公开(公告)号：US09360310B2

公开(公告)日：2016-06-07

申请号：US14087162

申请日：2013-11-22

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Guang Tan ,  Bo Xie ,  Chenghua Mao

IPC: G01B21/00 ,  G01B7/00 ,  G01B11/00 ,  G01V8/20 ,  G01S5/16

CPC classification number: G01B21/00 ,  G01B7/00 ,  G01B11/00 ,  G01S5/16 ,  G01V8/20

Abstract: The present disclosure relates to a multi-sensor indoor localization method and device. The method includes: an optical signal is received from a point light source using an optical sensor group having N optical sensors; the light intensity of the optical signal is obtained, the optical sensor group includes a polyhedron-shaped base where the normal vectors of each three faces are linearly independent, the N optical sensors are located on the faces of the base, and N≧6; the current heading is obtained by a magnetic sensor group; a current unit normal vector is obtained; a system of at least three equations is established; the system of equations is solved to obtain an approximate solution of minimum residual, the approximate solution is regarded as the coordinates of the optical sensor group.

Abstract translation: 本发明涉及多传感器室内定位方法和装置。 该方法包括：使用具有N个光学传感器的光学传感器组从点光源接收光信号; 获得光信号的光强度，光传感器组包括三面体的法线向线性独立的多面体基座，N个光学传感器位于基体的面上，N≥6; 当前航向由磁传感器组获得; 获得当前单位法向量; 建立至少三个方程的系统; 求解方程组得到最小残差的近似解，将近似解作为光传感器组的坐标。

公开(公告)号：US09883351B2

公开(公告)日：2018-01-30

申请号：US15309128

申请日：2015-10-15

Applicant: SHENZHEN INSTITUTES OF ADVANCED TECHNOLOGY CHINESE ACADEMY OF SCIENCES

Inventor： Guang Tan ,  Bo Xie ,  Chenghua Mao ,  Zhongkai Xiao

IPC: H04B10/00 ,  H04W4/04 ,  G01S1/70 ,  H04B10/114 ,  H04W64/00

CPC classification number: H04W4/04 ,  G01S1/70 ,  G01S5/16 ,  H04B10/114 ,  H04B10/1141 ,  H04W64/00

Abstract: Disclosed is an indoor positioning device which comprises a base, a light source mounted on the base, a rotating part, a rotating outer shell and a controller; the rotating outer shell is a hemispherical shell body or a shell body being tangent externally with a hemispherical surface; a luminous point is located at a spherical center of the rotating outer shell; the rotating outer shell is divided into a plurality of encoded rings, each encoded ring is divided into a plurality of encoding bits, a angle β of each encoding bit in a latitudinal direction is 360/N degrees, different encoded rings has different arrangements of encoding bits; in each encoded ring, some encoding bits are in a transparent state, there is no arrangement of two continuous opaque encoding bits, some encoding bits arranged in a specified style constitute a start bit or an end bit; once a light barrier of the rotating part passes through an optical coupler, the light source generates a frequency hopping; a receiver senses an optical signal and performs positioning. According to the special rotating outer shell and the frequency hopping light source, and in combination with the receiver, the optical signal can be sensed and positioning can be implemented. The indoor positioning device has a simplified structure and the method for indoor positioning is novel, accurate, has a good stability and a low cost, and is applicable to indoor positioning with high precision.