CN114444629B - Angle measurement positioning system and method based on RFID tag array - Google Patents
Angle measurement positioning system and method based on RFID tag array Download PDFInfo
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
- G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
- G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/04—Position of source determined by a plurality of spaced direction-finders
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Abstract
The invention discloses an angle measurement positioning system and method based on a radio frequency identification (RFID, radio Frequency Identification) tag array, and relates to the technical field of RFID indoor positioning. Firstly, arranging a tag array formed by a plurality of RFID passive tags on an object, acquiring phases of reflected signals of the tag array by utilizing a commercial reader-writer and a plurality of antennas arranged at fixed positions, and constructing phase differences for the same reader antenna; then, calibrating the measured phase difference by using a coupling phase error correction method, inhibiting the influence of coupling errors, and estimating the antenna direction by using a MUSIC algorithm; finally, the retrieval and positioning of the tag array pose are realized through the geometric relationship among the direction angles of a plurality of antennas with known positions, the tag array pose angle and the signal arrival angle. The invention provides an RFID angle measurement indoor positioning system with simple deployment, which can realize the positioning of a target object and the estimation of the target gesture, and is suitable for most indoor positioning scenes.
Description
Technical Field
The invention belongs to the field of RFID indoor positioning, and particularly relates to an indoor positioning system and method based on an RFID tag array.
Background
Radio frequency identification (Radio Frequency Identification, RFID) technology uses a wireless radio frequency mode to perform non-contact bidirectional data communication between a target tag and a reader-writer, so as to realize the identification of the target. The UHF (Ultra High Frequency) -band (860-960 MHz) passive RFID technology has the advantages of low cost, wide reading range, high reading speed and the like, and is widely applied to various fields such as supply chain management, logistics management, warehouse management and the like, and the RFID-based positioning technology also becomes a hot spot for researches of students.
In a conventional antenna array-based RFID indoor positioning system, each antenna array is formed by a plurality of antennas, and there is a certain requirement for the spacing between the antennas in the array, and the size of the existing commercial reader-writer antenna cannot meet the requirement, and a special customized antenna is required, which causes the increase of the positioning cost of the antenna array. In the existing positioning system based on the tag array, when a certain attitude angle position exists in the tag array, the positioning error is rapidly deteriorated, and the position service cannot be provided.
Disclosure of Invention
Based on the problem that the positioning accuracy is deteriorated under the condition that the attitude angle of the tag array in the tag array positioning system is unknown, the invention provides an indoor positioning system and an indoor positioning method based on the RFID tag array, which can provide the position and the attitude information of a positioning target.
The invention firstly provides an angle measurement positioning system based on an RFID tag array, which comprises:
an angle measurement positioning system based on an RFID tag array comprises an RFID reader, an RFID tag array, a plurality of commercial RFID reader antennas, a data processing terminal, a plurality of network cables and a plurality of radio frequency cables;
the RFID tag array consists of a plurality of RFID tags of the same type, phase information acquisition required for realizing positioning is completed by an RFID reader-writer and an RFID reader-writer antenna, and a data processing terminal of the system is responsible for RFID reader-writer control, data processing and positioning calculation.
Optionally, the type of the RFID reader is Impinj R420;
optionally, the RFID tag is commercial tag of Alien-9746;
optionally, the commercial RFID reader antenna is VIKITEK VA094;
optionally, the data processing terminal is configured as an i7-5500u processor, an 8G running memory and a memory device required by hardware control and positioning;
in order to solve the technical problem, the invention also provides an angle measurement positioning method based on the RFID tag array, which specifically comprises the following steps:
step S1, a tag array constructed for a plurality of RFID tags is used for measuring correction values of tag coupling phase errors by using a reader and a data processing terminal;
further, in the step S1, the specific step of measuring the correction value of the tag coupling phase error is:
firstly, for an RFID tag array containing N tags, placing corresponding RFID tags at each fixed position, and collecting phase values of all the tags in the array by using a reader-writerCalculating and recording the phase difference of the reference tag and other tags by taking the first tag as the reference tag +.>；
Then, other labels are removed from the label array, only one reference label and one label to be tested are reserved, and the reader acquires the phase values of the two labelsAnd->Calculate and record its phase difference +.>；
Second, calculateThe phase difference is used as the phase error introduced by tag coupling in the pair of tag phase differences and used for calibrating the phase difference error of the tag array;
finally, repeating the steps, and measuring the phase difference error introduced by the coupling of the labels in the phase difference between any label in the array and the reference label, wherein the phase difference error is used for calibrating the phase difference between all other labels in the label array and the reference label.
S2, arranging a plurality of reader antennas, and enabling all antennas to complete acquisition of all tag phase information in a tag array according to time sequence;
step S3, calibrating the phase difference between the tags by using the phase difference and the phase difference correction value in the step S1, and carrying the calibrated phase difference into a MUSIC algorithm to estimate the arrival angle of the antenna signal;
s4, estimating the attitude angle of the tag array by using the signal arrival angles and the antenna positions of the plurality of antennas and using a tag array attitude retrieval algorithm;
and S5, establishing an equation by utilizing the geometric relationship among the tag attitude angle, the antenna direction angle and the antenna position in the step S4, and taking the average value of a plurality of positions to be selected as a positioning result.
The invention has the beneficial effects that: the RFID reader-writer and the reader-writer antenna are commercial equipment, and the system is simple in structure, flexible in deployment and suitable for most typical indoor environments; meanwhile, the invention considers the gesture of the tag array during positioning, can realize the gesture estimation of the target object during positioning, and has wider application scenes compared with a common positioning system.
Drawings
Fig. 1 is a system configuration diagram of the present invention.
Fig. 2 is a positioning model diagram of the present invention.
FIG. 3 is a schematic diagram of tag array pose retrieval according to the present invention.
Detailed Description
The invention will be further described with reference to the accompanying drawings and specific examples. The described embodiments are only one of the embodiments of the invention and not all embodiments.
The invention provides an angle measurement positioning system and method based on an RFID tag array, and the system structure is shown in figure 1. In this embodiment, the reader-writer in the figure uses Impinj R420, the tag array has a tag model number of Alien-9746, three commercial VIKITEK VA094 reader-writer antennas are used, and the data processing terminal is configured to be an i7-5500u processor, an 8G running memory, and includes a storage device required for hardware control and positioning.
When the method is used, a plurality of RFID tags of the same type are uniformly attached to the tags of the object to be positioned to form a uniform linear tag array, and then a terminal control reader-writer is used for measuring the coupling phase error in the tag array.
Firstly, carrying out tag array coupling error measurement, wherein the coupling error measurement comprises the following steps:
step S1, placing corresponding RFID tags at each fixed position for an RFID tag array containing N tags, and acquiring phase values of all the tags in the array by using a reader-writerCalculating and recording the phase difference of the reference tag with other tags by using the first tag as the reference tag +.>
Step S2, removing other labels from the label array, only reserving one reference label and one label to be tested, and collecting the phase values of the two labels by a reader-writerAnd->Calculate and record its phase difference +.>
Step S3, calculatingThe phase difference is used as the phase error introduced by tag coupling in the pair of tag phase differences and used for calibrating the phase difference error of the tag array;
and S4, repeating the step S2 and the step S3, and measuring phase difference errors introduced by tag coupling in the phase difference between any tag in the array and the reference tag, wherein the phase difference errors are used for calibrating the phase differences between all other tags in the tag array and the reference tag.
After the phase difference correction value measurement is completed, three antennas are arranged in a positioning scene, and as shown in fig. 1, a terminal control reader-writer is used for acquiring the tag phase and realizing a positioning algorithm.
The detailed steps of the positioning algorithm are as follows:
in step S1, in order to realize positioning and gesture detection of an object, an angle of arrival θ (abbreviated as an antenna AOA) of a signal of an antenna with respect to a tag array needs to be estimated first. The reader-writer transmitting antenna and the receiving antenna share the same antenna, so the receiving signal can be regarded as a signal that the antenna transmitting signal s (t) enters the tag array at the angle theta, is backscattered by the tag and then exits to the antenna at the same angle. The antenna is separated from the different elements in the tag array by a difference in distance, which is manifested as a phase shift in the received signal. The ith tag received signal at time t in the tag array can be modeled as:
wherein s (t) represents a transmission signal, r i Lambda represents the wavelength, n, for the distance of the antenna from the ith tag i And (t) is noise. Combining tag array receiving signals comprising N array elements to obtain:
X(t)＝AS(t)+N(t)
wherein X (t) is an M×1-dimensional snapshot data vector of the array, N (t) is an M×1-dimensional noise data vector of the array, S (t) is a K×1-dimensional vector of the spatial signal, K is the number of incident signals, and A= [ alpha (θ) 1 ),α(θ 2 ),...,α(θ K )]Is M x K dimension popular matrix (steering vector matrix) of space array, taking first label array element as reference, alpha (theta) i ) Can be expressed as:
acquiring phase information of the tag array by using a reader-writer to obtain a phase difference between each RFID tag in the tag array and a reference tag at the time tCalibrating the phase difference using the phase difference correction value>Reconstructing a received signal of the tag array at the moment t by using the calibrated phase to obtain:
and (3) performing feature decomposition on the covariance matrix of the reconstructed signal, decomposing the covariance matrix into a signal subspace and a noise subspace according to the size of the feature value, and searching the arrival angle of the antenna signal by using MUSIC (Multiple Signal Classification) algorithm by utilizing the orthogonality of the covariance matrix.
And S2, retrieving the attitude angle of the tag array. Referring to fig. 2, a rectangular coordinate system is established with the leftmost antenna as the origin of coordinates and the straight line where the three antennas are located as the x-axis. Wherein A is 1 、A 2 、A 3 Three reader-writer antennas with coordinates of (0, 0) and (D) 1 ,0)、(D 1 +D 2 ,0). In the second step, the signal arrival angles of the three antennas are respectively theta' 1 ,θ′ 2 ,θ′ 3 . Assuming that the attitude angle of the tag array is alpha, the direction angle beta of the tag array relative to the antenna i ＝θ′ i +α, over-antenna position at an angle β to the x-axis i Is defined by three straight lines l 1 、l 2 、l 3 The method comprises the following steps:
as shown in fig. 2, the coordinates of the three antenna positions are crossed and the included angle between the coordinates and the x axis is beta 1 、β 2 And beta 3 Will intersect at a point and it is not possible to intersect at a point again after rotating the angle alpha by any angle. Then traversing all alpha angles within the range of pi/2-gamma-pi/2, estimating the attitude angle of the tag array, and enabling the attitude angle of the tag array to beIt satisfies the following conditions:
step S3, obtaining the attitude angle of the tag array, as shown in FIG. 3, to obtain the relative antenna A of the antenna array i Direction angle beta of (2) i . Let the position of the center of the tag array be (x c ,y c ) Antenna A i Is (x) i ,y i ) Coordinates of (i=1, 2, 3), then β 1 、β 2 And beta 3 The method meets the following conditions:
the combination of any two of the equations in the above formula can solve for three different solutions { (x) c1 ,y c1 ),(x c2 ,y c2 ),(x c3 ,y c3 ) Taking the average value of three intersection coordinates as the final position of the target:
thus, the positioning and the gesture estimation of the target object are realized.
The above embodiment examples are only preferred embodiments of the present invention, and are not intended to limit the scope of the present invention, and the present invention is not limited to the above embodiments, and all equivalent substitutions, modifications and the like made by those skilled in the art according to the present disclosure should be included in the scope of the present invention.
Claims (2)
1. An indoor positioning system based on radio frequency identification (Radio Frequency Identification, RFID) tag array angle measurement is characterized by comprising an RFID reader, an RFID tag array, a plurality of RFID reader antennas, a data processing terminal, a plurality of network cables and a plurality of radio frequency cables; the RFID tag array consists of a plurality of RFID tags of the same type, the RFID reader and the RFID reader antenna realize phase information acquisition required by positioning, and the data processing terminal of the system is responsible for RFID reader control, data processing and positioning calculation; the indoor positioning method based on the tag array angle measurement comprises the following steps:
s1, estimating a signal arrival angle of an antenna relative to a tag array, wherein a reader-writer transmitting channel and a receiving channel share one antenna, and a receiving signal is a signal which is reflected by the antenna transmitting signal S (t) and is reflected back to the receiving antenna by the tag array at the same angle, wherein the incident tag array is fixed at the angle; because the distances between the antenna and different array elements in the tag array are different, the phase shift is embodied in the received signal, and the backscattering signal of the ith tag array element received by the receiving antenna at the moment t is expressed as:
wherein s (t) represents an antenna transmitting signal, r i For the link distance between the antenna and the ith tag element, λ represents the wavelength, n i (t) is noise;
combining all the received backscatter signals of the N tag array elements to obtain:
X(t)＝AS(t)+N(t) (2)
wherein X (t) is an Mx1-dimensional snapshot data vector of the array, M represents the snapshot number of signals, N (t) is an Mx1-dimensional noise data vector of the array, S (t) is a Kx1-dimensional vector of the spatial signal, K is the number of incident signals, A is an MxK-dimensional popular matrix (guide vector matrix) of the tag array, and A= [ alpha (θ) 1 ),α(θ 2 ),...,α(θ K )]The method comprises the steps of carrying out a first treatment on the surface of the Taking the first tag array element at the left side of the tag array as a reference, any one column alpha (theta i ) Expressed as:
usingThe reader-writer collects the phase information of all the array element labels in the label array and calculates the phase difference between each array element label and the reference label at the time tWherein->Indicating the phase difference of the tag i from the reference tag at time t, i=1, 2, N;
measuring a coupling phase error by using an RFID tag array coupling phase error measuring method, calibrating the phase difference by using the measured coupling phase difference error, reconstructing a receiving signal by using the calibrated tag array phase, and reconstructing the receiving signal by using g (t):
performing feature decomposition on the covariance matrix of the reconstructed signal, decomposing the covariance matrix into a signal subspace and a noise subspace according to the size of the feature value, and estimating the arrival angle of the antenna signal by using MUSIC (Multiple Signal Classification) algorithm by utilizing orthogonality of the noise subspace and the signal subspace;
s2, retrieving an attitude angle of the tag array; arranging L reader-writer antennas in a positioning scene, wherein L is more than or equal to 3; estimating the signal arrival angles of all antennas by using the method in the step S1, wherein the three reader-writer antennas are on the same straight line, the leftmost antenna is set as the origin of coordinates, the straight line where the three antennas are located is set as the x-axis, a rectangular coordinate system is established, and the coordinates of the three reader-writer antennas are A respectively 1 (0,0)、A 2 (D 1 ,0)、A 3 (D 1 +D 2 0), let the signal arrival angle estimation results of the three antennas in step S1 be θ respectively 1 ′,θ 2 ′,θ 3 'A'; traversing all alpha angles in a fixed range by utilizing the geometrical relation among the antenna signal arrival angle, the antenna attitude angle and the direction angle of the tag relative to the antenna, wherein the alpha angles represent the search range of the tag array attitude angle, and detecting the alpha anglesAnd carrying out search estimation on the tag array attitude angle in the index range to obtain a tag array attitude angle estimated value, wherein the tag array attitude angle estimated value is expressed as an alpha:
step S3, obtaining the attitude angle of the tag array to obtain the direction angle beta of the center of the tag array relative to the antenna Ai i ＝θ′ i +α, i=1, 2,3; let the position of the center of the tag array be (x c ,y c ) Antenna A i Is (x) i ,y i ) Beta is then 1 、β 2 And beta 3 The method meets the following conditions:
the combination of any two of the equations in the above formula can solve for three different solutions { (x) c1 ,y c1 ),(x c2 ,y c2 ),(x c3 ,y c3 ) Taking the average value of three intersection point coordinates as the final positioning result of the target:
positioning and posture estimation of the target object are realized.
2. The indoor positioning system based on radio frequency identification tag array angle measurement according to claim 1, wherein the RFID tag array coupling phase error measurement method in step S1 comprises the steps of:
step S1, placing corresponding RFID tags at each fixed position for an RFID tag array containing N tags, and acquiring phase values of all the tags in the array by using a reader-writerIn the first placeOne tag is used as a reference tag, and the phase difference of the reference tag and other tags is calculated and recorded>
Step S2, removing other labels from the label array, only reserving one reference label and one label to be tested, and collecting the phase values of the two labels by a reader-writerAnd->Calculate and record its phase difference +.>
Step S3, calculatingThe phase difference is used as the phase error introduced by tag coupling in the pair of tag phase differences and used for calibrating the phase difference error of the tag array;
and S4, repeating the step S2 and the step S3, and measuring phase difference errors introduced by tag coupling in the phase difference between any tag in the array and the reference tag, wherein the phase difference errors are used for calibrating the phase differences between all other tags in the tag array and the reference tag.
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| CN116582929B (en) * | 2023-07-13 | 2023-09-19 | 杭州晟珈智能科技有限公司 | Multi-antenna RFID tag positioning method and system based on RSSI |
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