05-02-2015 дата публикации
Номер: US20150039262A1
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. 1. A multi-sensor indoor localization method , comprising:receiving an optical signal from a point light source using an optical sensor group comprising N optical sensors;obtaining the light intensity of the optical signal, wherein the optical sensor group comprises 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;obtaining the current heading by a magnetic sensor group;obtaining a current unit normal vector according to the current heading angle and an initial unit normal vector of a sensing face of an optical sensor;establishing a system of at least three equations according to current unit normal vectors, the light intensity, the coordinates of the point light source and a light intensity model;solving the system of equations to obtain an approximate solution of minimum residual, the approximate solution is regarded as the coordinates of the optical sensor group,{'sub': i', 'd', 'μ', 'i', 'ω', 'i', '0', '0', '0', 'd', 'μ', 'i', 'ω', 'i', 'i', 'i', '0', 'i', '0', 'i', '0', 'i', 'i', 'i', '0, 'sup': th', 'th, 'wherein the equations are established according to the ...
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