CN102184436A - Method for sensing position of object in Internet of things - Google Patents
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Abstract
本发明公开一种物联网物体位置感知方法，其特征在于：建立一个三维坐标体系，定位一个物联网物体位置感知系统，物联网物体位置感知系统由四个UHF RFID读写器，电子标签和总节点模块组成；确定每个UHF RFID读写器在三维坐标体系中的三维坐标位置；将电子标签附着在被测物体上；初次距离测试，获得初测距离值d；求出精确的实际距离d′；求得电子标签的准确位置。其显著效果是：具有动态频率差的PDOA测距方法，能够保证测量系统的相对误差稳定，在实际距离较小时，减小测距误差。
The invention discloses a method for sensing the position of an object in the Internet of Things, which is characterized in that a three-dimensional coordinate system is established to locate a position sensing system for an object in the Internet of Things. Composition of node modules; determine the three-dimensional coordinate position of each UHF RFID reader in the three-dimensional coordinate system; attach the electronic tag to the measured object; obtain the initial distance value d from the initial distance test; obtain the accurate actual distance d ’; Obtain the exact position of the electronic tag. Its remarkable effect is: the PDOA ranging method with dynamic frequency difference can ensure the stability of the relative error of the measurement system, and reduce the ranging error when the actual distance is small.
Description
Technical field
The invention belongs to a kind of object space measuring technology, concrete is a kind of Internet of Things object space cognitive method.
Technical background
In recent years, technology of Internet of things obtains very big development, Internet of Things, as its name suggests, be exactly " internet that the thing thing links to each other ", be by information sensing equipment such as radio-frequency (RF) identification (RFID), infrared inductor, GPS, laser scanners, agreement by agreement, any object is connected with the internet, carries out message exchange and communicate by letter, to realize a kind of network intellectuality identification, location, tracking, monitoring and the management of object.
The location aware of Internet of Things, be that accurate localization is carried out in the position of the object in the access network, there have been at present some comparatively ripe location technologies to use, GPS is as present widely used location technology, be applied to various occasions, but accurately in the scope of line-of-sight propagation, GPS can't reach high orientation precision, even inefficacy at the indoor satellite-signal that waits.The RFID technology is a kind of comparatively ripe recognition technology, also is one of gordian technique of Internet of Things, and it has noncontact, and is easy to carry, and data capacity is big, has the advantages such as ID of unique identification object.The RFID location technology is the hot topic of indoor Position Research among a small circle at present, the rfid system decipherment distance that works in uhf band can reach more than 10 meters, substantially meet the indoor positioning environment, therefore, adopting the RFID technology in the indoor location perception of Internet of Things is a most suitable method.
The technology of RFID range finding mainly contains based on arriving signal intensity (RSSI), time of arrival (toa) (TOA), and signal arrival time difference (TDOA), signal arrives phase differential methods such as (PDOA).It is bigger that RSSI is influenced by communication environments etc., and precision is low; Shorter TOA of indoor positioning propagation distance and TDOA are too high to hardware requirement, therefore are difficult to realize; Because reader sends in the process of signal to label, carrier wave charges to label, label reflects back carrier wave by the backscattering mode simultaneously, reader is compared with the phase place that sends signal carrier according to the backscattered signal carrier of label and is obtained a phase differential, just can obtain range information according to phase differential, even in complicated communication environments, can both obtain higher distance accuracy as long as can read label, therefore adopt the PDOA method that label is found range and be fit to the range finding of indoor environment.
(2) PDOA range measurement principle
Suppose that the signal that read write line sends out is s (t), under the situation of not considering tag modulates and noise effect, the signal that the tag reflection that read write line receives is returned can be written as:
The ρ amplitude relevant wherein with propagation distance,
It is the phase place of the signal that receives.So the distance between label and the reader can be expressed as:
If it is about 900MHz that system selects the frequency range of UHF for use, wavelength approximately is about 33cm, and for indoor localizing environment, generally is several meters to tens meters, therefore, and phase place
There is the phase ambiguity of 2n π, thereby causes dysmetria true,
Summary of the invention
The purpose of this invention is to provide a kind of Internet of Things object space cognitive method, the PDOA distance-finding method with dynamic frequency difference can guarantee that the relative error of measuring system is stable, at actual range hour, reduces range error.
For achieving the above object, the present invention explains a kind of Internet of Things object space cognitive method, and its key is to carry out according to the following steps:
Step 1: set up a three-dimensional coordinate system, Internet of Things object space sensory perceptual system in location in the three-dimensional coordinate system, Internet of Things object space sensory perceptual system are mainly by four UHF rfid interrogators, and electronic tag and total node module are formed; Interconnect by the CAN bus between each UHF rfid interrogator, and all receive above total node, total node is connected with the internet, determines the three-dimensional coordinate position of each UHF rfid interrogator in the three-dimensional coordinate system;
Step 2: with electronic tag attached on the testee;
Step 3: first distance test, each UHF rfid interrogator send radio-frequency information to electronic tag, tentatively obtain the preliminary survey distance value d of each UHF rfid interrogator to electronic tag;
The first initial measurement frequency f 1 is set, and the ultimate range of setting initial measurement is d
Max,
Read write line is respectively with 2 frequencies: the first initial measurement frequency f
1With the second initial measurement frequency f
2Send signal, the phase place of the signal that corresponding tag reflection is returned is respectively
With
It is d that electronic tag is in ultimate range
MaxThe time phase differential
Be 2 π, so can get:
C is a light velocity value;
Thereby obtain the UHF rfid interrogator be to the preliminary survey distance value d of electronic tag:
Step 4:, reset ultimate range d ' according to preliminary survey distance value d
Max=d+1.5m; Can obtain corresponding Δ f ' according to (4) formula
Max, the first initial measurement frequency f
1Constant, also just can determine the second secondary survey frequency f
2'; Read write line is respectively with 2 frequency f
1And f
2' sending signal, the phase place of the signal that the measurement tag reflection is returned is respectively
With
Obtain
Can obtain accurate actual range d ' according to (4) formula;
Step 5: four UHF rfid interrogators send the accurate measurement distance to central processing unit by total node, central controller is tried to achieve the accurate position of electronic tag in the three-dimensional coordinate system in conjunction with the three-dimensional coordinate position of four UHF rfid interrogators in the three-dimensional coordinate system.
Described UHF rfid interrogator is by the main control module, radio-frequency (RF) circuit module, and power amplifier module, the CAN communication module, circulator, phase differential acquisition module and antenna are formed;
The main control module is connected with the CAN communication module is two-way, the main control module also is connected with radio-frequency (RF) circuit module is two-way, the unidirectional power amplifier module that is connected to of radio-frequency (RF) circuit module, the unidirectional input end that is connected to circulator of power amplifier module, circulator is connected with antenna, unidirectional radio circuit transceiver module and the phase differential acquisition module of being connected to of the output terminal of circulator, the output terminal of phase differential acquisition module connects the main control module.
Described main control module: be used for reading and total node communication to label;
Described radio-frequency (RF) circuit module: be used to realize encoding and decoding, modulation generates radiofrequency signal, adopts integrated chip AS3992 and correspondent peripheral circuit to realize;
But the power that radio-frequency module comes out is little, and power amplifier module increases emitted power;
Described CAN communication module is made up of independent CAN transceiver controller SJA1000 and CAN bus driver PCA82C250, is used for carrying out data communication with total node;
Described circulator is used for receiving and transmitting signal and separates;
Described phase differential acquisition module: be used to obtain and send the direct phase differential of carrier wave that signal carrier and label backscattering are returned.
Described total node is provided with the CAN module and is connected with described UHF rfid interrogator;
Described total node is provided with the Internet communication module and Internet connection;
Described total node is provided with central controller: central controller calculates the accurate position of electronic tag in the three-dimensional coordinate system.
Central controller is connected with the CAN module is two-way, and central controller also is connected with the Internet communication module is two-way, and central controller also is connected with human interface device.
Remarkable result of the present invention is: a kind of Internet of Things object space cognitive method is provided, and the PDOA distance-finding method with dynamic frequency difference can guarantee that the relative error of measuring system is stable, at actual range hour, reduces range error.
Developing rapidly of Internet of Things, must cause the demand to accurate location-aware services, this paper proposes the Internet of Things location aware system based on UHF RFID scheme, be operated in 860～960MHz scope, in position perceived accuracy, the system expandability, aspects such as networking all meet the needs of Internet of Things development, follow the tracks of in the hospital patient location, logistics management, there is bigger using value in fields such as robot control.Because the design of native system does not consider to have between label and the reader situation of barrier, if barrier is arranged, the distance that time records should be that electromagnetic wave signal passes through diffraction or diffraction arrives, thereby make that the bearing accuracy error is bigger, therefore, will in next step work, analyze the method for the exact position perception of this situation.
Description of drawings
Fig. 1 is Internet of Things object space sensory perceptual system figure;
Fig. 2 is the structural drawing of UHF rfid interrogator;
Fig. 3 is the structured flowchart of total node;
Fig. 4 is total node procedure process flow diagram;
Fig. 5 is the read write line program flow diagram;
Fig. 6 is testing distance and the graph of a relation that the most very much not blurs difference on the frequency;
Fig. 7 is the absolute error graph of a relation of range finding;
Fig. 8 is the relative error graph of a relation of range finding.
Embodiment
With regard to specific embodiment the present invention is described in further detail below.
Internet of Things location aware system is mainly by 4 UHF rfid interrogators, antenna, and electronic tag and total node module are formed.Shown in Figure 1 is a system architecture in the zone, the UHF rfid interrogator, being placed in the location respectively is the suitable position of scope, interconnect by the CAN bus between each UHF rfid interrogator, and all receive above total node, total node is connected with the internet, before the location, set up a 3-D walls and floor, the coordinate of each read write line is known, the label or the target of having carried label are when location aware regional, 4 UHF rfid interrogators get access to the positional information of label respectively, with total node communication,, send to total node then with the positional information that gets access to, total node is by the position coordinates of corresponding algorithm computation outgoing label, and the result that will obtain sends corresponding server to by the internet.Calculate the three-dimensional position of electronic tag by server.
Total node is provided with the CAN module and is connected with described UHF rfid interrogator;
Total node is provided with the Internet communication module and Internet connection;
Total node is provided with central controller.
Central controller is connected with the CAN module is two-way, and central controller also is connected with the Internet communication module is two-way, and central controller also is connected with human interface device.Also can calculate the accurate position of electronic tag in the three-dimensional coordinate system by central controller.
The UHF rfid interrogator is mainly by the main control module, radio-frequency (RF) circuit module, and power amplifier module, the CAN communication module, circulator, phase differential acquisition module and antenna are formed.The structured flowchart of read write line as shown in Figure 2.
The CAN communication module mainly is made up of independent CAN transceiver controller SJA1000 and CAN bus driver PCA82C250, be responsible for and sum up carry out data communication; Main control module mainly is responsible for reader to the reading and data processing function such as total node communication of label, and controller adopts the procedure stores amount bigger, the single-chip microcomputer PIC24FJ192GB106 of processing speed and all relative PIC that meets design requirement of IO interface; Radio-frequency (RF) receiving and transmission module mainly realizes encoding and decoding, and modulation generates functions such as radiofrequency signal, adopts integrated chip AS3992 and correspondent peripheral circuit to realize; The passive RFID system that is operated in uhf band will be implemented in certain zone label is positioned, and need decipherment distance far away, but the power of the signal that radio-frequency module comes out is less, needs amplification module to increase emitted power; The phase differential acquisition module is to obtain to send the direct phase differential of carrier wave that signal carrier and label backscattering are returned, and therefore adopts the integrated chip AD8302 that can obtain 2 road signal phase differences to realize; Read write line need obtain the signal that the label backscattering returns and obtain phase information, radio-frequency module also needs independently received signal, and system has only an antenna that transmitting-receiving is multiplexing, and the signal that is sent out for the signal that is unlikely to reflect disturbs, and adopts circulator that receiving and transmitting signal is separated.
The total major function of node in the sensory perceptual system of position is the work by the total line coordination read write line of CAN, the positional information that read write line is sent is by computing obtain the being positioned position coordinates of target, and to communicate with some servers or the terminal on the internet, thereby all places aware application in the realization Internet of Things, in order to use the convenience of installation, man-machine interface need be set total node is provided with in addition.The structured flowchart of total node as shown in Figure 3.
The CAN communication module is the module that total node is communicated by letter with mounted each read write line among Fig. 3; Man-machine interface comprises button and demonstration; The Internet communication module is the module of total node and internet communication; Master controller is owing to need some calculating and control, but also needs network service, therefore selects the processor of the comparatively powerful ARM7 series of function for use.
System is mainly by the work of total each node of nodes coordinating, so the workflow of system is mainly divided the work of total node and read write line 2 parts.The program circuit of total node and read write line is respectively as Fig. 4, and is shown in Figure 5.
Among Fig. 4, total node at first needs the parameter of system is configured, working environment such as system, the relevant information of location aware, information such as the corresponding position coordinates of reader, the information that reads label that whether has read write line to send then on the poll CAN bus, when each reader can both read the label of same ID, then total node sends the order of measuring tag distances for each read write line by the CAN bus, all returned the tag distances information of same ID when each read write line after, total node just begins the positional information of computation tag, calculate after the positional information of label, just, the ID and the positional information of label are passed to server by internet interface and server communication.
Among Fig. 5, read write line is at first done relevant initialization operation, then, just begin whether can obtain label in the poll localizing environment, when label enters read-write scope, just the id information with label sends to total node by the CAN bus, wait for total node return command then, if, during the order of node restoring to normal position always, read write line begins to measure the distance of label, and the range information with label sends to total node by the CAN bus then.
The UHF radio frequency band that native system adopts, mainly contain based on angle measurement with based on two kinds of technology of range finding at the RFID of this frequency range positioning principle at present, need the directional perception sensitivity of antenna just can reach bearing accuracy based on angle measurement, therefore antenna complex and cost height generally all adopt the method based on range finding.
To come target is positioned by distance in the three dimensions, need at least 4 readers just can solve unique coordinate figure, because always there is error in the measurement of distance, therefore do not adopt the group of directly solving an equation, and adopt the gradient descent method to approach the coordinate figure of target gradually.Its principle is, at first in locating area, select an initial coordinate, the distance between each read write line of calculated amount and initial coordinate points respectively then, constantly adjust selected coordinate figure then, the method by iteration makes the distance of each read write line of coordinate distance approach the actual distance that records gradually.Adopt the location aware process of gradient descent method
Be that step 3, step 4 in this method can repeatedly recycle as required.
The selection of distance-finding method
The technology of RFID range finding mainly contains based on arriving signal intensity (RSSI), time of arrival (toa) (TOA), and signal arrival time difference (TDOA), signal arrives phase differential methods such as (PDOA).
It is bigger that RSSI is influenced by communication environments etc., and precision is low; Shorter TOA of indoor positioning propagation distance and TDOA are too high to hardware requirement, therefore are difficult to realize; Because reader sends in the process of signal to label, carrier wave charges to label, label reflects back carrier wave by the backscattering mode simultaneously, reader is compared with the phase place that sends signal carrier according to the backscattered signal carrier of label and is obtained a phase differential, just can obtain range information according to phase differential, even in complicated communication environments, can both obtain higher distance accuracy as long as can read label, therefore adopt the PDOA method that label is found range and be fit to the range finding of indoor environment.
Suppose that the signal that read write line sends out is s (t), under the situation of not considering tag modulates and noise effect, the signal that the tag reflection that read write line receives is returned can be written as:
The ρ amplitude relevant wherein with propagation distance,
It is the phase place of the signal that receives.So the distance between label and the reader can be expressed as:
Because it is about 900MHz that native system is selected the frequency range of UHF for use, wavelength approximately is about 33cm, and for indoor localizing environment, generally is several meters to tens meters, therefore, and phase place
There is the phase ambiguity of 2n π, thereby causes dysmetria true, adopt bifrequency can eliminate phase ambiguity.
Vacation does not have, and read write line sends signal with 2 frequency f 1 and f2 respectively, and the phase place of the signal that corresponding tag reflection is returned is respectively
With
If the cycle of the phase ambiguity that these 2 phase places produce is the same, with these 2 phase places just subtract each other can cancelling (2) phase fuzzy problem, so can get:
Thereby obtain apart from the value of d be:
In sum, adopt bifrequency PDOA range finding can effectively eliminate the problem of phase ambiguity within the specific limits, as long as the selected correspondent frequency of the ultimate range of measuring is poor as required, just can be in the distance of more accurately measuring under the situation of no phase ambiguity between label and the reader.
The error analysis of PDOA range finding
In formula (4), when
Get maximal value 2 π the time, the relation of distance and the fuzzyyest difference on the frequency such as Fig. 6 institute are not.
As shown in Figure 6, distance to be measured is big more, and maximum unambiguous difference on the frequency is just more little, and the method for selected difference on the frequency is usually, and the distance of the maximum demand of location aware environment range finding is determined a maximum frequency difference as required.For example, if the ultimate range that needs in the location aware environment to measure is 15m, can get the fuzzyyest frequency by formula (4) is 10MHz.
Always there is certain error in the phase place that system obtains, if the error of the phase place that system obtains is
So, getting the error of finally finding range by (4) formula is:
Can learn by formula (5), when
Value certain, the selected inversely proportional relation of difference on the frequency during the range finding of the sum of errors of range finding.But because actual distance of not knowing between label and the read write line, if the distance of measuring according to the maximum demand of location aware environment is selected frequency, then the difference on the frequency of selecting can be less, thereby cause final error bigger.
Like this, when distance to be measured is less, make relative error bigger.Suppose that actual testing distance is d0, then relative error is expressed as:
Know by formula (6), when actual range hour, the relative error that obtains distance will be bigger.
Therefore,, just can reduce relative error if can select difference on the frequency according to the relation of distance among Fig. 6 and difference on the frequency, that is, at measuring distance hour, selected bigger difference on the frequency, promptly the Δ f in the formula (6) is bigger, and relative error is also less.
By formula (5) and (6) as can be known, under the condition of identical phase-detection error, the used difference on the frequency that reduces to find range can reduce absolute error and relative error simultaneously.As shown in Figure 6, therefore all corresponding maximum frequency difference of different distances, can find range with the dynamic frequency difference according to the different mining of distance range, and key just is obtaining of this distance range.On the other hand, in the PDOA range finding, the maximum measure distance that direct chosen position perception needs is apart from the difference on the frequency Δ f of correspondence
mJust error is bigger, so can use Δ f earlier
mMeasure and obtain one apart from d0, then can be by order in the formula (4) according to the d0 that obtains
Obtaining a new difference on the frequency is:
In the formula (7), owing to use Δ f
mThe distance of estimation has error, does not cause phase ambiguity in order to guarantee resulting difference on the frequency, need add a maximum error E on the distance of premeasuring
D maxThe meaning of Min is to get the minimum meaning, because dmax needs the ultimate range of finding range in the location aware environment, owing to define the maximum measure distance distance in the location aware environment in advance, therefore, when if the value of d0+Edmax has surpassed dmax, should directly get the value of dmax.
The difference on the frequency that obtains according to formula (7) is adjusted the distance again and is measured then, in whole location aware environment, difference according to the position range of label, change the difference on the frequency of actual range finding dynamically by predictive algorithm, the value of difference on the frequency is dynamic the change in whole perception environment, dynamic frequency difference that Here it is range finding ratio juris.
Because the location aware algorithm of native system has adopted the gradient descent method, as long as the error of the distance between label and the read write line is little, the precision of location aware is just than higher, and therefore, the accuracy of the measurement of the distance between label and the reader has determined the positioning performance of system.Below the range error of native system is analyzed.
Suppose the maximum absolute error that the middle phase place of PDOA range finding is obtained
Distinguish as shown in Figure 7 and Figure 8 by absolute error and relative error that dynamic frequency difference range measurement principle and formula (4)～(7) can have been adopted the dynamic frequency difference and do not adopted dynamic frequency to differ from 2 kinds of methods range findings.
From Fig. 7, can learn, always the absolute error than the generation of not using dynamic frequency difference distance-finding method is little to have used the absolute error of generation of dynamic frequency difference distance-finding method, only distance near maximum measure distance apart from the time just and do not use the absolute error of the method for dynamic frequency difference to move closer to.And can learn from Fig. 8, when distance is less, do not use the relative error error of dynamic frequency difference distance-finding method very big, maximum can reach 90%, the relative error of having used dynamic frequency difference distance-finding method then is no more than in 5% the small range at one, and along with the range finding distance increase, very fast reduction.This shows that the error during the method for the dynamic frequency difference range finding that this paper proposes can effectively reduce to find range improves the precision of alliance perception.
Claims (3)
1. Internet of Things object space cognitive method is characterized in that carrying out according to the following steps:
Step 1: set up a three-dimensional coordinate system, Internet of Things object space sensory perceptual system in location in the three-dimensional coordinate system, Internet of Things object space sensory perceptual system are by four UHF rfid interrogators, and electronic tag and total node module are formed; Interconnect by the CAN bus between each UHF rfid interrogator, and all receive above total node, total node is connected with the internet, determines the three-dimensional coordinate position of each UHFRFID read write line in the three-dimensional coordinate system;
Step 2: with electronic tag attached on the testee;
Step 3: first distance test, each UHF rfid interrogator send radio-frequency information to electronic tag, tentatively obtain the preliminary survey distance value d of each UHF rfid interrogator to electronic tag;
The first initial measurement frequency f 1 is set, and the ultimate range of setting initial measurement is d
Max,
Read write line is respectively with 2 frequencies: the first initial measurement frequency f
1With the second initial measurement frequency f
2Send signal, the phase place of the signal that corresponding tag reflection is returned is respectively
With
It is d that electronic tag is in ultimate range
MaxThe time phase differential
Be 2 π, so can get:
C is a light velocity value;
Thereby obtain the UHF rfid interrogator be to the preliminary survey distance value d of electronic tag:
Step 4:, reset ultimate range d according to preliminary survey distance value d
Max'=d+1.5m; Can obtain corresponding Δ f according to (4) formula
Max', the first initial measurement frequency f
1Constant, also just can determine the second secondary survey frequency f
2'; Read write line is respectively with 2 frequency f
1And f
2' sending signal, the phase place of the signal that the measurement tag reflection is returned is respectively
With
Obtain
Can obtain accurate actual range d ' according to (4) formula;
Step 5: four UHF rfid interrogators send the accurate measurement distance to central processing unit by total node, central controller is tried to achieve the accurate position of electronic tag in the three-dimensional coordinate system in conjunction with the three-dimensional coordinate position of four UHF rfid interrogators in the three-dimensional coordinate system.
2. a kind of Internet of Things object space cognitive method according to claim 1, it is characterized in that: described UHF rfid interrogator is by main control module, radio-frequency (RF) circuit module, power amplifier module, the CAN communication module, circulator, phase differential acquisition module and antenna are formed;
Described main control module: be used for reading and total node communication to label;
Described radio-frequency (RF) circuit module: be used to realize encoding and decoding, modulation generates radiofrequency signal, adopts integrated chip AS3992 and correspondent peripheral circuit to realize;
But the power that radio-frequency module comes out is little, and power amplifier module increases emitted power;
Described CAN communication module is made up of independent CAN transceiver controller SJA1000 and CAN bus driver PCA82C250, is used for carrying out data communication with total node;
Described circulator is used for receiving and transmitting signal and separates;
Described phase differential acquisition module: be used to obtain and send the direct phase differential of carrier wave that signal carrier and label backscattering are returned.
3. a kind of Internet of Things object space cognitive method according to claim 1 is characterized in that: described total node is provided with the CAN module and is connected with described UHF rfid interrogator;
Described total node is provided with the Internet communication module and Internet connection;
Described total node is provided with central controller: central controller calculates the accurate position of electronic tag in the three-dimensional coordinate system.
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| CN105303207A (en) * | 2015-10-26 | 2016-02-03 | 太原理工大学 | Label communication system based on analog-to-digital conversion backscattering |
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