PD辅助的P3P可见光定位算法

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。

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

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 (P3P) 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 P3P 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.