Research of indoor positioning and illuminating systems based on visible light
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摘要: 为了解决目前室内定位算法精度不高等问题，设计了一套兼顾照明与定位的可见光室内定位装置。首先按照国际照度标准对室内光源进行了布局，然后设计了强度调制/直接检测的可见光收发系统和以STM32为核心处理器的室内定位系统平台，最后采用多点标定相对定位方法，实现了目标点坐标及区域的标定。结果表明，在满足照明的条件下，测量误差低于10cm，部分定位区域的测量误差为3cm，甚至0cm；误差分辨率为0.1cm，相对误差小于10cm。该研究为目前室内定位技术提供了一种方案。Abstract: In order to solve the problem of low precision of indoor location algorithm, a set of visible light indoor positioning device which has illuminating function at the same time was designed. First of all, the layout of the indoor light source was arranged according to international standard of illumination. Secondly, a visible light transceiver system of intensity modulation/direct modulation (IM/DM) and an indoor positioning system platform with STM32 as core processor were designed. Finally, the calibration of target coordinates and regions was realized by using the method of multi point calibration relative positioning. The results show that, under the conditions suitable for illumination, measurement error is less than 10cm. The measurement error of partial location area is 3cm or even 0cm. Error resolution is 0.1cm, and relative error is less than 10cm. The research provides a scheme for current indoor positioning technology.
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Table 1 Quantitative and regional analysis of light intensity
position ua ub uc ud area 1 691 478 772 1300 2 1160 653 605 1062 B 3 1087 659 291 626 4 752 701 1145 1225 E 5 1215 1165 1185 1251 A 6 1221 1162 707 771 C 7 470 700 1305 770 8 831 1170 1324 786 D 9 944 1144 901 413 
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Table 2 Light intensity difference and sensitivity analysis
position ubc uad uba ucd uh(i) uv(i) A(i) B(i) Pi Wi 1 294 609 213 528 451.5 370.5 423.5 312.5 2 48 98 507 457 73 482 45 424 10.6 3 368 461 428 335 414.5 381.5 386.5 323.5 4 444 473 51 80 458.5 65.5 430.5 7.5 10.763 5 20 36 50 66 28 58 0 0 6 455 450 59 64 452.5 61.5 424.5 3.5 10.613 7 605 300 230 535 452.5 382.5 424.5 324.5 8 154 45 339 538 99.5 438.5 71.5 380.5 9.513 9 243 531 200 488 387 344 359 286
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Table 3 Comparison table of positioning error
position x/cm y/cm xx/cm yy/cm Δx/cm Δy/cm e/cm 1 -40 40 -42 31 2 9 9.21954446 2 0 40 4 42 4 2 4.47213595 3 40 40 38 32 2 8 8.24621125 4 -40 0 -43 1 3 1 3.16227766 5 0 0 2 5 2 5 5.38516481 6 40 0 42 1 2 1 2.23606798 7 -40 -40 -42 -32 2 8 8.24621125 8 0 -40 7 -38 7 2 7.28010989 9 40 -40 36 -28 4 12 12.6491106
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