空间电子技术2026，Vol.23Issue(3)：19-26,8.DOI:10.3969/j.issn.1674-7135.2026.03.003
基于可见光辅助的边缘智能室内外定位系统
Visible light-assisted edge intelligent indoor and outdoor positioning system
摘要
Abstract
Global navigation satellite systems(GNSS)provide meter-level positioning accuracy in open outdoor environments but fail completely indoors due to signal attenuation.In contrast,visible light positioning(VLP)technology achieves centimeter-level accuracy indoors but is difficult to apply outdoors due to its dependence on light sources.This paper proposes an edge intelligence-based indoor-outdoor seamless positioning system,which for the first time tightly couples BeiDou Navigation Satellite System(BDS)and VLP through a graph optimization framework,solving the problem of heterogeneous and asynchronous fusion in transition areas.The core innovations include:(1)a multimodal factor graph-based seamless positioning framework that uniformly processes two types of heterogeneous observations,namely BDS pseudorange/carrier phase and VLP angle-of-arrival/received signal strength;(2)an adaptive uncertainty propagation mechanism that achieves imperceptible switching in transition areas through online estimation of optical channel status and satellite geometric dilution of precision;(3)a lightweight positioning solution architecture based on edge computing that reduces the computational load on end devices by 62%.Experimental results in typical indoor-outdoor transition scenarios demonstrate that the proposed system achieves 0.8 m RMS accuracy in open outdoor environments,0.12 m RMS accuracy in deep indoor areas,100%switching success rate within a transition zone of 2-meter range,and a positioning jump of less than 0.25 m caused by switching.Compared with traditional handover-based schemes,Compared to traditional switching schemes,the positioning accuracy is significantly better.关键词
无缝定位/可见光定位/北斗导航系统/因子图优化/边缘计算/异构融合Key words
seamless positioning/visible light positioning/BeiDou Navigation Satellite System/factor graph optimization/edge computing/heterogeneous fusion分类
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漆凯,任珈谊,孟祥艳,孙正东,于泽文..基于可见光辅助的边缘智能室内外定位系统[J].空间电子技术,2026,23(3):19-26,8.基金项目
陕西省科技厅一般项目(编号:2024GX-YBXM-105) （编号:2024GX-YBXM-105）
