Research And Implementation Of Indoor Location Algorithm Based On Vision And Visible Light Fusion

With the continuous advancement of global digitization,spatiotemporal information based on positioning and navigation has become one of the important new basic service elements.The positioning service with high reliability,precision and coverage provides a strong guarantee for the digital and intelligent transformation of various industries,and indoor positioning technology,as the "last mile" of navigation positioning,has become the key to positioning services.Visible Light Positioning(VLP)technology is a new indoor positioning technology implemented on the basis of Visible Light Communications(VLC).It has the advantages of universality,low cost,and high accuracy,and has received widespread attention and research from academia and industry.However,the positioning algorithms and designed positioning systems proposed by the current research are difficult to meet practical needs.On the one hand,in terms of positioning algorithms,the current research on visible light positioning algorithms mainly focuses on multi light source positioning scenarios,lacking the positioning algorithm for single light source positioning scenarios without the need for auxiliary equipment,which limits the promotion of visible light positioning in practical applications;On the other hand,in terms of system implementation,the current research mainly focuses on the decoding success rate of VLC and system positioning accuracy.The large number of image processing methods used not only increase system complexity but also increase the overall delay of the positioning system,which makes it difficult for such positioning systems to be applied in practical scenarios.Therefore,this paper proposes a visible light positioning algorithm based on the fusion of vision and visible light,and implements a lightweight visible light positioning system that supports real-time positioning.The main work of this paper are as follows:1)This paper proposes a perspective circule and lines positioning algorithm based on visible light communication.Which utilizes a single light source and a single image sensor to achieve high-precision positioning without limiting the orientation of the LED and the attitude of the receiver.The algorithm first transmits the necessary positioning information to the receiver,and then achieves 3D positioning and self pose estimation based on geometric projection theorem and single view geometry principle.The simulation results show that the positioning performance of the algorithm is not limited by the attitude of the receiving end,the orientation of the LED,and the distance between the receiver and transmitter.In 10000 sets of simulated sample points,95%of the sample points have 3D positioning errors within 10cm;The actual measurement results indicate that within the visible light communication range,regardless of the height of the receiving end,the sample point positioning error is always less than 10cm,with an average positioning error of 3.66cm.2)This paper implements a lightweight indoor positioning system that supports real-time positioning,fully considering positioning accuracy,positioning delay,anti-interference performance,and system complexity.The system is divided into two parts:the sending end and the receiving end,and both adopt modular design solutions.Firstly,a coding scheme was designed at the sending end to assign a unique identification(UID)to each LED;Afterwards,modulation and driving circuits were designed to achieve On Off Keying(OOK)modulation of visible light signals,and the modulated UID was sent to the receiving end;Then,using common intelligent mobile devices as the receiving end,the UID is received through the roller shutter effect of a complementary metal oxide semiconductor(CMOS)camera.At the same time,lightweight image processing methods are used to extract image features such as circle and lines required for positioning.Finally,an Android app is designed to achieve automated highprecision positioning function and can adapt to external light sources,Equipped with anti-interference performance.This article has built an indoor positioning platform in actual computer room scenarios to test and verify the various performance of system.The results show that the positioning accuracy is within 10cm,the positioning delay is within 0.3s,and the receiver can support a movement speed of 1.2m/s.At the same time,the system can also achieve reliable positioning in different light source environments.