42 results about "Visible light positioning" patented technology

The invention belongs to the technical field of visible light positioning, and relates to a visible light sparse fingerprint positioning method and system based on MLS-WKNN and a medium, and the method comprises the steps: collecting the received signal strength of a sampling point; fitting a received signal strength prediction value of each light source at the interpolation point through a moving least square method; constructing a dense fingerprint database through the received signal strength of the sampling points and the received signal strength predicted values of the interpolation points; collecting the real-time receiving signal intensity of the target point; and based on the real-time received signal strength and the dense fingerprint database, obtaining an accurate position estimation value of the target point through a weighted K-nearest neighbor algorithm. The sparse fingerprint database is subjected to MLS interpolation, the precision of sparse visible light fingerprint positioning is improved, and compared with an existing interpolation mode, the positioning precision is higher.

How to reduce the error of visible light positioning is the technical problem focused in the current positioning technology, and reduction of the positioning error by adopting the neural network technology is an important scheme for solving the problem. The invention provides a deep learning fusion system for visible light positioning and a method thereof, and aims to solve the problems of unstable model training effect, insufficient positioning precision and poor generalization ability caused by insufficient data acquisition amount in the prior art, or the problems of long training time caused by overlarge data scale and the like. According to the method, the corresponding small model neural network or large model neural network is selected for training and prediction according to the scale of the collected data volume in different operation stages of the system, and a dynamic judgment and periodical comparison mechanism is combined, so that quick and stable positioning output is realized when the data is limited; when the data is sufficient, a high-precision and high-robustness positioning effect is realized, so that the adaptability and reliability of the system in practical application are improved.

The invention discloses a visible light positioning method based on a single light source base station and double photosensitive position detectors. The method comprises: constructing a visible light positioning system; defining a world coordinate system, a PSD coordinate system and a PSD imaging coordinate system; calibrating two PSD internal parameters in the visible light positioning system by using a Zhang Zhengyou calibration method and an asymmetric dot calibration plate; the world coordinates of the LED light source and the external parameters of the PSD are calibrated; and determining the real-time coordinates of the mobile carrier in the world coordinate system. The method has the advantages that the double PSD receivers and the single light source base station are used for positioning the mobile carrier, positioning coordinate calculation can be carried out as long as the mobile carrier loaded with the double PSD receivers is located in the coverage area of one light source base station, operation is safe, easy and convenient, the degree of dependence on the light source density is reduced, and the applicability of the visible light positioning technology is enhanced.

The invention discloses an indoor visible light cooperative positioning method based on multi-dimensional sampling vector compressed sensing, and relates to visible light positioning. A plurality of indoor light source LEDs are utilized to issue visible light signals to a target, a target end receives and extracts arrival time difference information among different LEDs through a PD, and a sparse positioning model is constructed. A plurality of groups of reference anchor points are introduced, time difference of arrival measurement vectors are collected from different dimensions, and a multi-dimensional sampling observation matrix with higher representation capability on sparse distribution of a target space is constructed. Redundant or repeated time difference of arrival measurement is eliminated in the model, calculation redundancy is reduced, and robustness of sparse recovery is enhanced. And solving a predicted value of the PD position coordinate through norm minimization, and calculating an error between the predicted value and a true value. Under the condition that accurate clock synchronization is not needed, multi-target cooperative positioning is effectively achieved, and centimeter-level positioning accuracy can be kept under various noise and deviation conditions. The method is suitable for typical indoor positioning scenes such as industrial Internet of Things, intelligent manufacturing and robot navigation.

The invention provides a positioning method and system based on a visible light communication technology, and particularly relates to the technical field of indoor visible light positioning. According to the method, a plurality of visible light emitters emit modulated light signals, the modulated light signals are received by a prismatic table phased array receiving terminal, the terminal is provided with a plurality of receiving surfaces, and each receiving surface comprises a plurality of light detection units. And multi-stage differential noise reduction processing is carried out on the electric signals output by the light detection units of the receiving surfaces, the multi-stage differential noise reduction processing comprises first-stage differential suppression of local noise in the receiving surfaces and second-stage differential suppression of reflected light interference between the receiving surfaces, and a light intensity response value is obtained. The distance between the terminal and each transmitter is calculated through filtering processing and a distance calculation model based on a light intensity response value, and then the position of the terminal is determined by using a multilateral positioning algorithm, so that centimeter-level precision positioning in an electromagnetic sensitive environment is realized, and electromagnetic interference and explosion-proof risks are avoided.

The invention discloses an indoor visible light positioning method and device based on environment dynamic adjustment, equipment and a storage medium, and relates to the technical field of optical information. According to the method, a preset reflection light model is established, parameters of the preset reflection light model are dynamically adjusted based on indoor environment changes, a propagation path of an optical signal in an indoor optical information environment is simulated according to the preset reflection light model, and the multipath effect and signal intensity distribution are evaluated. And a signal processing strategy is specifically designed at the rear end according to the condition of reflected light, for example, a filter model is designed to remove interference of a specific frequency, and the like, so that the reliability and accuracy of positioning are improved.

The invention relates to the technical field of indoor visible light positioning, in particular to a virtual light source positioning method based on indoor reflecting surface reconstruction. Comprising the following steps: establishing an indoor coordinate system, and collecting received signal strength and arrival time from a direct incidence path and a reflection path; judging a line-of-sight path and a non-line-of-sight path based on the RSS and the TOA, and preliminarily estimating a propagation distance; estimating plane equation parameters of the indoor main reflecting surface by using a constrained least square method; according to the estimated reflecting surface, performing mirroring operation on the position of the real light source, and reconstructing the position of a virtual light source; constructing a joint distance optimization model containing a real light source and a virtual light source, and solving an optimal coordinate of a receiving end by a weighted least square method; a self-adaptive dynamic updating mechanism is introduced, and joint state estimation and optimization are carried out on the position of the receiving end and the parameters of the reflecting surface; according to the method, the reflection path is converted into effective positioning constraint, the shielding problem in the NLOS environment is effectively solved, and the precision and robustness of a positioning system are remarkably improved.

The invention discloses an indoor visible light pedestrian positioning method based on improved unscented Kalman filtering, and belongs to the technical field of visible light communication positioning. The method comprises the following specific steps: initializing a loop count value, positioning an initial coordinate and setting an initial covariance; collecting inertial navigation motion parameters and resolving visible light positioning position coordinates; dynamically adjusting a non-line-of-sight threshold according to received signal strength data within a period of time so as to judge whether visible light positioning data is adopted or a visible light and inertial navigation fusion algorithm is adopted; setting an improved extended Kalman filtering parameter, and introducing a self-adaptive Huber threshold value into a fusion filtering algorithm, so as to obtain a filtered carrier position; further obtaining a fusion positioning position coordinate at the moment k; judging whether the cycle count value reaches the maximum value or not to determine whether the positioning method is completed or not; according to the method, the problem of precision reduction caused by fusion under the sight distance is effectively solved, the positioning precision under the NLOS is remarkably improved, and good stability and reliability are achieved.

The invention discloses an indoor combined positioning method utilizing environment perception, and particularly relates to the technical field of indoor positioning, which comprises the steps of S1, theoretical analysis, S2, algorithm design and S3, algorithm verification. By constructing an adaptive federated filtering architecture, the fusion of binocular vision, visible light positioning and an inertial navigation system is realized, a strapdown inertial navigation system is taken as a main reference system, visible light and a binocular camera are combined to serve as auxiliary reference systems, a sub-filter based on a maximum correlation entropy criterion is designed, and the visual positioning precision is improved. According to the method, the weight of each sub-filter is dynamically adjusted by introducing a self-adaptive information distribution mechanism, simulation and experimental verification show that the accuracy and robustness of indoor positioning can be effectively improved, compatibility of various sensors is supported, and the method is suitable for indoor high-precision navigation application of service robots, AR / VR equipment and the like.

The invention belongs to the technical field of solid waste recycling and intelligent sorting equipment, and discloses a waste plastic high-speed sorting method based on multispectral fusion and element screening, which is suitable for online separation of general-purpose plastics such as PP (polypropylene), PE (polyethylene), PVC (polyvinyl chloride) and PET (polyethylene terephthalate). Aiming at the problems of difficulty in black plastic identification, insufficient PVC / halogen-containing risk discrimination and wrong sorting caused by industrial drift in traditional near-infrared sorting, a link of visible light positioning, near-infrared main identification, intermediate infrared / medium-wave infrared reinspection, X-ray fluorescence element discrimination, multi-modal fusion decision-gas injection separation is adopted, grading detection is triggered through confidence, and the sorting accuracy is improved. A risk priority rule and an online self-calibration compensation strategy are combined, and a two-stage sorting framework is matched. According to the method, high-risk PVC particles are preferentially removed, black plastic is accurately recognized, the separation purity is improved while high productivity is guaranteed, the industrial operation stability and expandability are enhanced, and the waste plastic recycling benefit is remarkably improved.

The application provides a CSI-based adaptive iterative visible light positioning method and system, and the method comprises the following steps: receiving positioning light signals sent by a plurality of LED light sources, and processing each positioning light signal to obtain a channel impulse response vector; estimating a line-of-sight path distance between each LED light source and a receiver according to the channel impulse response vector, and obtaining a first horizontal distance between each LED light source and the receiver according to each line-of-sight path distance; constructing an initial position set by using a cyclic least square method according to the first horizontal distance between each LED light source and the receiver, and obtaining a final estimated position of the receiver according to the initial position set and a preset position weight threshold. The application can fully utilize positioning information, effectively reduce the influence of nonlinear error in the least square positioning application based on CSI, improve positioning accuracy and stability, support complex indoor positioning scenes, and has high application value.

This application discloses a visible light positioning and communication method, apparatus, and system, belonging to the field of visible light positioning and communication. It involves driving an LED lamp to emit a light signal with a preset modulation frequency. A receiving sensor receives the spectrum, extracts the chip's native blue light spectrum, and then decodes the spectral information carried by the spectrum based on the hardware parameters of the receiving sensor to obtain digital information. Positioning and communication are then performed based on this digital information. This application's solution completely eliminates physiological flicker perceptible to the human eye by employing high-frequency modulation at a preset frequency. Simultaneously, receiving only the native blue light spectrum effectively removes the afterglow effect of phosphors, ensuring clear high-frequency signals and significantly improving decoding success rate. Adaptive decoding, combined with the receiving sensor's hardware parameters, solves the frequency offset problem caused by hardware differences between different devices, enhancing cross-device compatibility. This achieves high-precision, high-reliability visible light positioning and communication, applicable to indoor navigation, communication, and other scenarios.

The invention relates to a single-light-source visible light indoor positioning method based on inertial fusion, and belongs to the field of visible light communication. The method comprises the following steps: firstly, designing a transmitting end and receiving end architecture suitable for receiving based on an image sensor; secondly, obtaining information according to a light source projection fitting edge captured by an image sensor, calculating possible relative coordinates according to a space geometry theorem, and decoding bright and dark stripes to obtain a light source corresponding identification code and a light source coordinate position; then, using an Euler angle captured by an inertial sensor to eliminate an ambiguous solution, and calculating to obtain an absolute coordinate of a target; and finally, fusing inertial information by using an extended Kalman particle filtering algorithm to obtain a positioning result with robustness. According to the method, visible light positioning without user inclination angle limitation can be realized, inertial information fusion is realized on the basis of visible light positioning, the robustness of the system under a dynamic positioning condition can be effectively improved, and high-precision positioning is realized.

The invention provides a visible light positioning system and a preparation method of a silicon-based flexible photoelectric detector, and relates to the technical field of visible light positioning. The visible light positioning system comprises a fixing module with a curved surface structure, at least two silicon-based flexible photoelectric detectors, a data processing module and a positioning analysis module, the silicon-based flexible photoelectric detector comprises a front grid electrode layer, a hole transport layer, a passivation layer, an N-type monocrystalline silicon layer and a back metal electrode layer which are sequentially stacked from top to bottom, the two faces of the N-type monocrystalline silicon layer are each of a pyramid structure, and the hole transport layer, the passivation layer and the back metal electrode layer are all conformally arranged with the N-type monocrystalline silicon layer. The silicon-based flexible photoelectric detector has the characteristics of flexible self-supporting and self-power supply and has excellent photoelectric detection capability, the structure of the visible light positioning system is simple, the size and the cost are reduced, and accurate positioning of the light source to be detected is realized.

The application provides a visible light positioning system and a preparation method of a silicon-based flexible photoelectric detector, and relates to the technical field of visible light positioning. The visible light positioning system comprises a fixed module with a curved surface structure, at least two silicon-based flexible photoelectric detectors, a data processing module and a positioning analysis module. The silicon-based flexible photoelectric detector comprises, from top to bottom, a front grid electrode layer, a hole transport layer, a passivation layer, an N-type monocrystalline silicon layer and a back metal electrode layer arranged in a stacked manner. The N-type monocrystalline silicon layer has a pyramid structure on both sides, and the hole transport layer, the passivation layer and the back metal electrode layer are conformally arranged with the N-type monocrystalline silicon layer. The silicon-based flexible photoelectric detector has the characteristics of flexibility, self-supporting and self-power supply, and has excellent photoelectric detection capability. The visible light positioning system has a simple structure, reduces the volume and cost, and realizes accurate positioning of the measured light source.

The application discloses a visible light positioning method for a fast-moving carrier, which is used for positioning of the fast-moving carrier with a photodiode as a signal receiver and comprises the following steps: calculating angular velocity and velocity in a Fourier time window according to state variables and inertial navigation data; calculating a position vector and a normal vector according to the state variables, the inertial navigation data and LED lamp positions; calculating a correction number of a received signal strength according to the angular velocity, the velocity, the position vector and the normal vector and in combination with a received signal strength obtained by a discrete Fourier transform; and optimizing the state variables according to the corrected received signal strength and the inertial navigation data, and outputting the position, the velocity and the attitude of the photodiode at a current time according to the optimized state variables. The application integrates the inertial navigation observation data and the state data in the window time of the discrete Fourier transform, restores the average RSS into the instantaneous RSS, and improves the navigation and positioning capability of the fast-moving carrier.

The invention discloses an MLP-based visible light positioning fingerprint database capacity expansion method and system, and belongs to the technical field of indoor positioning. The method comprises the following steps: sparsely collecting coordinates of a plurality of reference points and received signal strength values from a plurality of LED light sources in a two-dimensional positioning area to form an initial sparse fingerprint data set; constructing a learnable mapping model which takes the coordinates as input and takes the signal intensity feature vector as output; training the model by using the data set, so that the model learns a nonlinear mapping relation from coordinates to signal intensity; inputting coordinates of points to be interpolated in the region into the trained model, and predicting signal intensity feature vectors of the points to be interpolated; and finally, the initial data and the prediction data are merged, and a visible light positioning fingerprint database with higher grid density is generated. According to the method, the high-density fingerprint database is reconstructed from the sparse data by using the machine learning model, so that the workload and cost of fingerprint acquisition are remarkably reduced, and meanwhile, high positioning precision is kept.

A visible light positioning (VLP)-assisted multi-user optical communication system includes a micro base station and a user receiver; the micro base station includes a mounting plate, a visible light locator is provided at a middle of a bottom surface of the mounting plate, the bottom surface of the mounting plate is provided with a plurality of automatic tracking optical communication devices surrounding around the visible light locator; the visible light locator is connected to the plurality of automatic tracking optical communication devices through a serial bus; a micro base station ID and a current working status data of the automatic tracking optical communication devices are cyclically broadcast to a coverage area through the visible light locator; a user location coordinate and a user identification are sent to the visible light locator by the user receiver.

The utility model discloses a novel acousto-optic modulator using visible light for positioning, which comprises a mounting bottom plate, a mounting hole is arranged at the bottom end of the mounting bottom plate, and a first slide rail is arranged in the mounting bottom plate; the novel acousto-optic modulator using visible light for positioning is provided with a first damper and a first spring, a heat dissipation box is pushed through external force, a protection box and fixing frames can be driven to move, and therefore the acousto-optic modulator module can be rapidly disassembled, and on the contrary, through the clamping structure of the two fixing frames, the heat dissipation box is conveniently disassembled. The acousto-optic modulator module can be clamped and fixed, the fixing frame can automatically restore to the original position after losing acting force through the arrangement of the first damper and the first spring, the acousto-optic modulator module is clamped and fixed, and therefore the acousto-optic modulator module can be rapidly disassembled and assembled; and subsequent inconvenience in disassembly and assembly due to the fact that most of the acousto-optic modulators are directly fixed through threaded bolts is avoided.

This invention discloses a passive multi-target localization method with automatic training data annotation. It employs a visible light localization system comprising: an LED control module, an LED emitter, a visible light sensor, a data acquisition module, a target recognition and localization module, and a data storage server. The LED emitter is positioned at the top of the localization space, and the visible light sensor is positioned on the ground and / or walls. The data acquisition module stores the received signals from the visible light sensor into the data storage server. The target recognition and localization module includes first and second data preprocessing modules, a neural network model, and a target position estimation module. The first data preprocessing module processes the acquired data into training samples for the neural network model; the second data preprocessing module processes the acquired data into input data for the neural network model; the neural network model identifies real and false targets, and the target position estimation module estimates the position of real targets. This invention can identify and locate multiple targets, both real and false.

The application provides a binocular positioning method using a known light source arrangement, and belongs to the field of computer vision positioning. The application captures the positions of three visible light feature points of a target object in a camera pixel image during movement of a binocular camera, and an inclination angle and a roll angle obtained by a six-axis inertial sensor. A unscented Kalman filter is used to integrate data of the inertial sensor and data of the binocular camera, so that visible light positioning is realized, that is, the position of a visible light feature point of the target object in a three-dimensional space and a heading angle are accurately calculated. The application has wide applicability, good stability, and can be used for positioning at a farther distance. The stability is excellent not only in an indoor environment, but also in complex outdoor environments such as urban blocks, mountains and oceans.

The application relates to an indoor visible light positioning method based on improved condensed hierarchical clustering, which comprises the following steps: dividing a grid in a positioning area and selecting a plurality of reference points; installing LED light sources capable of being used for optical communication on a roof and laying photoelectric sensors and wireless nodes for data acquisition and transmission indoors; measuring the average power of the LED light sources and establishing a fingerprint library; adopting condensed hierarchical clustering to combine all data points into one cluster; selecting a required cluster number to construct a new sub-database; performing secondary classification on the new cluster according to the power of the light sources, and dividing the new cluster into a high-power area and a low-power area; in the positioning stage, comparing the Euclidean distance between the light power of a mobile terminal and a new clustering center, and putting the mobile terminal into the cluster closest to the mobile terminal; putting the power of the mobile terminal into the corresponding power area, and adopting a KNN matching algorithm to traverse the fingerprints to lock the target coordinate position.

This invention proposes a visible light positioning method and system based on spatiotemporal and angular feature fusion, relating to the field of indoor positioning technology. The method includes: constructing a training dataset based on an indoor positioning scene, including visible light positioning pilot maps, coordinate labels, distance labels, and angle labels; inputting the training dataset into a positioning model for training, extracting preliminary features through a feature embedding module, and then capturing the temporal dependencies of the preliminary features and enhancing spatial perception through a feature fusion module to obtain fused features; inputting the fused features into position extraction branches and angle extraction branches at different depths to obtain position information and angle information respectively; calculating a loss function until the loss converges to obtain a trained positioning model; inputting the visible light positioning pilot map of the receiver to be positioned into the trained positioning model to obtain positioning information. This achieves high-precision and robust 3D positioning, effectively solving the problems of insufficient feature mining and poor scene adaptability in traditional VLP technology.

The invention relates to the field of industrial internet, in particular to the technical field of indoor positioning in an intelligent scene, and discloses a visible light positioning device which comprises a visible light signal LED transmitting end, a visible light modulation unit circuit and an image sensor receiving end. The LED transmitting end is controlled to flicker at the frequency of 1200 Hz and broadcast visible light signals, the image sensor receiving end recognizes visible light ID information and LED contour information, and positioning is achieved through image information processing and calculation. According to the invention, flexible adjustment can be realized, visible light signals can be emitted, and high-precision visible light positioning can be realized.

The application relates to the technical field of photoelectric communication, in particular to an indoor positioning method and system, terminal equipment and a storage medium, the method comprising the following steps: acquiring an application scenario; acquiring a corresponding LED array according to the positioning requirement of the application scenario; modulating the LED array according to a preset matrix rule to generate a corresponding modulation matrix; identifying the modulation matrix to acquire an illumination sequence corresponding to the LED array; driving the LED array according to the illumination sequence to generate a corresponding light spot area; analyzing the light spot area to acquire corresponding light intensity information; demodulating the light intensity information according to a preset correlation reconstruction algorithm to acquire a reconstruction matrix corresponding to the light spot area; normalizing the reconstruction matrix to output a corresponding gray matrix as a positioning result. The indoor positioning method and system provided by the application have the effects of improving the positioning accuracy in the application scenario of visible light positioning and reducing the complexity of system configuration.

The application discloses a kind of anti-pose interference three-dimensional visible light positioning methods based on double-branch feature decoupling.First, in indoor space, the visible light positioning system containing tilt receiving end is deployed, and system channel model is constructed;Multi-inclination state sampling is carried out to photoelectric detector, and the received signal strength characteristic of photoelectric detector under different inclination states at different space reference points is obtained;Then, the received signal strength characteristic is preprocessed, and the enhanced received signal strength characteristic is obtained, so as to obtain the tilt enhanced fingerprint database of illumination compensation;Finally, a pose estimation model based on double-branch feature decoupling is constructed, the position estimation branch of the model decouples the pure position feature from the position main feature using the pose of photoelectric detector, and the position of photoelectric detector is obtained using the pure position feature regression.The interference ability of pose on position estimation is significantly weakened, and the problem of positioning accuracy decline caused by unknown tilt state of receiving end and weak light area is solved.

The application provides a visible light positioning system and method based on occlusion detection. The application calculates the normalized signal intensity change rate of each LED lamp in the current period; a world coordinate system is constructed in combination with the right-hand rule; the robot selects the corresponding occlusion threshold model to calculate the threshold of each LED lamp in the current period according to the discrimination result of the three-axis movement direction; the normalized signal intensity change rate of each LED lamp in the current period is combined with the threshold of each LED lamp in the current period to make a judgment, so that the occlusion state of each LED lamp in the current period is obtained; the robot vehicle selects the occlusion state of each LED lamp in the current period to obtain a plurality of un-occluded LED lamps in the current period, and the indoor positioning method based on the LED lamp signal intensity is used for positioning to obtain the position of the robot in the current period. Even in the case of serious light reflection effect or very short occlusion time, the application can still effectively eliminate the occluded light signal.

The invention provides an unmanned aerial vehicle positioning landing system based on visible light and laser radar interactive perception, and the system comprises a visible light positioning module which is used for finding out a plurality of two-dimensional code images used for marking a landing center mark in landing area images from the landing area images collected by an RGB camera, first position data and first attitude data of the unmanned aerial vehicle relative to the landing center mark are calculated; the laser radar positioning module is used for finding out a landing center mark point cloud from landing area point clouds collected by a laser radar, and then calculating second position data and second attitude data of the unmanned aerial vehicle relative to a landing center mark; and the positioning landing module is used for carrying out pose data fusion and controlling the unmanned aerial vehicle to fly to a landing center mark to land according to the fused position data and the fused attitude data. Through the means, the landing positioning precision and stability of the unmanned aerial vehicle are remarkably improved, and the system robustness and environmental adaptability are greatly enhanced.

The application provides a parameter calibration method for positioning and direction finding of a visible light Lambert radiation model, and relates to the technical field of visible light wireless positioning and direction finding. First, an LED light source is used as a transmitting end beacon to transmit visible light, a photodiode is used as a receiver to sense and receive the visible light, and an actual visible light channel Lambert radiation system is formed. Then, a visible light Lambert radiation model is constructed. When the parameters of the visible light Lambert radiation model are unknown or inaccurate, the parameters of the visible light Lambert radiation model are calibrated, the real values of the parameters can be estimated, the method has robustness to different signal-to-noise ratios, and the accuracy of subsequent visible light positioning and direction finding can be further ensured.

The invention relates to a communication light emitting diode (LED) selection scheme based on position estimation, and particularly relates to a communication LED selection scheme based on position estimation. Belongs to the field of visible light communication (VLC). The method comprises the following steps: firstly, designing a visible light positioning and communication integrated system; secondly, calculating the number of communication LEDs according to the size of the room and the layout of the LEDs; then, the visible light positioning system calculates the estimated position of the user and the channel state and shielding condition between the user and each LED according to the received illumination intensity; and finally, selecting a particle swarm optimization algorithm to select the LEDs for communication according to the user estimation position and the channel state, and meanwhile, performing power distribution according to the channel state and the shielding condition of each LED by adopting a water injection algorithm. And calculating the overall communication rate. The number of communication LEDs is calculated according to the size of the room and the layout of the LEDs, and LED resources can be reasonably distributed. And the LED combination capable of realizing the maximum communication rate is selected and reasonable power distribution is carried out, so that the communication performance of the system is optimized.