Patent ID: 9360310
Filing Date: 2016-06-07
CPC Classification: G01B,G01S,G01V

Claim Text:
1. A multi-sensor indoor localization method, comprising: receiving an optical signal from a point light source using an optical sensor group comprising N optical sensors; obtaining a light intensity of the optical signal, wherein the optical sensor group comprises a polyhedron-shaped base where respective normal vectors of each three faces are linearly independent, the N optical sensors are located on the faces of the base, and N≧6; obtaining a current heading by a magnetic sensor group; obtaining a current unit normal vector according to a current heading angle and an initial unit normal vector of a sensing face of an optical sensor; establishing a system of at least three equations according to current unit normal vectors, the light intensity, the coordinates of the point light source and a light intensity model; solving the system of equations to obtain an approximate solution of minimum residual, the approximate solution is regarded as the coordinates of the optical sensor group, wherein the equations are established according to the light intensity model s