Research Article
High-Accuracy and Real-Time Indoor Positioning System Based on Visible Light Communication and Mobile Robot
Table 1
Parameters in this paper.
| | Camera specifications |
| | Model | MindVision UB-300 | | Pixel (H × V) | 2048 × 1536 | | Time of exposure | 0.02 ms | | Type of shutter acquisition mode | Electronic rolling shutter | | Acquisition mode | Successive and soft trigger |
| | Turtlebot3 robot specifications |
| | Module | Raspberry pi 3 B | | CPU | Quad core 1.2 GHz broadcom BCM2837 | | RAM | 1 GB | | Operating system | Ubuntu mate 16.04 |
| | Remote controller specifications |
| | Module | Acer VN7-593G | | CPU | Quad core Intel® Core™ i7-7700HQ | | Operating system | Ubuntu 16.04 LTS |
| | System platform specifications |
| | Size (L × W × H) | 146 × 146 × 285cm3 |
| | LED specifications |
| | Coordinates of LED1 (cm) | (13, 159, 285) | | Coordinates of LED2 (cm) | (159, 159, 285) | | Coordinates of LED3 (cm) | (159, 13, 285) | | The half-power angles of LED/deg (ψ1/2) | 60 | | Current of each LED | 300 mA | | Rated power | 18 W | | Optical output | 1500l m @ 6000 K | | LED modulation frequency | 5 kHz | | Diameter of each LED | 150 mm |
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