PLC-based Power Optical Communication Positioning System and Method

Abstract

This invention provides a PLC-based power optical communication positioning system and method, relating to the field of PLC power optical communication technology. In real-time, after a user activates a mobile camera, the camera captures the real-time light signal of a target light fixture. The mobile terminal decodes the real-time light signal to obtain the real-time ID and real-time physical coordinates. After receiving the target parking space number input by the user, the mobile terminal matches the parking space number with the pre-bound parking space light fixture ID and parking space physical coordinates. Based on the real-time physical coordinates and the parking space physical coordinates, a navigation path is calculated and output. This invention solves the technical problems of existing technologies, such as high positioning costs, poor accuracy, and easy interruption of positioning communication in underground spaces, making it difficult to achieve sub-meter level continuous positioning and intensive management in network-free underground spaces. It achieves comprehensive technical effects including significant cost savings, improved positioning accuracy, optimized user experience, and enhanced management efficiency.

Description

Technical Field

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

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

[0003] Meanwhile, existing solutions generally suffer from structural defects, either relying on external network infrastructure support, facing the problem of continuous accumulation of sensor errors, or involving user privacy authorization compliance risks. There has always been a lack of a complete solution that can systematically take into account high-precision positioning capabilities, anti-obstruction service continuity, lightweight deployment architecture, and intensive management efficiency, resulting in the long-standing industry pain points of lagging underground space navigation experience and high operating costs remaining unresolved.

[0004] In summary, existing technologies suffer from high positioning costs, poor accuracy, and easy interruption of positioning communication in underground spaces, making it difficult to achieve sub-meter level continuous positioning and intensive management in network-free underground spaces. Summary of the Invention

[0005] In response to the above-mentioned defects or improvement needs of existing technologies, this invention provides a PLC-based power optical communication positioning system and method to address the technical problems of high positioning costs, poor accuracy, and easy interruption of positioning communication in underground spaces, which make it difficult to achieve sub-meter level continuous positioning and intensive management in network-free underground spaces.

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

[0007] A first aspect of the present invention provides a PLC-based power optical communication positioning system, the system comprising:

[0008] The system includes a driver support configuration unit for binding PLC driver support to the lighting array in the underground parking garage, resulting in a PLC power communication lighting array; a gateway configuration unit for binding the PLC power communication lighting array to the PLC master control gateway, and then assigning a unique ID and physical coordinates to each PLC power communication light fixture in the array through the PLC master control gateway; a coordination command sending unit for the PLC master control gateway to send synchronization commands and optical encoded frame structures to the PLC power communication lighting array via power lines for clock encoding protocols; and an optical signal sending unit for the PLC power communication... The lamp array drives the LED light source to modulate high-frequency light signals according to the light coding frame structure; the lamp signal capture unit is used to capture the real-time light signal of the target lamp through the camera after the user activates the mobile terminal camera; the signal decoding unit is used for the mobile terminal to obtain the real-time ID and real-time physical coordinates by decoding the real-time light signal; the parking space decoding unit is used for the mobile terminal to match the pre-bound physical coordinates of the target parking space number after receiving the target parking space number input by the real-time user; the navigation path output unit is used to calculate the navigation path according to the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

[0009] A second aspect of the present invention provides a positioning method based on PLC power optical communication, the method comprising:

[0010] A PLC driver is bound to the lighting array in the underground parking garage to obtain a PLC power communication lighting array. After binding the PLC power communication lighting array to the PLC main control gateway, the PLC main control gateway assigns a unique ID and physical coordinates to each PLC power communication lighting fixture in the array. The PLC main control gateway sends synchronization commands and optical encoding frame structures to the PLC power communication lighting array via power lines to perform clock encoding protocols. The PLC power communication lighting array drives the LED light source to modulate high-frequency light signals according to the optical encoding frame structure. After the real-time user activates the mobile terminal camera, the camera captures the real-time light signals of the target lighting fixture. The mobile terminal decodes the real-time light signals to obtain the real-time ID and real-time physical coordinates. After receiving the target parking space number input by the real-time user, the mobile terminal matches the pre-bound parking space physical coordinates of the target parking space number. Based on the real-time physical coordinates and the parking space physical coordinates, a navigation path is calculated and output.

[0011] One or more technical solutions provided in this invention have at least the following technical effects or advantages:

[0012] The method provided in this invention binds PLC driver support to the lighting array of an underground parking garage to obtain a PLC power communication lighting array. After binding the PLC power communication lighting array to a PLC main control gateway, the PLC main control gateway assigns a unique ID and physical coordinates to each PLC power communication lighting fixture in the array. The PLC main control gateway sends synchronization commands and optical encoding frame structures to the PLC power communication lighting array via power lines to perform clock encoding protocols. The PLC power communication lighting array drives LED light sources to modulate high-frequency light signals according to the optical encoding frame structure. After the real-time user activates the mobile terminal camera, the camera captures the real-time light signals of the target lighting fixtures. The mobile terminal decodes the real-time light signals to obtain the real-time ID and real-time physical coordinates. After receiving the target parking space number input by the real-time user, the mobile terminal matches the pre-bound physical coordinates of the target parking space number. Based on the real-time physical coordinates and the parking space physical coordinates, a navigation path is calculated and output. This achieves a comprehensive technical effect of significantly saving costs, improving positioning accuracy, optimizing user experience, and enhancing management efficiency. Attached Figure Description

[0013] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0014] Figure 1 A schematic diagram of the PLC-based power optical communication positioning system provided by the present invention is shown.

[0015] Figure 2 A schematic diagram of the PLC-based power optical communication positioning method provided by the present invention is shown.

[0016] Explanation of reference numerals in the attached figures: Drive support configuration unit 11, gateway configuration unit 12, cooperative instruction sending unit 13, light signal sending unit 14, light signal capture unit 15, signal decoding unit 16, parking space decoding unit 17, navigation path output unit 18. Detailed Implementation

[0017] This invention provides a PLC-based power optical communication positioning system and method to address the technical problems of high positioning costs, poor accuracy, and easy interruption of positioning communication in underground spaces, which make it difficult to achieve sub-meter level continuous positioning and intensive management in network-free underground spaces. By reusing lights, it achieves precise navigation and efficient control that can be used immediately after scanning, resulting in comprehensive technical effects such as significant cost savings, improved positioning accuracy, optimized user experience, and enhanced management efficiency.

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0019] Example 1: A flowchart of the PLC-based power optical communication positioning system provided in this embodiment of the invention. (See attached diagram) Figure 1 The system includes:

[0020] The system includes a driver support configuration unit 11 for binding PLC driver support to the lighting array in the underground parking garage, resulting in a PLC power communication lighting array; a gateway configuration unit 12 for binding the PLC power communication lighting array to the PLC main control gateway, and then assigning a unique ID and physical coordinates to each PLC power communication light fixture in the array through the PLC main control gateway; a coordination instruction sending unit 13 for the PLC main control gateway to send synchronization instructions and optical encoded frame structures to the PLC power communication lighting array via power lines for clock encoding protocol; and an optical signal sending unit 14 for the PLC power communication... The lamp array drives the LED light source to modulate high-frequency light signals according to the light coding frame structure; the lamp signal capture unit 15 is used to capture the real-time light signal of the target lamp through the camera after the user starts the mobile terminal camera; the signal decoding unit 16 is used for the mobile terminal to obtain the real-time ID and real-time physical coordinates by decoding the real-time light signal; the parking space decoding unit 17 is used for the mobile terminal to match the pre-bound parking space physical coordinates of the target parking space number after receiving the target parking space number input by the real-time user; the navigation path output unit 18 is used to calculate the navigation path according to the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path.

[0021] In one implementation, the system is further used for:

[0022] The PLC power communication lighting array is obtained by integrating a VLC optical encoding module and a PLC power communication module into each LED lamp in the lighting array; the PLC power communication lighting array is then connected to the PLC main control gateway via a power line.

[0023] In one implementation, the system is further used for:

[0024] After converting the real-time optical signal into digital code, the positioning frame synchronization header is detected. Starting from the frame synchronization header, the digital code is segmented to extract a 16-bit lamp ID segment and a 32-bit coordinate segment. By parsing the 16-bit lamp ID segment and the 32-bit coordinate segment, the real-time ID and real-time physical coordinates are output. The real-time ID is loaded into the parking space map database to match and output the verification physical coordinates. The verification physical coordinates and the real-time physical coordinates are verified for consistency. If they are inconsistent, the verification physical coordinates are used to replace the real-time physical coordinates.

[0025] In one implementation, the system is further used for:

[0026] The mobile terminal has a built-in IMU to obtain angular velocity and triaxial acceleration sequences; the angular velocity and triaxial acceleration sequences are integrated to obtain a real-time motion trajectory; the real-time navigation path is used to detect deviations from the real-time motion trajectory, and when the trajectory deviation scale is greater than a preset trajectory deviation threshold, the real-time navigation path is corrected and compensated.

[0027] In one implementation, the system is further used for:

[0028] The trajectory deviation scale is decomposed to obtain the trajectory deviation direction and trajectory deviation distance. If the trajectory deviation distance is less than the preset trajectory deviation threshold, the AR navigation arrow pointing angle of the mobile terminal display interface is dynamically adjusted according to the trajectory deviation direction. If the trajectory deviation distance is greater than the preset trajectory deviation threshold, the user is prompted to re-acquire the light signal through the mobile terminal. The light signal is decoded based on the re-acquired light signal, and the updated ID and updated physical coordinates of the updated lamps are output. The navigation path is calculated based on the updated physical coordinates and the parking space physical coordinates, and the updated navigation path is output. Correction compensation is performed by using the updated navigation path to cover the real-time navigation path.

[0029] In one implementation, the optically encoded frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field, and a power line carrier dimming instruction field.

[0030] In one implementation, the system is further used for:

[0031] The PLC power communication lighting array periodically broadcasts a calibration signal array via power lines. After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs multiple offset lighting nodes. The PLC main control gateway sends coordinate correction commands to the multiple offset lighting nodes to perform local correction through power line carrier phase synchronization.

[0032] In one implementation, the system is further used for:

[0033] The wavelet energy entropy value of the first optical signal output by the first PLC power communication lamp is monitored; when the wavelet energy entropy value suddenly exceeds a preset threshold, it is determined that the first PLC power communication lamp has experienced an occlusion event; after performing the preheating of the mobile terminal's built-in IMU based on the occlusion event determination result, the IMU trajectory is extracted from the mobile terminal's built-in IMU; the Bluetooth RSSI calibration coordinates of the first PLC power communication lamp are obtained by interacting with the Bluetooth beacon array; the LiFi signal is extracted from the first optical signal; after dynamic weight allocation of the IMU trajectory, Bluetooth RSSI calibration coordinates, and LiFi signal, they are mapped to the Lie group SE space for joint optimization, and anti-occlusion positioning coordinates are output.

[0034] Example 2: This invention provides a positioning method based on PLC power optical communication, see [link / reference]. Figure 2 As shown, the method includes:

[0035] Step A100: Bind PLC driver support to the lighting array of the underground garage to obtain the PLC power communication lighting array.

[0036] In one implementation, PLC driver support is bound to the lighting array in the underground parking garage to obtain a PLC power communication lighting array. The method step A100 provided by this invention includes:

[0037] Step A110: By integrating a VLC optical encoding module and a PLC power communication module into each LED lamp in the lighting array, the PLC power communication lighting array is obtained.

[0038] Step A120: Connect the PLC power communication lighting array to the PLC main control gateway via a power line.

[0039] Specifically, this embodiment adds two core modules to each LED light fixture in the underground parking garage: a VLC optical encoding module and a PLC power communication module. The VLC optical encoding module is used to generate optical signals carrying location information, and the PLC power communication module is used to receive gateway commands via power lines. After the modification, the light fixtures simultaneously possess lighting, positioning signal transmission, and remote control capabilities, forming a complete PLC power communication light fixture array.

[0040] The modified lighting array is physically connected to the PLC main control gateway via the existing power line (220V AC). This process requires no new communication cabling; the power supply line is directly reused to achieve data transmission and command issuance, enabling the LED lights in the underground parking garage to be connected to the network as soon as they are powered on.

[0041] This embodiment achieves the technical effect of upgrading the original ordinary lighting fixtures in the underground garage into an intelligent lighting cluster with PLC communication capabilities, providing underlying technical support for subsequent PLC power optical communication in the underground environment based on lighting fixtures.

[0042] Step A200: After binding the PLC power communication lighting array to the PLC main control gateway, assign a unique ID and physical coordinates to each PLC power communication lighting fixture in the PLC power communication lighting array through the PLC main control gateway.

[0043] Specifically, after the lighting fixtures are networked, the PLC main control gateway assigns a globally unique identity (ID) and its precise physical location coordinates (accuracy 0.1 meters) to each smart lighting fixture via the power line. This process directly reuses the power line to achieve data configuration, without the need for additional communication wiring.

[0044] This embodiment reuses existing lighting fixtures and power line infrastructure, eliminating the need for additional independent beacons, and the project is highly concealed, reducing construction costs.

[0045] Step A300: The PLC main control gateway sends synchronization commands and optical encoding frame structures to the PLC power communication lighting array via the power line to perform clock encoding protocol.

[0046] The PLC master control gateway sends key control parameters to the lighting array via power lines. Among these parameters, synchronization commands ensure that the internal clock protocols of all lighting fixtures are aligned, while the optical encoding frame structure defines the data format for subsequent optical signal transmission (including fields such as lighting fixture ID, physical coordinates, and dimming commands). Power line carrier communication enables protocol unification across the entire network of lighting fixtures, laying the foundation for subsequent synchronous optical signal transmission.

[0047] Step A400: The PLC power communication lighting array drives the LED light source to modulate high-frequency light signals according to the optical encoding frame structure.

[0048] After receiving and parsing the optically encoded frame structure, the smart light fixture drives the LED light source to flash at a high frequency (modulation bandwidth of 10MHz), encoding the ID, coordinates, and other information contained in the frame into light signals. This high-frequency modulation ensures that it is invisible to the human eye while allowing the mobile phone camera to capture changes in brightness, thus achieving the technical goal of using light as a navigation source.

[0049] Step A500: After the user activates the mobile camera, the real-time light signal of the target light fixture is captured through the camera.

[0050] The real-time user refers to an unspecified driver in an underground parking garage without network access who requires navigation. This user activates their mobile phone's camera at an unspecified location within the garage, points the lens at the LED light source of the target lamp, and uses the phone's camera's image sensor to capture the high-frequency modulated light signal emitted by the lamp. This light signal is modulated by the lamp according to a light-coded frame structure, carrying the lamp's ID and physical coordinates with thousands of brightness changes per second.

[0051] It should be understood that the underground parking garage has a fixed path and a large margin of error. Therefore, the position of the target light fixture at this time is taken as the position of the vehicle in the underground garage. The position of the target light fixture can be obtained by the light signal emitted by the LED light source of the mechanical target light fixture. For the specific acquisition process, please refer to the embodiment of step A600.

[0052] The capture process strictly follows the VLC communication principle. The camera records light intensity changes at a sampling rate of over 60 frames per second, converting the light pulse sequence into a processable digital image data stream, providing raw input for subsequent real-time decoding.

[0053] Step A600: The mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal.

[0054] In one implementation, the mobile terminal obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal. The method step A600 provided by this invention includes:

[0055] Step A610: After converting the real-time optical signal into digital code, detect the positioning frame synchronization header.

[0056] Step A620: Starting from the frame synchronization header, segment the digital code and extract the 16-bit lamp ID segment and the 32-bit coordinate segment.

[0057] Step A630: Output the real-time ID and real-time physical coordinates by parsing the 16-bit lamp ID segment and the 32-bit coordinate segment.

[0058] Step A640: Load the real-time ID into the parking space map database to match and verify the physical coordinates.

[0059] Step A650: Perform consistency verification on the verified physical coordinates and the real-time physical coordinates. If they are inconsistent, replace the real-time physical coordinates with the verified physical coordinates.

[0060] In one implementation, the optically encoded frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field, and a power line carrier dimming instruction field.

[0061] Based on this, the mobile device converts the real-time light signal captured by the camera (i.e., the sequence of brightness changes of the LED light source) into binary digital code. Then, it detects the preset frame synchronization header (0xF0A1) in the digital code. This synchronization header serves as the start marker of the data frame and is used to identify the beginning position of valid data.

[0062] Starting with the detected frame synchronization header, the mobile terminal segments the digital code into fixed lengths and extracts a 16-bit lamp ID data segment and a 32-bit coordinate data segment. The lamp ID is used to uniquely identify the light source device, while the 32-bit coordinate segment contains the precise location information of the lamp (16 bits each for X and Y coordinates).

[0063] The extracted 16-bit lamp ID segment is parsed to obtain the specific lamp number (e.g., B2031); simultaneously, the 32-bit coordinate segment is parsed, split into X and Y coordinate values, and combined to form the physical location coordinates (e.g., 35.2, 18.7). After parsing, the real-time ID and real-time physical coordinates are directly output to form the user's current location result.

[0064] The parking space map database stores the mapping relationship between parking space numbers and coordinates, as well as the mapping relationship between LED light IDs and light coordinates.

[0065] The parsed real-time ID is matched with the parking space map database pre-stored on the mobile device, and the verification physical coordinates corresponding to the real-time ID are retrieved from the parking space map database.

[0066] The real-time physical coordinates are compared with the verification physical coordinates in the database. If the deviation between the two exceeds a fault tolerance threshold (the document does not specify a specific value), the verification coordinates are used to replace the real-time coordinates as the final output. The verification mechanism in this embodiment aims to improve positioning reliability.

[0067] This embodiment converts the encoded information contained in the high-frequency optical signal into usable positioning data, thereby achieving the technical effect of providing an accurate navigation starting point for subsequent navigation functions.

[0068] Step A700: After receiving the target parking space number input by the real-time user, the mobile terminal matches the physical coordinates of the parking space pre-bound to the target parking space number.

[0069] In this embodiment, after receiving the target parking space number input by the real-time user, the mobile terminal retrieves and matches the target parking space number in the parking space map database to obtain the physical coordinates of the parking space. The physical coordinates of the parking space serve as the navigation endpoint and directly contribute to the navigation path calculation.

[0070] It should be understood that the method for inputting the target parking space number in this embodiment is not limited to this embodiment, including but not limited to: receiving voice commands (such as "navigate to parking space number 105 in area A") through a mobile terminal microphone at the entrance of the underground garage, converting the keywords into a structured parking space number through the local voice engine, and receiving the parking space number via Bluetooth on the mobile terminal at the entrance of the underground garage.

[0071] It should also be understood that each parking space number is unique. In this embodiment, each parking space number is pre-bound to the parking space coordinates so that users can obtain the corresponding physical coordinates of the parking space by entering the parking space number.

[0072] Step A800: Calculate the navigation path based on the real-time physical coordinates and parking space physical coordinates, and output the real-time navigation path.

[0073] Specifically, in this embodiment, the mobile terminal calculates the optimal navigation path using a spatial path planning algorithm based on the user's real-time location coordinates (e.g., 35.2, 18.7) parsed from the light signal of the lamps, and the physical coordinates bound to the target parking space number input by the user (e.g., the coordinate value corresponding to parking space C209), and outputs the real-time navigation path.

[0074] This process directly reuses the high-precision coordinates (0.1-meter accuracy) carried by the light signals of the lamps, and combines them with the garage map topology data (such as passage and obstacle information) to generate a navigation path that conforms to the JGJ / T454-2024 sub-meter positioning standard. Finally, AR arrows are used to dynamically guide the user's movement on the mobile interface.

[0075] This embodiment achieves sub-meter level continuous positioning in an underground space without a network environment by heterogeneously fusing PLC power line carrier and VLC optical coding. At the same time, it reuses lighting fixtures to achieve synchronous transmission of lighting control and navigation signals, achieving the technical effect of low-cost underground navigation while avoiding multipath interference and obstruction interruption.

[0076] This embodiment employs a dual encryption method of PLC power line carrier (physical isolation from network intrusion) + VLC visible light communication (line-of-sight reception to prevent remote eavesdropping), which provides data transmission security far superior to traditional Wi-Fi and avoids the WPA2 vulnerability.

[0077] In one implementation, a navigation path is calculated based on the real-time physical coordinates and the parking space physical coordinates, and the real-time navigation path is output. Then, the method step A800 provided by this invention includes:

[0078] Step A8001: The mobile terminal interaction uses a built-in IMU to obtain angular velocity sequences and triaxial acceleration sequences.

[0079] Step A8002: Integrate the angular velocity sequence and the triaxial acceleration sequence to obtain the real-time motion trajectory.

[0080] Step A8003: Use the real-time navigation path to perform deviation detection on the real-time motion trajectory. When the trajectory deviation scale is greater than the preset trajectory deviation threshold, perform deviation correction compensation on the real-time navigation path.

[0081] In one implementation, the real-time navigation path is used to detect deviations from the real-time motion trajectory. When the trajectory deviation scale is greater than a preset trajectory deviation threshold, correction compensation is performed on the real-time navigation path. Step A8003 of the method provided by the present invention includes:

[0082] Step A8003-1: Decompose the trajectory deviation scale to obtain the trajectory deviation direction and trajectory deviation distance.

[0083] Step A8003-2: If the trajectory deviation distance is less than the preset trajectory deviation threshold, then dynamically adjust the AR navigation arrow pointing angle of the mobile terminal display interface according to the trajectory deviation direction.

[0084] Step A8003-3: If the trajectory deviation distance is greater than the preset trajectory deviation threshold, the user is prompted to re-acquire the optical signal via the mobile terminal.

[0085] Step A8003-4: Decode the optical signal based on the reacquired optical signal, and output the updated ID and updated physical coordinates of the updated lamp.

[0086] Step A8003-5: Calculate the navigation path based on the updated physical coordinates and parking space physical coordinates, and output the updated navigation path.

[0087] Step A8003-6: Perform correction compensation by using the updated navigation path to cover the real-time navigation path.

[0088] Specifically, in this embodiment, the mobile terminal calls the inertial measurement unit (IMU) built into the device to collect the changes in angular velocity (device rotation state) and triaxial linear acceleration (device movement state) during the user's movement in real time, and obtains the angular velocity sequence and triaxial acceleration sequence.

[0089] By integrating the angular velocity sequence and the triaxial acceleration sequence, the real-time motion trajectory of the user is calculated, thus transforming the raw sensor data into usable positioning information.

[0090] The real-time motion trajectory generated by the IMU is spatially compared with the preset navigation path. When the deviation exceeds the preset threshold, the path correction process is initiated.

[0091] The specific implementation of this path repair technique is as follows:

[0092] The detected path deviation is decomposed into vectors to separate the deviation direction (the user's orientation deviation relative to the planned path) and the deviation distance (the straight-line distance between the user and the planned path).

[0093] If the deviation distance is within the tolerance range (e.g., ≤0.5 meters), the path is fine-tuned by dynamically adjusting the pointing angle of the AR navigation arrow. The pointing angle of the arrow is calculated in real time based on the deviation direction, so that the visual guidance always points to the correct path direction.

[0094] If the deviation exceeds the threshold (e.g., >0.5 meters), the user is prompted to rescan the light signals of nearby lights. Here, the user needs to actively capture the signals of new lights to force a refresh of the current position and eliminate the positioning drift caused by the accumulated error of the IMU.

[0095] The user-reacquired optical signal is decoded to obtain the updated ID and updated physical coordinates of the updated lighting fixture. This process reuses the initial positioning process (A600) to ensure the reliability of the coordinate source. Based on this, the initial trajectory generation process (A800) is reused to calculate the navigation path according to the updated physical coordinates and parking space physical coordinates, and output the updated navigation path.

[0096] The updated navigation path is used to cover the real-time navigation path, and the AR guidance information is updated on the mobile interface to complete the correction action.

[0097] In one implementation, the method further includes:

[0098] Step A910: The PLC power communication lighting array periodically broadcasts a calibration signal array via power lines.

[0099] Step A920: After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs multiple offset lamp nodes.

[0100] Step A930: The PLC main control gateway sends coordinate correction commands to the multiple offset lamp nodes to perform local correction through power line carrier phase synchronization.

[0101] Specifically, in this embodiment, the PLC power communication lighting array periodically broadcasts a calibration signal array via power lines. Each signal contains the lighting fixture's unique ID and recorded physical coordinates. This process utilizes a power line carrier channel for data broadcasting, eliminating the need for additional communication lines and directly reusing the power supply line to complete the calibration signal transmission.

[0102] After receiving the calibration signal broadcast by the lights, the Bluetooth beacon array pre-deployed in the parking lot compares the coordinates in the signal with the pre-stored reference coordinates (the reference coordinates are derived from construction survey data). When the actual coordinates of a light fixture are detected to be offset from the reference coordinates by more than 0.3 meters, the light fixture is marked as an offset node, and an offset light fixture list is output, which contains multiple offset light fixture nodes.

[0103] Based on the list of offset nodes output by the Bluetooth beacon, the PLC master control gateway sends coordinate correction commands to designated lighting fixtures using power line carrier phase synchronization technology. Phase synchronization utilizes the waveform characteristics of power signals to achieve sub-meter accuracy calibration (error ≤ 0.3 meters), performing local corrections only for offset nodes to avoid network-wide disturbances.

[0104] This embodiment achieves the technical effect of maintaining sub-meter-level positioning accuracy of the lamp coordinates and realizing zero manual maintenance.

[0105] In one implementation, the method further includes:

[0106] Step A1010: Monitor the wavelet energy entropy value of the first optical signal output by the first PLC power communication lamp.

[0107] Step A1020: When the wavelet energy entropy value suddenly exceeds a preset threshold, it is determined that the first PLC power communication lamp has been blocked.

[0108] Step A1030: After performing the preheating of the mobile terminal's built-in IMU based on the occlusion event determination result, extract the IMU trajectory from the mobile terminal's built-in IMU.

[0109] Step A1040: Interact with the Bluetooth beacon array to obtain the Bluetooth RSSI calibration coordinates of the first PLC power communication lamp.

[0110] Step A1050: Extract the LiFi signal from the first optical signal.

[0111] Step A1060: After dynamically weighting the IMU trajectory, Bluetooth RSSI calibration coordinates, and LiFi signal, map them to the Lie group SE space for joint optimization and output anti-occlusion positioning coordinates.

[0112] It should be understood that the first PLC power communication lamp is an unspecified lamp in the array. In this embodiment, the anti-blocking treatment method for each PLC power communication lamp is consistent. Taking this as an example, the technical solution will be described in detail.

[0113] This embodiment continuously monitors the wavelet energy entropy value of the light signal emitted by the target luminaire. This entropy value is calculated in real time through wavelet transform to quantify the complexity and fluctuation characteristics of the light signal. When an obstruction (such as a pedestrian or vehicle) suddenly appears in the light signal transmission path, the light intensity distribution undergoes nonlinear distortion, causing a drastic change in the wavelet energy entropy value. This monitoring mechanism forms the basis of the perception layer for anti-obstruction processing. The sampling frequency per second is strictly synchronized with the luminaire's light coding frame rate (≥10Hz) to ensure the real-time nature of anomaly detection.

[0114] When the detected abrupt change in wavelet energy entropy exceeds a preset threshold (experimentally calibrated but the specific value is not publicly disclosed), the system determines that the target luminaire has experienced an occlusion event. This threshold is designed based on the difference in the statistical distribution of entropy values ​​before and after occlusion: the sudden increase in entropy value at the moment of occlusion reflects the characteristics of optical path disorder. The determination result triggers the anti-occlusion process, achieving a prediction 0.3 seconds in advance, thus gaining a critical time window for subsequent multi-source compensation.

[0115] Based on the occlusion determination result, the mobile IMU warm-up is immediately initiated: the filtering parameters of the gyroscope and accelerometer are initialized to eliminate sensor cold start drift. After warm-up, the angular velocity sequence (device rotation state) and the three-axis acceleration sequence (device movement state) are extracted in real time, and a continuous IMU trajectory is generated through integration.

[0116] The IMU is switched from standby mode to active positioning source, and the motion trajectory calculation strictly follows the pedestrian dead reckoning (PDR) model to form an inertial navigation base.

[0117] The mobile device invokes a pre-deployed Bluetooth beacon array to obtain the Bluetooth RSSI calibration coordinates of the target light fixture. The Bluetooth beacon calculates its position based on a signal strength attenuation model, and its coordinates are independent of light signal transmission, providing an auxiliary positioning source by penetrating obstructions. The beacon deployment strategy is matched with obstruction hotspots (such as pillars and densely trafficked areas) to ensure that the RSSI positioning error is ≤1.5 meters, forming an anti-obstruction spatial reference layer.

[0118] Despite the obstruction of the optical path, the signal receiver can still capture low-frequency intensity information. Based on this, the residual LiFi signal intensity is extracted from the partially blocked first optical signal. This intensity value is used to calculate the signal-to-noise ratio (SNR), which becomes the core parameter for subsequent dynamic weight allocation, maximizing the preservation of usable optical information.

[0119] The weight coefficients of the three positioning sources are dynamically allocated based on the signal-to-noise ratio (SNR) of the LiFi signal: when SNR>15dB, the LiFi signal is given 80% dominant weight, and when occlusion occurs (SNR≤15dB), the weight is adjusted to a complementary weight of 60% for the IMU trajectory and 40% for the Bluetooth RSSI coordinates. The weight allocation strictly follows the mathematical relationship of the dynamic weight formula in the technical disclosure document. Then, the weighted LiFi signal, IMU motion vector and Bluetooth calibration coordinates are mapped to the three-dimensional Lie group SE(3) space. The mathematical expression of the heterogeneous data is unified by rotation transformation. In this space, the Kalman filter fusion algorithm is executed to effectively suppress the cumulative drift error of the IMU and compensate for the attenuation of the optical signal. Finally, the anti-occlusion positioning coordinates with an error ≤1 meter are output, breaking through the technical bottleneck of the pure LiFi system with >5 seconds of interruption and >3 meters of error in the occlusion scenario, and realizing continuous sub-meter level navigation in the dynamic occlusion environment of the underground garage.

[0120] The above description is merely a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A PLC-based power optical communication positioning system, characterized in that, include: The driver support configuration unit is used to bind PLC driver support to the lighting array in the underground garage, thereby obtaining the PLC power communication lighting array; The gateway configuration unit is used to bind the PLC power communication lighting array to the PLC main control gateway, and then assign a unique ID and physical coordinates to each PLC power communication lighting fixture in the PLC power communication lighting array through the PLC main control gateway. A collaborative instruction sending unit is used by the PLC main control gateway to send synchronization instructions and optical encoding frame structures to the PLC power communication lighting array via power lines to perform clock encoding protocols. An optical signal transmitting unit is used to drive the LED light source to modulate a high-frequency optical signal according to the optical encoding frame structure of the PLC power communication lighting array. The light signal capture unit is used to capture the real-time light signal of the target light fixture through the camera after the user activates the mobile terminal camera. The signal decoding unit is used by the mobile terminal to obtain the real-time ID and real-time physical coordinates by decoding the real-time optical signal; The parking space decoding unit is used to match the target parking space number pre-bound to the target parking space number after the mobile terminal receives the target parking space number input by the real-time user; The navigation path output unit is used to calculate the navigation path based on the real-time physical coordinates and the parking space physical coordinates, and output the real-time navigation path. The system is also used for: The PLC power communication lighting array periodically broadcasts a calibration signal array via power lines. After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs multiple offset lamp nodes; The PLC main control gateway uses power line carrier phase synchronization to send coordinate correction commands to the multiple offset lamp nodes to perform local correction.

2. The PLC-based power optical communication positioning system as described in claim 1, characterized in that, The driver support configuration unit is also used for: The PLC power communication lighting array is obtained by integrating a VLC optical encoding module and a PLC power communication module into each LED lamp in the lighting array. The PLC power communication lighting array is connected to the PLC main control gateway via a power line.

3. The PLC-based power optical communication positioning system as described in claim 1, characterized in that, The signal decoding unit is also used for: After converting the real-time optical signal into digital code, the positioning frame synchronization header is detected; Starting from the frame synchronization header, the digital code is segmented to extract the 16-bit lamp ID segment and the 32-bit coordinate segment; By parsing the 16-bit lamp ID segment and the 32-bit coordinate segment, the real-time ID and real-time physical coordinates are output; The real-time ID is loaded into the parking space map database to match and verify the physical coordinates. The consistency between the verified physical coordinates and the real-time physical coordinates is verified. If they are inconsistent, the verified physical coordinates are used to replace the real-time physical coordinates.

4. The PLC-based power optical communication positioning system as described in claim 1, characterized in that, The navigation path output unit is also used for: The mobile terminal interaction has a built-in IMU to obtain angular velocity sequences and triaxial acceleration sequences; The real-time motion trajectory is obtained by integrating the angular velocity sequence and the triaxial acceleration sequence. The real-time navigation path is used to detect deviations from the real-time motion trajectory. When the trajectory deviation scale is greater than a preset trajectory deviation threshold, the real-time navigation path is corrected and compensated.

5. The PLC-based power optical communication positioning system as described in claim 4, characterized in that, The navigation path output unit is also used for: The trajectory deviation scale is decomposed to obtain the trajectory deviation direction and trajectory deviation distance; If the trajectory deviation distance is less than the preset trajectory deviation threshold, the AR navigation arrow pointing angle of the mobile terminal display interface is dynamically adjusted according to the trajectory deviation direction; If the trajectory deviation distance is greater than the preset trajectory deviation threshold, the user will be prompted to re-acquire the optical signal via the mobile terminal; Based on the reacquired optical signal, the optical signal is decoded, and the updated ID and updated physical coordinates of the updated lamp are output; The navigation path is calculated based on the updated physical coordinates and parking space physical coordinates, and the updated navigation path is output. Correction compensation is performed by using the updated navigation path to overwrite the real-time navigation path.

6. The PLC-based power optical communication positioning system as described in claim 1, characterized in that, The optically encoded frame structure includes a lamp ID field, an X coordinate field, a Y coordinate field, a CRC check field, and a power line carrier dimming command field.

7. The PLC-based power optical communication positioning system as described in claim 1, characterized in that, The system is also used for: Monitor the wavelet energy entropy value of the first optical signal output by the first PLC power communication lamp; When the wavelet energy entropy value changes abruptly beyond a preset threshold, it is determined that the first PLC power communication lamp has been blocked. After performing the preheating of the mobile terminal's built-in IMU based on the occlusion event determination result, the IMU trajectory is extracted from the mobile terminal's built-in IMU; The Bluetooth RSSI calibration coordinates of the first PLC power communication lamp are obtained by interacting with the Bluetooth beacon array. Extract the LiFi signal from the first optical signal; After dynamically weighting the IMU trajectory, Bluetooth RSSI calibration coordinates, and LiFi signal, they are mapped to the Lie group SE space for joint optimization, and the anti-occlusion positioning coordinates are output.

8. A positioning method based on PLC power optical communication, characterized in that, include: By binding PLC driver support to the lighting array in the underground parking garage, a PLC power communication lighting array is obtained; After binding the PLC power communication lighting array to the PLC main control gateway, the PLC main control gateway assigns a unique ID and physical coordinates to each PLC power communication lighting fixture in the PLC power communication lighting array. The PLC main control gateway sends synchronization commands and optical encoding frame structures to the PLC power communication lighting array via power lines to perform clock encoding protocols. The PLC power communication lighting array drives the LED light source to modulate high-frequency light signals according to the optical encoding frame structure; In real time, after the user activates the mobile camera, the camera captures the real-time light signal of the target light fixture. The mobile device obtains the real-time ID and real-time physical coordinates by decoding the real-time optical signal; After receiving the target parking space number input by the real-time user, the mobile terminal matches the physical coordinates of the parking space pre-bound to the target parking space number. The navigation path is calculated based on the real-time physical coordinates and the parking space physical coordinates, and the real-time navigation path is output. The method is also used for: The PLC power communication lighting array periodically broadcasts a calibration signal array via power lines. After receiving the calibration signal array, the Bluetooth beacon array pre-deployed in the parking lot compares the calibration signal array with the reference coordinate array and outputs multiple offset lamp nodes; The PLC main control gateway uses power line carrier phase synchronization to send coordinate correction commands to the multiple offset lamp nodes to perform local correction.

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