CN102867163A - Positioning method for detecting fixed radio frequency identification (RFID) electronic tag by utilizing movable reader - Google Patents
Positioning method for detecting fixed radio frequency identification (RFID) electronic tag by utilizing movable reader Download PDFInfo
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Abstract
The invention discloses a positioning method for wireless communication, in particular a positioning method for detecting a fixed radio frequency identification (RFID) electronic tag by utilizing a movable reader. The positioning method comprises the following steps of: finishing an initial RFID reader and electronic tag mounting process; establishing a road information database, and setting a corresponding electronic code; transmitting a radio frequency signal, and receiving a signal returned by the electronic tag by using the movable reader; and transmitting an ID number of the electronic tag and signal receiving time to a processing unit, and processing information to obtain related position information, thereby fulfilling the aims of real-time positioning and navigation. The method is high in positioning accuracy, and the electronic tag is low in cost and small in size, so that the method is high in comprehensive implementability and widely applicable to the navigation positioning of a vehicular system and indoor three-dimensional positioning; and the method also can be used as a useful addition to the conventional global positioning system (GPS)/Beidou satellite positioning system to compensate positioning errors caused by factors such as shadow and multi-path during the city positioning of the conventional GPS/Beidou satellite positioning system.
Description
Technical field
The invention discloses a kind of localization method of radio communication, be specifically related to a kind ofly utilize the mobile reading device to survey fixing RFID electronic tag to realize the method for locating.
Background technology
Radio-frequency (RF) identification is RFID(Radio Frequency IDentification) technology, claim again electronic tag, radio frequency identification, it is a kind of communication technology, can identify specific objective and read and write related data by radio signals, and need not to set up machinery between recognition system and the specific objective or optics contacts.
Based on the unique identification characteristic of RFID label to object, people have been caused to the applied research upsurge based on the RFID technology.A study hotspot is logistics and internet in kind, and the Another Application study hotspot is space orientation and tracking RFID location.Tracker mainly utilizes label to the unique identification characteristic of object, measure the locus of article according to read write line and the signal intensity that is installed in radio communication between the label on the object, be mainly used in other applied researcies of indoor positioning field that gps system is difficult to prove effective and also comprise the many aspects such as general fit calculation, system's security protection.
Adopting the Typical Representative of RFID technology at present is SpotON.This system has developed a kind of aggregating algorithm three dimensions has been positioned based on signal strength analysis.The hardware label becomes network-like distribution in the SpotON system, need not central control unit, and the signal power of testing by label characterizes the geometric distance between the label.But up to the present complete SpotON system does not also build up.In addition, PinpointC.Sell the commodity of a kind of 3D-iD of the indoor positioning based on the RFID technology.3D-iD is similar to the thinking of SpotON, adopts wireless local area network technology to position.This system has goodish bearing accuracy, and this system's adjustability is stronger, but system's investment is larger.It is worth mentioning that, the LANDMARC system is by introducing the reference location label, and according to the residual error weighting algorithm between the different labels, can obtain higher bearing accuracy except above these, also have other system to adopt other location technologies, such as UWB, Bluetooth etc.
The at present application of RFID on the location mainly is to adopt the multiple spot fixed reader to carry out Detection location, utilize overlapping between the reader investigative range, perhaps utilize the methods such as virtual label to segment whole area to be targeted, adopt the LANDMARC scheduling algorithm to determine whether there is label to be measured in certain segmentation zone, its bearing accuracy is still waiting to improve.
At present, the location in the city mainly uses GPS/ big-dipper satellite positioning system to realize, and in zone, built-up city " valley ", error appears in GPS/ big-dipper satellite location easily.GPS/ Big Dipper satellite signal error source is caused by underlying cause: 1. multipath effect: buildings is to the reflection of gps signal; 2. shade: in " valley " that forms between high building and the high building in the city, under the dense vegetation, the signal reception is relatively poor; 3. in the tunnel, the signal losing lock that causes of underground parking factory etc.The RFID outdoor positioning fundamental purpose that we propose is that to solve be error and defective to above-mentioned GPS/ Big Dipper positioning system, is a kind of auxiliary positioning to it, can avoid the positioning error that causes because of above-mentioned factor, improves the precision of location.
Summary of the invention
Goal of the invention: in order to overcome the deficiencies in the prior art, the invention provides a kind of localization method of radio communication, particularly a kind ofly utilize the mobile reading device to survey fixing RFID electronic tag to realize the method for locating.
Technical scheme: for solving the problems of the technologies described above, provided by the inventionly a kind ofly utilize the mobile reading device to survey fixing RFID electronic tag to realize the method for locating, the step of its location is as follows: (1) installs RFID electronic tag and mobile reading device: lay the RFID electronic tag as the position anchor node according to the precision of location, RFID mobile reading device then is installed on mobile system; (2) foundation of database and initial setting: set up geographic information database, store ID numbering and the corresponding actual geographic position thereof of each RFID electronic tag; (3) mobile detection process: the RFID reader in the mobile system periodically sends radiofrequency signal, when mobile system arrives a certain sign point that the RFID electronic tag is installed when neighbouring, the RFID reader sends radio-frequency information and is received by the RFID electronic tag on this ground, and returns the radiofrequency signal with the ID electronic code; (4) information process: the RFID reader on the mobile system obtains the ID numbering of RFID electronic tag by the radiofrequency signal that receives, this ID numbering and return signal time of reception processed or send to processing unit by wireless network by the onboard system on the mobile object information is processed, and then obtain road information corresponding in the database.The present invention can be used for the navigator fix of onboard system, indoor three-dimensional localization.
Described mobile object is the automobile that indoor human body or outdoor mounted have onboard system.
When mobile object is outdoor when the automobile of onboard system is installed, the RFID reader of installing in above-mentioned steps (1) is type active RFID electronic label.The responding range of type active RFID electronic label is about 50m, and the responding range of passive RFID electronic label only has about 5m, utilizing the RFID active electronic label can guarantee to return radiofrequency signal can be received by the RFID reader, has improved the reliability of communication.And when mobile object is indoor human body, consider that the size in buildings and room is less, adopt passive RFID electronic label more can save cost.
Processing unit is vehicle location and navigation system or far-end control center, and signal is processed and monitored.For the situation that receives a plurality of electronic tags and return radiofrequency signal, processing unit is judged in conjunction with vehicle traveling direction and electronic chart.Here have two kinds of situations: the electronic tag that the electronic tag that receives road one side returns radiofrequency signal and receives the road both sides returns radiofrequency signal, and give up the signal of a side according to keep right criterion or time order and function of vehicle heading and road driving this moment.Processing unit can obtain vehicle running route according to the road information that receives and time simultaneously, realizes Real Time Monitoring and navigation.
Beneficial effect: the present invention just can obtain exact geographic location information by the return signal that detects electronic tag, the degree of accuracy of location is high, and the cost of electronic tag is low, volume is little, so comprehensively can realize Du Genggao, can be widely used in the navigator fix of onboard system, indoor three-dimensional localization; The present invention also can be used as the useful of traditional GPS/ big-dipper satellite positioning system and replenishes, and remedies it when city orientation because the positioning error that the factors such as shade, multipath cause.
Description of drawings
Fig. 1 is outdoor positioning method road model figure of the present invention.
Fig. 2 is that the present invention utilizes onboard navigation system to realize the flowchart of outdoor positioning.
Fig. 3 selects control center's navigational system to realize the message processing flow figure of navigation procedure.
Fig. 4 is indoor three-dimensional localization illustraton of model of the present invention.
Fig. 5 is indoor three-dimensional positioning system flowchart of the present invention.
Fig. 6 is the switching flowchart that the present invention is based on the GPS/ Big Dipper and RFID localization method.
Embodiment
Below in conjunction with accompanying drawing the present invention is further described.
Embodiment 1:
The present invention is applied to the localization method in the onboard system in the automobile.The step of its location is as follows:
(1) RFID electronic tag and mobile reading device are installed: lay the RFID electronic tag as the position anchor node according to the precision of location, RFID mobile reading device then is installed on the onboard system of automobile;
(2) foundation of database and initial setting: set up geographic information database, store ID numbering and the corresponding actual geographic position thereof of each RFID electronic tag;
(3) mobile detection process: the RFID reader in the onboard system periodically sends radiofrequency signal, when automobile arrives a certain sign point that the RFID electronic tag is installed when neighbouring, the RFID reader sends radio-frequency information and is received by the RFID electronic tag on this ground, and returns the radiofrequency signal with the ID electronic code;
(4) information process: the RFID reader on the automobile obtains the ID numbering of RFID electronic tag by the radiofrequency signal that receives, this ID numbering and return signal time of reception processed or send to processing unit by wireless network by the onboard navigation system on the automobile information is processed, and then obtain road information corresponding in the database.
As depicted in figs. 1 and 2, each number all is equipped with electronic tag, arrow represents the direction of running car, in the Vehicle Driving Cycle process, be installed in its inner RFID reader and periodically send radiofrequency signal, electronic tag receives the radiofrequency signal of returning behind the signal of reader with address information, reader receives this signal, again the ID of correspondence numbering and time of reception are processed by the onboard navigation system on the automobile or given processing unit by wireless network, processing unit inquires road information corresponding to ID numbering in database, and it is processed.
The RFID electronic tag is type active RFID electronic label.The responding range of type active RFID electronic label is about 50m, and the responding range of passive RFID electronic label only has about 5m, utilizing the RFID active electronic label can guarantee to return radiofrequency signal can be received by the RFID reader, has improved the reliability of communication.
Larger such as the distance between doorplate among Fig. 1 016 and 018, such as greater than 10m, embed the electronic tag auxiliary positioning for improving bearing accuracy utilization street lamp facility between the two.
Information processing can be transferred to onboard navigation system or send to control center by wireless network, and control center mainly is that electronic tag ID number that reader is sent and return signal time of reception are processed.Onboard navigation system can be recorded the time that receives signal, therefore can distinguish the precedence that within a scan period of reader, receives signal, when onboard navigation system was sent to the control center of far-end with the electronic labeling information that receives, all electronic labeling informations all can mate corresponding time of reception and send together.Because reader can receive several return messages within a scan period, and if will judge that current vehicle location screens and processes these several return messages with regard to needing.When receiving a plurality of return signal, be divided into two kinds of possibilities:
(1) may situation 1 as shown in Figure 1, what this moment, the RFID reader was received in the time at one-period is the signal that the electronic tag of road one side returns.Control center utilizes road information corresponding to database electron gain label ID numbering, on electronic chart, place corresponding to this information marked, it is close to choose two distances, the differentiable place that marked of corresponding time of reception, obtain two actual range Δ d between the place according to electronic chart, calculate the poor Δ t of corresponding time of reception that two kinds of label informations mate, utilize formula
Obtain the average velocity of this section distance.In two kinds of places that return signal is corresponding of electronic chart mark, obtain vehicle traveling direction according to the priority of return signal time of reception.Normal track is wide to be about 3.5m, and the RFID reader of establishing automotive interior here is 3m from the distance of lane side, guarantees within RFID reader signal transmitting boundary.As shown in Figure 1, at t
1The moment and t
2Constantly receive respectively the ID numbering that the electronic tag that embeds in doorplate 002 and 006 sends, calculate actual range between doorplate 002 and 006 according to electronic chart, again according to mistiming (t
2-t
1) calculate automobile driving speed, judge vehicle traveling direction for subsequent applications.
The time of reception that mates when several label informations that are sent to control center is all identical, and need to judge that according to the direction of running car if control center judges automobile to right travel, positioning result is rightmost electronic tag site this moment; Otherwise control center judges automobile and travels left, and positioning result is leftmost electronic tag site.As shown in Figure 1, at t
3Constantly receive the ID numbering of the electronic tag transmission that embeds in the doorplate 010,012,014, control center judges automobile to right travel, so determine that positioning result is doorplate 014.
What (2) receive in the time at one-period when the RFID reader is the signal that the electronic tag of road both sides returns, if the information that synchronization receives, judge first vehicle traveling direction, give up the road information in travel direction left side according to the road driving criterion of keeping right again, travel direction right side information is carried out subsequent treatment; If dividing of the free priority of the road both sides electronic tag return signal that receives, access time, that a part of road information carried out subsequent treatment the preceding.Disposal route is with described in (1).
In certain areas, the corresponding place of adjacent two numbers distant, this moment can be by the street lamp between two places, and the public road administration erection of equipment such as electric pole electronic tag is to reach the effect that improves bearing accuracy.
If select according to demand the process information by control center, control center can also carry out the running car monitoring for road information corresponding to ID numbering that receives, utilize electronic chart that corresponding road information is marked, time of reception by the road information coupling is analyzed the running car path, can be used for monitoring and management to the logistics dispensing vehicle.
If select according to demand the process information by control center, control center can also carry out the running car navigation for road information corresponding to ID numbering that receives, need control center and RFID reader to form mechanism of information feedback, utilize electronic chart to instruct next direction and the distance of running car.Because onboard navigation system itself can be carried out navigation Service, so can be according to application demand choice for use onboard navigation system or control center's navigational system.As shown in Figure 3, here introduce control center's navigation implementation: near the ID numbering that the RFID electronic tag returned vehicle-mounted RFID reader received, secondly the destination is set in onboard navigation system, and then the reference numeral with ID numbering and destination sends to control center; Running car starting point and destination are annotated at the electronic chart subscript by control center, analyze to draw best driving path; All doorplates that this path is related to draw next travel direction of automobile and distance as starting point respectively, and are prestored in the storer for ID number in conjunction with the corresponding electronic tag of doorplate; Then from storer, obtain corresponding vehicle traveling direction and the operating range of current car location, and this information is fed back to onboard navigation system; Automobile constantly is sent to current location ID numbering control center in the process of moving, and control center judges that whether ID number of being prestored into is arranged in the storer is identical with it, then accesses this ID corresponding informance be sent to onboard navigation system from storer if having; If nothing, make a mistake in expression automobile actual travel path, and the operation above repeating take current location as starting point sends caution signal simultaneously to onboard navigation system.If because the problem such as communications causes not receiving the radiofrequency signal of feedback or receives signal error then again receive information.Concrete processing procedure as shown in Figure 3.
When being applied to navigational system, also can need not to set the destination.Near the RFID reader receives electronic tag ID numbering, and after this numbering was sent to control center, with electronic chart and current road information, traveling-position was sent to onboard navigation system by control center, directly show vehicle current driving path and state, for driver's reference.
The orientation that proposes also can combine with traditional GPS/ big-dipper satellite positioning system except energy complete independently positioning function, remedies it and locates in the scope of urban area in the navigation procedure, because the positioning error that the factors such as city " valley " effect cause.When the vehicle of equipment GPS/ Beidou receiver travels in down town merchant district, may produce unreliable and coarse positional information, even show the error of hundreds of rice.In automobile sailed two lanes between the multi-story structure into, because factors such as shade and multipaths, may beat arbitrarily in the position of demonstration.Can imagine, in Beijing, Shanghai these have city " valley ", and the most time satellite is in situation about being blocked, the shown positioning error of GPS/ Beidou receiver will be very large, the present invention replenishes the useful of above-mentioned GPS/ Big Dipper positioning system.
As shown in Figure 6, vehicle in the process of moving GPS/ Beidou receiver is in accepting state, the address signal that termly the GPS/ Beidou receiver is received simultaneously, corresponding signal reception time and travel speed are sent to control center, control center analyzes address information corresponding to continuous two ID numbering of receiving, if the distance between two address signals differs greatly with mistiming * average velocity, such as differing by more than 50m, judge that so this moment satellite signal receiving is bad or satellite position error is larger.Repeat above-mentioned steps repeatedly, surpass 60% if the larger situation of positioning error occurs, switch to so the program of localization method of the present invention this moment.
Embodiment 2:
The present invention is applied to the people in the indoor method that positions.The step of its location is as follows:
(1) RFID electronic tag and mobile reading device are installed: lay the RFID electronic tag as the position anchor node according to the precision of location, the end user carries RFID mobile reading device;
(2) foundation of database and initial setting: set up the room information database, store ID numbering and the corresponding room number thereof of the RFID electronic tag in each room;
(3) mobile detection process: the RFID reader that the end user carries periodically sends radiofrequency signal, when the end user arrives near the room of a certain RFID of being equipped with electronic tag, the RFID reader sends radio-frequency information and is received by the RFID electronic tag on this ground, and returns the radiofrequency signal with the ID electronic code;
(4) information process: the RFID reader that the end user carries obtains the ID numbering of RFID electronic tag by the radiofrequency signal that receives, this ID numbering and return signal time of reception are sent to processing unit by wireless network information is processed, and then obtain room information corresponding in the database.
As shown in Figure 4, at each room door passive electronic label is installed, the end user carries RFID mobile reading device, RFID mobile reading device is transmitted signal periodically, electronic tag near surveying the room door, electronic tag is accepted the ID numbering by RFID mobile reading device, dispose wireless base station apparatus on the RFID mobile reading device door information is sent to control center, control center processes information, thereby obtains needed room information.
The present invention is applied to indoor positioning, considers the size in building interior space and room, and used electronic tag can adopt passive electronic tag.Utilize the different floors of numbering difference, thereby realize indoor three-dimensional localization, in order to make a distinction with outdoor two dimensional surface location.The end user utilizes the handheld RFID reader periodically to send radiofrequency signal in walking, receives the radiofrequency signal of returning of label, and the wireless base station apparatus of recycling configuration sends to control center with the room information in the return signal correspondence database.Identical with localization method with the embodiment 1 of onboard system on the principle, concrete processing procedure as shown in Figure 4 and Figure 5.
The above only is preferred implementation of the present invention; be noted that for those skilled in the art; under the prerequisite that does not break away from the principle of the invention, can also make some improvements and modifications, these improvements and modifications also should be considered as protection scope of the present invention.
Claims (4)
1. one kind is utilized the mobile reading device to survey the method that fixing RFID electronic tag is realized locating, and it is characterized in that: the step of its location is as follows:
(1) RFID electronic tag and mobile reading device are installed: lay the RFID electronic tag as the position anchor node according to the precision of location, RFID mobile reading device then is installed on mobile object;
(2) foundation of database and initial setting: set up geographic information database, store ID numbering and the corresponding actual geographic position thereof of each RFID electronic tag;
(3) mobile detection process: the RFID reader in the mobile object periodically sends radiofrequency signal, when mobile object arrives a certain sign point that the RFID electronic tag is installed when neighbouring, the RFID reader sends radio-frequency information and is received by the RFID electronic tag on this ground, and returns the radiofrequency signal with the ID electronic code;
(4) information process: the RFID reader on the mobile object obtains the ID numbering of RFID electronic tag by the radiofrequency signal that receives, this ID numbering and return signal time of reception processed or send to processing unit by wireless network by the onboard system on the mobile object information is processed, and then obtain positional information corresponding in the database.
2. according to claim 1ly utilize the mobile reading device to survey fixing RFID electronic tag to realize it is characterized in that the method for locating: described mobile object is the automobile that indoor human body or outdoor mounted have onboard system.
3. according to claim 2ly utilize the mobile reading device to survey fixing RFID electronic tag to realize the method for locating, it is characterized in that: when mobile object is when the automobile of onboard system is installed, the RFID electronic tag of installing in the described step (1) is type active RFID electronic label; When mobile object was human body, the RFID electronic tag of installing in the described step (1) was passive RFID electronic label.
4. according to claim 3ly utilize the mobile reading device to survey fixing RFID electronic tag to realize the method for locating, it is characterized in that: the processing unit in the described step (4) is control center.
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