PD辅助的P3P可见光定位算法  

Perspective-Three-Point Visible Light Localization Algorithm Assisted by Photo-Diode

作　　者：张志涛 郭彩丽[1] 柏琳 于倍 杨洋 ZHANG Zhitao;GUO Caili;BAI Lin;YU Bei;YANG Yang(School of Information and Communication Engineering,Beijing University of Posts and Telecommunications,Beijing 100876,China;China Shipbuilding Industry System Engineering Research Institute,China State Shipbuilding Corporation,Beijing 100094,China)

机构地区：[1]北京邮电大学信息与通信工程学院,北京100876 [2]中国船舶集团有限公司,中国船舶工业系统工程研究院,北京100094

出　　处：《北京邮电大学学报》2022年第1期75-81,共7页Journal of Beijing University of Posts and Telecommunications

基　　金：国家自然科学基金项目(61871047,61901047);北京市自然科学基金项目(4204106);北京邮电大学基本科研业务费项目(2021RC03)。

摘　　要：针对可见光定位中的发光二极管(LED)数目和朝向对定位性能影响较大的问题,提出光电传感器(PD)辅助的3点透视(P3P)定位算法。算法首先基于图像信息估算入射角,然后使用经典P3P算法得出4组接收器到3个LED的距离解集,最后基于光强信息确定唯一的距离解集并计算位置信息。仿真结果表明,该算法能有效地降低LED倾斜带来的定位误差。为了进一步验证算法性能,搭建了可见光定位平台。基于实测平台验证了该算法使用3个倾角在15°之内的LED可以实现20 cm以内的定位误差。The number and orientation of light-emitting diodes(LED) in visible light positioning have a great impact on positioning performance. To circumvent the challenge, a photo diode(PD) assisted perspective-three-point(P3 P) algorithm is proposed. The basic idea of the proposed algorithm is to utilize visual information to estimate the incidence angles of visible lights first. Then, estimating the distances between the LEDs and the receiver by typical P3 P algorithms, we can obtain up to four solution sets for the distances. Finally, the desired solution set can be determined by strength information, and based on the estimated distances, the position of the receiver can be obtained. Simulation results show that the proposed algorithm can effectively reduce the positioning error caused by LED’s tilt. To further verify the performance of the proposed algorithm, a visible light positioning platform is designed and implemented. Experimental results verity that the proposed algorithm can achieve indoor positioning using three LED point light sources when the LEDs tilt within 15°, and the positioning error is less than 20 cm.

关 键 词：可见光定位 光电传感器 三点透视定位算法 图像传感器 

分 类 号：TP391[自动化与计算机技术—计算机应用技术]