Liu Xiangyu, Zhang Junqi, Song Song, Guo Lei
The School of Information Science and Engineering, Shenyang Ligong University, Shenyang 110159, China.
The School of Communication and Information Engineering, Chongqing University of Posts and Telecommunications, Chongqing 400065, China.
Sensors (Basel). 2025 Aug 1;25(15):4741. doi: 10.3390/s25154741.
Research on image sensor (IS)-based visible light positioning systems has attracted widespread attention. However, when the receiver is tilted or under a single LED, the positioning system can only achieve two-dimensional (2D) positioning and requires the assistance of inertial measurement units (IMU). When the LED is not captured or decoding fails, the system's positioning error increases further. Thus, we propose a novel three-dimensional (3D) visible light positioning system based on image sensors for various environments. Specifically, (1) we use IMU to obtain the receiver's state and calculate the receiver's 2D position. Then, we fit the height-size curve to calculate the receiver's height, avoiding the coordinate iteration error in traditional 3D positioning methods. (2) When no LED or decoding fails, we propose a firefly-assisted unscented particle filter (FA-UPF) algorithm to predict the receiver's position, achieving high-precision dynamic positioning. The experimental results show that the system positioning error under a single LED is within 10 cm, and the average positioning error through FA-UPF under no light source is 6.45 cm.
基于图像传感器（IS）的可见光定位系统研究受到了广泛关注。然而，当接收器倾斜或处于单个发光二极管（LED）下时，定位系统只能实现二维（2D）定位，并且需要惯性测量单元（IMU）的辅助。当LED未被捕获或解码失败时，系统的定位误差会进一步增大。因此，我们提出了一种适用于各种环境的基于图像传感器的新型三维（3D）可见光定位系统。具体而言，（1）我们使用IMU获取接收器的状态并计算接收器的二维位置。然后，我们拟合高度-尺寸曲线来计算接收器的高度，避免了传统三维定位方法中的坐标迭代误差。（2）当没有LED或解码失败时，我们提出了一种萤火虫辅助无迹粒子滤波器（FA-UPF）算法来预测接收器的位置，实现高精度动态定位。实验结果表明，在单个LED下系统定位误差在10厘米以内，在无光源情况下通过FA-UPF的平均定位误差为6.45厘米。
