可见光通信平板光源高精度视觉室内定位方法  

High-precision Visual Indoor Positioning Method with the Rectangular Light Source Based on Visible Light Communication

作　　者：孙森震 李广云[1] 王力[1] 冯其强[1] SUN Senzhen;LI Guangyun;WANG Li;FENG Qiqiang(Information Engineering University, Zhengzhou 450001, China)

机构地区：[1]信息工程大学,河南郑州450001

出　　处：《测绘科学技术学报》2021年第3期259-266,共8页Journal of Geomatics Science and Technology

基　　金：国家自然科学基金项目(42071454);国家重点研发计划项目(2017YFF0206001)。

摘　　要：基于可见光通信与矩形平板LED光源,提出一种室内视觉高精度定位方法,为室内移动机器人提供一种精度高、速度快、成本低的室内定位系统方案。该方法首先利用可见光通信技术获取LED光源的坐标信息,利用单个视觉传感器对矩形LED光源进行成像测量,同时使用IMU传感器记录成像测量的倾斜姿态角辅助单像空间后方交会解算;然后设计并仿真分析了4种单像空间后方交会算法在高精度倾斜姿态角辅助下定位误差随角点提取误差的变化情况,并研制了定位模块进行验证。测试结果表明,当采用800像素×600像素分辨率的图像和0.58 m×0.26 m的矩形平板LED光源时,定位模块可在2 m×2 m×2.5 m室内环境中实现cm级移动定位,并且定位频率大于30 Hz;在IMU姿态辅助下,定位模块可以实现优于5 cm的定位精度和优于1°的定向纠正;该方法还能为室内移动机器人提供厘米级定位导航服务。Based on visible light communication and the rectangular LED(Light Emitting Diode)light source,a high-precision indoor vision positioning method is proposed in the paper,which provides an indoor positioning system scheme with high precision,high speed and low cost for indoor mobile robots.Firstly,the visible light communication technology can be used to obtain the coordinate information of LED light source and the image of rectangular LED light source can be measured with a single visual sensor.The tilted angle of the imaging measurement is recorded with an IMU(Inertial Measurement Unit)sensor,which can assist in solving the intersection in single image space.Meanwhile,the variation of positioning errors by angular point errors in the four single-image space resection algorithms with the assistance of high-precision tilted angles are designed and simulated.The positioning modules for experimental verification are developed.It has been revealed that the positioning module can achieve centimeter level mobile positioning in the positioning test and the positioning frequency which is greater than 30 Hz in indoor environment of 2 m×2 m×2.5 m,when the 800 pixels×600 pixels resolution image and 0.58 m×0.26 m rectangular flat-panel LED light source are used.With the posture of IMU assisting imaging,the positioning module can achieve a positioning accuracy better than 5 cm and an orientation correction superior to 1°,which also can provide centimeter level positioning and navigation service for indoor mobile robots.

关 键 词：可见光通信 视觉测量 空间后方交会 姿态辅助 室内定位 

分 类 号：P234.1[天文地球—摄影测量与遥感]