Indoor and underground space positioning and navigation systems are important infrastructure for urban lifeline construction. With the development of 5G communication technology, artificial intelligence, intelligent construction, and other technologies, autonomous mobile terminals have become the main application subjects, and the requirements for accuracy and ubiquity of indoor positioning technology are also increasing. Two main indoor positioning technologies, sensor based and RF signal based are introduced, basic concepts of new visible light communication positioning technology are discussed, and in-depth results on non-imaging and imaging positioning methods are presented in this article. We propose a pose-assisted imaging positioning method applied in the 11 m × 8 m × 3.5 m room, which is based on visible light communication. This test shows that this method can achieve the positioning results with a plane positioning error less than 5 cm and the height error less than 6 cm by using low-cost sensors. Visible light positioning technology provides a cost-effective and convenient new solution for indoor positioning, simultaneously solving the integration problem of communication and positioning. It can provide positioning technology supporting the construction of urban lifelines in enclosed spaces.

The technology of visible light positioning (VLP) has the advantages of low cost, high precision, no electromagnetic interference, convenient deployment, and the advantage of taking into account both communication positioning and lighting which makes this technology has potentially useful application prospects in the field of indoor positioning. In this paper, two indoor positioning methods based on visible light communication (VLC) called imaging and non-imaging method are summarized, meanwhile, their key technologies, research development, applications and trend are analyzed and discussed. A VLP light source matching identification method based on autocorrelation sequence is proposed, what's more, a method of constructing a positioning system based on the common imaging sensor and rectangular flat-panel light source is introduced. Finally, the research and development direction of indoor VLP technology is prospected.

A real-time imaging recognition and positioning method based on visible light communication flat light source is proposed. This method images the visible light communication flat light source through the rolling shutter effect of the complementary metal-oxide semiconductor imaging sensor and obtains the rectangular area outline of the light source. The light and dark stripe information of image with the digital image processing method realizes light source matching recognition by defining the concept, the autocorrelation sequence, which can be used to obtain the identity of the light source, and the rectangular vertex coordinate information of flat light source achieves high-precision vision positioning on the basis of inertial measurement unit attitude sensor-assisted imaging. Simultaneously, the corresponding positioning module is developed for positioning testing. The test results indicate that the plane positioning error is less than 4.5 cm, and the positioning frequency is greater than 10 Hz, which provides a high-precision visual positioning solution for indoor positioning.

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.

提出一种基于可见光通信与双目视觉测量的高精度室内定位方法,旨在为室内移动机器人提供一种精度高、成本低、不易受干扰的室内定位方案.该方法利用双目视觉传感器对LED光源进行成像测量,利用惯性测量单元传感器记录成像测量的三维姿态角,并通过可见光通信技术获取LED光源的坐标信息,最终计算双目视觉传感器相对于LED光源的三维坐标.根据该方法研制了一款基于可见光通信与成像的定位模块,该模块可以利用单个或两个LED光源进行成像定位.当定位模块采用1 280×720分辨率的图像时,在2 m×2 m×3 m室内环境中可实现厘米级移动定位,定位频率大于5 Hz;当利用两个相距60 cm的LED光源进行定位时,在三维方向上的定位误差均小于5 cm,同时能够提供小于1.4°的定向纠正.该方法可以为室内移动机器人提供厘米级定位导航服务.