CN102279383B - Indoor positioning method based on active RFID - Google Patents

Indoor positioning method based on active RFID Download PDF

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CN102279383B
CN102279383B CN 201110101432 CN201110101432A CN102279383B CN 102279383 B CN102279383 B CN 102279383B CN 201110101432 CN201110101432 CN 201110101432 CN 201110101432 A CN201110101432 A CN 201110101432A CN 102279383 B CN102279383 B CN 102279383B
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node
tracking tags
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labels
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CN102279383A (en
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胡斌杰
潘爵雨
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South China University of Technology SCUT
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Abstract

The invention discloses an indoor positioning method based on active radio frequency identification (RFID). According to the method, L readers are arranged; X node labels and M reference labels are placed according to two-dimensional square grid distribution; a whole positioning area is respectively covered by the X node labels and the M reference labels and a tracking label is in a random positioning area; and the X node labels, the M reference labels and the tracking label are active RFID labels; the tracking label collects signal intensity values of the X node labels and determines a subarea that the tracking label is located at according to the signal intensity values; and the readers collects signal intensity values of the reference labels and the tracking label in the subarea as well as calculates the position of the tracking label by utilizing a positioning algorithm based on the signal intensity values. According to the invention, node labels are employed to determine a subarea of a position that a tracking label is located at, so that a positioning accuracy is improved; moreover, a characteristic that an active RFID label can speak actively is fully utilized, so that it is not needed to add a reader or equipment based on other technologies.

Description

A kind of indoor orientation method based on active RFID
Technical field
The present invention relates to the communication technology and the indoor positioning technology of RFID wireless network, particularly relate to a kind of indoor orientation method based on active RFID.
Background technology
The RFID(radio-frequency (RF) identification, Radio Frequency Identification) be a kind of contactless automatic identification technology, it utilizes radiofrequency signal and Space Coupling and transport property, realizes the automatic identification to static or mobile article.RFID has the recognition accuracy height, reads distance, the storage data volume is large, durability strong, the confidentiality high, is widely used in the links such as production, logistics, sale.
Wireless location technology is mainly used in outdoor at present, but indoor also increasing to the demand of locating perception.As follow the tracks of medical personnel and patient's position in hospital, in industry spot monitoring equipment ruuning situation, follow the tracks of logistics in the warehouse dynamic, and workman's position and action message etc. are provided under mine.The indoor positioning technology mainly comprises infrared ray, ultrasound wave, computer vision, WLAN (wireless local area network), wireless sensor network and RFID etc.The RFID long transmission distance is ignored distance and is required, and product is ripe, and is cheap, easily large scale deployment, so RFID has broad prospects in indoor positioning is used.At present typical RFID positioning system mainly comprises SpotON and LANDMARC.The SpotON system adopts aggregating algorithm to realize three-dimensional localization by analyte signal intensity, but the data integration of SpotON system core and sensor fusion techniques are also in the middle of research.LANDMARC adopts the reference label of fixed position to come auxiliary positioning, determines the position relationship of tracking tags and reference label by analyte signal intensity, thus the realize target location.LANDMARC system cheap and simple is easy to expansion, uses comparatively extensive.But because indoor environment is complicated, multipath effect is remarkable, and the LANDMARC system selects wrong nearest-neighbors easily, causes bearing accuracy not high.
Summary of the invention
Fundamental purpose of the present invention is in order to overcome above-mentioned many weak points, take full advantage of characteristics that active RFID tag can initiatively make a speech and determine the subregion of tracking tags present position, prevent from selecting wrong contiguous reference label, provide a kind of simple effectively, the indoor orientation method based on active RFID that bearing accuracy is high.
Purpose of the present invention is achieved through the following technical solutions:
Indoor orientation method based on active RFID comprises the steps:
A kind of indoor orientation method based on active RFID comprises the steps:
Step (1) is placed X node label and M reference label according to the square net distribution of two dimension, X node label and M reference label are covered with respectively whole locating area, tracking tags is in any locating area, and L reader is placed on outside the locating area, and in the middle of the reader one links to each other as main reader with computing machine, wherein, X, M, L are integer, X 〉=6, M 〉=X, 2≤L≤5, X node label, a M reference label and tracking tags are active RFID tag;
Step (2) tracking tags gathers the signal strength values of X node label, select four node labels of described signal strength values maximum, and ID number of described four node labels sent to L reader, the scope that each reader all covers these four node labels is as the subregion of tracking tags present position;
L reader collection of step (3) is in the interior reference label of described subregion and the signal strength values of tracking tags, and by main reader the signal strength values that collects sent to computing machine;
The described computing machine utilization of step (4) calculates the position of tracking tags based on the location algorithm of signal strength values.
In the said method, the emissive power of X node label in the step (1) need to be adjusted into P according to practical situations, if the adjustable transmission power minimum value P of node label Min≤ P 0+ PL 1, then emissive power is adjusted into P 0+ PL 1≤ P≤P 0+ PL 2If, P 0+ PL 1≤ P Min≤ P 0+ PL 2, then emissive power is adjusted into P Min≤ P≤P 0+ PL 2If, P Min〉=P 0+ PL 2, then emissive power is adjusted into P=P Min, P wherein 0Be the sensitivity of node label, P and P 0Unit be dBm, PL 1And PL 2Be the path loss of signal transmission, unit is dB,
Figure GDA00002713288400021
PL 2=PL 0+ 10nlg (2d), d are the distance between any two adjacent node labels, and unit is rice, and n is the average path loss index, environment and building type around depending on, PL 0The signal that sends for node label is in the loss of free-space propagation 1m,
Figure GDA00002713288400022
Wherein λ is a wavelength, and unit is rice,
Figure GDA00002713288400023
C is the light velocity in the free space, and f is the frequency of operation of node label.
Described location algorithm based on signal strength values is realized as follows:
(1) computing machine is converted to signal intensity Euclidean distance between tracking tags and the reference label with the signal strength values of tracking tags and reference label, for the signal intensity Euclidean distance between tracking tags and the reference label: θ i wherein, k represents the signal strength values of k the reference label that reader i records, Si represents the signal strength values of the tracking tags that reader i records, i ∈ (l, L), k ∈ (l, M);
(2) h reference label of signal Euclidean distance minimum between computer selecting and the tracking tags, the position that calculates tracking tags according to position and the weights of this h reference label:
Figure GDA00002713288400025
(x wherein q, y q) be the position coordinates of q reference label in described h the reference label in the subregion of tracking tags present position, wq is the weight of q reference label in described h the interior reference label of the subregion of tracking tags present position,
Figure GDA00002713288400031
Eq is the signal intensity Euclidean distance between q reference label and the tracking tags in described h the reference label in the subregion of tracking tags present position,
Figure GDA00002713288400032
θ i, q represent the signal strength values of q reference label in described h the interior reference label of the subregion of the tracking tags present position that reader i records, and q ∈ (1, h).
Compared with prior art, the present invention has following advantage and beneficial effect:
(1) reduce system cost: the present invention takes full advantage of the characteristics that active RFID tag can initiatively make a speech and has replaced reader, and need not to increase any equipment based on other technologies, has effectively controlled system cost.
(2) improve bearing accuracy: the present invention obtains the subregion of its present position of information Perception of Area Node by tracking tags, effectively prevents from selecting owing to environmental impact the contiguous reference label of wrong tracking tags, has improved bearing accuracy.
Description of drawings
Fig. 1 is the arrangenent diagram of reader among the embodiment, node label, reference label and tracking tags.
Fig. 2 be select the subregion of tracking tags present position in the position fixing process of the present invention and in subregion with the synoptic diagram of the reference label of tracking tags signal Euclidean distance minimum.
Embodiment
The present invention is further illustrated below in conjunction with drawings and Examples, but the scope of protection of present invention is not limited to the scope of embodiment statement.
The method for arranging of reader, node label, reference label and tracking tags and the setting of coordinate system are as shown in Figure 1, X=9 node label (label is that A is to I) and M=25 reference label are placed in square net distribution according to two dimension in the room of 10m * 9m, be spaced apart 2m between adjacent two reference label, be spaced apart 4m between adjacent two node labels, tracking tags is in any locating area, L=4 reader is placed on four outer corners of locating area, and one of them reader links to each other as main reader with computing machine.All node labels, reference label and tracking tags are active RFID tag, frequency of operation f=433MHz, sensitivity P 0=-118dBm, emissive power minimum value P Min=-24dBm, wavelength
Figure GDA00002713288400033
The signal that active label sends is in the loss of free-space propagation 1m
Figure GDA00002713288400034
Environment around average path loss index n depends on and the type of buildings are got n=4 here, because d=4m,
Figure GDA00002713288400035
PL 2=PL 0+ 10nlg (2d)=61.32dB, more as can be known P MinP 0+ PL 2, so the emissive power P of node label is adjusted into P=P Min=-24dBm.
Tracking tags gathers respectively the signal strength values of 9 node labels.As shown in Figure 2, the signal strength values of 9 node labels (A node label is to I node label) that tracking tags gathers is respectively :-87.500dBm,-92.000dBm,-101.000dBm ,-78.500dBm ,-75.500dBm,-75.500dBm,-84.500dBm ,-65.000dBm ,-72.500dBm.Four node labels of tracking tags select-out signal intensity level maximum, i.e. E node label, a F node label, a H node label and I node label, and ID number of this four node labels sent to 4 readers, the scope that each reader all covers these four node labels is as the subregion of tracking tags present position.4 readers gather respectively the signal strength values of the reference label that is in the subregion and tracking tags and by main reader the signal strength values that collects are sent to computing machine.The computing machine utilization calculates the position of tracking tags based on the location algorithm of signal strength values.
Location algorithm based on signal strength values is realized as follows:
(1) computing machine is converted to signal intensity Euclidean distance between tracking tags and the reference label with the signal strength values of tracking tags and reference label, for the signal intensity Euclidean distance between tracking tags and the reference label:
Figure GDA00002713288400041
θ wherein I, kThe signal strength values of k the reference label that expression reader i records, S iThe signal strength values of the tracking tags that expression reader i records, i ∈ (l, 4), k ∈ (l, 25).The signal strength values that records tracking tags and the 25th reference label such as 4 readers is respectively S 1=-69.500dBm, S 2=-65.000dBm, S 3=-75.500dBm, S 4=-72.500dBm and θ 1,25=-68.000dBm, θ 2,25=-45.500dBm, θ 3,25=-80.000dBm, θ 4,25=-75.500dBm, the signal intensity Euclidean distance between tracking tags and the 25th reference label is E 25 = Σ i = 1 4 ( θ i , 25 - S i ) 2 = 20.292 .
(2) h=4 reference label of signal Euclidean distance minimum between computer selecting and the tracking tags, the position that calculates tracking tags according to position and the weights of these 4 reference label:
Figure GDA00002713288400043
(x wherein q, y q) be the position coordinates of q reference label in described 4 reference label in the subregion of tracking tags present position, w qBe the weight of q reference label in described 4 reference label in the subregion of tracking tags present position,
Figure GDA00002713288400051
E qBe the signal intensity Euclidean distance between q reference label in described 4 reference label in the subregion of tracking tags present position and the tracking tags, θ I, qThe signal strength values of q reference label in described 4 reference label in the subregion of the tracking tags present position that expression reader i records, q ∈ (Isosorbide-5-Nitrae).As shown in Figure 2, computing machine compares the signal Euclidean distance between each reference label in tracking tags and the subregion, select 4 reference label of signal Euclidean distance minimum, i.e. the 18th reference label, the 19th reference label, the 23rd reference label and the 24th reference label are respectively the 1st reference label in the subregion of tracking tags present position and 4 reference label tracking tags signal Euclidean distance minimum, the 2nd reference label, the 3rd reference label and the 4th reference label.Signal Euclidean distance between these reference label and the tracking tags is respectively E 1=6.185, E 2=5.408, E 3=4.500 and E 4=3.969, weight is respectively w 1=0.152, w 2=0.185, w 3=0.266, w 4=0.342.According to position and the weights of these 4 reference label, the coordinate that computing machine is calculated tracking tags is (4.834,1.216), and its physical location is (5.200,1.300).
Above-described specific embodiment; purpose of the present invention, technical scheme and beneficial effect have been carried out further detailed description; institute is understood that; the above only is specific embodiments of the invention; be not to limit scope of the present invention; any those skilled in the art, the equivalent variations of making under the prerequisite that does not break away from design of the present invention and principle and modification all should belong to the scope of protection of the invention.

Claims (2)

1. the indoor orientation method based on active RFID is characterized in that comprising the steps:
Step (1) is placed X node label and M reference label according to the square net distribution of two dimension, X node label and M reference label are covered with respectively whole locating area, tracking tags is in any locating area, and L reader is placed on outside the locating area, and in the middle of the reader one links to each other as main reader with computing machine, wherein, X, M, L are integer, X 〉=6, M 〉=X, 2≤L≤5, X node label, a M reference label and tracking tags are active RFID tag;
Step (2) tracking tags gathers the signal strength values of X node label, select four node labels of described signal strength values maximum, and ID number of described four node labels sent to L reader, the scope that each reader all covers these four node labels is as the subregion of tracking tags present position;
L reader collection of step (3) is in the interior reference label of described subregion and the signal strength values of tracking tags, and by main reader the signal strength values that collects sent to computing machine;
The described computing machine utilization of step (4) calculates the position of tracking tags based on the location algorithm of signal strength values.
2. the indoor orientation method based on active RFID according to claim 1 is characterized in that the emissive power of X node label in the step (1) need to be adjusted into P according to practical situations, if the adjustable transmission power minimum value P of node label Min≤ P 0+ PL 1, then emissive power is adjusted into P 0+ PL 1≤ P≤P 0+ PL 2If, P 0+ PL 1≤ P Min≤ P 0+ PL 2, then emissive power is adjusted into P Min≤ P≤P 0+ PL 2If, P Min〉=P 0+ PL 2, then emissive power is adjusted into P=P Min, P wherein 0Be the sensitivity of node label, P and P 0Unit be dBm; PL 1And PL 2Be the path loss of signal transmission, unit is dB, ,
Figure DEST_PATH_IMAGE004
D is the distance between any two adjacent node labels, and unit is rice; N is the average path loss index, environment and building type around depending on; PL 0The signal that sends for node label is in the loss of free-space propagation 1m,
Figure DEST_PATH_IMAGE006
, wherein λ is a wavelength, unit is rice,
Figure DEST_PATH_IMAGE008
, c is the light velocity in the free space, f is the frequency of operation of node label.
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