Regional indoor positioning method based on active infrared

Abstract

The invention discloses a regionalized indoor positioning method based on active infrared, which is applied to the technical field of indoor positioning, and comprises the following steps: designing positioning equipment which has a wireless communication function and supports infrared pulse signal emission and reception in a horizontal 360-degree direction; establishing a mathematical model which is used for forming a minimum infrared positioning area by using the minimum time; based on a receiver for continuously receiving infrared signals, active infrared positioning detection is carried out by detecting the interruption receiving times of the infrared signals; based on an ESP-NOW protocol, real-time visualization of a positioning state is realized by using an Esp8266 module and a portable computer. According to the invention, continuous time-sharing control is carried out on the single-chip microcomputer working in a single-thread mechanism, so that the moments of continuously transmitting and receiving infrared pulse signals in opposite directions of the three infrared positioning devices are not overlapped, and a minimum infrared positioning area is constructed. The technology can be used for carrying out real-time indoor positioning and state visual monitoring on a moving target in an environment without a GPS (Global Positioning System), Wi-Fi (Wireless Fidelity) and a plug-in power supply.

Description

Technical Field

[0001] The present invention relates to the field of indoor positioning technology, and more specifically to a regional indoor positioning method based on active infrared. Background Art

[0002] With the emergence of global satellite positioning systems at home and abroad such as GPS, Beidou and GLONASS and the rapid development of electronic information technology, positioning technology in open outdoor areas has become increasingly mature. However, satellite positioning systems are easily affected by various factors such as bad weather, ionosphere, troposphere, dense jungle, reinforced concrete buildings, and electromagnetic waves, which affect the accuracy of positioning. When the user is in an indoor environment where electromagnetic waves cannot penetrate or in an environment that is interfered with, the positioning effect based on GPS technology will deteriorate, and even in some places it cannot be used. Nowadays, the occasions where indoor positioning is needed have increased significantly, such as buildings, factories, warehouses, underground garages, tunnels, key indoor control places of national energy bases, museums, indoor urban public safety and military operations, and unknown areas. People want to obtain real-time location information of target objects such as living or non-living objects indoors or in some confined areas.

[0003] Traditional common indoor positioning methods such as visible light positioning, Wi-Fi positioning, radio frequency identification technology RFID positioning, ultra-wideband technology UWB positioning, ZigBee positioning, geomagnetic positioning and passive infrared positioning such as pyroelectric infrared sensors, etc., are mostly aimed at the precise positioning of the target object. The positioning accuracy of the target object is good, but it is often expressed and interacted in the form of (x, y) or (x, y, z) coordinate information; at the same time, it also often relies on pre-established infrastructure, such as Wi-Fi, base stations and plug-in power supplies. However, in actual application scenarios, the communication and transmission in the form of coordinate information is not intuitive and difficult to quickly understand. It is also impossible to use mobile devices to better display and grasp the position and orientation of the indoor space where the target object is located in real time without Wi-Fi and plug-in power supply. At the same time, there are many prerequisites for the application, the concealment is not strong, and the general applicability is not high. Especially in public security and indoor military special operations, such as hostage hijacking, illegal intrusion, anti-theft of important places, urban "anti-terrorism" operations and military operations, the environment under emergencies is often unfamiliar and complex. If you can quickly deploy monitoring in an unknown environment with fewer constraints, grasp the enemy's position information and provide intuitive real-time visual monitoring, it will be beneficial for the team to cooperate with each other and improve the efficiency and safety of the mission.

[0004] Therefore, how to provide a positioning technology and method with strong concealment, few constraints on on-site application, real-time positioning and intuitive display is a problem that technical personnel in this field urgently need to solve. Summary of the invention

[0005] In view of this, the present invention proposes a method for regional real-time positioning and visualization of mobile target objects in indoor environments based on the principle of active infrared technology under non-GPS conditions without Wi-Fi and plug-in power supply.

[0006] In order to achieve the above object, the present invention adopts the following technical solution:

[0007] On the one hand, the present invention discloses a regional indoor positioning method based on active infrared, comprising the following specific steps:

[0008] Preferably, a set of minimized infrared positioning areas is constructed, and a single-chip microcomputer working with a single-thread mechanism is connected to the outside of a breadboard equipped with 12 infrared emitting diodes evenly distributed in a circle around the breadboard and 6 infrared receivers evenly distributed in a circle around the breadboard, which can support infrared emission with a horizontal circular 360° coverage range and infrared reception with a horizontal circular 360° coverage range. At the same time, the single-chip microcomputer is connected to an Esp8266 wireless communication module working based on the ESP-NOW protocol, and the power port of the single-chip microcomputer is connected to a battery box equipped with a rechargeable lithium battery as a power supply, forming a single infrared positioning device, and three positioning devices are distributed in an indoor flat field to form a minimized positioning area triangular model distribution;

[0009] Preferably, a single-chip microcomputer working in a single-thread mechanism controls the emission of infrared pulse signals and the reception of infrared pulse signals in a time-sharing manner, so that the three infrared positioning devices continuously transmit and receive infrared pulse signals at relative positions to each other without overlapping, and a mathematical model is established with the least time to form a minimized infrared positioning area. The specific steps are as follows:

[0010] Preferably, an objective function is established in which the sum of the time required for each infrared positioning device to successfully establish an infrared connection is minimized, and its mathematical expression is:

[0011]

[0012] Where, the emission time of device a when the infrared connection is successfully established is That is, the time required for device A to connect successfully, and the emission time of device B when the infrared connection is successfully established. That is, the time required for device B to successfully connect, and the emission time of device C when the infrared connection is successfully established. That is, the time required for device c to connect successfully, and minJ represents the minimum time required to successfully establish a set of infrared positioning areas, i is the number of infrared transmissions of device a (i∈{1,2,3,……,i max}), j is the number of infrared transmissions of device b (j∈{1,2,3,…,jmax}), k is the number of infrared transmissions of device c (k∈{1,2,3,…,k max}), i max The number of times device a successfully establishes an infrared connection. max The number of transmissions when device b successfully establishes an infrared connection, k max The number of transmissions when device c successfully establishes an infrared connection, t is the time set (unit (ms));

[0013] Preferably, wherein;

[0014]

[0015] Where, t start_a is the start-up time interval ∈t from the time when device a is powered on to the first infrared emission, t start_b is the start-up time interval ∈t from the time when device b is powered on to the first infrared emission, t start_c is the start-up time interval ∈t from the time when device c is powered on to the first infrared emission, where t start_a , t start_b and t start_c is a decision variable and a continuous variable, Δt fire is the infrared emission duration, Δt receiver is the infrared receiving time;

[0016] The mathematical expression for establishing the constraint conditions based on the actual conditions of the infrared positioning area established by the positioning equipment in the indoor venue is:

[0017]

[0018] The constraint condition makes the start-up time intervals from the power-on of device a, device b and device c to the first infrared emission different from each other, the difference is δ, and imposes a non-negative restriction on them;

[0019]

[0020] The constraint condition is to impose non-negative and integer restrictions on the number of times each device successfully transmits when establishing an infrared connection, that is, the maximum number of infrared transmissions during the connection establishment phase of each device. In addition, i max , j max and k max is a decision variable and is a discrete variable;

[0021] Preferably, the constraint condition indicates the relationship between the maximum number of infrared transmissions of each device during the connection establishment phase between two devices, and the absolute value of the difference between them imposes a non-negative restriction, that is, they can be equal or unequal, as shown in the following mathematical expression;

[0022]

[0023] Preferably, stricter constraints are imposed on the above constraints according to actual operation and objective truth, that is, the maximum number of infrared transmissions of each device in the connection establishment phase of two devices among the three devices can be equal, but the transmission conditions of the three devices cannot be equal at the same time;

[0024]

[0025] Preferably, constraints are imposed on the infrared emission sequence of device a, device b and device c, so that the 12 infrared emission diodes of each device distributed 360° horizontally are emitted in sequence adjacent to each other, and there is no jump or random emission in the emission direction, as shown in the following mathematical expression;

[0026]

[0027] Preferably, constraints are imposed on all infrared emission times of the three devices, that is, the infrared emission times of any infrared diode of each device do not overlap, which means that no two devices or any infrared diodes of the three devices can simultaneously emit infrared at the same time. This ensures that all emissions are staggered, well complies with the characteristics of the single-threaded working mechanism of the single-chip microcomputer, and meets the design requirements under the actual operation of the hardware function, as shown in the following mathematical expression;

[0028]

[0029] Preferably, the phase condition constraints between the actual positions of the three positioning devices include the following:

[0030]

[0031]

[0032] Preferably, the above three constraints are objective and real constraints of the actual plane site in the indoor environment when the three positioning devices form an infrared positioning area in the polar coordinate system, and describe the phase matching constraint conditions of the on-site plane site position distribution of the three infrared positioning devices, θ ab The transmission angle value (polar coordinate system) when device a transmits infrared signal to device b, θ bc The transmission angle value (polar coordinate system) when device b transmits infrared signal to device c, θca The transmission angle value (polar coordinate system) when device c transmits infrared signal to device a. When device b is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device a (polar coordinate system). When device c is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device b (polar coordinate system). When device a is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device c (polar coordinate system), where;

[0033]

[0034] In the polar coordinate system, the values ​​of the azimuth angles of each device are constrained according to the actual situation, that is, the values ​​of the azimuth angles of any two devices cannot be equal, otherwise the three devices will form a straight line and cannot form a two-dimensional triangular area. The value range constraints are imposed on the values ​​of the azimuth angles, as shown in the following mathematical expression;

[0035]

[0036] Azimuth angle value and It is known before establishing the infrared positioning area connection. It can be measured by scanning the horizontal field of view of the laser radar in a clockwise 360° rotation. The positive direction of the horizontal plane X-axis in the laser radar coordinate system (Lidar) is consistent with the positive direction of the polar axis selected in the polar coordinate system of the positioning device. In this paper, the counterclockwise direction is selected as the positive direction in the polar coordinate system, and the laser radar emits modulated infrared laser signals clockwise when working, so and All values ​​are negative;

[0037] Preferably, after the mathematical model that forms the minimized infrared positioning area with the least time is established, a single-chip microcomputer working with a single-thread mechanism controls the emission of infrared pulse signals and the reception of infrared pulse signals in a time-sharing manner, so that the three infrared positioning devices continuously transmit and receive infrared pulse signals at relative positions to each other without overlapping. Based on the active infrared working principle and the characteristics of the single-chip microcomputer working with a single-thread mechanism, when the infrared receiver that continuously receives infrared pulse signals no longer continuously receives infrared pulse signals and there is a phenomenon of infrared signal reception interruption, the changes in whether the infrared receiver receives infrared pulse signals and the number of interruptions in reception are used to realize infrared positioning detection and regionalized indoor positioning.

[0038] On the other hand, the present invention discloses a regional indoor positioning method based on active infrared, further comprising:

[0039] When the single-threaded microcontroller detects that the infrared receiver has interrupted the reception of infrared pulse signals and detects a change in the number of interrupted infrared receptions, that is, the infrared receiver no longer continuously receives infrared pulse signals, the microcontroller immediately transmits wireless data signals through the Esp8266 to which it is connected according to the pre-written program, and transmits the data to the Esp8266 on the portable computer (laptop computer). The processing software installed on the laptop computer performs real-time data processing and performs real-time visual regional positioning display. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0041] in:

[0042] Figure 1 It is a flowchart of a regional indoor positioning method based on active infrared;

[0043] Figure 2 A schematic diagram of the mathematical model algorithm solution process for establishing the minimum infrared positioning area;

[0044] Figure 3 The optimal value and average value change diagram of the fitness function of the genetic algorithm to solve the mathematical model algorithm. DETAILED DESCRIPTION

[0045] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0046] The embodiment of the present invention discloses a regional indoor positioning method based on active infrared, which includes the following specific steps:

[0047] Reference Figure 1, build a set of minimized infrared positioning areas, use the single-threaded mechanism to connect the microcontroller to the outside of the breadboard with 12 infrared emitting diodes evenly distributed in a circle and 6 infrared receivers evenly distributed in a circle, which can support infrared emission with a horizontal circular 360° coverage and infrared reception with a horizontal circular 360° coverage. At the same time, the microcontroller is connected to the Esp8266 wireless communication module based on the ESP-NOW protocol, and the power port of the microcontroller is connected to the battery box with a rechargeable lithium battery as the power supply to form a single infrared positioning device. The three positioning devices are placed on a flat indoor site to form a minimized triangular model distribution of the positioning area.

[0048] Reference Figure 1 , a single-threaded microcontroller controls the infrared pulse signal transmission and infrared pulse signal reception in a time-sharing manner, so that the three infrared positioning devices continuously transmit and receive infrared pulse signals at relative positions without overlapping, and establish a mathematical model that minimizes the infrared positioning area with the least time. The specific steps are as follows:

[0049] The objective function is to minimize the sum of the time required for each infrared positioning device to successfully establish an infrared connection, as shown in the following mathematical expression.

[0050]

[0051] Where, the emission time of device a when the infrared connection is successfully established is That is, the time required for device A to connect successfully, and the emission time of device B when the infrared connection is successfully established. That is, the time required for device B to successfully connect, and the emission time of device C when the infrared connection is successfully established. That is, the time required for device c to connect successfully, and minJ represents the minimum time required to successfully establish a set of infrared positioning areas, i is the number of infrared transmissions of device a (i∈{1,2,3,……,i max}), j is the number of infrared transmissions of device b (j∈{1,2,3,……,j max}), k is the number of infrared transmissions of device c (k∈{1,2,3,……,k max}), i max The number of times device a successfully establishes an infrared connection. max The number of transmissions when device b successfully establishes an infrared connection, k max The number of transmissions when device c successfully establishes an infrared connection. t is the time set (unit (ms)), where:

[0052]

[0053] Where, tstart_a is the start-up time interval ∈t from the time when device a is powered on to the first infrared emission, t start_b is the start-up time interval ∈t from the time when device b is powered on to the first infrared emission, t start_c is the start-up time interval ∈t from the time when device c is powered on to the first infrared emission, where t start_a , t start_b and t start_c is a decision variable and a continuous variable, Δt fire is the infrared emission duration, the value is 100ms, Δt receiver It is the infrared receiving time, and its value is 350ms.

[0054] The constraint conditions are established according to the actual conditions of the infrared positioning area established by the positioning equipment in the indoor venue as shown in the following mathematical expression.

[0055]

[0056] In the formula, the constraint condition makes the start-up time intervals from the first infrared emission of device a, device b and device c after they are powered on unequal to each other, the difference is δ, which is 109ms, and imposes a non-negative restriction on them.

[0057]

[0058] The constraint condition is to impose non-negative and integer restrictions on the number of times each device successfully transmits when establishing an infrared connection, that is, the maximum number of infrared transmissions during the connection establishment phase of each device. In addition, i max , j max and k max is a decision variable and is a discrete variable.

[0059]

[0060] This constraint indicates the relationship between the maximum number of infrared transmissions of each device during the connection establishment phase between two devices, and the absolute value of the difference between them imposes a non-negative restriction, that is, they can be equal or unequal.

[0061] According to actual operation and objective truth, more stringent constraints are imposed on the above constraints, that is, the maximum number of infrared transmissions of each of the three devices during the connection establishment phase can be equal, but the transmission conditions of the three devices cannot be equal at the same time, as shown in the following mathematical expression.

[0062]

[0063] Constraints are imposed on the infrared emission sequence of devices a, b, and c so that the 12 infrared emitting diodes of each device distributed 360° horizontally emit in sequence adjacent to each other, and there is no jump or random emission in the emission direction, as shown in the following mathematical expression.

[0064]

[0065] Constraints are imposed on all infrared emission times of the three devices, that is, the infrared emission time of any infrared diode of each device does not overlap, which means that no two devices or any infrared diodes of the three devices can emit infrared at the same time. This ensures that all emissions are staggered, which well complies with the characteristics of the single-threaded working mechanism of the microcontroller and meets the design requirements under the actual operation of the hardware function, as shown in the following mathematical expression.

[0066]

[0067] The phase condition constraints between the actual positions of the three positioning devices include the following:

[0068]

[0069]

[0070] The above three constraints are the objective and real constraints of the actual plane site in the indoor environment when the three positioning devices form the infrared positioning area in the polar coordinate system. They describe the phase matching constraints of the position distribution of the three infrared positioning devices on the plane site. ab The transmission angle value (polar coordinate system) when device a transmits infrared signal to device b, θ bc The transmission angle value (polar coordinate system) when device b transmits infrared signal to device c, θ ca The transmission angle value (polar coordinate system) when device c transmits infrared signal to device a. When device b is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device a (polar coordinate system). When device c is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device b (polar coordinate system). When device a is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device c (polar coordinate system), where:

[0071]

[0072] In the polar coordinate system, the azimuth angle values ​​of each device are constrained according to the actual situation, that is, the azimuth angle values ​​of any two devices cannot be equal, otherwise the three devices will become a straight line and cannot form a two-dimensional triangular area. The value range constraints are imposed on the azimuth angle values, as shown in the following mathematical expression.

[0073]

[0074] In the formula, the value of the azimuth angle is and It is known before establishing the infrared positioning area connection. It can be measured by scanning the horizontal field of view of the laser radar in a clockwise 360° rotation. The positive direction of the horizontal plane X-axis in the laser radar coordinate system (Lidar) is consistent with the positive direction of the polar axis selected in the polar coordinate system of the positioning device. In this paper, the counterclockwise direction is selected as the positive direction in the polar coordinate system, and the laser radar emits modulated infrared laser signals clockwise when working, so and The values ​​are all negative. The value is -66. The value is -336. The value is -201.

[0075] Reference Figure 2 The mathematical model algorithm of the minimum infrared positioning area established above is solved by using a genetic algorithm program written in Matlab. The optimal solution is shown in Table 1.

[0076] Table 1 Solution values ​​of decision variables and objective function values ​​after genetic algorithm solution

[0077]

[0078] Reference Figure 3 , indicating that the solution in Table 1 obtained by applying the genetic algorithm in the embodiment is optimal.

[0079] Reference Figure 1 , the solved parameter t start_a , t start_b and t start_c Input into the program of the single-chip microcomputer, run all infrared positioning devices to connect with each other, and complete the establishment of a group of infrared positioning areas. The single-chip microcomputer working with a single-thread mechanism controls the emission and reception of infrared pulse signals in a time-sharing manner. Based on the working principle of active infrared and the characteristics of the single-chip microcomputer working with a single-thread mechanism, when the infrared receiver that continuously receives infrared pulse signals no longer continuously receives infrared pulse signals and there is a phenomenon of infrared signal reception interruption, the infrared receiver uses the changes in whether the infrared pulse signal is received and the number of interruptions to realize infrared positioning detection and regional indoor positioning.

[0080] Reference Figure 1 When the single-threaded microcontroller detects that the infrared receiver has interrupted the reception of infrared pulse signals and detects a change in the number of interrupted infrared receptions, that is, the infrared receiver no longer continuously receives infrared pulse signals, the microcontroller immediately transmits wireless data signals through the Esp8266 to which it is connected according to the pre-written program, and transmits the data to the Esp8266 on the portable computer (laptop computer). The processing software installed in the laptop computer performs real-time data processing and performs real-time visual regional positioning display.

[0081] In summary, it can be seen that the model algorithm for establishing the infrared positioning area of ​​the present invention is effective and superior, the positioning detection technology and method based on the active infrared principle has good real-time and stability, and the real-time indoor positioning and visualization effect are good in the absence of GPS, Wi-Fi and plug-in power supply.

[0082] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein, and these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of this application, and they should all be included in the scope of the claims of the present invention.

Claims

1. A regional indoor positioning method based on active infrared, characterized in that: The specific steps include: Construct a set of minimized infrared positioning areas. Use a single single-threaded microcontroller connected to a breadboard with 12 infrared emitting diodes evenly distributed in a circle and 6 infrared receivers evenly distributed in a circle. It can support infrared emission with a horizontal circular 360° coverage and infrared reception with a horizontal circular 360° coverage. At the same time, the microcontroller is connected to the Esp8266 wireless communication module based on the ESP-NOW protocol. The power port of the microcontroller is connected to the battery box with a rechargeable lithium battery as the power supply to form a single infrared positioning device. Place three positioning devices on a flat indoor site to form a minimized triangular model distribution of the positioning area. Based on a single-threaded mechanism, a single-chip microcomputer controls the emission and reception of infrared pulse signals in a time-sharing manner, so that the three infrared positioning devices continuously transmit and receive infrared pulse signals in relative positions without overlapping, and establish a mathematical model that minimizes the infrared positioning area with the least time. The specific steps are as follows: Establish an objective function that minimizes the sum of the time required for each infrared positioning device to successfully establish an infrared connection, and its mathematical expression is: The emission time of device a when the infrared connection is successfully established That is, the time required for device A to connect successfully, and the emission time of device B when the infrared connection is successfully established. That is, the time required for device B to successfully connect, and the emission time of device C when the infrared connection is successfully established. That is, the time required for device c to connect successfully, and minJ represents the minimum time required to successfully establish a set of infrared positioning areas, i is the number of infrared transmissions of device a (i∈{1,2,3,……,i max }), j is the number of infrared transmissions of device b (j∈{1,2,3,…,jmax}), k is the number of infrared transmissions of device c (k∈{1,2,3,…,k max }), i max The number of times device a successfully establishes an infrared connection. max The number of transmissions when device b successfully establishes an infrared connection, k max The number of transmissions when device c successfully establishes an infrared connection. t is the time set (unit (ms)), where: Δt fire is the infrared emission duration, Δt receiver is the infrared receiving time. The mathematical expression for establishing the constraint condition based on the actual conditions of the infrared positioning area established by the positioning device in the indoor venue is: This constraint condition makes the start-up time intervals of devices a, b and c from the time of the first infrared emission after they are powered on different from each other, with a difference of δ, and imposes a non-negative constraint on them, where t start_a , t start_b and t start_c is a decision variable and a continuous variable, t start_a is the start-up time interval ∈t from the time when device a is powered on to the first infrared emission, t start_b is the start-up time interval ∈t from the time when device b is powered on to the first infrared emission, t start_c is the start-up time interval ∈t from the time when device c is powered on to the first infrared emission, The constraint condition is to impose non-negative and integer restrictions on the number of times each device successfully transmits when establishing an infrared connection, that is, the maximum number of infrared transmissions during the connection establishment phase of each device. In addition, i max , j max and k max is a decision variable and is a discrete variable, This constraint expresses the relationship between the maximum number of infrared transmissions of each device during the connection establishment phase. The absolute value of the difference between them imposes a non-negative restriction, that is, they can be equal or unequal. This constraint is a supplement to the above one, and imposes stricter constraints based on actual operation and objective reality, that is, the maximum number of infrared transmissions of each device in the connection establishment phase can be equal, but the transmission status of the three devices cannot be equal at the same time. The constraint condition is to impose constraints on the infrared emission sequence of device a, device b and device c, so that the 12 infrared emitting diodes of each device distributed 360° horizontally will emit in sequence adjacent to each other, and the emission direction will not jump or emit randomly. The constraint condition indicates that constraints are imposed on all infrared emission moments of the three devices, that is, the infrared emission moments of any infrared diode of each device do not overlap, which means that no two devices or any infrared diodes of the three devices can emit infrared at the same time, ensuring that all emissions are staggered, which well complies with the characteristics of the single-threaded working mechanism of the single-chip microcomputer and meets the design requirements under the actual operation of the hardware function; the phase condition constraints between the actual positions of the three positioning devices include the following: The above three constraints are the objective and real constraints of the actual plane site in the indoor environment when the three positioning devices form the infrared positioning area in the polar coordinate system. They describe the phase matching constraints of the position distribution of the three infrared positioning devices on the plane site. ab The transmission angle value (polar coordinate system) when device a transmits infrared signal to device b, θ bc The transmission angle value (polar coordinate system) when device b transmits infrared signal to device c, θ ca The transmission angle value (polar coordinate system) when device c transmits infrared signal to device a. When device b is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device a (polar coordinate system). When device c is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device b (polar coordinate system). When device a is the pole, its polar axis OX rotates clockwise to measure the azimuth angle value of device c (polar coordinate system), where This constraint is in the polar coordinate system. According to the actual situation, the azimuth angle values ​​of each device are constrained. That is, the azimuth angle values ​​of any two devices cannot be equal. Otherwise, the three devices will become a straight line and cannot form a two-dimensional triangle area. The value range constraint is imposed on the azimuth angle value. and It is known before establishing the infrared positioning area connection. It can be measured by scanning the horizontal field of view of the laser radar in a clockwise 360° rotation. The positive direction of the horizontal plane X-axis in the laser radar coordinate system (Lidar) is consistent with the positive direction of the polar axis selected in the polar coordinate system of the positioning device. In this paper, the counterclockwise direction is selected as the positive direction in the polar coordinate system, and the laser radar emits modulated infrared laser signals clockwise when working. Therefore and All values ​​are negative; After the mathematical model of the minimized infrared positioning area with the least time is established, a single-chip microcomputer working with a single-thread mechanism controls the emission and reception of infrared pulse signals in a time-sharing manner, so that the three infrared positioning devices continuously transmit and receive infrared pulse signals at relative positions without overlapping. Based on the active infrared working principle and the characteristics of the single-chip microcomputer working with a single-thread mechanism, when the infrared receiver that continuously receives infrared pulse signals no longer continuously receives infrared pulse signals and there is a phenomenon of infrared signal reception interruption, the changes in whether the infrared receiver receives infrared pulse signals and the number of interruptions in reception are used to realize infrared positioning detection and regionalized indoor positioning.

2. The method for regionalized indoor positioning based on active infrared according to claim 1, characterized in that: Also includes: When the single-threaded microcontroller detects that the infrared receiver has interrupted the reception of infrared pulse signals and detects a change in the number of interrupted infrared receptions, that is, the infrared receiver no longer continuously receives infrared pulse signals, the microcontroller immediately transmits wireless data signals through the Esp8266 to which it is connected according to the pre-written program, and transmits the data to the Esp8266 on the portable computer (laptop computer). The processing software installed in the laptop computer performs real-time data processing and performs real-time visual regional positioning display.

Images