Indoor visible light vehicle positioning method based on improved unscented particle filtering

The invention discloses a visible light positioning method based on improved particle filtering. The method comprises the following steps: 1) constructing an indoor visible light communication model of a parking lot; (2) setting parameters in modeling and calculating the distance from the vehicle to each LED lamp; (3) estimating vehicle coordinates according to the distance from the vehicle to each LED lamp; (4) setting the initial state of the vehicle and the initial covariance of the vehicle; (5) generating suggested distribution by using unscented Kalman filter (UKF); and 6) calculating the filtered position result by using the improved unscented particle filtering. The method can improve the visible light vehicle positioning precision. 本发明公开了一种基于改进粒子滤波的可见光定位方法，包括如下步骤：1）构建停车场室内可见光通信模型；2）设置建模中参数并计算车辆到各个LED灯的距离：3）根据车辆到各LED灯距离估算车辆坐标：4）设定车辆初始状态以及其初始的协方差：5）使用无迹卡尔曼滤波UKF产生建议分布；6）利用改进后的无迹粒子滤波计算出滤波后的位置结果。这种方法能提高可见光车辆定位精度。