Indoor positioning device and indoor positioning method

An indoor positioning device, comprising a base, a light source mounted on the base, a rotating part, a rotating outer shell arranged on the rotating part, and a controller;

• the rotating outer shell is a hemispherical shell body or a shell body formed by splicing a plurality of small flat surfaces or annular surfaces together and being tangent externally with a hemispherical surface;
• a luminous point of the light source is positioned at a spherical center of the hemispherical surface;
• the rotating outer shell is divided into a plurality of encoded rings that are parallel to latitude lines, in a longitudinal direction, an angle α of each encoded ring relative to the light source is known;
• each encoded ring relative to the light source is divided into a plurality of encoding bits, in a latitudinal direction, an angle β of each of the encoding bits relative to a center point of the encoded ring is 360/N degree, wherein N is the number of the encoding bits in one encoded ring, and is a positive integer equal to or greater than 3, and N satisfies that different encoded rings have different arrangements of encoding bits respectively;
• in each encoded ring, some encoding bits are in a transparent state, and there is no arrangement of two or more continuous opaque encoding bits, some encoding bits arranged in a specified style constitutes a start bit or an end bit of the encoded ring;
• the base is further provided with an opto-isolator having a groove, a side of the rotating part facing the base is provided with a light barrier, once the rotating part drives the light barrier to pass through the groove, the controller controls the light source to generate a frequency hopping;
• the indoor positioning device further comprises a receiver configured to be placed at a point to be positioned to sense optical signal, detecting a frequency hopping point, and performing positioning according to the optical signal and the frequency hopping point.