High-reliability lamp mutual positioning method, system, equipment and medium

Abstract

The invention provides a high-reliability lamp mutual positioning method, system and device and a medium. The method comprises the following steps: determining a mutual influence relationship between lamps through reference parameters of the lamps with a visible light communication function in a target shopping mall during installation and working state parameters of visible light signals of the lamps; determining an interference feature vector of each lamp in the positioning process according to the mutual influence relationship, the multipath effect of the visible light signal and the interference superposition feature; determining a positioning constraint condition of each lamp, and determining a cooperative positioning parameter of each lamp through all the positioning constraint conditions and all the interference feature vectors; and determining relative positioning information of each lamp in the target shopping mall according to the anti-interference configuration parameter of the visible light signal of each lamp in the positioning process and all the cooperative positioning parameters. By adopting the scheme of the invention, the influence of the multipath effect and signal attenuation between the lamps on mutual positioning of the lamps can be reduced, so that high-reliability mutual positioning of the lamps is realized.

Description

Technical Field

[0001] This application relates to the field of mutual positioning technology, and more specifically, to a highly reliable method, system, device, and medium for mutual positioning of lighting fixtures. Background Technology

[0002] Mutual positioning of luminaires refers to the technical process by which multiple luminaires with sensing and communication capabilities collect and exchange location data in real time through built-in sensors (such as infrared, ultrasonic, and visual sensors) or wireless communication technologies (such as Bluetooth, UWB, and WiFi) to determine their spatial distance, relative orientation, or arrangement relationship, thereby supporting linkage functions such as collaborative dimming, light and shadow splicing, and scene synchronization.

[0003] During the mutual positioning of lighting fixtures, signal superposition and conflict can occur due to the fact that positioning signals from multiple fixtures (such as wireless communication signals and sensor detection signals) may occupy the same frequency band. Simultaneously, reflections from walls and objects in the environment can generate false positioning data. Furthermore, differences in hardware precision of the lighting fixtures, fluctuations in transmission power leading to data misreading, and electromagnetic radiation interference from surrounding electronic devices all contribute to the inaccurate transmission and interpretation of positioning signals, ultimately resulting in decreased positioning accuracy. In existing positioning technologies (such as Bluetooth or Wi-Fi-based signal ranging), actual deployment faces significant challenges: densely deployed lighting fixtures can experience severe mutual interference in their visible light signals; environmental factors such as metal shelves and moving crowds can cause multipath effects and signal attenuation in the visible light signals; and parameter drift caused by installation tilt and aging of the lighting fixtures themselves contributes to the core pain points of low accuracy and poor stability in traditional positioning methods. Therefore, reducing the impact of multipath effects and signal attenuation between lighting fixtures on mutual positioning to achieve highly reliable mutual positioning has become a problem facing the industry. Summary of the Invention

[0004] This application provides a highly reliable method, system, device, and medium for mutual positioning of luminaires, which can reduce the impact of multipath effects and signal attenuation between luminaires on mutual positioning, thereby achieving highly reliable mutual positioning of luminaires.

[0005] In a first aspect, this application provides a highly reliable method for mutual positioning of luminaires, comprising the following steps: Collect the baseline parameters of each lamp with visible light communication function installed in the target shopping mall; Based on all the reference parameters and the operating status parameters of the visible light signals of each lamp during operation, determine the mutual influence relationship between the lamps caused by the visible light signals. Based on the mutual influence relationship, the ranging signals between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal, a coupled analysis of the positioning interference of each lamp is performed to obtain the interference feature vector of each lamp in the positioning process. Determine the positioning constraints of each lamp in the target shopping mall, and then perform collaborative optimization of the preset positioning parameters of each lamp in the target shopping mall through all positioning constraints and all interference feature vectors to obtain the collaborative positioning parameters of each lamp. The anti-interference configuration parameters of the visible light signals of each lamp during the positioning process are obtained. Based on all the cooperative positioning parameters and all the anti-interference configuration parameters, the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process is adaptively compensated, so as to obtain the relative positioning information of each lamp in the target shopping mall.

[0006] In some embodiments, determining the mutual influence relationship between various lamps caused by visible light signals based on all reference parameters and the operating state parameters of the visible light signals of each lamp during operation specifically includes: Obtain the operating status parameters of the visible light signals of each lamp during operation; Denoising is performed on all reference parameters and all operating state parameters to obtain the denoised reference parameters and operating state parameters. The correlation between parameters of each lamp is determined based on the denoised reference parameters and each working state parameter. The mutual influence between the various lamps caused by visible light signals is determined based on all the correlations.

[0007] In some embodiments, the positioning interference of each lamp is coupled and analyzed based on the mutual influence relationship, the ranging signals between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal, to obtain the interference feature vector of each lamp during the positioning process, specifically including: Acquire the distance measurement signals between the positions of various light fixtures in the target shopping mall; Denoise the individual ranging signals to obtain the denoised ranging signals. To obtain the multipath effect and interference superposition characteristics of visible light signals; Identify all sources of interference in the target shopping mall that cause location interference to the lighting fixtures; The degree of influence of each interference source on the lighting fixture is determined based on the described mutual influence relationship; Based on all the influence levels, the denoised ranging signals, the multipath effect of the visible light signal, and the interference superposition characteristics, a coupled analysis is performed on the positioning interference of each lamp to obtain the interference feature vector of each lamp in the positioning process.

[0008] In some embodiments, determining the positioning constraints of each luminaire in the target shopping mall specifically includes: Determine the physical and performance constraints of each light fixture in the target shopping mall; The positioning constraints of each lamp in the target shopping mall are determined based on the physical and performance constraints of each lamp.

[0009] In some embodiments, the pre-set positioning parameters of each lamp in the target shopping mall are collaboratively optimized using all positioning constraints and all interference feature vectors to obtain the collaborative positioning parameters of each lamp. Specifically, these parameters include: Obtain the preset positioning parameters of each light fixture in the target shopping mall; Determine the collaborative positioning constraints of the lighting fixtures in the target shopping mall based on all positioning constraints; Determine the cooperative interference constraints of the lighting fixtures in the target shopping mall based on all interference feature vectors; By applying the cooperative positioning constraints and the cooperative interference constraints to the preset positioning parameters of each lamp, the cooperative positioning parameters of each lamp are obtained.

[0010] In some embodiments, adaptive compensation is performed on the positioning deviations generated by each lamp in the target shopping mall during mutual positioning based on all cooperative positioning parameters and all anti-interference configuration parameters, thereby obtaining the relative positioning information of each lamp in the target shopping mall. Specifically, this includes: Determine the positioning deviation of each light fixture in the target shopping mall during the mutual positioning process; The range of coordinated adjustment for positioning deviation during the mutual positioning process of each lamp is determined based on all the coordinated positioning parameters; Based on all the anti-interference configuration parameters, the anti-interference correction is performed on each collaborative adjustment range to obtain the corrected collaborative adjustment range; The corrected collaborative adjustment ranges are used to adaptively compensate for the positioning deviations of each lamp in the target shopping mall during the mutual positioning process, thereby obtaining the relative positioning information of each lamp in the target shopping mall.

[0011] In some embodiments, the reference parameters include the physical property parameters of the luminaire, location reference parameters, hardware configuration parameters, and installation environment parameters.

[0012] Secondly, this application provides a lamp mutual positioning system, comprising: The data acquisition module is used to collect the reference parameters of each lamp with visible light communication function in the target shopping mall during installation. The processing module is used to determine the mutual influence between the lamps caused by the visible light signals based on all the reference parameters and the operating status parameters of the visible light signals of each lamp during operation; The processing module is also used to perform a coupled analysis of the positioning interference of each lamp based on the mutual influence relationship, the ranging signals between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal, so as to obtain the interference feature vector of each lamp in the positioning process. The processing module is also used to determine the positioning constraints of each lamp in the target shopping mall, and to perform collaborative optimization of the preset positioning parameters of each lamp in the target shopping mall through all positioning constraints and all interference feature vectors to obtain the collaborative positioning parameters of each lamp. The execution module is used to acquire the anti-interference configuration parameters of the visible light signals of each lamp during the positioning process. Based on all the cooperative positioning parameters and all the anti-interference configuration parameters, it adaptively compensates for the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process, thereby obtaining the relative positioning information of each lamp in the target shopping mall.

[0013] Thirdly, this application provides a computer device including a memory and a processor, the memory storing code, and the processor being configured to acquire the code and execute the above-described highly reliable lamp mutual positioning method.

[0014] Fourthly, this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned highly reliable lamp mutual positioning method.

[0015] The technical solutions provided by the embodiments disclosed in this application have the following beneficial effects: The highly reliable method, system, device, and medium for mutual positioning of lamps provided in this application first collects the reference parameters of each lamp with visible light communication function in the target shopping mall during installation; based on all the reference parameters and the working state parameters of the visible light signals of each lamp during operation, the mutual influence relationship between the lamps caused by the visible light signals is determined; based on the mutual influence relationship, the ranging signals between the lamps, and the multipath effect and interference superposition characteristics of the visible light signals, the positioning interference of each lamp is coupled and analyzed to obtain the interference feature vector of each lamp during the positioning process; the positioning constraints of each lamp in the target shopping mall are determined; the preset positioning parameters of each lamp in the target shopping mall are collaboratively optimized through all the positioning constraints and all the interference feature vectors to obtain the collaborative positioning parameters of each lamp; the anti-interference configuration parameters of the visible light signals of each lamp during the positioning process are obtained; and the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process is adaptively compensated based on all the collaborative positioning parameters and all the anti-interference configuration parameters to obtain the relative positioning information of each lamp in the target shopping mall.

[0016] Therefore, in the mutual positioning process of lamps, this application first collects the reference parameters during lamp installation to establish an accurate reference for positioning; secondly, based on the reference parameters and operating state parameters, it determines the mutual influence relationship between lamps, quantifies the sources of multipath effects and signal attenuation, and identifies key areas of signal overlap and energy loss; next, through coupling analysis, it integrates the mutual influence relationship, ranging signal, multipath effects, and interference superposition characteristics to generate an interference feature vector, thereby accurately capturing signal reflection and attenuation patterns in dynamic environments, enabling the system to assess the degree of interference in real time; then, it uses positioning constraints and interference feature vectors to collaboratively optimize preset positioning parameters, producing collaborative positioning parameters, ensuring that the positioning algorithm can adaptively adjust in complex shopping mall environments, balancing the impact of multipath effects and attenuation; finally, it combines anti-interference configuration parameters and collaborative parameters for adaptive deviation compensation, correcting positioning errors caused by signal attenuation and multipath propagation in real time, ultimately obtaining reliable relative positioning information. By adopting the above scheme, the impact of multipath effects and signal attenuation between lamps on mutual positioning can be reduced, achieving highly reliable mutual positioning of lamps. Attached Figure Description

[0017] Figure 1 This is an exemplary flowchart of a highly reliable method for mutual positioning of luminaires according to some embodiments of this application; Figure 2 This is an exemplary flowchart illustrating the determination of mutual influence relationships according to some embodiments of this application; Figure 3 This is an exemplary flowchart illustrating the determination of cooperative positioning parameters according to some embodiments of this application; Figure 4 This is a schematic diagram of the structure of a lamp mutual positioning system according to some embodiments of this application; Figure 5 This is a schematic diagram of the structure of a computer device that implements a highly reliable method for mutual positioning of lamps according to some embodiments of this application. Detailed Implementation

[0018] To better understand the technical solution of this application, the technical solution of this application will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0019] refer to Figure 1 The figure is an exemplary flowchart of a highly reliable mutual positioning method for luminaires according to some embodiments of this application. The highly reliable mutual positioning method for luminaires mainly includes the following steps: In step 101, the reference parameters of each lamp with visible light communication function in the target shopping mall during installation are collected.

[0020] It should be noted that the reference parameters for lamp installation in this application refer to the initial basic data collected during the lamp installation phase, which can characterize the inherent properties of the lamp, the installation geometry, and the characteristics of the surrounding environment. These data reflect the physical boundary conditions, hardware configuration, and the initial influence of the surrounding environment on positioning after lamp installation. The reference parameters include the physical attribute parameters, position reference parameters, hardware configuration parameters, and installation environment parameters of the lamp. Among them, the physical attribute parameters include the lamp model and size; the position reference parameters include the initial coordinates, installation height, and installation angle in the global coordinate system of the shopping mall; the hardware configuration parameters include the ranging module model, communication frequency, and transmission power; and the installation environment parameters include the type and distance of surrounding obstructions and the initial spacing between adjacent lamps.

[0021] In step 102, the mutual influence relationship between the lamps caused by the visible light signal is determined based on all the reference parameters and the operating status parameters of the visible light signal of each lamp during operation.

[0022] In some embodiments, reference Figure 2 As shown, this figure is an exemplary flowchart for determining mutual influence relationships in some embodiments of this application. In this embodiment, the mutual influence relationships between various lamps caused by visible light signals can be determined based on all reference parameters and the operating state parameters of the visible light signals of each lamp during operation, which can be achieved by the following steps: In step 1021, the operating status parameters of the visible light signals of each lamp during operation are obtained; In step 1022, all reference parameters and all working state parameters are denoised to obtain the denoised reference parameters and working state parameters. In step 1023, the correlation degree between parameters of each lamp is determined based on the denoised reference parameters and the working state parameters. In step 1024, the mutual influence between the various lamps caused by visible light signals is determined based on all the correlation degrees.

[0023] It should be noted that the operating status parameters in this application are parameters that change in real time during the actual operation of the luminaire and can characterize its dynamic operating status. They reflect the fluctuations in the electrical operating stability, signal transmission quality, and hardware performance of the luminaire with environmental or its own operating conditions, and thus reflect the potential possibility of the luminaire interfering with the positioning of other luminaires in the vicinity. The operating status parameters include electrical parameters that are directly related to the operating stability, such as the real-time power of the visible light signal, the operating voltage, and the current fluctuation value; signal transmission parameters that affect the quality of positioning signal interaction, such as the ranging signal strength, communication packet loss rate, and signal modulation method; and environmental response parameters that reflect the hardware operating conditions and may indirectly affect the performance of the signal module, such as the temperature of the luminaire housing.

[0024] In specific implementation, all benchmark parameters and all operating state parameters are denoised to obtain the denoised benchmark parameters and operating state parameters. This can be achieved in the following way: For operating state parameters, a sliding window mean filtering method is used, with the window size set to 5 sampling points. The average value of the data within the window is calculated as the filter value of the current point, and outliers deviating from the mean by 3 times the standard deviation are removed, such as peak data with a sudden power jump of more than 10%. For benchmark parameters, the Grubbs criterion is used to remove outlier measurements, and then missing data is supplemented by linear interpolation. Finally, all parameters are standardized by maximum-minimum normalization, mapping the values ​​to the [0,1] interval to ensure uniform parameter magnitude and avoid affecting subsequent correlation calculations. This completes the denoising and standardization of all benchmark parameters and all operating state parameters. Other methods can be used in other embodiments, which are not limited here.

[0025] In addition, in specific implementation, the correlation between parameters of each lamp can be determined according to the denoised reference parameters and the working state parameters as follows: For any two lamps, select key parameter pairs, such as lamp i and lamp j. The key parameter pairs are the power P_i of lamp i and the signal strength value R_j of lamp j. The correlation is calculated using the Pearson correlation coefficient algorithm. The specific steps are: 1. Extract the time series sequences of the two parameters P_i=[p_i1,p_i2,...,p_in] and R_j=[r_j1,r_j2,...,r_jn] from the denoised dataset, where n is the number of sampling points; 2. Calculate the mean μ_P, μ_R, covariance Cov(P_i,R_j)=Σ(p_ik-μ_P)(r_jk-μ_R) / (n-1) and standard deviation of the two sequences. , 3. Substitute the Pearson correlation coefficient formula r_ij=Cov(P_i,R_j) / (σ_P・σ_R) to obtain the correlation degree between the two parameters. Repeat this process to calculate the correlation degree between all key parameter pairs among all lamps. Other methods can be used to determine the correlation degree in other embodiments, which are not limited here.

[0026] In addition, in specific implementation, the mutual influence relationship of each lamp during operation can be determined according to all correlation degrees in the following way: based on all correlation degree results, a threshold is set as follows: |r_ij|>0.7 for strong correlation, 0.3≤|r_ij|≤0.7 for medium correlation, and |r_ij|<0.3 for weak correlation. A lamp-to-lamp mutual influence relationship adjacency matrix is ​​constructed, and the matrix elements are influence level, correlation degree, and interference type. The interference type is determined according to the correlation parameters. For example, the correlation between P_i and R_j is power interference, and the correlation after obstruction correction is signal obstruction interference. The final output mutual influence relationship clarifies the main interference source, influence intensity, and interference type of each lamp. Other methods can be used to determine this in other embodiments, which are not limited here.

[0027] It should be noted that the correlation degree in this application refers to the parameter value of the degree of correlation of key parameters during the operation of two lamps; the mutual influence relationship refers to the relationship of mutual influence between the lamps due to visible light signals during operation. The two together reflect the potential intensity, direction of action and coupling logic of the interference of lamp operation status fluctuations on the positioning-related performance of other lamps. The mutual influence relationship includes the influence level, specific correlation degree value, clear interference type and corresponding key influence.

[0028] In step 103, the positioning interference of each lamp is coupled and analyzed based on the mutual influence relationship, the ranging signal between each lamp in the target shopping mall, the multipath effect of the visible light signal, and the interference superposition characteristics, so as to obtain the interference feature vector of each lamp.

[0029] In some embodiments, the positioning interference of each lamp is coupled and analyzed based on the mutual influence relationship, the ranging signals between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal to obtain the interference feature vector of each lamp in the positioning process. This can be achieved by the following steps: Acquire the distance measurement signals between the positions of various light fixtures in the target shopping mall; Denoise the individual ranging signals to obtain the denoised ranging signals. To obtain the multipath effect and interference superposition characteristics of visible light signals; Identify all sources of interference in the target shopping mall that cause location interference to the lighting fixtures; The degree of influence of each interference source on the lighting fixture is determined based on the described mutual influence relationship; Based on all the influence levels, the denoised ranging signals, the multipath effect of the visible light signal, and the interference superposition characteristics, a coupled analysis is performed on the positioning interference of each lamp to obtain the interference feature vector of each lamp in the positioning process.

[0030] It should be noted that the ranging signal in this application is a wireless signal carrying location distance correlation information transmitted between various lamps in the target shopping mall to achieve mutual positioning. It reflects the spatial distance relationship between lamps, the smoothness of the signal propagation path, and the signal transmission quality. The key information contained in the ranging signal directly determines the basic accuracy of positioning. Specifically, the ranging signal includes the signal flight time between each lamp, Received Signal Strength Indicator (RSSI), signal amplitude, phase offset, and propagation loss.

[0031] In specific implementation, denoising is performed on each ranging signal to obtain the denoised ranging signals. This can be achieved as follows: For random noise and impulse noise present in the ranging signals, a combined denoising scheme of median filtering and moving average filtering is used. First, median filtering is applied to the signal's time-of-flight, RSSI, and amplitude sequences, setting the filter window size to 5. Odd-numbered windows help avoid signal shift. Specifically, the five sampled values ​​within the window are sorted by size, and the median value is taken as the output value of the current window to eliminate impulse noise. Second, moving average filtering is applied to the median-filtered sequence, with a window size of 3. The arithmetic mean of the three values ​​within the window is calculated as the output to suppress random noise. The effect is verified by calculating the signal-to-noise ratio (SNR). The SNR is required to be ≥25dB, where SNR = 10lg(signal power / noise power). If the requirement is not met, the signals need to be re-acquired and the filter window adjusted. Finally, the denoised ranging signals are obtained. Other processing methods can be used in other embodiments, which are not limited here.

[0032] It should be noted that the multipath effect of visible light signals in this application refers to the phenomenon that when the visible light signal emitted by the lamp propagates in the target shopping mall space, in addition to the direct wave that directly reaches the receiving end, it is also reflected by objects such as walls, floors, and shelves to form multiple reflected waves. The signal distortion is caused by the superposition of signals from different paths at the receiving end. This reflects the degree of influence of the shopping mall space structure on the visible light propagation path and the complexity of signal propagation. The visible light signal specifically includes characteristic parameters such as the multipath delay difference between the direct wave and the reflected wave, the amplitude attenuation ratio of the reflected wave relative to the direct wave, and the signal phase shift caused by the reflected wave. The interference superposition characteristic refers to the comprehensive characteristics of the superposition of each interference signal and the positioning and ranging signal in the time and frequency domains when multiple interference sources act simultaneously in the shopping mall. This reflects the degree of distortion and superposition law of the positioning signal under the combined action of multiple interferences. The interference superposition characteristic specifically includes the superposition fluctuation amplitude of the signal amplitude in the time domain, the deviation superposition value of the received optical power, and characteristic parameters such as the spectral peak distribution, harmonic distortion rate, and frequency band overlap of the interference signal and the positioning signal in the frequency domain. The two together constitute the core attributes of interference in visible light positioning.

[0033] In addition, it should be noted that the interference sources in this application include internal lighting fixtures in the target shopping mall that are related to other lighting fixtures and cause interference due to power fluctuations and signal radiation, as well as external factors in the shopping mall environment that affect the transmission of ranging signals, such as electromagnetic interference sources such as wireless and Bluetooth devices whose operating frequency bands overlap with the ranging signal, physical obstructions such as metal ducts and temporary shelves that block the propagation path of ranging signals, and structures such as walls and columns that cause multipath reflection of signals. These reflect various interference factors that may cause attenuation, distortion, or propagation path deviation of ranging signals during the mutual positioning process of lighting fixtures, thereby demonstrating the environmental complexity of positioning signal transmission and the potential interference risks faced by positioning accuracy.

[0034] In addition, in specific implementation, the influence of each interference source on the lighting fixture can be determined according to the aforementioned mutual influence relationship in the following way: The influence is quantified using the Analytic Hierarchy Process (AHP) + signal attenuation model. First, an AHP judgment matrix is ​​constructed: the influence of the interference source on positioning accuracy is the target layer, the interference source type is the criterion layer, and each specific interference source is the scheme layer. The weights of the criterion layer are compared pairwise, and the weights are calculated using the sum-product method. For example, internal power interference has a weight of 0.5, external electromagnetic interference 0.3, and multipath reflection 0.2, and a consistency check is performed. Second, the influence of the interference source is calculated using the signal attenuation model. Physical influence intensity: For internal interference sources, the signal attenuation is calculated using a free space propagation model, for example, L=20lg(4πd / λ), where d is the distance between the interference source and the target lamp, and λ is the wavelength of the ultra-wideband signal. The smaller the attenuation, the stronger the influence. For external interference sources, the influence is characterized by the ratio of interference signal intensity to ultra-wideband signal intensity, i.e., interference signal intensity / ultra-wideband signal intensity. The third step is to calculate the influence degree = criterion layer weight × physical influence intensity, normalized to the [0,1] interval, to obtain the influence degree of each interference source on the lamp. Other methods can be used to determine the influence degree in other embodiments, which are not limited here.

[0035] Furthermore, in specific implementation, the positioning interference of each lamp is coupled and analyzed based on all influence degrees, the denoised ranging signals, the multipath effect of the visible light signal, and the interference superposition characteristics. The interference feature vector of each lamp in the positioning process can be obtained in the following way: a linear coupled interference model is constructed to quantify the superposition effect of multiple interference sources, and each influence degree is input. The denoised ranging signals and the characteristics of multipath effects and interference superposition, coupled interference value CI=Σ(w i ×(ΔToF / ToF0+ΔP / P0+D×H)), where w iThe i-th influence degree, ΔToF is the ToF deviation caused by multipath, ΔP is the optical power deviation caused by interference superposition, ToF0 and P0 are the standard values ​​without interference, D is the value of multipath delay difference, and H is the harmonic distortion rate. Based on this model, a 6-dimensional interference feature vector is extracted: 1. Comprehensive interference intensity, i.e., CI normalized value; 2. Multipath influence coefficient, i.e., the ratio of reflected wave amplitude to direct wave amplitude; 3. Interference superposition fluctuation frequency, i.e., the dominant frequency corresponding to the peak value of the frequency domain spectrum; 4. Interference duration, i.e., the average duration of received optical power deviation exceeding the threshold in a single interference event; 5. Interference source concentration, i.e., the proportion of interference sources with influence degree ≥ 0.5; 6. Signal phase stability, i.e., the normalized value of the standard deviation of the phase offset sequence. All feature dimensions are mapped to the [0,1] interval through a normalization method, finally forming a 1×6-dimensional interference feature vector in the positioning process of each lamp. The linear coupled interference model first determines the model input variables: the influence of the interference source is used as the core weight, calculated using the analytic hierarchy process (AHP) and normalized to the [0,1] interval. For example, multipath interference weight is 0.4, ambient light interference weight is 0.3, and electromagnetic interference weight is 0.3. Two types of key parameters are used: first, signal deviation parameters, such as the ratio of the time-of-flight deviation ΔToF caused by multipath interference to the standard ToF (ΔToF / ToF0), and the ratio of the received optical power deviation ΔP caused by interference superposition to the standard power P0 (ΔP / P0); second, environmental and interference characteristic parameters, such as the product of the multipath delay difference D and the harmonic distortion rate H (D×H), reflecting the coupling effect of multipath interference and frequency domain interference. Next, a linear combination rule is designed: the influence of each interference source is used as a weight, multiplied by the corresponding signal deviation parameter or characteristic parameter, and then all product terms are summed. The formula can be expressed as CI=CI=Σ(w i ×(ΔToF / ToF0+ΔP / P0+D×H)); Finally, define the model output: the output result is the combined value of coupling interference CI, normalized to [0,1]. This value directly reflects the total interference intensity of the positioning signal under the combined action of multiple interferences. The model as a whole also needs to include a parameter standardization module and a weight verification step, and finally form a linear coupling interference model that can be directly used for interference feature analysis. Other methods can also be used for analysis in other embodiments, which are not limited here.

[0036] It should be noted that the influence degree in this application represents the parameter value of the degree of influence of each interference source in the target shopping mall on the positioning process of the lamps, reflecting the strength, priority and coupling potential of different interference sources on the transmission quality and positioning accuracy of the lamp ranging signal; the interference feature vector represents the comprehensive characteristics of the interference faced by the lamps in the positioning process and the potential impact characteristics of the positioning deviation caused by such interference, which can be used to perform interference suppression analysis on the lamp positioning process.

[0037] In step 104, the positioning constraints of each lamp in the target shopping mall are determined. The preset positioning parameters of each lamp in the target shopping mall are optimized collaboratively by all positioning constraints and all interference feature vectors to obtain the collaborative positioning parameters of each lamp.

[0038] In some embodiments, determining the positioning constraints of each luminaire in the target shopping mall can be achieved by the following steps: Determine the physical and performance constraints of each light fixture in the target shopping mall; The positioning constraints of each lamp in the target shopping mall are determined based on the physical and performance constraints of each lamp.

[0039] In practical implementation, the physical and performance constraints of each light fixture in the target shopping mall can be determined in the following way: Establish a global coordinate system for the target shopping mall as the constraint benchmark: Using a total station combined with a laser rangefinder, with the intersection of the main entrance and ground as the origin (0,0,0), set the X-axis along the mall's long axis, the Y-axis along the short axis, and the Z-axis perpendicular to the ground. The coordinate system is calibrated by measuring the coordinates of fixed reference objects such as walls and columns. Simultaneously, the mall's architectural drawings are retrieved to verify the spatial dimensions, clarifying the overall X-axis range from 0 to the mall's actual length and the Y-axis range from 0 to the mall's actual width, forming a spatial boundary benchmark. Based on this, physical constraints are determined: For each light fixture, based on the benchmark parameters collected during the installation phase, the installation height is fixed as a Z-axis value to avoid vertical positioning deviations; referencing the initial phase... The measured distance between adjacent light fixtures is used to set geometric distance constraints, allowing fluctuations within 95% to 105% of the initial distance to prevent conflicts between the positioning results and surrounding light fixtures, ceiling structures, or ventilation ducts. Simultaneously, physical constraints related to obstructions are added based on on-site survey records, such as a minimum horizontal distance of ≥30cm between a light fixture and a metal obstruction to avoid severe obstruction of the signal propagation path. Performance constraints are then determined: first, the purpose of positioning is clarified with the mall management, and core accuracy constraints are set based on industry-standard data. Then, performance constraints are set based on statistical analysis of previous signal measurement data, such as an ultra-wideband signal packet loss rate ≤1% and a received signal strength indication ≥-75dBm, ensuring that the positioning signal transmission quality meets accuracy requirements. Other methods can be used to determine these constraints in other embodiments, which are not limited here.

[0040] In addition, in specific implementation, the positioning constraints of each lamp in the target shopping mall can be determined according to the physical and performance constraints of each lamp in the following way: physical constraints such as spatial boundaries (X and Y axis range), fixed installation height, and geometric spacing fluctuation range, and performance constraints such as positioning error and signal packet loss rate are organized into a structured constraint list according to the lamp number, constraint type, quantitative index, and verification standard. The feasibility of the constraints is verified by sampling and actual measurement with a laser rangefinder. For example, it is checked whether the actual installation position of the lamp is within the spatial boundary and whether the adjacent spacing meets the fluctuation requirements. Finally, a unique and executable positioning constraint is formed for each lamp. Other methods can be used to determine the constraints in other embodiments, which are not limited here.

[0041] It should be noted that the physical constraints in this application refer to the objective and insurmountable limitations formed by the spatial structure of the target shopping mall, the installation characteristics of the lighting fixtures, and the surrounding environment, reflecting the physical boundaries and environmental adaptation requirements that the lighting fixture positioning must follow; the performance constraints refer to the functional compliance requirements set by industry standards for the positioning purpose of the lighting fixtures in the shopping mall, reflecting the accuracy level and signal transmission quality baseline that the positioning results must achieve; the positioning constraints refer to the physical and performance limitations in the lighting fixture positioning process in the target shopping mall, reflecting the core requirements for the lighting fixture positioning to achieve the expected function under objective physical conditions, and can be used to provide clear boundary criteria and compliance basis for the collaborative optimization of positioning parameters, ensuring that the positioning results not only conform to the actual site environment but also meet the needs of precise positioning.

[0042] In some embodiments, reference Figure 3 As shown, this figure is an exemplary flowchart of determining cooperative positioning parameters in some embodiments of this application. In this embodiment, the cooperative positioning parameters of each lamp in the target shopping mall are optimized by cooperating with all positioning constraints and all interference feature vectors. The cooperative positioning parameters of each lamp can be obtained by the following steps: In step 1041, the preset positioning parameters of each lamp in the target shopping mall are obtained; In step 1042, the cooperative positioning constraints of the lamps in the target shopping mall are determined based on all the positioning constraints. In step 1043, the cooperative interference constraints of the lighting fixtures in the target shopping mall are determined based on all the interference feature vectors; In step 1044, the preset positioning parameters of each lamp are constrained by the cooperative positioning constraint and the cooperative interference constraint to obtain the cooperative positioning parameters of each lamp.

[0043] It should be noted that the positioning parameters in this application refer to the parameters that the target shopping mall lighting fixtures rely on to achieve mutual positioning, characterizing the positioning configuration and spatial position reference. They reflect the basic hardware configuration status of the lighting fixture positioning, the initial / optimized spatial position information, and the adjustment direction of adapting to positioning constraints and anti-interference requirements. They directly determine the initial positioning accuracy and collaborative adaptation capability. The positioning parameters include the position coordinates in the global coordinate system, the transmission gain of the ranging module, and the configuration parameters of the signal sampling frequency.

[0044] In practical implementation, determining the collaborative positioning constraints of the lights in the target shopping mall based on all positioning constraints can be achieved in the following way: Based on the positioning constraints of each light fixture, a global collaborative positioning constraint is formed through the constraint matrix integration method. First, an m×n dimensional constraint matrix is ​​constructed, where m is the number of lights and n is the constraint type, including five types of constraints: spatial boundary, fixed height, geometric spacing, positioning error, and signal performance. The matrix elements are the quantitative indicators of the constraints corresponding to a single light fixture. For example, the X-axis constraint is denoted as [X_min, X_max], and the positioning error constraint is denoted as ≤3cm. Then, logical verification is performed. Global conflict constraints are eliminated. For example, when the maximum adjustment of the X-axis of lamp A conflicts with the spacing constraint of lamp B, the spacing constraint is used to correct the X-axis range first, and finally a cooperative positioning constraint condition is formed. The unified rule that all lamps must follow is clarified: all lamps X∈[0, mall length], Y∈[0, mall width], Z=fixed height, the spacing between any two adjacent lamps ∈[initial spacing × 95%, initial spacing × 105%], the global positioning error is ≤3cm, and the signal packet loss rate is ≤1%. Here, ∈ means belonging to. Other methods can be used to determine this in other embodiments, which are not limited here.

[0045] In addition, in specific implementation, the cooperative interference constraints of the lamps in the target shopping mall can be determined based on all interference feature vectors in the following way: The cooperative interference constraints are constructed using the entropy weight method and interference intensity weighting. First, the 1×5-dimensional interference feature vector (interference intensity F1, frequency F2, duration F3, interference source concentration F4, signal stability F5) of each lamp is normalized, i.e., F'_i=(F_i-F_i(min)) / (F_i(max)-F_i(min)). Second, the objective weights of each feature dimension are calculated using the entropy weight method: First, the entropy value H_j of the j-th feature is calculated as H_j=-k×Σ(P_ij×lnP_ij), where k=1 / lnm, m is the number of lamps, and P_ij=F'_j. The third step is to calculate the interference comprehensive index S = Σ(w_j × F'_j) for each lamp, and then calculate the weight w_j = (1-H_j) / Σ(1-H_j); based on S, set the cooperative interference constraint: the adjustment amount Δ (including ΔX, ΔY, ΔG) of the lamp positioning parameters must satisfy Δ≤k×(1-S), where k is the basic adjustment threshold, which is 2cm or 1dBm, set according to the positioning accuracy requirements, and the adjustment direction of the strong interference source lamp S is greater than or equal to 0.6 and opposite to that of the interfered lamp. For example, if the interference source lamp is adjusted in the positive direction of the X-axis, the interfered lamp needs to be adjusted in the negative direction of the X-axis or zero to avoid interference superposition. Finally, the cooperative interference constraint of the lamps in the target shopping mall is obtained. In other embodiments, other methods can be used to determine it, which is not limited here.

[0046] In addition, in specific implementation, the cooperative positioning parameters of each lamp are obtained by coordinating the preset positioning parameters of each lamp through the cooperative positioning constraints and the cooperative interference constraints. This can be achieved in the following way: the particle swarm optimization algorithm is used for optimization. The specific operation is as follows: 1. Initialize the particle swarm: each particle corresponds to a set of all lamp positioning parameters. The number of particles is set to 2×Q, where Q is the number of lamps. The initial value of the parameters is the preset positioning parameters, and the adjustment range is limited to the interval of the cooperative positioning constraints; 2. Construct the objective function: minF=Σ(ΔX_i²+ΔY_i²+ΔG_i²)+λ×Σ(S_i×|Δ_i|), where λ is the interference penalty coefficient, which is taken as 0.8, to balance the parameter stability and anti-interference requirements. 3. Iterative Optimization: The fitness of each generation of particles is calculated according to the objective function. The smaller the minF value, the higher the fitness. The parameters corresponding to the historical best fitness of the individual particle at its best position and the parameters corresponding to the historical best fitness of all particles at the global best position are updated. The number of iterations is set to 100 generations, and the convergence condition is that the change of the global best F value for 10 consecutive generations is ≤0.001. 4. Constraint Verification and Output: For the converged global best parameter combination, the parameters of each lamp are verified one by one to see if they meet the cooperative positioning constraints and cooperative interference constraints. For example, the coordinates are within the spatial range and the adjustment amount meets the Δ threshold. After verification, the parameters are split according to the lamp number to obtain the cooperative positioning parameters of each lamp. Other constraints can be used in other embodiments, which are not limited here.

[0047] It should be noted that the collaborative positioning constraints in this application represent the globally unified restrictions on the positioning of lighting fixtures in the target shopping mall. They reflect the spatial boundaries, geometric relationships, and accuracy baselines that the positioning of the lighting fixture group must follow, ensuring that the overall positioning results meet the physical environment and functional requirements of the shopping mall. The collaborative interference constraints represent the targeted restriction rules for interference of the lighting fixtures in the target shopping mall. They reflect the specific requirements for the adjustment range and direction of positioning parameters to avoid interference superposition, embodying the balance between anti-interference and positioning stability. The collaborative positioning parameters represent the final positioning configuration obtained after optimizing the preset parameters of each lighting fixture, reflecting the optimal positioning scheme for each lighting fixture under the dual requirements of global collaboration and anti-interference.

[0048] In step 105, the anti-interference configuration parameters of the visible light signals of each lamp during the positioning process are obtained. Based on all the cooperative positioning parameters and all the anti-interference configuration parameters, the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process is adaptively compensated, thereby obtaining the relative positioning information of each lamp in the target shopping mall.

[0049] It should be noted that the anti-interference configuration parameters in this application refer to the parameters of specific visible light signal adjustment items set to suppress the influence of interference and ensure positioning accuracy. They also reflect the lamp's adaptation strategy to specific interference, the dynamic adjustment direction of anti-interference capability, and the degree of fit between anti-interference measures and interference characteristics and positioning accuracy requirements. The anti-interference configuration parameters include visible light signal filtering parameters, signal gain adjustment coefficient, ranging algorithm switching threshold and other signal adaptation parameters, as well as timing optimization parameters such as low-pass filter cutoff frequency and sampling frequency adjustment value.

[0050] In some embodiments, adaptive compensation is performed on the positioning deviations generated by each lamp in the target shopping mall during mutual positioning based on all cooperative positioning parameters and all anti-interference configuration parameters, thereby obtaining the relative positioning information of each lamp in the target shopping mall. This can be achieved by the following steps: Determine the positioning deviation of each light fixture in the target shopping mall during the mutual positioning process; The range of coordinated adjustment for positioning deviation during the mutual positioning process of each lamp is determined based on all the coordinated positioning parameters; Based on all the anti-interference configuration parameters, the anti-interference correction is performed on each collaborative adjustment range to obtain the corrected collaborative adjustment range; The corrected collaborative adjustment ranges are used to adaptively compensate for the positioning deviations of each lamp in the target shopping mall during the mutual positioning process, thereby obtaining the relative positioning information of each lamp in the target shopping mall.

[0051] In practice, the positioning deviation of each lamp in the target shopping mall during mutual positioning can be determined in the following way: Based on the optimized coordinates (X_opt, Y_opt, Z_opt) in the cooperative positioning parameters as the theoretical position reference, the actual distance values ​​between lamps are collected in real time through the ultra-wideband ranging module, and the real-time positioning coordinates (X_real, Y_real, Z_real) of each lamp are calculated by combining the trilateration method. The positioning deviation ΔP is calculated using the Euclidean distance formula. Simultaneously, the deviation direction and corresponding ranging signal quality parameters, such as RSSI and signal amplitude, are recorded to obtain the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process. In other embodiments, other methods can be used to determine this, which are not limited here.

[0052] In addition, in specific implementation, the collaborative adjustment range of positioning deviation during the mutual positioning process of each lamp can be determined by the following method based on all collaborative positioning parameters: taking the collaborative positioning parameters as the center, and combining the positioning deviation during the mutual positioning process of each lamp, the coordinate adjustment boundary of each lamp is set. For example, the collaborative adjustment range of the X-axis is [X_opt-3cm, X_opt+3cm], the Y-axis is similar, and the adjustment range of the Z-axis is set to [Z_opt-0.5cm, Z_opt+0.5cm] because the installation height is fixed. The value added or subtracted in the adjustment range is the positioning deviation. At the same time, according to the mutual influence relationship between lamps, the adjustment range of strongly correlated lamps (correlation degree |r|≥0.7) needs to be linked and constrained. For example, the X-axis adjustment amount ΔX_A of lamp A and ΔX_B of lamp B need to satisfy |ΔX_A+ΔX_B|≤2cm to avoid the spacing from exceeding the constraint range due to individual adjustment, so as to obtain the collaborative adjustment range of positioning deviation during the mutual positioning process of each lamp. Other methods can also be used to determine this in other embodiments, which are not limited here.

[0053] In addition, in specific implementation, anti-interference correction is performed on each coordinated adjustment range according to all anti-interference configuration parameters. The corrected coordinated adjustment ranges can be implemented in the following way: the coordinated adjustment range is dynamically corrected based on the filtering parameters and signal adaptation parameters in the anti-interference configuration parameters. If the real-time acquired RSSI value is lower than -80dBm and the signal interference is weak, the adjustment range is expanded to adapt to the signal fluctuation. If high-frequency pulse interference is detected, Kalman filtering correction is enabled, and the range boundary is adjusted according to the filtered deviation prediction value. For example, when the filtered prediction deviation ΔP_pred > 2cm, the center of the adjustment range is shifted 0.5cm in the direction of the prediction deviation. For multipath reflection interference, the real-time coordinates are recalculated using the time difference of arrival algorithm, and the Z-axis adjustment weight is adjusted according to the algorithm characteristics to obtain the corrected coordinated adjustment ranges. Other correction methods can also be used in other embodiments, which are not limited here.

[0054] In addition, in specific implementation, the relative positioning information of each lamp in the target shopping mall can be obtained by adaptively compensating for the positioning deviation generated by each lamp during mutual positioning through the corrected cooperative adjustment ranges. This can be achieved in the following way: a proportional-integral-derivative (PID) controller is used to achieve deviation compensation. The corrected cooperative adjustment range is used as the output constraint of the PID controller. The input of the PID controller is the positioning deviation ΔP. The proportional coefficient Kp is dynamically adjusted according to the interference intensity. Kp=0.6 for strong interference, Kp=0.4 for medium interference, and Kp=0.2 for weak interference. The integral coefficient Ki=0.1 is used to eliminate steady-state error, and the derivative coefficient Kd=0.3 to suppress oscillation. The controller outputs compensation amounts ΔX_comp, ΔY_comp, and ΔZ_comp, which must satisfy ΔX_comp∈the corrected X-axis adjustment range and ΔY_comp∈the corrected Y-axis adjustment range. The Z-axis adjustment range and the Z-axis adjustment range after correction are defined as follows: The compensated coordinates are (X_real+ΔX_comp, Y_real+ΔY_comp, Z_real+ΔZ_comp). Taking the reference light fixture at the center of the shopping mall as the origin, the relative coordinates of each light fixture are calculated (ΔX_rel=X_comp-X_ref, ΔY_rel=Y_comp-Y_ref, ΔZ_rel=Z_comp-Z_ref), where (X_ref, Y_ref, Z_ref) are the collaborative positioning parameters of the reference light fixture. The relative positioning error is verified by sampling with a laser rangefinder (sampling ratio ≥10%) to ensure that the relative positioning error is ≤3cm. After verification, the relative positioning information of each light fixture in the target shopping mall is output. The relative positioning information includes the relative coordinates, the distance from the reference light fixture, and the azimuth angle. Other compensation methods can be used in other embodiments, which are not limited here.

[0055] It should be noted that the positioning deviation in this application represents the difference between the actual positioning coordinates and the collaborative positioning parameters when the lights in the target shopping mall are positioning each other, reflecting the degree of positional deviation caused by factors such as interference and environmental changes during the positioning process; the collaborative adjustment range represents the coordinate adjustment boundary interval set based on the collaborative positioning parameters, reflecting the parameter adjustment limit allowed to correct positioning deviation and ensure global positioning consistency, avoiding constraint conflicts caused by individual adjustments; the relative positioning information represents the spatial relative positional relationship between the lights in the target shopping mall. The relative positioning information includes the relative coordinates of each light, the straight-line distance from the reference light, the azimuth angle (such as the horizontal rotation angle θ centered on the reference light), and the relative spacing and relative height difference between adjacent lights, which characterize the spatial relative positional relationship of all lights in the shopping mall, with the reference light as the reference origin and after deviation adaptive compensation.

[0056] In another aspect, in some embodiments, this application provides a lamp mutual positioning system, referring to... Figure 4 The figure is a schematic diagram of the structure of a lamp mutual positioning system according to some embodiments of this application. The lamp mutual positioning system 400 includes: a data acquisition module 401, a processing module 402, and an execution module 403, which are described below: The acquisition module 401 in this application is mainly used to acquire the reference parameters of each lamp with visible light communication function in the target shopping mall during installation. Processing module 402, in this application, is used to determine the mutual influence relationship between each lamp caused by the visible light signal based on all reference parameters and the working state parameters of the visible light signal of each lamp during operation; It should be noted that the processing module 402 in this application is also used to perform a coupled analysis of the positioning interference of each lamp based on the mutual influence relationship, the ranging signals between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal, so as to obtain the interference feature vector of each lamp in the positioning process. In addition, it should be noted that the processing module 402 in this application is also used to determine the positioning constraints of each lamp in the target shopping mall, and to perform collaborative optimization of the preset positioning parameters of each lamp in the target shopping mall through all positioning constraints and all interference feature vectors to obtain the collaborative positioning parameters of each lamp. The execution module 403 in this application is mainly used to obtain the anti-interference configuration parameters of the visible light signals of each lamp during the positioning process, and to adaptively compensate for the positioning deviation generated by each lamp in the target shopping mall during the mutual positioning process based on all the cooperative positioning parameters and all the anti-interference configuration parameters, so as to obtain the relative positioning information of each lamp in the target shopping mall.

[0057] In addition, this application also provides a computer device, the computer device including a memory and a processor, the memory storing code, and the processor being configured to acquire the code and execute the above-described highly reliable lamp mutual positioning method.

[0058] In some embodiments, reference Figure 5 The figure is a schematic diagram of the structure of a computer device for implementing a highly reliable lamp mutual positioning method according to some embodiments of this application. The highly reliable lamp mutual positioning method in the above embodiments can be achieved through... Figure 5 The computer device shown is used to implement this, and the computer device 500 includes at least one processor 501, a communication bus 502, a memory 503, and at least one communication interface 504.

[0059] Processor 501 can be a general-purpose central processing unit (CPU) or an application-specific integrated circuit (ASIC).

[0060] The communication bus 502 can be used to transmit information between the aforementioned components.

[0061] Memory 503 may be a read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, or electrically erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM) or other optical disc storage, optical disc storage (including compressed optical discs, laser discs, optical discs, digital versatile optical discs, Blu-ray discs, etc.), magnetic disks or other magnetic storage devices, or any other medium capable of carrying or storing desired program code in the form of instructions or data structures and accessible by a computer, but not limited thereto. Memory 503 may exist independently and be connected to processor 501 via communication bus 502. Memory 503 may also be integrated with processor 501.

[0062] The memory 503 stores program code for executing the scheme of this application, and its execution is controlled by the processor 501. The processor 501 executes the program code stored in the memory 503. The program code may include one or more software modules. The method used in the above embodiments can be implemented by the processor 501 and one or more software modules in the program code in the memory 503.

[0063] Communication interface 504 uses any transceiver-like device to communicate with other devices or communication networks, such as Ethernet, radio access network (RAN), wireless local area networks (WLAN), etc.

[0064] In a specific implementation, as one example, a computer device may include multiple processors, each of which may be a single-core (single-CPU) processor or a multi-core (multi-CPU) processor. Here, a processor may refer to one or more devices, circuits, and / or processing cores used to process data (e.g., computer program instructions).

[0065] The aforementioned computer device can be a general-purpose computer device or a special-purpose computer device. In specific implementations, the computer device can be a desktop computer, a portable computer, a network server, a handheld digital assistant (PDA), a mobile phone, a tablet computer, a wireless terminal device, a communication device, or an embedded device. This application does not limit the type of computer device.

[0066] In addition, this application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described highly reliable lamp mutual positioning method.

[0067] Although preferred embodiments of this application have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of this application.

[0068] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Therefore, if such modifications and variations fall within the scope of the claims of this application and their equivalents, this application also intends to include such modifications and variations.

Claims

1. A high-reliability method for mutual positioning of luminaires, characterized in that, The method comprises the following steps: Collecting reference parameters of each lamp with visible light communication function in the target supermarket during installation; Determining mutual influence relationship between each lamp due to visible light signal according to all reference parameters and working state parameters of visible light signal of each lamp during operation; Coupling analysis of positioning interference of each lamp according to mutual influence relationship, ranging signal between each lamp, and multipath effect and interference superposition characteristics of visible light signal, to obtain interference characteristic vector of each lamp during positioning process; Determining positioning constraint conditions of each lamp in the target supermarket, and cooperatively optimizing preset positioning parameters of each lamp in the target supermarket through all positioning constraint conditions and all interference characteristic vectors, to obtain cooperative positioning parameters of each lamp; Obtaining anti-interference configuration parameters of visible light signal of each lamp during positioning process, and adaptively compensating positioning deviation generated in mutual positioning process of each lamp in the target supermarket according to all cooperative positioning parameters and all anti-interference configuration parameters, to obtain relative positioning information of each lamp in the target supermarket.

2. The method of claim 1, wherein, The step of determining mutual influence relationship between each lamp due to visible light signal according to all reference parameters and working state parameters of visible light signal of each lamp during operation specifically comprises: Obtaining working state parameters of visible light signal of each lamp during operation; Performing denoising processing on all reference parameters and all working state parameters, to obtain denoised reference parameters and working state parameters of each lamp; Determining correlation degree of parameters between each lamp according to denoised reference parameters and working state parameters of each lamp; Determining mutual influence relationship between each lamp due to visible light signal according to all correlation degrees.

3. The method of claim 1, wherein, The step of coupling analysis of positioning interference of each lamp according to mutual influence relationship, ranging signal between each lamp, and multipath effect and interference superposition characteristics of visible light signal, to obtain interference characteristic vector of each lamp during positioning process specifically comprises: Obtaining ranging signal of positions between each lamp in the target supermarket; Performing denoising processing on each ranging signal, to obtain denoised ranging signal of each lamp; Obtaining multipath effect and interference superposition characteristics of visible light signal; Obtaining each interference source existing positioning interference to the lamp in the target supermarket; Determining influence degree of each interference source to the lamp according to mutual influence relationship; Coupling analysis of positioning interference of each lamp according to all influence degrees, denoised ranging signal of each lamp, multipath effect and interference superposition characteristics of visible light signal, to obtain interference characteristic vector of each lamp during positioning process.

4. The method of claim 1, wherein, The step of determining positioning constraint conditions of each lamp in the target supermarket specifically comprises: Determining physical constraint and performance constraint of each lamp in the target supermarket; Determining positioning constraint conditions of each lamp in the target supermarket according to physical constraint and performance constraint of each lamp.

5. The method of claim 1, wherein, The step of cooperatively optimizing preset positioning parameters of each lamp in the target supermarket through all positioning constraint conditions and all interference characteristic vectors, to obtain cooperative positioning parameters of each lamp specifically comprises: Obtaining preset positioning parameters of each lamp in the target supermarket; determine a cooperative positioning constraint condition of the lamps in the target shopping mall according to all the positioning constraint conditions; determine a cooperative interference constraint of the lamps in the target shopping mall according to all the interference eigenvectors; cooperatively constrain the positioning parameters preset for each lamp through the cooperative positioning constraint condition and the cooperative interference constraint, to obtain the cooperative positioning parameters of each lamp.

6. The method of claim 1, wherein, adaptively compensate for the positioning deviation of each lamp in the target shopping mall in the mutual positioning process according to all the cooperative positioning parameters and all the anti-interference configuration parameters, to obtain the relative positioning information of each lamp in the target shopping mall, specifically including: determine the positioning deviation of each lamp in the target shopping mall in the mutual positioning process; determine a cooperative adjustment range of the positioning deviation of each lamp in the mutual positioning process according to all the cooperative positioning parameters; anti-interference correct each cooperative adjustment range according to all the anti-interference configuration parameters, to obtain the corrected cooperative adjustment range of each lamp; adaptively compensate for the positioning deviation of each lamp in the target shopping mall in the mutual positioning process through the corrected cooperative adjustment range, to obtain the relative positioning information of each lamp in the target shopping mall.

7. The method of claim 1, wherein, The reference parameters include physical attribute parameters, position reference parameters, hardware configuration parameters, and installation environment parameters of the lamps.

8. A system for mutual positioning of luminaires, characterized in that including: a collection module, configured to collect reference parameters of each lamp with visible light communication function in the target shopping mall when the lamp is installed; a processing module, configured to determine the mutual influence relationship between each lamp due to the visible light signal according to all the reference parameters and the working state parameters of the visible light signal of each lamp when the lamp is running; The processing module is further configured to couple analyze the positioning interference of each lamp according to the mutual influence relationship, the ranging signal between each lamp, and the multipath effect and interference superposition characteristics of the visible light signal, to obtain the interference eigenvector of each lamp in the positioning process. The processing module is further configured to determine the positioning constraint condition of each lamp in the target shopping mall, cooperatively optimize the positioning parameters preset for each lamp in the target shopping mall through all the positioning constraint conditions and all the interference eigenvectors, to obtain the cooperative positioning parameters of each lamp. An execution module is configured to obtain the anti-interference configuration parameters of the visible light signal of each lamp in the positioning process, adaptively compensate for the positioning deviation of each lamp in the target shopping mall in the mutual positioning process according to all the cooperative positioning parameters and all the anti-interference configuration parameters, to obtain the relative positioning information of each lamp in the target shopping mall.

9. A computer device, comprising: The computer device includes a memory and a processor, the memory stores code, and the processor is configured to obtain the code and execute the high-reliability lamp mutual positioning method according to any one of claims 1 to 7.

10. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 9. The computer program is executed by the processor to implement the high-reliability lamp mutual positioning method according to any one of claims 1 to 7.

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