Multi-sensor indoor localization method and device based on light intensity
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United States of America Patent
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Jun 7, 2016
Grant Date -
Feb 5, 2015
app pub date -
Nov 22, 2013
filing date -
Jul 30, 2013
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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.
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