal propagation, and establish an initial map of visible light indoor communication according to the light source radiation information, the light source position and the indoor environment information;

[0015] S13: updating the initial map according to a preset time interval to determine the global map.

[0016] Preferably, S2 includes:

[0017] S21: Numbering each indoor receiver and determining preset label information on each receiver;

[0018] S22: extracting the target tag information from the preset tag information according to the light source position and the light source radiation information;

[0019] S23: Acquire the first position of the receiver corresponding to the target tag information in the global map according to the target tag information.

[0020] Preferably, S3 includes:

[0021] S31: Acquire the time information of the receiver receiving the light signal, perform time arrival measurement on the time information, and determine the distance between the light source and the receiver;

[0022] S32: measuring the time difference of the time information to determine the relative positions between the light sources;

[0023] S33: determining the second position according to the distance and the relative position in combination with the first position;

[0024] S34: Using a preset signal angle measurement estimation algorithm, perform signal angle measurement on the optical signal received by the receiver to determine a target signal angle from the light source to the receiver.

[0025] Preferably, the S34 includes:

[0026] S341: Processing the optical signal using a multi-signal classification algorithm to obtain a first signal angle from the light source to the receiver;

[0027] S342: Processing the optical signal using a rotation invariance technique to obtain a second signal angle from the light source to the receiver;

[0028] S343: Perform weighted sum processing on the first signal angle and the second signal angle according to the preset first weight and second weight to determine the target signal angle.

[0029] Preferably, the S341 includes:

[0030] S3411: Perform covariance calculation on the optical signal, and output a covariance matrix of the optical signal;

[0031] S3412: performing eigenvalue decomposition on the covariance matrix to decompose the covariance matrix into corresponding first eigenvectors and first eigenvalues;

[0032] S3413: constructing a spatial spectrum related to a signal angle from a light source to a receiver according to the first eigenvector and the first eigenvalue;

[0033] S3414: Perform spectrum analysis on the spatial spectrum, and determine the first signal angle according to a spectrum peak value obtained by the analysis.

[0034] Preferably, the S342 includes:

[0035] S3421: performing a differential operation on the optical signal to determine a differential matrix corresponding to the optical signal;

[0036] S3422: performing eigenvalue decomposition on the difference matrix to decompose the difference matrix into corresponding second eigenvectors and second eigenvalues;

[0037] S3423: Determine the second signal angle according to the second eigenvector and the second eigenvalue.

[0038] In a second aspect, the present invention provides a visible light information communication device based on field of view alignment, the device comprising:

[0039] A map acquisition module, used to obtain a global map of indoor visible light information communication;

[0040] A preliminary positioning module, used to analyze the target tag information on the receiver that has received the light signal according to the global map and in combination with a preset light source position, to obtain a first position of the receiver;

[0041] A precise positioning module, configured to perform distance measurement and signal angle measurement on the receiver based on the optical signal received by the receiver and in combination with the first position, and obtain a second position of the receiver and a target signal angle from the light source to the receiver;

[0042] The driving adjustment module is used to obtain a target light source corresponding to the second position and angle, and adjust the actual position of the receiver according to the target light source through a preset control algorithm to align the signal transmitter and the field of view of the receiver.

[0043] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising: at least one processor, at least one memory, and computer program instructions stored in the memory, which, when executed by the processor, implement the method of the first aspect in the above-mentioned embodiment.

[0044] In a fourth aspect, an embodiment of the present invention further provides a storage medium on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the method of the first aspect in the above-mentioned embodiment is implemented.

[0045] In summary, the beneficial effects of the present invention are as follows:

[0046] The present invention provides a visible light information communication method, device and equipment based on field of view alignment, the method comprising: obtaining a global map of indoor visible light information communication; based on the global map and in combination with a preset light source position, analyzing the target tag information on a receiver that has received an optical signal to obtain a first position of the receiver; based on the optical signal received by the receiver and in combination with the first position, performing distance measurement and signal angle measurement on the receiver to obtain a second position of the receiver and a target signal angle from the light source to the receiver; obtaining a target light source corresponding to the second position and angle, and based on the target light source, adjusting the actual position of the receiver through a preset control algorithm to align the signal transmitter and the field of view of the receiver. First, the present invention uses a global map of indoor visible light information communication and preset light source position information. Through the position of the light source and the layout of the indoor communication environment, it provides important prior information for subsequent positioning and alignment, significantly reducing positioning errors, thereby improving alignment accuracy; at the same time, it uses a variety of information to locate and align the receiver, including distance measurement, signal angle measurement, and target tag information. This multimodal positioning method provides a more accurate position estimate because the combination of different information sources can be calibrated and compensated with each other; control algorithms are also used to adjust the position of the receiver to align the signal transmitter. These control algorithms can be adjusted according to real-time optical signals and position information to achieve fast feedback control, which helps to reduce delays and ensure rapid response to position deviations and corrections. In summary, the present invention realizes the field of view alignment of the transmitter and receiver with high precision and low latency. By combining prior information, multimodal positioning, real-time feedback control, and advanced sensing and signal processing technologies, a balance is achieved between real-time and accuracy, thereby meeting the high-demand field of view alignment requirements in indoor visible light information communication. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] In order to more clearly illustrate the technical solution of the embodiment of the present invention, the drawings required for use in the embodiment of the present invention will be briefly introduced below. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work, and these are all within the protection scope of the present invention.

[0048] Figure 1 It is a schematic diagram of the overall working process of the visible light information communication method based on field of view alignment in Example 1 of the present invention;

[0049] Figure 2 This is a schematic diagram of a process for obtaining a global map of indoor visible light information communication in Embodiment 1 of the present invention;

[0050] Figure 3 This is a schematic diagram of a process for performing preliminary positioning of a receiver in Embodiment 1 of the present invention;

[0051] Figure 4 This is a schematic diagram of a process for accurately positioning a receiver in Embodiment 1 of the present invention;

[0052] Figure 5 This is a schematic diagram of a process for determining a target signal angle from a light source to a receiver in Embodiment 1 of the present invention;

[0053] Figure 6 This is a schematic diagram of a process of processing the optical signal using a multi-signal classification algorithm in Embodiment 1 of the present invention;

[0054] Figure 7 This is a schematic diagram of a process of processing the optical signal using the rotation invariance technology in Embodiment 1 of the present invention;

[0055] Figure 8 It is a structural block diagram of a visible light information communication device based on field of view alignment in Embodiment 2 of the present invention;

[0056] Fig. 9 It is a schematic diagram of the structure of the electronic device in Embodiment 3 of the present invention. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the embodiment of the present invention clearer, the technical solution in the embodiment of the present invention will be clearly and completely described in conjunction with the drawings in the embodiment of the present invention. It should be noted that, in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply that there is any such actual relationship or order between these entities or operations. In the description of the present invention, it should be understood that the orientation or position relationship indicated by the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc. is based on the orientation or position relationship shown in the drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present invention. Moreover, the term "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of further restrictions, the elements defined by the phrase "comprising..." do not exclude the existence of other identical elements in the process, method, article or device comprising the elements. If there is no conflict, the embodiments of the present invention and the various features in the embodiments can be combined with each other, all within the protection scope of the present invention.

[0058] Example 1

[0059] See also Figure 1 Embodiment 1 of the present invention discloses a visible light information communication method based on field of view alignment, the method comprising:

[0060] S1: Obtain a global map of indoor visible light information communication;

[0061] Specifically, a global map of indoor visible light information communication is obtained, wherein the global map contains various important information related to visible light information communication. First, the global map includes at least the topological structure and layout information of the indoor environment, such as the size, shape, walls, furniture, location of obstacles and installation points of light sources of the room. This information helps to understand the communication environment, including possible signal reflection and scattering paths. The map should include data on signal propagation characteristics, such as signal strength, attenuation, multipath propagation and signal reflection at each location, which helps to predict the quality and availability of signals at different locations. At the same time, the map should clearly identify the location and properties of all light sources, including light source type, transmission power and wavelength, which helps the system determine possible light sources, perform path planning and alignment of communication equipment. The global map also includes environmental change information, such as the location of moving objects and the movement trajectory of dynamic obstacles. This information helps to adapt to real-time environmental changes. The global map is crucial for performance optimization, positioning, navigation and path planning of indoor visible light information communication systems. It provides important background information to help better understand the environment and improve the quality of visible light information communication.

[0062] In one embodiment, see Figure 2 , the visible light information communication based on field of view alignment includes:

[0063] S11: calibrate the position of the light source and measure the radiation range to obtain the radiation information of the light source and the position of the light source;

[0064] Specifically, first, a visible light information communication light source is installed indoors, and the visible light information communication light source includes at least LED and laser diode, and each light source is given a unique identifier, such as ID1, ID2, etc., for subsequent identification, and a measuring tool (for example, a camera, a laser rangefinder, etc.) is used to collect data about the position of each light source, and the data about the position of each light source includes at least the three-dimensional coordinates of the light source, and the collected data about the position of the light source is input into a position calibration algorithm to determine the exact position of each light source, and the position calibration algorithm includes at least a variety of methods, such as triangulation, Doppler effect, and fingerprint positioning. Using a measuring device, data about the radiation range of each light source is collected, and the data about the radiation range of each light source includes at least the light intensity measurement in different directions and the parameters of the radiation model, and the collected data about the radiation range of each light source is input into a radiation range measurement algorithm to determine the radiation range of each light source, which usually involves establishing a light source radiation model, considering factors such as propagation path, reflection, scattering, etc., and using actual measurement data for calibration; when the position calibration and radiation range measurement are completed, the position information of each light source and the characteristics of its radiation range, including radiation diagram, light intensity distribution, etc., will be obtained. Through this process, information about the exact position and radiation range of the light source is obtained, which is very important for the performance optimization and positioning of indoor visible light information communication systems. This information can be used to establish communication maps, path planning, align the field of view, and improve the availability and efficiency of the communication system.

[0065] S12: Acquire indoor environment information related to optical signal propagation, and establish an initial map of visible light indoor communication according to the light source radiation information, the light source position and the indoor environment information;

[0066] Specifically, the topological structure and layout information of the indoor environment are collected, including the size, shape, location and shape of walls, furniture, and obstacles of the room. This information helps to understand the communication environment and potential obstacles; information about the propagation characteristics of optical signals is collected, including data such as signal strength, attenuation, and multipath propagation at different locations, which can be measured by optical sensors, laser rangefinders, light intensity meters, and other equipment; considering that the environment may change, information related to environmental changes is collected, such as the location of moving objects, the trajectory of dynamic obstacles, etc.; using the radiation information and position of the light source obtained in the previous step, this information is integrated into the map. The location and radiation information of the light source are part of the map and are used to determine the characteristics of the light source in the visible light information communication system. Combined with the indoor environment information, the radiation information of the light source, and the position of the light source, a map building algorithm or software tool is used to create an initial map. This map includes the topological structure of the indoor environment, signal propagation characteristics, the position of the light source, and the radiation characteristics of the light source. The initial map can be a three-dimensional model containing the geometric information of the indoor space, or a two-dimensional map showing the characteristics of optical signal propagation. The map can also include information about environmental changes so that the system can adapt when the real-time environment changes. The initial map is established to help better understand the indoor communication environment, predict the signal propagation path and quality, and provide a basis for positioning, navigation and communication path planning. The map can be used to optimize the performance and reliability of visible light information communication systems.

[0067] S13: updating the initial map according to a preset time interval to determine the global map.

[0068] Specifically, sensors, cameras, photoelectric detectors, and laser rangefinders are used to continuously collect data about the indoor environment. Data is collected at preset time intervals to monitor environmental changes, including the location of moving objects, light signal strength, and movement of obstacles. The collected data is preprocessed, including denoising, data alignment, and coordinate transformation to ensure data quality and consistency. The collected data is compared and integrated with the initial map using map update algorithms. These algorithms can detect environmental changes, such as the movement of objects or the appearance of obstacles. The update algorithm corrects the relevant parts of the map based on the new data to reflect the actual situation. After multiple updates, all updates are merged into a global map. This global map reflects the current state of the indoor environment, including topological structure, signal propagation characteristics, light source location, etc. By continuously updating the map, the system can better adapt to changes in the indoor environment and improve the robustness and performance of the visible light information communication system.

[0069] S2: Analyze the target tag information on the receiver that has received the optical signal according to the global map and in combination with the preset light source position to obtain the first position of the receiver;

[0070] Specifically, each receiver has preset tag information, and the preset tag information includes at least a tag or identifier carried on the receiver, which is used to identify and track each receiver. After receiving the optical signal, the receiver decodes and analyzes the received signal to extract information about the light source, such as signal strength, coding information, etc., and associates the received optical signal with a specific light source by analyzing the target tag information on the receiver that has received the optical signal and the received signal. The optical signal is successfully associated with the light source, and the position of the receiver is estimated using the known light source position and signal propagation characteristics, which usually involves distance measurement, signal strength analysis, or signal angle measurement. The first position obtained refers to the preliminary estimated receiver position, which may have a certain error. This is an initial estimate, and it will be further calibrated by a more accurate method later. Through the above process, the first position of the receiver is preliminarily determined, which is very important for indoor positioning, navigation and communication systems. This position information can be used for subsequent tracking, alignment, path planning and other tasks.

[0071] In one embodiment, see Figure 3 , said S2 comprises:

[0072] S21: Numbering each indoor receiver and determining preset label information on each receiver;

[0073] Specifically, each indoor receiver is assigned a unique number or identifier, such as ID1, ID2, ID3, etc., which can be used to uniquely identify each receiver. By numbering the receivers and defining preset tag information, it is easier to identify, track and manage the receivers.

[0074] S22: extracting the target tag information from the preset tag information according to the light source position and the light source radiation information;

[0075] S23: Acquire the first position of the receiver corresponding to the target tag information in the global map according to the target tag information.

[0076] Specifically, the previously determined light source position and light source radiation information are obtained, including at least the three-dimensional coordinate position of each light source and the radiation characteristics of the light source, such as light intensity, radiation pattern, wavelength, etc., and the label information of the corresponding receiver that receives the light signal is extracted from the preset label information as the target label information, and the position and characteristics of the light source are associated with the receiver, so as to further optimize the communication, positioning and navigation tasks. This helps to ensure the accuracy and efficiency of the system.

[0077] S3: According to the optical signal received by the receiver and in combination with the first position, the distance measurement and signal angle measurement of the receiver are performed to obtain the second position of the receiver and the target signal angle from the light source to the receiver;

[0078] Specifically, the distance between the receiver and the light source is calculated through the arrival time and light speed information of the optical signal, which helps to determine the exact position of the receiver. Especially when multiple receivers work together, the signal angle measurement technology, such as AoA (Angle of Arrival), is used to determine the signal angle from the light source to the receiver, which provides the direction information of the light source relative to the receiver. The second position obtained is the precise position of the receiver, which is calculated by considering the signal propagation characteristics and ranging data. This position is usually more accurate and used for subsequent tasks. The target signal angle from the light source to the receiver indicates the direction of the light source relative to the receiver. This is very important for directional communication and directivity tasks. Through this process, the measurement accuracy of the receiver position and signal angle is improved, thereby providing better support for the performance of the visible light information communication system, which helps to achieve high-precision positioning, navigation and communication.

[0079] In one embodiment, see Figure 4 , said S3 comprises:

[0080] S31: Acquire the time information of the receiver receiving the light signal, perform time arrival measurement on the time information, and determine the distance between the light source and the receiver;

[0081] Specifically, after the optical signal is emitted from the light source, a high-precision time measurement device is used to record the time of arrival of the optical signal, such as a timestamp or GPS time, and the received time information is measured for time arrival, that is, the time interval from the emission of the optical signal from the light source to the detection on the receiver is recorded, and the measurement is carried out by accurately measuring the clock or timing device on the receiver to determine the exact time of arrival of the signal, and using the speed of light, the TOA is converted into distance. The distance (d) can be calculated using the following formula:

[0082] d=c*TOA

[0083] Where d is the distance, c is the speed of light, and TOA is the time interval of the time of arrival measurement. This distance d represents the distance that the light signal travels from the light source to the receiver. The time of arrival measurement method is very useful for positioning and navigation tasks. It provides high-precision distance information. By using multiple receivers, the positioning accuracy can be further improved, thus providing better performance and accuracy for visible light information communication systems.

[0084] S32: measuring the time difference of the time information to determine the relative positions between the light sources;

[0085] Specifically, the time information of the light signal arriving at each receiver is recorded, and the time difference between different receivers is calculated by comparing the time information recorded on different receivers. For example, if there are two receivers A and B, the time when the light signal arrives at receiver A is t_A, and the time when it arrives at receiver B is t_B, then the time difference Δt can be calculated as:

[0086] Δt=t_A-t_B

[0087] This time difference Δt represents the difference in propagation time of the light signal between reaching receivers A and B. Using the known speed of light and time difference Δt, the distance difference of the light source relative to receivers A and B can be calculated. By measuring the time difference between multiple receivers, the relative position and direction of the light source can be determined. If there are more receivers distributed in different locations, repeat the above time difference measurement process, and combine the time difference information of multiple receivers to calculate the position and direction of the light source. In this way, the relative position and direction of the light source are determined by the collaborative work of multiple receivers, not just the distance, which is very useful for multipath environments and complex indoor positioning and communication systems because it provides more comprehensive location information.

[0088] S33: determining the second position according to the distance and the relative position in combination with the first position;

[0089] Specifically, first, obtain the first position, which is the initial position of the receiver, measure the distance and relative position information of the light source relative to the receiver, which is obtained by time difference measurement technology, and use triangulation or mathematical model to calculate the second position of the receiver based on the known first position, the measured distance and relative position information. If there are multiple receivers providing measurement data, a multilateral positioning method such as multilateral ranging can be used to obtain a more accurate position estimate through cross calculation. If only two receivers provide data, the position can be calculated using geometric principles. For example, the position of the receiver can be calculated using the triangle rule. Finally, confirm the accuracy of the second position and make corrections or iterations when necessary to improve the accuracy of positioning, which is accomplished by signal-to-noise ratio analysis, error correction, filtering or other techniques. Through this process, the measured distance and relative position information can be used in combination with the known first position to calculate the second position of the receiver, which helps to achieve accurate positioning and navigation, especially for indoor positioning, visible light information communication systems and other applications requiring high-precision position information.

[0090] S34: Using a preset signal angle measurement estimation algorithm, perform signal angle measurement on the optical signal received by the receiver to determine a target signal angle from the light source to the receiver.

[0091] Specifically, digital signal processing is performed on the received signal, including filtering, time domain processing, and frequency domain processing, to prepare the signal for further analysis. A preset signal angle measurement estimation algorithm (such as AoA, MUS IC, or ESPR IT) is used to analyze the characteristics of the signal to determine the incident angle of the signal. The AoA algorithm usually uses an array antenna to calculate the incident angle by measuring the phase difference of the signal between different receivers; the MUS IC and ESPR IT algorithms are based on the covariance matrix and eigenvalue decomposition of the signal for high-resolution incident angle estimation. Once the incident angle is measured, the target signal angle from the light source to the receiver can be calculated. This angle represents the direction of the light signal relative to the receiver. By using these signal angle measurement algorithms, the system can determine the target signal angle from the light source to the receiver very accurately, which is very useful for directional communication, positioning, and navigation. The signal angle information can be used to guide the orientation of the receiver for optimal communication or positioning with the light source.

[0092] In one embodiment, see Figure 5 , the S34 comprises:

[0093] S341: Processing the optical signal using a multi-signal classification algorithm to obtain a first signal angle from the light source to the receiver;

[0094] Specifically, the optical signal is processed using a multi-signal classification algorithm, such as MUS IC, to obtain a first signal angle from the light source to the receiver. By using a multi-signal classification algorithm, the first signal angle from the light source to the receiver can be determined very accurately, and the first signal angle information can be used to guide the orientation of the receiver for optimal communication or positioning with the light source.

[0095] In one embodiment, see Figure 6 , the S341 includes:

[0096] S3411: Perform covariance calculation on the optical signal, and output a covariance matrix of the optical signal;

[0097] Specifically, the receiver receives the signal from the light source. Multiple receivers are usually used to increase the measurement accuracy. The received signal is subjected to digital signal processing, including filtering, time domain processing, and frequency domain processing, to prepare the signal for further analysis. In order to calculate the covariance matrix, a signal matrix needs to be constructed, where each row represents the signal data on a receiver. The number of rows in the signal matrix is ​​equal to the number of receivers, and the number of columns is equal to the number of samples of the signal. The covariance matrix is ​​obtained by calculating the covariance of the signal matrix. The elements of the covariance matrix represent the correlation of the signals between different receivers. It reflects the time delay and incident angle information of the signal. The covariance matrix is ​​usually represented as C, where C(i,j) represents the covariance of the signal between receiver i and receiver j. The calculation of the covariance matrix can be completed according to the specific signal processing and signal model. The covariance matrix is ​​one of the key inputs of the angle estimation algorithm, which is used for further signal angle estimation and analysis. Through the calculation of the covariance matrix, basic data for angle estimation can be provided to determine the incident angle of the signal. This is crucial for high-precision angle estimation in visible light information communication, because it helps to accurately determine the source and location of the signal.

[0098] S3412: performing eigenvalue decomposition on the covariance matrix to decompose the covariance matrix into corresponding first eigenvectors and first eigenvalues;

[0099] Specifically, first, it is necessary to calculate the covariance matrix, which is obtained by the previous steps and reflects the correlation and delay information between the signals. The covariance matrix is ​​subjected to eigenvalue decomposition to obtain the eigenvectors and corresponding eigenvalues. The eigenvalue decomposition is usually expressed as C=VΛV^(-1), where C is the covariance matrix, V is the eigenvector matrix, Λ is the diagonal eigenvalue matrix, and the columns of the eigenvector matrix V contain the eigenvectors of the covariance matrix, which correspond to the incident angle of the signal. The diagonal eigenvalue matrix Λ contains the eigenvalues ​​of the covariance matrix, which describe the strength and weight of the signal. After eigenvalue decomposition, the first eigenvector and the corresponding first eigenvalue of the covariance matrix can be extracted. The first eigenvector corresponds to the main arrival angle, which indicates the main direction of the signal. The first eigenvalue usually indicates the strength of the signal and can also be used to estimate the incident angle of the signal: using the first eigenvector and the first eigenvalue, the incident angle of the signal can be calculated, thereby determining the signal angle from the light source to the receiver. Through eigenvalue decomposition, the covariance matrix is ​​decomposed into eigenvectors and eigenvalues ​​related to the signal angle, which helps to estimate and locate the signal angle with high resolution.

[0100] S3413: constructing a spatial spectrum related to a signal angle from a light source to a receiver according to the first eigenvector and the first eigenvalue;

[0101] Specifically, the first eigenvector is used to construct a spatial spectrum related to the signal angle. This process usually involves associating the elements of the eigenvector with the angle, scanning the angle within a certain range, that is, sampling the possible incident angles. This is usually a discrete process that covers the possible range of incident angles. For each sampled incident angle, the value of the spatial spectrum is calculated, and the value of the spatial spectrum reflects the strength or weight of the signal at that angle.

[0102] S3414: Perform spectrum analysis on the spatial spectrum, and determine the first signal angle according to a spectrum peak value obtained by the analysis.

[0103] Specifically, the peaks are found in the spatial spectrum. The peaks correspond to possible angles of arrival. The main peaks usually correspond to the direction of the main signal source. By analyzing the peaks of the spatial spectrum, the signal angle from the light source to the receiver can be estimated. Usually, the main peaks correspond to the main angles of arrival, thus providing an accurate signal angle estimate. This process allows the system to make high-resolution estimates of the signal angle in the angle space, thereby achieving accurate signal positioning and angle measurement.

[0104] S342: Processing the optical signal using a rotation invariance technique to obtain a second signal angle from the light source to the receiver;

[0105] Specifically, rotation invariance technology is one of the core concepts of the ESPR IT algorithm, which is used to estimate the incident angle of the signal and perform digital signal processing on the optical signal received by the receiver to prepare the signal for further processing, which is achieved by differentiating the signal data. The difference matrix is ​​constructed as follows:

[0106] ΔX=X1-X2

[0107] Among them, ΔX is the signal difference matrix, X1 and X2 are the optical signal data on the two receivers respectively, and the signal difference matrix is ​​subjected to eigenvalue decomposition to obtain the eigenvector and the corresponding eigenvalue. By analyzing the eigenvector and eigenvalue, the second signal angle from the light source to the receiver can be calculated. This angle is the offset angle relative to the first signal angle, so it can help determine the direction of the signal source. The advantage of rotational invariance technology is that it does not require spectrum analysis, but directly estimates the incident angle of the signal by operating the signal difference matrix, which enables the ESPR IT algorithm to efficiently obtain an estimate of the second signal angle, thereby providing multi-angle information, which helps to more accurately determine the signal angle from the light source to the receiver.

[0108] In one embodiment, see Figure 7 , the S342 includes:

[0109] S3421: performing a differential operation on the optical signal to determine a differential matrix corresponding to the optical signal;

[0110] Specifically, it is necessary to first obtain the signal data on the two receivers, namely X1 and X2, where X1 and X2 are time series data, which usually represent the collected values ​​of the signal on the two receivers. For example, for receiver 1, the signal data X1 may be as follows: [0.1, 0.2, 0.3, 0.4, ...], and for receiver 2, the signal data X2 may be as follows: [0.15, 0.25, 0.35, 0.45, ...]. By performing element-by-element difference operations on X1 and X2, a difference matrix ΔX is obtained, where each element of ΔX is equal to the value of the corresponding position in X1 minus the value of the same position in X2.

[0111] S3422: performing eigenvalue decomposition on the difference matrix to decompose the difference matrix into corresponding second eigenvectors and second eigenvalues;

[0112] Specifically, eigenvalue decomposition is a mathematical method that decomposes a matrix into a set of eigenvectors and eigenvalues. For the difference matrix ΔX, we perform eigenvalue decomposition to obtain the eigenvector matrix V2 and the corresponding eigenvalue matrix Λ2. V2 contains the second eigenvector, and Λ2 contains the second eigenvalue. For example, assuming that our difference matrix ΔX is a 2x2 matrix, the obtained eigenvector matrix V2 is as follows: V2 = [[0.7, 0.3], [0.3, 0.7]], and the corresponding eigenvalue matrix Λ2 is as follows: Λ2 = [[2.0, 0.0], [0.0, 0.5]].

[0113] S3423: Determine the second signal angle according to the second eigenvector and the second eigenvalue.

[0114] Specifically, the eigenvector contains the directional information about the signal, and the eigenvalue indicates the importance of the corresponding eigenvector. In this step, the second eigenvector and the second eigenvalue are used to estimate the incident angle of the second signal. Assuming that the first column [0.7, 0.3] of the second eigenvector V2 corresponds to the direction of the second signal, and assuming that the first element 2.0 of the second eigenvalue Λ2 indicates the importance of the second eigenvector, we can therefore assume that the incident angle of the second signal is given by the relevant direction in the second eigenvector.

[0115] S343: Perform weighted sum processing on the first signal angle and the second signal angle according to the preset first weight and second weight to determine the target signal angle.

[0116] Specifically, assuming that our preset weights are w1=0.6 (weight of the first signal angle) and w2=0.4 (weight of the second signal angle), the first signal angle is calculated to be 30 degrees and the second signal angle is 40 degrees. Through weight distribution, the target signal angle is calculated: target signal angle=(w1*first signal angle)+(w2*second signal angle)=(0.6*30)+(0.4*40)=36 degrees. This target signal angle is our final estimate of the field of view of the alignment signal transmitter and receiver. Through these steps, the first and second signal angles can be comprehensively utilized, and the accurate target signal angle can be obtained according to the weight distribution to achieve high-precision positioning and alignment.

[0117] S4: Acquire a target light source corresponding to the second position and angle, and adjust the actual position of the receiver according to the target light source through a preset control algorithm to align the fields of view of the signal transmitter and the receiver.

[0118] Specifically, the estimate of the second position and the target signal angle will be used to determine the position of the target light source corresponding to these parameters, including at least the spatial coordinates or other identification of the light source, and the actual position of the receiver will be adjusted through a preset control algorithm: the preset control algorithm, usually PID (proportional-integral-differential control), will calculate the adjustment control amount of the actual receiver position based on the estimated target position and the target signal angle. The PID control algorithm uses the proportion, integration and differentiation of the error signal (the difference between the target position and the current position) to generate a control output so that the actual position gradually approaches the target position. The control output calculated by the control algorithm will be passed to an actuator, such as a stepper motor or a servo motor, which will actually adjust the physical position of the receiver according to the requirements of the control output. Through the movement of the actuator, the physical position of the receiver will gradually approach the estimated second position and align the field of view of the optical receiver with the target light source. Once the field of view of the receiver is aligned with the target light source, the automatic alignment process is completed, and the receiver can now accurately capture and receive the optical signal from the signal transmitter.

[0119] By using this automatic alignment process, the optical receiver is quickly and accurately aligned based on the estimated position information and signal angle to maximize the channel response and reduce errors, which is critical for high-precision and low-latency communications in visible light information communications.

[0120] Example 2

[0121] See also Figure 8 Embodiment 2 of the present invention further provides a visible light information communication device based on field of view alignment, the device comprising:

[0122] A map acquisition module, used to obtain a global map of indoor visible light information communication;

[0123] A preliminary positioning module, used to analyze the target tag information on the receiver that has received the light signal according to the global map and in combination with a preset light source position, to obtain a first position of the receiver;

[0124] A precise positioning module, configured to perform distance measurement and signal angle measurement on the receiver based on the optical signal received by the receiver and in combination with the first position, and obtain a second position of the receiver and a target signal angle from the light source to the receiver;

[0125] The driving adjustment module is used to obtain a target light source corresponding to the second position and angle, and adjust the actual position of the receiver according to the target light source through a preset control algorithm to align the signal transmitter and the field of view of the receiver.

[0126] Specifically, a visible light information communication device based on field of view alignment provided by Example 2 of the present invention is used, and the device includes: a map acquisition module, used to obtain a global map of indoor visible light information communication; a preliminary positioning module, used to analyze the target tag information on the receiver that has received the optical signal according to the global map and in combination with a preset light source position, to obtain the first position of the receiver; a precise positioning module, used to measure the distance and signal angle of the receiver according to the optical signal received by the receiver and in combination with the first position, to obtain the second position of the receiver and the target signal angle from the light source to the receiver; a drive adjustment module, used to obtain a target light source corresponding to the second position and angle, and according to the target light source, adjust the actual position of the receiver through a preset control algorithm to align the signal transmitter and the receiver with the field of view. First, the device uses the global map of indoor visible light information communication and the preset light source position information. Through the position of the light source and the layout of the indoor communication environment, it provides important prior information for subsequent positioning and alignment, significantly reducing the positioning error, thereby improving the alignment accuracy; at the same time, it uses a variety of information to locate and align the receiver, including distance measurement, signal angle measurement and target tag information. This multimodal positioning method provides a more accurate position estimate because the combination of different information sources can be calibrated and compensated with each other; control algorithms are also used to adjust the position of the receiver to align the signal transmitter. These control algorithms can be adjusted according to real-time optical signals and position information to achieve fast feedback control, which helps to reduce latency and ensure rapid response to position deviations and corrections. In summary, the device achieves high-precision and low-latency field of view alignment of the transmitter and receiver. By combining prior information, multimodal positioning, real-time feedback control, and advanced sensing and signal processing technologies, it strikes a balance between real-time and accuracy, thereby meeting the high-demand field of view alignment requirements in indoor visible light information communication.

[0127] Example 3

[0128] In addition, combined Figure 1 The visible light information communication method based on field of view alignment described in Embodiment 1 of the present invention can be implemented by an electronic device. Fig. 9 A schematic diagram of the hardware structure of an electronic device provided in Embodiment 3 of the present invention is shown.

[0129] The electronic device may include a processor and a memory storing computer program instructions.

[0130] Specifically, the processor may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or may be configured to implement one or more integrated circuits of the embodiments of the present invention.

[0131] The memory may include a large capacity memory for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, a flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive or a combination of two or more of these. In appropriate cases, the memory may include a removable or non-removable (or fixed) medium. In appropriate cases, the memory may be inside or outside a data processing device. In a specific embodiment, the memory is a non-volatile solid-state memory. In a specific embodiment, the memory includes a read-only memory (ROM). In appropriate cases, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM) or a flash memory or a combination of two or more of these.

[0132] The processor implements any one of the visible light information communication methods based on field of view alignment in the above embodiments by reading and executing computer program instructions stored in the memory.

[0133] In one example, the electronic device may further include a communication interface and a bus. Fig. 9 As shown, the processor, memory, and communication interface are connected via a bus and communicate with each other.

[0134] The communication interface is mainly used to implement communication between the modules, devices, units and / or equipment in the embodiments of the present invention.

[0135] The bus includes hardware, software or both, and the parts of the device are coupled to each other. For example, but not limitation, the bus may include an accelerated graphics port (AGP) or other graphics bus, an enhanced industrial standard architecture (EISA) bus, a front-side bus (FSB), a hypertransport (HT) interconnection, an industrial standard architecture (ISA) bus, an infinite bandwidth interconnection, a low pin count (LPC) bus, a memory bus, a microchannel architecture (MCA) bus, a peripheral component interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a serial advanced technology attachment (SATA) bus, a video electronics standard association local (VLB) bus or other suitable bus or a combination of two or more of these. In suitable cases, the bus may include one or more buses. Although the embodiments of the present invention describe and illustrate specific buses, the present invention considers any suitable bus or interconnection.

[0136] Example 4

[0137] In addition, in combination with the visible light information communication method based on field of view alignment in the above embodiment 1, embodiment 4 of the present invention can also provide a computer-readable storage medium for implementation. The computer-readable storage medium stores computer program instructions; when the computer program instructions are executed by the processor, any one of the visible light information communication methods based on field of view alignment in the above embodiments is implemented.

[0138] In summary, the embodiments of the present invention provide a visible light information communication method, device and equipment based on field of view alignment.

[0139] It should be clear that the present invention is not limited to the specific configuration and processing described above and shown in the figures. For the sake of simplicity, a detailed description of the known method is omitted here. In the above embodiments, several specific steps are described and shown as examples. However, the method process of the present invention is not limited to the specific steps described and shown, and those skilled in the art can make various changes, modifications and additions, or change the order between the steps after understanding the spirit of the present invention.

[0140] The functional blocks shown in the above-described block diagram can be implemented as hardware, software, firmware or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application specific integrated circuit (ASIC), appropriate firmware, a plug-in, a function card, etc. When implemented in software, the elements of the present invention are programs or code segments that are used to perform the required tasks. The program or code segment can be stored in a machine-readable medium, or transmitted on a transmission medium or a communication link by a data signal carried in a carrier wave. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical disks, hard disks, optical fiber media, radio frequency (RF) links, etc. The code segment can be downloaded via a computer network such as the Internet, an intranet, etc.

[0141] It should also be noted that the exemplary embodiments mentioned in the present invention describe some methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the above steps, that is, the steps can be performed in the order mentioned in the embodiments, or in a different order from the embodiments, or several steps can be performed simultaneously.

[0142] The above is only a specific implementation of the present invention. Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working process of the system, module and unit described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any technician familiar with the technical field can easily think of various equivalent modifications or replacements within the technical scope disclosed by the present invention, and these modifications or replacements should be covered within the protection scope of the present invention.

Claims

1. A visible light information communication method based on field of view alignment, characterized in that: The method comprises: S1: Obtain a global map of indoor visible light information communication; S2: Analyze the target tag information on the receiver that has received the optical signal according to the global map and in combination with the preset light source position to obtain the first position of the receiver; S3: According to the optical signal received by the receiver and in combination with the first position, the distance measurement and signal angle measurement of the receiver are performed to obtain the second position of the receiver and the target signal angle from the light source to the receiver; S4: obtaining a target light source corresponding to the second position and angle, and adjusting the actual position of the receiver by a preset control algorithm according to the target light source to align the signal transmitter and the field of view of the receiver; The S3 includes: S31: Acquire the time information of the receiver receiving the light signal, perform time arrival measurement on the time information, and determine the distance between the light source and the receiver; S32: measuring the time difference of the time information to determine the relative positions between the light sources; S33: determining the second position according to the distance and the relative position in combination with the first position; S34: Using a preset signal angle measurement estimation algorithm, the signal angle measurement of the optical signal received by the receiver is performed to determine the target signal angle from the light source to the receiver; The S34 includes: S341: Processing the optical signal using a multi-signal classification algorithm to obtain a first signal angle from the light source to the receiver; S342: Processing the optical signal using a rotation invariance technique to obtain a second signal angle from the light source to the receiver; S343: performing weighted summation processing on the first signal angle and the second signal angle according to the preset first weight and second weight to determine the target signal angle; The S341 includes: S3411: Perform covariance calculation on the optical signal, and output a covariance matrix of the optical signal; S3412: performing eigenvalue decomposition on the covariance matrix to decompose the covariance matrix into corresponding first eigenvectors and first eigenvalues; S3413: constructing a spatial spectrum related to a signal angle from a light source to a receiver according to the first eigenvector and the first eigenvalue; S3414: Perform spectrum analysis on the spatial spectrum, and determine the first signal angle according to the spectrum peak value obtained by the analysis. The S342 includes: S3421: performing a differential operation on the optical signal to determine a differential matrix corresponding to the optical signal; S3422: performing eigenvalue decomposition on the difference matrix to decompose the difference matrix into corresponding second eigenvectors and second eigenvalues; S3423: Determine the second signal angle according to the second eigenvector and the second eigenvalue.

2. The visible light information communication method based on field of view alignment according to claim 1, characterized in that: The S1 includes: S11: calibrate the position of the light source and measure the radiation range to obtain the radiation information of the light source and the position of the light source; S12: Acquire indoor environment information related to optical signal propagation, and establish an initial map of visible light indoor communication according to the light source radiation information, the light source position and the indoor environment information; S13: updating the initial map according to a preset time interval to determine the global map.

3. The visible light information communication method based on field of view alignment according to claim 2, characterized in that: The S2 includes: S21: Numbering each indoor receiver and determining preset label information on each receiver; S22: extracting the target tag information from the preset tag information according to the light source position and the light source radiation information; S23: Acquire the first position of the receiver corresponding to the target tag information in the global map according to the target tag information.

4. A visible light information communication device based on field of view alignment, characterized in that: The device comprises: A map acquisition module, used to obtain a global map of indoor visible light information communication; A preliminary positioning module, used to analyze the target tag information on the receiver that has received the light signal according to the global map and in combination with a preset light source position, to obtain a first position of the receiver; A precise positioning module, configured to perform distance measurement and signal angle measurement on the receiver based on the optical signal received by the receiver and in combination with the first position, and obtain a second position of the receiver and a target signal angle from the light source to the receiver; A drive adjustment module for acquiring a target light source corresponding to a second position and angle, and adjusting the actual position of the receiver by a preset control algorithm according to the target light source to align the signal transmitter and the field of view of the receiver; The step of performing distance measurement and signal angle measurement on the receiver based on the optical signal received by the receiver and in combination with the first position to obtain the second position of the receiver and the target signal angle from the light source to the receiver comprises: Obtaining time information of when the receiver receives the light signal, performing time arrival measurement on the time information, and determining the distance between the light source and the receiver; Performing time difference measurement on the time information to determine the relative positions between the light sources; Determine the second position based on the distance and the relative position in combination with the first position; Using the preset signal angle measurement estimation algorithm, the signal angle of the optical signal received by the receiver is measured to determine the target signal angle from the light source to the receiver; The method of measuring the signal angle of the optical signal received by the receiver by using a preset signal angle measurement estimation algorithm to determine the target signal angle from the light source to the receiver includes: Processing the optical signal using a multi-signal classification algorithm to obtain a first signal angle from the light source to the receiver; Processing the optical signal using rotation invariance technology to obtain a second signal angle from the light source to the receiver; According to the preset first weight and second weight, the first signal angle and the second signal angle are weighted and summed to determine the target signal angle; The method of processing the optical signal by using a multi-signal classification algorithm to obtain a first signal angle from the light source to the receiver includes: Performing covariance calculation on the optical signal and outputting a covariance matrix of the optical signal; Performing eigenvalue decomposition on the covariance matrix to decompose the covariance matrix into corresponding first eigenvectors and first eigenvalues; constructing a spatial spectrum related to a signal angle from a light source to a receiver based on the first eigenvector and the first eigenvalue; Perform spectrum analysis on the spatial spectrum, and determine the first signal angle according to the spectrum peak value obtained by the analysis. The method of processing the optical signal by using the rotation invariance technology to obtain a second signal angle from the light source to the receiver includes: Performing a differential operation on the optical signal to determine a differential matrix corresponding to the optical signal; Performing eigenvalue decomposition on the difference matrix to decompose the difference matrix into corresponding second eigenvectors and second eigenvalues; The second signal angle is determined according to the second eigenvector and the second eigenvalue.

5. An electronic device, characterized in that: include: At least one processor, at least one memory and computer program instructions stored in the memory, when the computer program instructions are executed by the processor, implement the method according to any one of claims 1 to 3.

6. A storage medium having computer program instructions stored thereon, characterized in that: When the computer program instructions are executed by a processor, the method according to any one of claims 1 to 3 is implemented.

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