Underground moving target optical fingerprint positioning and tracking method based on visible light communication

The invention discloses an underground moving target optical fingerprint positioning and tracking method based on visible light communication and belongs to an underground moving target positioning and tracking method for a coal mine. The method comprises the following steps: establishing an optical fingerprint database in an offline stage, and positioning and tracking a target in a fingerprint matching mode in an online stage; detecting a signal of an illuminating lamp base station through the carried receiver in the moving process of the moving target, and transmitting the calculated information to the illuminating lamp base station; receiving the user information through the illuminating lamp base station, calculating the direction information of the user signal, which is relative to the base station, and assembling the arrival angle information, the ID of the base station, the light signal intensity transmitted by the moving target, and the target ID into a positioning data packet which is transmitted to a positioning server; and calculating the position of the target through the positioning server. The moving direction of the target is tracked in real time through the illuminating lamp base station by utilizing the blind adaptive multi-light source detecting algorithm based on the receiving intensity, the accurate position of the target is obtained, and positioning tracking is realized. The method has the advantage that the position of the target can be accurately and effectively estimated.