Indoor visible light positioning method, device, equipment and storage medium

Abstract

The present invention discloses a method, device, equipment, and storage medium for indoor visible light positioning, relating to the field of optical information technology. The method establishes a preset reflected light model, simulates the propagation path of an optical signal in an indoor optical information environment based on the preset reflected light model, evaluates the multipath effect and signal intensity distribution, and then determines the flickering frequency of the LED light source at which transmission performance is optimal. At the back end, a signal processing strategy is designed based on the reflected light, such as a filter model designed to remove interference at specific frequencies, thereby improving the reliability and accuracy of positioning.

Description

Technical Field

[0001] The present invention relates to the field of optical information technology, and in particular to an indoor visible light positioning method, device, equipment and storage medium. Background Art

[0002] With the increasing demand for location information, positioning technology has attracted attention in various fields such as military, emergency rescue, and vehicle tracking. Visible light indoor positioning technology can achieve high-precision and high-reliability indoor navigation and positioning services. By utilizing LED light sources as signal sources, visible light indoor positioning technology can achieve accurate positioning and navigation services indoors. This not only provides users with more convenient indoor navigation services, but can also be applied to smart homes, smart offices, and other fields to improve living and working efficiency, thereby promoting the development of the LED industry towards high-end and intelligent directions. However, when using LED light sources for positioning, the emitted light will be reflected by walls, ceilings, and other surfaces in the indoor environment during transmission, resulting in reflected light. This will cause adverse effects such as multipath effects, signal attenuation, and spectrum overlap, seriously affecting positioning accuracy. Summary of the Invention

[0003] In view of this, embodiments of the present invention provide an indoor visible light positioning method, apparatus, device, and storage medium to solve the problem of inaccurate indoor visible light positioning in the prior art.

[0004] In a first aspect, an embodiment of the present invention provides an indoor visible light positioning method, the method comprising:

[0005] Deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data of the LED light sources, and establish a preset reflected light model based on the reflected light data;

[0006] Obtaining a preferred flickering frequency of the LED light source according to the preset reflected light model, and controlling the LED light source to emit a light signal with an identity mark at the preferred flickering frequency;

[0007] Determining a filter at a receiving end according to the preferred flickering frequency of the LED light source;

[0008] Controlling the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converting the electrical signal into a digital signal, and filtering the digital signal according to the filter to obtain a filtered signal;

[0009] The identity identifier is obtained according to the filtered signal to determine the position coordinates of the receiving end.

[0010] Preferably, the deploying of LED light sources in an indoor area according to a preset arrangement rule, obtaining reflected light data of the LED light sources, and establishing a preset reflected light model according to the reflected light data includes:

[0011] Control each LED light source to emit a test light signal in sequence, and control the photoelectric sensor at the receiving end to collect the test light signal data corresponding to each LED light source at different positions;

[0012] Extracting corresponding reflected light data from the test light signal data, wherein the reflected light data includes one or more of color, intensity, arrival time, propagation path information, and waveform characteristics;

[0013] Combining the test light signal data, the reflected light data and the reflective surface characteristics, the location information of the photoelectric sensor and other data and organizing them into a structured data set, wherein the reflective surface characteristics include the surface reflectivity of any one or more of the walls, floors, ceilings, and indoor objects in the indoor environment;

[0014] After preprocessing the data set, feature extraction and analysis are performed, and a preset reflected light model is established based on a preset mathematical model or a machine learning model. According to the preset reflected light model, at least the propagation and reflection of the light signal emitted by the LED light source in the indoor area can be simulated.

[0015] Preferably, the obtaining of the preferred flickering frequency of the LED light source according to the preset reflected light model and controlling the LED light source to emit a light signal with an identity identifier at the preferred flickering frequency comprises:

[0016] Obtaining a flicker frequency that meets preset conditions according to the preset reflected light model, and recording it as a preferred flicker frequency;

[0017] Determining a coding mode and a modulation mode according to the preferred flashing frequency;

[0018] Encoding and modulating the identity identifier according to the encoding method and debugging method to obtain a driving current signal;

[0019] The driving current signal is loaded into the LED light source to drive the LED light source to emit a light signal.

[0020] Preferably, obtaining a flicker frequency that meets a preset condition according to the preset reflected light model, which is recorded as a preferred flicker frequency, includes:

[0021] Using the preset reflected light model, the LED light source is frequency scanned within a preset flicker frequency range to obtain reflected light data of the LED light source at different flicker frequencies;

[0022] Evaluate the performance of the reflected light data at each flashing frequency, wherein the performance includes any one or more of signal strength, noise level, anti-interference capability, and multipath effect, and select the flashing frequency with the best performance as the preferred flashing frequency.

[0023] Preferably, the determining of the filter of the receiving end according to the preferred flickering frequency of the LED light source includes:

[0024] Obtaining reflected light data corresponding to the LED light source at the preferred flickering frequency according to the preset reflected light model, and recording the data as preferred reflected light data;

[0025] Obtaining noise characteristics corresponding to the light signal at the preferred flicker frequency according to the preferred reflected light data;

[0026] The type and parameters of the filter are determined according to the noise characteristics.

[0027] Preferably, the type of the filter includes any one or more of a low-pass filter, a high-pass filter, a band-pass filter, an adaptive filter, a time-domain filter, a spatial-domain filter and a window filter.

[0028] Preferably, obtaining the identity identifier according to the filtered signal to determine the location coordinates of the receiving end includes:

[0029] According to the filtered signal, the position coordinates of the receiving end are obtained by using any one of an RSSI algorithm, an AOA algorithm, a TDOA algorithm or a TOA algorithm.

[0030] In a second aspect, an embodiment of the present invention provides an indoor visible light positioning device, the device comprising:

[0031] A model building module is used to deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data of the LED light sources, and establish a preset reflected light model based on the reflected light data;

[0032] a transmitting module, configured to obtain a preferred flickering frequency of the LED light source according to the preset reflected light model, and control the LED light source to emit a light signal with an identity mark at the preferred flickering frequency;

[0033] A filter determination module, configured to determine a filter at a receiving end according to the preferred flicker frequency of the LED light source;

[0034] A receiving module controls the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converts the electrical signal into a digital signal, and filters the digital signal according to the filter to obtain a filtered signal;

[0035] A positioning module is used to obtain the identity identifier according to the filtered signal to determine the position coordinates of the receiving end.

[0036] In a third aspect, an embodiment of the present invention provides an indoor visible light positioning device, comprising: 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, the method of the first aspect in the above embodiment is implemented.

[0037] In a fourth aspect, an embodiment of the present invention provides a storage medium having computer program instructions stored thereon, which implements the method of the first aspect of the above-mentioned embodiment when the computer program instructions are executed by a processor.

[0038] In summary, the beneficial effects of the present invention are as follows:

[0039] The indoor visible light positioning method, device, equipment, and storage medium provided by the embodiments of the present invention are configured to deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data from the LED light sources, and establish a preset reflected light model based on the reflected light data; obtain a preferred flickering frequency of the LED light sources based on the preset reflected light model, control the LED light sources to emit a light signal with an identity identifier at the preferred flickering frequency; determine a filter at the receiving end based on the preferred flickering frequency of the LED light sources; control a photoelectric sensor at the receiving end to receive the light signal and convert it into an electrical signal, convert the electrical signal into a digital signal, and filter the digital signal according to the filter to obtain a filtered signal; and obtain the identity identifier based on the filtered signal to determine the position coordinates of the receiving end. The method of the present invention establishes a preset reflected light model, simulates the propagation path of the signal in the indoor environment based on the preset reflected light model, evaluates the multipath effect and signal strength distribution, and then determines which flickering frequency of the LED light source has better transmission performance. At the back end, a signal processing strategy is designed based on the reflected light conditions, such as designing a filter model to remove interference at specific frequencies, thereby improving the reliability and accuracy of positioning. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work, and these are all within the scope of protection of the present invention.

[0041] Figure 1 4 is a flow chart of an indoor visible light positioning method according to an embodiment of the present invention.

[0042] Figure 2 It is a schematic diagram of the preset arrangement rules of an embodiment of the present invention.

[0043] Figure 3 4 is a flow chart of establishing a preset reflected light model according to an embodiment of the present invention.

[0044] Figure 4 It is a schematic diagram of a process of emitting a light signal at a preferred flashing frequency according to an embodiment of the present invention.

[0045] Figure 5 FIG. 4 is a flow chart of determining a filter according to an embodiment of the present invention.

[0046] Figure 6 2 is a schematic structural diagram of an indoor visible light positioning device according to an embodiment of the present invention.

[0047] Figure 7 2 is a schematic structural diagram of an indoor visible light positioning device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0048] The features and exemplary embodiments of various aspects of the present invention will be described in detail below. In order to make the objects, technical solutions and advantages of the present invention more clearly understood, the present invention will be further described in detail below in conjunction with the accompanying drawings and Examples. It should be understood that the specific embodiments described herein are only configured to explain the present invention and are not configured to limit the present invention. For those skilled in the art, the present invention can be implemented without the need for some of these specific details. The following description of the embodiments is merely to provide a better understanding of the present invention by illustrating examples of the present invention.

[0049] It should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, the elements defined by the phrase "comprising..." do not exclude the presence of other identical elements in the process, method, article, or device comprising the elements.

[0050] Example 1

[0051] The embodiment of the present invention provides an indoor visible light positioning method, which is applicable to applications or scenarios that use indoor visible light for positioning. Figure 1 , the indoor visible light positioning method specifically comprises the following steps:

[0052] S1: deploying LED light sources in an indoor area according to a preset arrangement rule, obtaining reflected light data of the LED light sources, and establishing a preset reflected light model based on the reflected light data;

[0053] S2: obtaining a preferred flickering frequency of the LED light source according to the preset reflected light model, and controlling the LED light source to emit a light signal with an identity mark at the preferred flickering frequency;

[0054] S3: Determine a filter at a receiving end according to the preferred flickering frequency of the LED light source;

[0055] S4: controlling the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converting the electrical signal into a digital signal, and filtering the digital signal according to the filter to obtain a filtered signal;

[0056] S5: Obtain the identity identifier according to the filtered signal to determine the location coordinates of the receiving end.

[0057] Specifically, the LED light sources are deployed in the indoor area according to the preset arrangement rules. When deploying the LED light sources, the preset arrangement rules for the deployment of the LED light sources can be determined based on actual conditions, for example, based on considerations such as communication coverage, avoiding obstructions, and providing sufficient signal strength. For example, the preset arrangement rules here can be as follows: Figure 2 After deploying LED light sources, in order to improve the accuracy of visible light positioning, in an embodiment of the present invention, data is first collected to establish a preset reflected light model. Based on the preset reflected light model, the propagation path of the signal in the indoor environment is simulated and the multipath effect and signal intensity distribution are evaluated. Then, the LED light source has the best transmission performance at the flickering frequency, and a more targeted signal processing strategy is designed at the back end based on the reflected light situation, such as designing a filter model to remove interference at a specific frequency, thereby improving the reliability and accuracy of positioning.

[0058] Preferably, please attend Figure 3 , deploying LED light sources in an indoor area according to a preset arrangement rule, obtaining reflected light data of the LED light sources, and establishing a preset reflected light model based on the reflected light data include:

[0059] S31: Control each LED light source to transmit a test light signal in sequence, and control the photoelectric sensor at the receiving end to collect the test light signal data corresponding to each LED light source at different positions;

[0060] S32: extracting the corresponding reflected light data from the test light signal data, wherein the reflected light data includes one or more of color, intensity, arrival time, propagation path information, and waveform characteristics;

[0061] S33: combining the test light signal data, the reflected light data and the reflective surface characteristics, the location information of the photoelectric sensor, and other data and arranging them into a structured data set, wherein the reflective surface characteristics include the surface reflectivity of any one or more of the walls, floors, ceilings, and indoor objects in the indoor environment;

[0062] S34: After preprocessing the data set, feature extraction and analysis are performed, and a preset reflected light model is established based on a preset mathematical model or machine learning model. According to the preset reflected light model, at least the propagation and reflection of the light signal emitted by the LED light source in the indoor area can be simulated.

[0063] Specifically, according to a preset arrangement rule, each LED light source is sequentially controlled to emit a test light signal. The flicker frequency of the test light signal must be set within a frequency range imperceptible to the human eye. For example, the human eye can detect flicker frequencies within 100 Hz. Therefore, the LED light source's flicker frequency should be at least 100 Hz to ensure both normal illumination and information transmission. Each LED light source is controlled to emit a test light signal at a different preset flicker frequency. Simultaneously, at the receiving end, a photoelectric sensor is controlled to receive the signal at multiple different receiving locations to obtain corresponding test light signal data. From the collected test light signal data, the reflected light data corresponding to each flicker frequency is extracted. This reflected light data includes color, intensity, arrival time, propagation path, waveform characteristics, and more. The color of the reflected light can be used to identify the light signal of a specific LED light source, and color information plays a key role in subsequent signal analysis and identification. The intensity of the reflected light indicates the degree of signal attenuation during propagation and is an important parameter for assessing signal quality and distance. The arrival time, which records the time when the reflected light reaches the photoelectric sensor, is crucial for subsequent timestamp analysis and multipath processing. The propagation path of the reflected light describes how the signal travels from the LED light source to the photoelectric sensor, including information such as the length of the reflection path and the number of reflections. The signal waveform characteristics include information such as the signal's amplitude and frequency. The test light signal data, reflected light data, indoor reflective surface characteristics, and photoelectric sensor location information are combined and organized into a structured dataset. After preprocessing the dataset through data cleaning and other methods, feature extraction and analysis are performed. This dataset is then input into a preset mathematical model or machine learning model for training and testing to obtain the preset reflected light model. This preset reflected light model simulates the propagation and reflection of light signals emitted by the LED light source in the current indoor environment.

[0064] In one embodiment, specifically for application scenarios susceptible to physical layout changes, such as furniture movement, personnel flow, or interior decor changes, a dynamic environmental perception mechanism is incorporated into the process of establishing the preset reflected light model. This allows for real-time perception and response to environmental changes, thereby maintaining the high accuracy and reliability of the preset reflected light model. For example, several environmental monitoring sensors, such as video cameras and infrared sensors, are deployed indoors to capture real-time visual and thermal image data of the indoor environment. Video cameras can capture detailed visual information such as furniture relocation and the appearance of new obstacles, while infrared sensors effectively monitor changes in thermal sources, such as the movement of people or animals. The data provided by these sensors reflects the real-time state of the actual environment, providing the necessary input for updating the preset reflected light model. The collected image and thermal map data is first processed to identify and locate changing elements in the indoor space. These changes are then mapped into the existing reflected light model, and the reflected light model parameters are dynamically adjusted based on the new environmental layout. This ensures that the preset reflected light model accurately reflects the latest state of the light propagation paths and reflection characteristics in the indoor environment. This allows the preset reflected light model to predict and adapt to common environmental changes, maintaining efficiency and accuracy across diverse indoor layouts and conditions.

[0065] After obtaining the preset reflection light model, in one embodiment, see Figure 4 , obtaining the preferred flickering frequency of the LED light source according to the preset reflected light model, and controlling the LED light source to emit a light signal with an identity identifier at the preferred flickering frequency includes:

[0066] S41: Obtaining a flicker frequency that meets preset conditions according to the preset reflected light model, and recording it as a preferred flicker frequency;

[0067] S42: Determine a coding mode and a modulation mode according to the preferred flashing frequency;

[0068] S43: Encode and modulate the identity identifier according to the encoding method and debugging method to obtain a driving current signal;

[0069] S44: Loading the driving current signal into the LED light source to drive the LED light source to emit a light signal.

[0070] Preferably, obtaining a flicker frequency that meets a preset condition according to the preset reflected light model, which is recorded as a preferred flicker frequency, includes:

[0071] Using the preset reflected light model, the LED light source is frequency scanned within a preset flicker frequency range to obtain reflected light data of the LED light source at different flicker frequencies;

[0072] Evaluate the performance of the reflected light data at each flashing frequency, wherein the performance includes any one or more of signal strength, noise level, anti-interference capability, and multipath effect, and select the flashing frequency with the best performance as the preferred flashing frequency.

[0073] Specifically, the preset reflected light model is used to perform a frequency sweep of the LED light source within a preset flicker frequency range, simulating reflected light data of an optical signal at different flicker frequencies. The performance of the reflected light data at each flicker frequency, such as signal strength, noise level, anti-interference capability, and multipath effect, is evaluated. The flicker frequency with the best performance is selected as the preferred flicker frequency of the LED light source. After obtaining the preferred flicker frequency, the appropriate encoding and modulation methods are determined. The identity of the LED light source is then encoded and debugged to generate a drive current signal that drives the LED light source to emit a light signal, thereby transmitting the identity.

[0074] In the embodiment of the present invention, the transmitting end uses the reflected light model to obtain the optimal flicker frequency of the optical signal to improve the performance of optical signal transmission. Similarly, the receiving end can also simulate the optimal filter corresponding to the receiving end at the flicker frequency based on the reflected light model, which helps to further optimize the signal and obtain more accurate positioning information. Preferably, see Figure 5 , the filter of the receiving end is determined according to the preferred flicker frequency of the LED light source, including:

[0075] S51: Obtaining reflected light data corresponding to the LED light source at the preferred flickering frequency according to the preset reflected light model, and recording the data as preferred reflected light data;

[0076] S52: Obtaining noise characteristics corresponding to the light signal at the preferred flicker frequency according to the preferred reflected light data;

[0077] S52: Determine the type and parameters of the filter according to the noise characteristics.

[0078] Specifically, based on a preset reflected light model, the reflected light data corresponding to the LED light source at the preferred flickering frequency is obtained, recorded as the preferred reflected light data. Based on the preferred reflected light data, the noise characteristics corresponding to the light signal at the preferred flickering frequency are obtained. The noise characteristics here can be obtained based on the analysis of the preferred reflected light data, including noise characteristics caused by environmental noise, multipath effects, and other interference sources. Then, the type and parameters of the filter are determined based on the noise characteristics. The parameters of the filter include center frequency, bandwidth, filter order, cutoff frequency, etc. Exemplarily, when the noise is high-frequency noise, the type of the filter is a low-pass filter; when the noise is low-frequency noise, the type of the filter is a high-pass filter; when the noise frequency is within a specific frequency range, the type of the filter is a band-pass filter; when the noise frequency is outside the specific frequency range, the type of the filter is a band-stop filter. In addition, adaptive filters, time-domain filters, spatial-domain filters, and window filters can also be used. Adaptive filters can adjust parameters based on real-time signal and noise characteristics, making them very effective in dynamic environments and signal changes. Time-domain filters can remove delay spread caused by multipath effects. Spatial-domain filters filter based on the directionality of optical signals or light sources from specific directions, which is helpful for removing reflected light or interference from specific directions. Window filters apply a window function to restrict the signal's window in time or frequency to improve its spectral characteristics. The appropriate filter type and parameters can be determined based on the intensity of the optical signal and its reflected light at a preferred flicker frequency, as simulated by the reflected light model, as well as the propagation path and noise level.

[0079] The LED light source emits a light signal at a preferred flashing frequency, controls the photoelectric sensor at the receiving end to receive the light signal and convert it into an electrical signal, amplifies the electrical signal and performs analog-to-digital conversion to obtain a digital signal, filters the digital signal according to the filter to obtain a filtered signal, and inputs the filtered signal into a processor that integrates any one of the RSSI algorithm, AOA algorithm, TDOA algorithm or TOA algorithm to calculate the position coordinates of the receiving end, thereby realizing indoor visible light positioning.

[0080] In summary, the indoor visible light positioning method provided by the embodiment of the present invention deploys LED light sources according to a preset arrangement rule in an indoor area, obtains reflected light data of the LED light sources, and establishes a preset reflected light model based on the reflected light data; obtains the preferred flashing frequency of the LED light source based on the preset reflected light model, controls the LED light source to emit a light signal with an identity identifier at the preferred flashing frequency; determines the filter at the receiving end based on the preferred flashing frequency of the LED light source; controls the photoelectric sensor at the receiving end to receive the light signal and convert it into an electrical signal, converts the electrical signal into a digital signal, and filters the digital signal according to the filter to obtain a filtered signal; and obtains the identity identifier based on the filtered signal to determine the position coordinates of the receiving end. In the method of the present invention, by establishing a preset reflected light model, simulating the propagation path of the signal in the indoor environment and evaluating the multipath effect and signal intensity distribution based on the preset reflected light model, the method further determines at which flashing frequency the LED light source has better transmission performance, and designs a signal processing strategy based on the reflected light situation at the back end, such as designing a filter model to remove interference at a specific frequency, thereby improving the reliability and accuracy of positioning.

[0081] Example 2

[0082] See also Figure 6 The embodiment of the present invention provides an indoor visible light positioning device 200, the device 200 comprising:

[0083] A model building module 201 is configured to deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data of the LED light sources, and establish a preset reflected light model based on the reflected light data;

[0084] The transmitting module 202 is configured to obtain a preferred flickering frequency of the LED light source according to the preset reflected light model, and control the LED light source to emit a light signal with an identity mark according to the preferred flickering frequency;

[0085] A filter determination module 203 is configured to determine a filter at a receiving end according to the preferred flicker frequency of the LED light source;

[0086] The receiving module 204 controls the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converts the electrical signal into a digital signal, and filters the digital signal according to the filter to obtain a filtered signal;

[0087] The positioning module 205 is configured to obtain the identity identifier according to the filtered signal to determine the location coordinates of the receiving end.

[0088] Preferably, the model building module 201 includes:

[0089] The test unit is used to control each LED light source to emit a test light signal in sequence, and control the photoelectric sensor at the receiving end to collect the test light signal data corresponding to each LED light source at different positions;

[0090] an extraction unit, configured to extract corresponding reflected light data from the test light signal data, wherein the reflected light data includes one or more of color, intensity, arrival time, propagation path information, and waveform characteristics;

[0091] a processing unit, configured to combine the test light signal data, the reflected light data and the reflective surface characteristics, the location information of the photoelectric sensor, and other data and organize them into a structured data set, wherein the reflective surface characteristics include the surface reflectivity of any one or more of the walls, floors, ceilings, and indoor objects in the indoor environment;

[0092] An establishment unit is used to perform feature extraction and analysis after preprocessing the data set, and to establish a preset reflected light model based on a preset mathematical model or a machine learning model. According to the preset reflected light model, at least the propagation and reflection of the light signal emitted by the LED light source in the indoor area can be simulated.

[0093] Preferably, the transmitting module 202 includes:

[0094] a preferred flicker frequency obtaining unit, configured to obtain a flicker frequency that satisfies a preset condition according to the preset reflected light model, and record the obtained flicker frequency as the preferred flicker frequency;

[0095] a determining unit, configured to determine a coding mode and a modulation mode according to the preferred flickering frequency;

[0096] a modulation unit, configured to encode and modulate the identity identifier according to the encoding method and the debugging method to obtain a driving current signal;

[0097] The transmitting unit is used to load the driving current signal into the LED light source to drive the LED light source to emit a light signal.

[0098] Preferably, the filter determination module 203 includes:

[0099] a data acquisition unit, configured to acquire, according to the preset reflected light model, reflected light data corresponding to the LED light source at the preferred flickering frequency, and record the data as preferred reflected light data;

[0100] a noise characteristic acquisition unit, configured to acquire, based on the preferred reflected light data, a noise characteristic corresponding to the light signal at the preferred flicker frequency;

[0101] The filter determination unit is used to determine the type and parameters of the filter according to the noise characteristics.

[0102] In summary, the indoor visible light positioning device provided by the embodiment of the present invention deploys LED light sources according to a preset arrangement rule in an indoor area, obtains the reflected light data of the LED light sources, and establishes a preset reflected light model based on the reflected light data; obtains the preferred flashing frequency of the LED light source based on the preset reflected light model, controls the LED light source to emit a light signal with an identity identifier at the preferred flashing frequency; determines the filter of the receiving end based on the preferred flashing frequency of the LED light source; controls the photoelectric sensor at the receiving end to receive the light signal and convert it into an electrical signal, converts the electrical signal into a digital signal, and filters the digital signal according to the filter to obtain a filtered signal; obtains the identity identifier based on the filtered signal to determine the position coordinates of the receiving end. In the method of the present invention, by establishing a preset reflected light model, simulating the propagation path of the signal in the indoor environment and evaluating the multipath effect and signal intensity distribution based on the preset reflected light model, and then obtains at which flashing frequency the LED light source has better transmission performance, and then designs a signal processing strategy based on the reflected light situation at the back end, such as designing a filter model to remove interference at a specific frequency, thereby improving the reliability and accuracy of positioning.

[0103] Example 3

[0104] In addition, the indoor visible light positioning method according to the embodiment of the present invention can be implemented by an indoor visible light positioning device. Figure 7 The figure shows a hardware structure diagram of an indoor visible light positioning device provided by an embodiment of the present invention.

[0105] The indoor visible light positioning device may include a processor 301 and a memory 302 storing computer program instructions.

[0106] Specifically, the processor 301 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 embodiment of the present invention.

[0107] Memory 302 may include a large capacity memory for data or instructions. By way of example and not limitation, memory 302 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. Where appropriate, memory 302 may include removable or non-removable (or fixed) media. Where appropriate, memory 302 may be inside or outside the data processing device. In a specific embodiment, memory 302 is a non-volatile solid-state memory. In a specific embodiment, memory 302 includes a read-only memory (ROM). Where appropriate, 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.

[0108] The processor 301 reads and executes computer program instructions stored in the memory 302 to implement any one of the indoor visible light positioning methods in the above embodiments.

[0109] In one example, the indoor visible light positioning device may further include a communication interface 303 and a bus 310. Figure 7 As shown, the processor 301 , the memory 302 , and the communication interface 303 are connected via a bus 310 and communicate with each other.

[0110] The communication interface 303 is mainly used to implement communication between various modules, devices, units and / or equipment in the embodiment of the present invention.

[0111] Bus 310 includes hardware, software or both, and couples the components of indoor visible light positioning equipment to each other. For example, and not limitation, bus 310 may include accelerated graphics port (AGP) or other graphics bus, enhanced industry standard architecture (EISA) bus, front side bus (FSB), hypertransport (HT) interconnection, industry standard architecture (ISA) bus, infinite bandwidth interconnection, low pin count (LPC) bus, memory bus, micro channel architecture (MCA) bus, peripheral component interconnect (PCI) bus, PCI-Express (PCI-X) bus, serial advanced technology attachment (SATA) bus, video electronics standard association local (VLB) bus or other suitable bus or two or more of these combinations. Where appropriate, bus 310 may include one or more buses. Although the embodiment of the present invention describes and shows a specific bus, the present invention considers any suitable bus or interconnection.

[0112] Example 4

[0113] In addition, in conjunction with the indoor visible light positioning method in the above embodiments, embodiments of the present invention may 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 301, any of the indoor visible light positioning methods in the above embodiments is implemented.

[0114] In summary, the indoor visible light positioning method, device, equipment, and storage medium provided by the embodiments of the present invention are configured to: deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data of the LED light sources, establish a preset reflected light model based on the reflected light data; obtain the preferred flickering frequency of the LED light sources based on the preset reflected light model, control the LED light sources to emit light signals with identity identifiers at the preferred flickering frequency; determine the filter at the receiving end based on the preferred flickering frequency of the LED light sources; control the photoelectric sensor at the receiving end to receive the light signals and convert them into electrical signals, convert the electrical signals into digital signals, filter the digital signals according to the filter to obtain filtered signals; and obtain the identity identifier based on the filtered signals to determine the position coordinates of the receiving end. In the method of the present invention, by establishing a preset reflected light model, simulating the propagation path of the signal in the indoor environment and evaluating the multipath effect and signal intensity distribution based on the preset reflected light model, thereby determining at which flickering frequency the LED light source has better transmission performance, and designing a signal processing strategy at the back end based on the reflected light conditions, such as designing a filter model to remove interference at specific frequencies, thereby improving the reliability and accuracy of positioning.

[0115] It should be understood that the present invention is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, a detailed description of known methods is omitted. In the above embodiments, several specific steps are described and illustrated as examples. However, the method of the present invention is not limited to the specific steps described and illustrated. Those skilled in the art may make various changes, modifications, and additions, or change the order of the steps after understanding the spirit of the present invention.

[0116] 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 unit, a function card or the like. 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, ROMs, flash memories, erasable ROMs (EROMs), 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.

[0117] It should also be noted that the exemplary embodiments described herein describe methods or systems based on a series of steps or devices. However, the present invention is not limited to the order of the steps described above. In other words, the steps may be performed in the order described in the embodiments, or in a different order, or several steps may be performed simultaneously.

[0118] The above description is only a specific embodiment of the present invention. Those skilled in the art will clearly understand that for the convenience and brevity of description, the specific working processes of the systems, modules and units described above can refer to the corresponding processes in the aforementioned method embodiments, and will not be repeated here. It should be understood that the protection scope of the present invention is not limited to this. Any person skilled in the art 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 included in the protection scope of the present invention.

Claims

1. An indoor visible light positioning method, characterized in that: The method comprises: LED light sources are deployed in an indoor area according to a preset arrangement rule, reflected light data of the LED light sources are obtained, and a preset reflected light model is established based on the reflected light data, including: controlling each LED light source to emit a test light signal with different flickering frequencies in sequence according to the preset arrangement rule, controlling a photoelectric sensor at a receiving end to collect test light signal data corresponding to each LED light source at different positions; extracting reflected light data corresponding to each flickering frequency from the test light signal data, wherein the reflected light data includes one or more of color, intensity, arrival time, propagation path information, and waveform characteristics; combining the test light signal data, the reflected light data, and reflective surface characteristics, location information of the photoelectric sensor, and other data and organizing them into a structured data set, wherein the reflective surface characteristics include the surface reflectivity of any one or more of walls, floors, ceilings, and indoor objects in the indoor environment; and performing a multi-processing on the data set. After preprocessing, feature extraction and analysis are performed, and a preset reflected light model is established based on a preset mathematical model or a machine learning model. According to the preset reflected light model, at least the propagation and reflection of the light signal emitted by the LED light source in the indoor area can be simulated; wherein, a dynamic environmental perception mechanism is added in the process of establishing the preset reflected light model so as to be able to perceive and respond to environmental changes in real time, including: equipping a number of environmental monitoring sensors indoors for capturing images and thermal map data of the indoor environment in real time, processing the collected images and thermal map data, identifying and locating changing elements in the indoor space, mapping the changing elements to the preset reflected light model, and dynamically adjusting the preset reflected light model parameters according to the new environmental layout to ensure that the preset reflected light model can accurately reflect the latest status of the propagation path and reflection characteristics of the light in the indoor environment, so that the preset reflected light model can predict and adapt to common environmental changes; Obtaining a preferred flickering frequency of the LED light source according to the preset reflected light model, and controlling the LED light source to emit a light signal with an identity mark at the preferred flickering frequency; Determining a filter at a receiving end according to the preferred flickering frequency of the LED light source; Controlling the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converting the electrical signal into a digital signal, and filtering the digital signal according to the filter to obtain a filtered signal; The identity identifier is obtained according to the filtered signal to determine the position coordinates of the receiving end.

2. The indoor visible light positioning method according to claim 1, characterized in that: The step of obtaining the preferred flickering frequency of the LED light source according to the preset reflected light model and controlling the LED light source to emit a light signal with an identity identifier at the preferred flickering frequency includes: Obtaining a flicker frequency that meets preset conditions according to the preset reflected light model, and recording it as a preferred flicker frequency; Determining a coding mode and a modulation mode according to the preferred flashing frequency; Encoding and modulating the identity identifier according to the encoding method and debugging method to obtain a driving current signal; The driving current signal is loaded into the LED light source to drive the LED light source to emit a light signal.

3. The indoor visible light positioning method according to claim 2, characterized in that: The flicker frequency that satisfies the preset conditions is obtained according to the preset reflected light model, which is recorded as the preferred flicker frequency and includes: Using the preset reflected light model, the LED light source is frequency scanned within a preset flicker frequency range to obtain reflected light data of the LED light source at different flicker frequencies; Evaluate the performance of the reflected light data at each flashing frequency, wherein the performance includes any one or more of signal strength, noise level, anti-interference capability, and multipath effect, and select the flashing frequency with the best performance as the preferred flashing frequency.

4. The indoor visible light positioning method according to claim 1, characterized in that: The filter of the receiving end is determined according to the preferred flickering frequency of the LED light source, comprising: Obtaining reflected light data corresponding to the LED light source at the preferred flickering frequency according to the preset reflected light model, and recording the data as preferred reflected light data; Obtaining noise characteristics corresponding to the light signal at the preferred flicker frequency according to the preferred reflected light data; The type and parameters of the filter are determined according to the noise characteristics.

5. The indoor visible light positioning method according to claim 1, characterized in that: The type of the filter includes any one or more of a low-pass filter, a high-pass filter, a band-pass filter, an adaptive filter, a time-domain filter, a space-domain filter, and a window filter.

6. The indoor visible light positioning method according to claim 1, characterized in that: The acquiring the identity identifier according to the filtered signal to determine the location coordinates of the receiving end includes: According to the filtered signal, the position coordinates of the receiving end are obtained by using any one of an RSSI algorithm, an AOA algorithm, a TDOA algorithm or a TOA algorithm.

7. An indoor visible light positioning device, characterized in that: The device comprises: The model building module is used to deploy LED light sources in an indoor area according to a preset arrangement rule, obtain reflected light data of the LED light sources, and establish a preset reflected light model based on the reflected light data, including: according to the preset arrangement rule, sequentially controlling each LED light source to emit a test light signal with different flickering frequencies, controlling the photoelectric sensor at the receiving end to collect the test light signal data corresponding to each LED light source at different positions; extracting the reflected light data corresponding to each flickering frequency from the test light signal data, wherein the reflected light data includes one or more of color, intensity, arrival time, propagation path information, and waveform characteristics; combining the test light signal data, the reflected light data and the reflective surface characteristics, the position information of the photoelectric sensor and other data and arranging them into a structured data set, wherein the reflective surface characteristics include the surface reflectivity of any one or more of the walls, floors, ceilings, and indoor objects in the indoor environment; and After preprocessing the data set, feature extraction and analysis are performed, and a preset reflected light model is established based on a preset mathematical model or a machine learning model. The preset reflected light model can at least simulate the propagation and reflection of the light signal emitted by the LED light source in the indoor area. In the process of establishing the preset reflected light model, a dynamic environmental perception mechanism is added to enable real-time perception and response to environmental changes, including: equipping the room with a number of environmental monitoring sensors for real-time capture of images and thermal map data of the indoor environment, processing the collected images and thermal map data, identifying and locating changing elements in the indoor space, mapping the changing elements to the preset reflected light model, and dynamically adjusting the parameters of the preset reflected light model according to the new environmental layout to ensure that the preset reflected light model can accurately reflect the latest status of the propagation path and reflection characteristics of light in the indoor environment, so that the preset reflected light model can predict and adapt to common environmental changes. a transmitting module, configured to obtain a preferred flickering frequency of the LED light source according to the preset reflected light model, and control the LED light source to emit a light signal with an identity mark at the preferred flickering frequency; A filter determination module, configured to determine a filter at a receiving end according to the preferred flicker frequency of the LED light source; A receiving module controls the photoelectric sensor at the receiving end to receive the optical signal and convert it into an electrical signal, converts the electrical signal into a digital signal, and filters the digital signal according to the filter to obtain a filtered signal; A positioning module is used to obtain the identity identifier according to the filtered signal to determine the position coordinates of the receiving end.

8. An indoor visible light positioning device, characterized in that: include: At least one processor, at least one memory, and computer program instructions stored in the memory, which implement the method according to any one of claims 1 to 6 when the computer program instructions are executed by the processor.

9. 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 6 is implemented.

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