随着智能手机等移动设备上与位置相关的服务（Location Based Services, LBS）的普及，室内无线定位技术在人们日常生活中正发挥越来越重要的作用。可见光定位是一种基于可见光通信的新型室内无线定位技术。相比于无线局域网（Wireless Local Area Network, WLAN）和蓝牙等基于射频无线电的传统室内无线定位技术，可见光定位具有众多优点，如定位精度高、保密性强、抗电磁干扰、定位/照明一体便于实施等，是目前室内无线定位技术的一个热门研究方向。

本文围绕可光定位系统实时接收机的硬件实现，开展了基于ZYNQ的室内可见光定位系统的研究。论文选取Xilinx Zedboard开发板和4DSP FMC150子卡作为开发平台，完成了接收机的设计和硬件实施，并在搭建可见光定位测试系统的基础上，完成了对接收机实时定位精度的测试与分析。

论文首先介绍了多种室内无线定位技术的原理以及特点，概述了室内可见光定位的国内外发展现状。紧接着，论文对室内可见光定位系统进行了介绍，包括可见光定位系统的结构、发光二极管（Light Emitting Diode, LED）的发光特性、传输信道特性和光电探测器特性，同时还简述了接收信号强度（Received Signal Strength, RSS）等常用定位算法的基本原理。

论文随后介绍了可见光定位系统接收机的开发平台，着重介绍了Zedboard上ZYNQ芯片的架构以及FMC150开发套件的使用。而后，论文给出了基于ZYNQ的室内可见光定位系统的系统模型，阐述了系统接收机在Zedboard上的设计和实现，对接收机包含的每一个功能模块，包括命令模块、降采样模块、数据处理模块和显示模块的功能和运行逻辑都进行了详细的说明，并给出了部分模块的功能验证结果。最后，论文在采用RSS算法的可见光定位实验平台上对接收机的性能进行了测试。测试结果表明，该实时定位接收机在1 m × 1 m × 1 m的定位区域内的平均定位误差约为3 cm。该结果证明了接收机可以满足厘米级分辨率室内无线定位应用的精度要求。

With the popularity of location based services (LBS) on mobile devices such as smart phones, indoor wiressless positioning technology is playing an increasingly important role in people's daily lives. Visible light positioning is a novel indoor wireless positioning technology based on visible light communication. Compared with traditional indoor wireless positioning technologies based on radio frequencies such as wireless local area network (WLAN) and Bluetooth, visible light positioning has many advantages, such as high positioning accuracy, strong confidentiality, immune to electromagnetic interference and easy to implement with positioning/lighting integration, which make it a popular research direction of indoor wireless positioning technologies.

This thesis focuses on the hardware implementation of the real-time receiver of visible light positioning system, and carries out research on the indoor visible light positioning system based on ZYNQ. We select the Xilinx Zedboard and 4DSP FMC150 daughter card as the development platform, complete the design and hardware implementation of receiver, and construct a visible light positioning testbed to investigate the accuracy of the receiver in real-time positioning.

Firstly, this thesis introduces the principles and characteristics of various indoor wireless positioning technologies, and summarizes the development status of indoor visible light positioning at home and abroad. Then, the indoor visible light positioning system is introduced in detail, including its structure, the luminescence properties of light emitting diodes (LEDs), the characteristics of transmission channel and detecor. Moreover, the principles of several well-known positioning algorithms, such as received signal strength (RSS), are briefly explained.

Then, this thesis introduces the development platform of the receiver for visible light positioning, focusing on the architecture of ZYNQ chip on Zedboard and the use of the FMC150 development kit. After that, the model of the indoor visible light positioning system based on ZYNQ is proposed. In addition, the design and implementation of the receiver on Zedboard are described. For each functional module of the receiver, including the command module, downsampling module, data processing module and display module, its function and operation logic are explained in detail. The function verification results of some modules are also presented. Finally, the performance of the receiver is experimentally evaluated in a RSS based visible light positioning testbed. The results show that, an average positioning error of ~3 cm is achieved by the receiver in a 1 m × 1 m × 1 m area, which proves that the receiver meets the accuracy requirement of the indoor wireless positioning applications with centimeter-scale resolution. 

目 录
摘要 I
ABSTRACT III
第一章 绪论 1
1.1 室内无线定位技术概述 1
1.2 室内可见光定位国内外研究现状 4
1.3 本文主要内容及结构 6
第二章 室内可见光定位系统 8
2.1 室内可见光定位系统结构 8
2.2 LED发光特性 8
2.3 可见光传输信道特性 11
2.4 光电探测器特性 12
2.5 可见光定位算法 13
2.5.1 RSS定位算法 14
2.5.2 TOA和TDOA定位算法 15
2.5.3 AOA定位算法 17
2.6 本章小结 18
第三章 硬件开发平台 19
3.1 Zedboard开发平台 19
3.1.1 Zynq-7000架构 20
3.1.2 PS-PL接口 21
3.1.3 外扩FMC插槽 22
3.2 FMC150子卡 23
3.2.1 FMC150子卡简介 23
3.2.2 4FM开发套件 24
3.3 本章小结 27
第四章 基于ZYNQ的室内可见光定位系统 28
4.1 系统概述 28
4.1.1 系统模型 28
4.1.2 算法模型 29
4.2 基于ZYNQ的室内可见光定位系统接收机 31
4.2.1 命令模块 32
4.2.2 降采样模块 34
4.2.3 数据处理模块 37
4.2.4 显示模块 49
4.3 本章小结 52
第五章 室内可见光定位实验 53
5.1 实验平台 53
5.2 实验结果与分析 57
5.2.1 算法离线验证 57
5.2.2 接收机实时测试 59
5.3 本章小结 61
第六章 总结与展望 62
6.1 总结 62
6.2 展望 63
参考文献 64
致谢 68