Indoor positioning modeling by visible light communication and imaging

This letter presents a model of an indoor light positioning system(LPS) based on white LEDs and a camera.The position of an LPS receiver is determined through both its relative position to LEDs according to their images captured by the camera and LEDs' absolute position information in the navigation frame, obtained through a visible light communication(VLC) link. The error performance of the proposed LPS is analyzed.The mean error and mean square error(MSE) of estimated receiver position using least squares(LS) and weighted least squares(WLS) estimators are both derived in the presence of non-uniform measurement bias and white Gaussian noise. The effects of communication data rate on the positioning accuracy are also studied through BER performance.     

基于可见光通信的室内两点定位算法研究

针对可见光通信中基于接收信号强度的三边定位法在实际中难以应用的现状,提出一种基于可见光通信的室内两点定位模型,只需2个LED,能够克服定位需要多灯环境的限制,同时定位接收端结构简单,不需以往研究中的复杂设计,只在平面上配置3个光电探测器即可。利用收发两端的位置关系计算坐标的可能解,以光电探测器组合成的三角形具有相对位置不变的性质作为判据,判断出真实坐标完成单点定位,最后进行加权定位提升鲁棒性。不降噪处理时,大小适中的接收端在5m×3m×3m的室内环境中,55%以上区域的定位精度在25cm以内,同时能够有效克服接收端水平旋转或上下抖动对定位效果的影响,具备实际应用价值。     

基于LED照明灯光的可见光室内停车场定位导航系统

室内停车场是静态交通的一个重要组成部分,由于缺乏有效的室内定位技术,目前存在着泊车导航以及反向寻车困难的问题。提出一种基于LED照明灯光的可见光室内停车场定位导航系统,实现了面向车辆的停车位引导和面向行人的反向寻车导航,具有定位速度快、定位精度高和"照明定位两用"的优势。实验结果及现场测试表明:该系统定位精度可达到7.5 cm,可支持车辆或行人在时速达17 km/h下的实时定位导航。     

基于智能手机的快速可见光室内定位系统

基于智能手机的可见光定位不仅定位精度高,还兼具了可见光通信与移动互联网的优势。由于图像处理的高计算复杂度,现有系统定位速度较低无法支持实时导航。论文提出了一种快速和高精度的可见光室内定位系统,通过设计无闪烁线路编码方案和轻量级图像处理算法降低定位时延,同时还具有抑制调制闪烁和支持多级调光的优点。市售Android智能手机完成了原型系统开发和现场测试,实验结果显示,系统平均定位精度可达到7.5 cm,定位时间可低至22.7 ms(单灯)和35.7 ms(双灯),可支持移动速度高达18 km/h的实时室内导航。     

基于双目视觉的室内定位标定新方法

随着全球导航卫星系统的发展,位置服务日渐成为人们生活工作之中必不可少的一部分,越来越多的人习惯使用定位技术。随着室内导航应用需求的不断增加,基于多目视觉原理的室内定位导航技术已经成为目前很多技术领域的研究热点,并日趋成熟。在室内导航定位前,相机的标定过程是重中之重,标定精度对最终定位精度有着决定性作用。然而,当有气液界面存在时,由于视线在传播过程中发生折射,现有的线性标定技术不再适用,并成为制约室内特殊场景定位(如水下机器人作业)的主要技术障碍。针对有气液界面的条件提出了一种新的标定方法,对界面位置进行精确定位,并修正了线性针孔模型,能够有效解决有气液界面存在条件下不能准确标定的难题,克服了封闭体内测量时无法进行现场标定的困难。为验证标定方法的可行性与可靠性,进行了数值模拟,模拟结果显示,此方法误差较小,满足室内定位中的标定精度要求。     

A 3D indoor positioning system based on common visible LEDs

We propose a realistic 3D positioning system for indoor navigation that exploits visible Light Emitting Diodes (LEDs), placed on the ceiling. A unique frequency tone is assigned to each lamp and modulates its intensity in periodic time slots. The Time Difference of Arrival (TDOA) is measured without the need of a synchronization system between the sources and the receiver, then it is used to accurately estimate the receiver position. We first describe the theoretical approach, then propose the model and characterize the possible sources of noise. Finally, we demonstrate the proof-of-concept of the proposed system by simulation of lightwave propagation. Namely, we assess its performance by using Montecarlo simulations in a common room and estimate the impact of the different implementation parameters on the accuracy of the proposed solution. We find that, in realistic conditions, the technique allows for centimeter precision. Pushing the device requirements, the precision can be further increased to a sub-centimeter accuracy.     

室内MIMO可见光通信的接收特性

建立了一种基于MIMO的室内二次反射可见光通信的信道模型。通过模型仿真,从不同位置处接收面上探测器的不同间距、不同面积以及接收面横向、纵向旋转方面,分析了室内MIMO可见光通信的接收特性。仿真结果表明,在满足信号可恢复的条件下,接收面探测器间距d的变化对光信号接收的影响很小,不同接收位置的接收信噪比(SNR)也呈现不同的分布。另外,接收面横向旋转不会影响光信号接收,而纵向旋转具有一定的限制范围。     

基于蚁群算法的室内可见光高精度三维定位系统

为了提高室内定位精度,实现三维定位,提出一种基于蚁群算法的的可见光通信室内高精度三维定位系统。本系统采用了码分多址(Code Division Multiple Access,CDMA)调制技术,解决了室内可见光通信多信号源之间的符号间干扰.系统中与发光二极管(Light Emitting Diode,LED)光信号源地理位置相关的ID信息码经过直接扩频调制后加载至发光二极管驱动电路,以光信号的形式在室内传播.光信号经过放大、滤波、采样处理后,根据码分多址调制技术中扩频码的正交性恢复出ID信息及光强衰减信息.经过计算获得来自不同发光二极管的信号光强衰减因子,利用蚁群算法的全局搜索性确定最优定位点.引入误差修复因子,利用蚁群算法的并行搜索性对光强衰减因子偏差进行修正.仿真结果表明,信噪比为30dB,20dB,10dB的条件下,算法的定位精度分别为2cm,4cm,8cm.当计算的精度高于45cm时,蚁群算法定位解的搜索效率明显高于遍历法.在10dB的信噪比条件下,对光强衰减因子进行修正后100%的测试点都实现了5cm定位精度.实验结果表明,20dB信噪比条件下,92.59%的测试点的定位误差小于8cm,96.29%的测试点定位误差小于10cm,最大定位误差为11.30cm.经过误差修复后,96.2%的测试点实现了3cm的定位精度,61.6%的测试点实现了2cm的定位精度.本算法在实现了高精度定位,减少了获得最优定位解的计算量.     

A cooperative positioning with Kalman filters and handover mechanism for indoor microcellular visible light communication network

We propose a novel handover scheme for indoor microcellular visible light communication (VLC) network. With such a scheme, the room, which is fully coverage by light, is divided into several microcells according to the layout of light-emitting diodes (LEDs). However, the directionality of light arises new challenges in keeping the connectivity between the mobile devices and light source under the mobile circumstances. The simplest solution is that all LEDs broadcast data of every user simultaneously, but it wastes too much bandwidth resource, especially when the amount of users increases. To solve this key problem, we utilize the optical positioning assisting handover procedure in this paper. In the positioning stage, the network manager obtains the location information of user device via downlink and uplink signal strength information, which is white light and infrared, respectively. After that, a Kalman filter is utilized for improving the tracking performance of a mobile device. Then, the network manager decides how to initiate the handover process by the previous information. Results show that the proposed scheme can achieve low-cost, seamless data communication, and a high probability of successful handover.     

标准镜的高精度柔性支撑镜框的优化设计

为了实现干涉仪标准镜中光学元件的高精度定位,设计了一种柔性支撑镜框,研究了该结构的力学模型、结构参数、定位精度和透镜变形。首先,根据材料力学原理将柔性镜框等效为一个弹簧系统;根据力学方程和几何关系,建立了透镜中心位置与柔性结构的挠度之间的二元方程。然后,分析了安装位置、温度、结构参数对透镜位置以及作用力的影响。最后,应...     

Combination of light-emitting diode positioning identification and time-division multiplexing scheme for indoor location-based service

A combination of light-emitting diode(LED) identification and a time-division multiplexing scheme is proposed in this Letter for indoor location-based service. With the scheme, the arrangement of white LED lamps and the structure of a data frame are designed to realize high-accuracy indoor positioning and location-based payload data transmission simultaneously. The results of the experiment demonstrate that the indoor positioning accuracy is 10 cm and 2 Mb/s data transmission with high signal quality is realized.     

United block sequence mapping-based visible light positioning for dense small cell deployment

Visible light positioning(VLP) is an emerging candidate for indoor positioning, which can simultaneously meet the requirements for accuracy, cost, coverage area, and security. However, intercell interference caused by light intensity superposition limits the application of VLP. In this Letter, we propose a united block sequence mapping(UBSM)-based VLP that utilizes superposition to integrate the multidimensional information from dense small cells into 2D information. The experimental result shows that UBSM-based VLP can achieve an accuracy of 1.5 cm with a 0.4 m row spacing and 0.35 m column spacing of LED lights.     

基于四节点RSSI的三维空间定位算法

针对提高室内三维空间的定位精度和速度的问题,从减少节点数量、建立特定坐标系的角度提出了一种基于四节点和特定坐标系的三维空间定位算法。该算法引入位置相对固定的四个节点,提高解算速度;充分考虑有效反射区对衰减指数影响,根据伯鲁斯特角将天线辐射场区分为叠加加强区和叠加减弱区,建立三维坐标系进行定位,结合信号强度指示(Received Signal Strength Indicator, RSSI)衰减模型,在叠加减弱区定位,把三维空间问题转化到二维空间,降低定位算法的复杂度。文中分别阐述方法的原理与验证,结果表明,四节点定位算法的解算速度比降低复杂度(Complexity-Reduced Trilateration Approach , COLA)定位算法有较大提高,该算法平均定位误差小于2米。     

CSI Amplitude Fingerprinting for Indoor Localization with Dictionary Learning

With the rapid growth of the demand for location services in the indoor environment, fingerprint-based indoor positioning has attracted widespread attention due to its high-precision characteristics. This paper proposes a double-layer dictionary learning algorithm based on channel state information (DDLC). The DDLC system includes two stages. In the offline training stage, a two-layer dictionary learning architecture is constructed for the complex conditions of indoor scenes. In the first layer, for the input training data of different regions, multiple sub-dictionaries are generated corresponding to learning, and non-coherent promotion items are added to emphasize the discrimination between sparse coding in different regions. The second-level dictionary learning introduces support vector discriminant items for the fingerprint points inside each region, and uses Max-margin to distinguish different fingerprint points. In the online positioning stage, we first determine the area of the test point based on the reconstruction error, and then use the support vector discriminator to complete the fingerprint matching work. In this experiment, we selected two representative indoor positioning environments, and compared the DDLC with several existing indoor positioning methods. The results show that DDLC can effectively reduce positioning errors, and because the dictionary itself is easy to maintain and update, the characteristic of strong anti-noise ability can be better used in CSI indoor positioning work.     

Enabling 5G indoor services for residential environment using VLC technology

Visible light communication (VLC) has emerged as a viable complement to traditional radio frequency (RF) based systems and as an enabler for high data rate communications for beyond-5G (B5G) indoor communication systems. In particular, the emergence of new B5G-based applications with quality of service (QoS) requirements and massive connectivity has recently led to research on the required service-levels and the development of improved physical (PHY) layer methods. As part of recent VLC standards development activities, the IEEE has formed the 802.11bb “Light Communications (LC) for Wireless Local Area Networking” standardization group. This paper investigates the network requirements of 5G indoor services such as virtual reality (VR) and high-definition (HD) video for residential environments using VLC. In this paper, we consider such typical VLC scenarios with additional impairments such as light-emitting diode (LED) nonlinearity and imperfect channel feedback, and propose hyperparameter-free mitigation techniques using Reproducing Kernel Hilbert Space (RKHS) methods. In this context, we also propose using a direct current biased optical orthogonal frequency division multiplexing (DCO-OFDM)-based adaptive VLC transmission method that uses precomputed bit error rate (BER) expressions for these RKHS-based detection methods and performs adaptive BER-based modulation-order switching. Simulations of channel impulse responses (CIRs) show that the adaptive transmission method provides significantly improved error rate performance, which makes it promising for high data rate VLC-based 5G indoor services.     

基于SVR和粒子滤波的室内导航方法

针对室内环境复杂性造成的室内定位精度不足问题,提出一种基于支持向量机回归和粒子滤波的室内导航方法;离线阶段通过采集室内接收信号强度并利用统计学习方法,构建室内RSS与物理位置之间的支持向量回归映射模型,定位阶段使用智能移动设备采集加速度、方向角等运动状态信息和Wifi模块感知的环境信息,并利用粒子滤波将运动数据和回归结果进行融合处理,推算移动用户运动轨迹;室内实验结果表明,本方法最大定位误差为1.891 m,平均误差为0.669 m,有效地提高了室内定位导航精度。     

Artificial neural-network-based visible light positioning algorithm with a diffuse optical channel

Visible light positioning becomes popular recently. However, its performance is degraded by the indoor diffuse optical channel. An artificial neural-network-based visible light positioning algorithm is proposed in this Letter,and a trained neural network is used to achieve positioning with a diffuse channel. Simulations are made to evaluate the proposed positioning algorithm. Results show that the average positioning error is reduced about 13 times, and the positioning time is reduced about two magnitudes. Moreover, the proposed algorithm is robust with a different field-of-view of the receiver and the reflectivity of the wall, which is suitable for various positioning applications.     

Fabrication of a bulk silicon p–n homojunction-structured light-emitting diode showing visible electroluminescence at room temperature

We have developed a novel dressed-photon-assisted annealing process, in which the distribution of dopant (boron) domains is modified in a self-organized manner based on the absorption of light having a photon energy higher than the band gap and subsequent stimulated emission. Using this process, we were able to fabricate a bulk silicon p–n homojunction-structured light-emitting diode that showed electroluminescence emission in the visible region at room temperature. A broadband spectrum with three emission peaks at 400 nm, 590 nm, and 620 nm was clearly observed.     

基于白光LED照明光源的室内VLC系统

LED照明与可见光通信技术相结合,构建出基于LED可见光无线通信系统。对室内VLC(Visible Light Communication)系统的白光LED光源特性和系统信道模型分析,提出照明光源布局设计与接收光功率分布的关系;对强度调制直接检测方式的室内VLC系统中信噪比和多径效应引起的码间串扰分析,提出采用光分集接收技术克服码间串扰和提高信噪比,并给出光检测器阵列布局的模型。建立VLC系统仿真模型,给出OOK-NRZ (On-Off Keying & Non-Return Zero)和OOK-RZ(On-Off Keying & Return Zero)调制方式的误码率和均方根时延扩展之间的关系曲线。仿真结果表明,接收光功率相同时,均方根时延扩展时间大于1.0 ns时,OOK-RZ特性优于OOK-NRZ。     

Underwater target localization using long baseline positioning system

The absolute position of an underwater target is difficult to pinpoint because the global positioning system (GPS) cannot penetrate water bodies. The long baseline (LBL) positioning system can extend GPS using high-precision calibrated underwater beacons as references. While traditional LBL systems give the target position without considering calibration error of deployed beacons. To solve this problem, we propose a method different from previous works, that combining the errors of observations together. We use GPS outputs as true values to evaluate the localization performance. An LBL system with four beacons was installed in deep sea to test the results. The positioning accuracy in deep sea improves nearly 5 m. The results suggest that beacon positioning errors have a great impact on localization precision, that is significant in high-precision positioning tasks.