CN103679238B - The monitoring method and device of environment in goods transportation way - Google Patents

Abstract

The monitoring method and device of environment in a kind of goods transportation way, comprise the following steps: one, the sensor of multiple three-dimensional distribution is set in car body, obtain the environmental data of the internal three-dimensional distribution of envelope, obtain data and position thereof beyond preset value in environmental data；Two, the RFID label tag of attachment on article in envelope environment is positioned, to obtain the positional information of article tag；Three, the positional information of the environmental data beyond preset value is associated with the positional information of article tag, the described data beyond preset value is write in the article tag of correspondence position.The monitoring method and device of environment in a kind of goods transportation way that the present invention provides, can monitor the environmental data of article in car body in transit and record in article tag, such as based on RFID technique article tag.The present invention is possible not only to monitor the particular location of vehicle, it is also possible to the accurately position of concrete article and environmental data in monitoring vehicle.

Description

The monitoring method and device of environment in goods transportation way

Technical field

The present invention relates to goods transportation and dynamically monitor field, a kind of goods transportation way medium ring being applicable to Internet of Things The monitoring method and device in border.

Background technology

Be similar to medicine part objects for storage environment have strict requirements, for environment in storing process Requirement more strict, from producing until sales section, article all should be saved in suitable environment.

Currently, the means that the environmentally sensitive part commodity of China carry out environmental monitoring in transportation are the most backward, As a example by monitoring temperature, its technological means specifically includes that temperature label reagent paper, temperature colour developing label card, electron temperature Record label, temperature sensor, RFID temperature label etc..Owing to existing monitoring temperature means are by cost and skill The restriction of art, it is difficult to realize the whole space temperature of described envelope is comprehensively monitored.

During realizing the present invention, inventor finds that prior art at least there is problems in that

Owing to the environmental monitoring means used in prior art are restricted by cost and technology, it is difficult to realize described railway carriage or compartment The temperature in the whole space of body comprehensively monitors.Unexpected (as car door is surprisingly opened, freezed when occurring in transit Some air outlet inefficacy of equipment etc.) time, can cause the environment of local space in envelope that change occurs, this kind of change difficulty With monitoring.

Chinese patent literature CN 101669151A discloses a kind of method monitoring parcel, sentinel indicating system and thing Streaming system, is that each parcel or article have been both needed to single sensor, relatively costly, and the location of article is more Roughly, it is only capable of monitoring the position of article in vehicle for example with GPS or GNSS Locating System Accuracy, and can not Monitor the more accurate position of article in vehicle interior.

Summary of the invention

The technical problem to be solved is to provide the monitoring method and device of environment in a kind of goods transportation way, can To monitor the environmental data of article in car body in transit and to record in article tag.

For solving above-mentioned technical problem, the technical solution adopted in the present invention is: the prison of environment in a kind of goods transportation way Prosecutor method, comprises the following steps:

One, the sensor of multiple three-dimensional distribution is set in car body, it is thus achieved that the environment number of the internal three-dimensional distribution of envelope According to, obtain data and position thereof beyond preset value in environmental data；

Two, the RFID label tag of attachment on article in envelope environment is positioned, to obtain the position letter of article tag Breath；

Three, the positional information of the environmental data beyond preset value is associated with the positional information of article tag, by institute State in the article tag that the data beyond preset value write correspondence position.

Preferably, in step one, comprise the following steps:

One, space coordinates are set up, according to the size of article, by equal sized by discrete for the three dimensions of car body Regular discrete unit；

Two, multiple sensors are randomly arranged in multiple discrete unit；

Three, using the geometric center of each discrete unit as interpolation point, obtain interpolation point to each sensor away from From, use distance weight reciprocal to carry out three dimensions interpolation, carry out global search, try to achieve the environment number of various discrete unit According to；

Four, the environmental data of various discrete unit is compared with preset value, it is thus achieved that beyond preset value in environmental data Component environment data.

Preferably, in step 2, comprise the following steps:

One, in car body, arrange at least four separate and the rfid interrogator of known location；

Two, arrive the signal strength data of each rfid interrogator according to article tag to be positioned, obtain thing to be positioned Product label is to the distance of each rfid interrogator, and obtains the position of article tag to be positioned.

Preferably, four rfid interrogators, one of them is as the initial point of coordinate system, and its excess-three is respectively as x A bit in axle, y-axis and z-axis.

Preferably, the signal strength data collected, by gaussian filtering and weighted average, signal strength data is carried out Process；

Signal strength data after processing substitutes in indoor classical distance～loss model, obtains the ambient parameter of model And distance value；

Described gaussian filtering refers to be processed the impact reducing small probability event to overall event by certain data；

Described indoor classical distance～loss model refer to, through excess syndrome, summarize the signal received after multipath transmisstion strong Degree obeys the rule of logarithm normal distribution, and this model carrys out estimated distance by signal decay in space.

In step 3, use least square location algorithm that label position to be positioned is carried out refinement, including:

Using rfid interrogator known to position as with reference to rfid interrogator；

For label to be positioned, obtain with reference to the distance between rfid interrogator and label to be positioned, and constitute distance Set；

Adjust the distance and cluster, reject the reference rfid interrogator that some numerical value differ greatly, remaining with reference to RFID Read write line continues to participate in location；

The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference rfid interrogator；

Method of least square is used to ask for the coordinate of target to be positioned.

The supervising device of environment in a kind of goods transportation way, including environment information acquisition module, position acquisition module and letter Breath writing module；

Environmental data acquisition module, for according to the three-dimensional distributed data of environment in described car body transport space, obtains Take in described three-dimensional distributed data beyond the data presetting environment value；

Position acquisition module, is used for using RFID location algorithm to position article tag in envelope environment, obtains The positional information of article tag；

Information writing module, is carried out the positional information of the positional information of the environmental data beyond preset value with article tag The described data beyond preset value are write in the article tag of correspondence position by association.

Environmental data acquisition module includes:

First data capture unit, is used for using three-dimensional interpolation algorithm to obtain described envelope transport space medium ring The three-dimensional distributed data in border；

Second data capture unit, for described three-dimensional distributed data and described default environment value being compared, obtains Take in described three-dimensional distributed data beyond the data presetting environment value.

Described first data capture unit is used for setting up space coordinates, according to the size of article case, and will transport sky Between carry out sliding-model control, the size of each unit is in the same size with what article were packed, by the three-dimensional space of car body Between discrete sized by equal regular discrete unit；As a reference point, by several with described environment information acquisition equipment Environment information acquisition deployed with devices is in several discrete units of three dimensions that described envelope transports；With each discrete list The geometric center of unit, as interpolation point, obtains the point to be inserted distance to each sensor, uses distance weight reciprocal to carry out Three-dimensional interpolation, carries out global search, tries to achieve the environmental data of various discrete unit.

Described position acquisition module includes:

Range cells, is used for using signal strength data and indoor range finding model, obtains rfid interrogator with to be positioned The distance of label；

Location information acquiring unit, is used for by rfid interrogator and the range information of label to be positioned and location model, Obtain the positional information of label to be positioned；

Position refinement unit, for using the least square location algorithm of improvement that label position to be positioned is carried out refinement.

Described range cells, is used for collecting signal strength data, strong to signal by described gaussian filtering and weighted average Degrees of data processes；Signal strength data after processing substitutes in indoor classical distance～loss model, obtains mould The ambient parameter of type and distance value；

Described position refinement unit is used for rfid interrogator known to position as with reference to rfid interrogator；For treating Location label, obtains with reference to the distance between rfid interrogator and label to be positioned, and constitutes distance set；To away from From clustering, rejecting the reference rfid interrogator that some numerical value differ greatly, remaining reference rfid interrogator continues Continuous participation positions；The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference RFID Read write line；The method of least square improved is used to ask for the coordinate of target to be positioned.

In a kind of goods transportation way that the present invention provides, the monitoring method and device of environment, can monitor compartment in transit The environmental data of article record in article tag in envelope, such as based on RFID technique article tag.This The bright particular location being possible not only to monitor vehicle, it is also possible to the accurately position of concrete article and environment number in monitoring vehicle According to.

Accompanying drawing explanation

The invention will be further described with embodiment below in conjunction with the accompanying drawings:

Fig. 1 is the structural representation of apparatus of the present invention.

Fig. 2 is the structural representation that in the present invention, rfid interrogator is arranged in car body.

Detailed description of the invention

The monitoring method of environment in a kind of goods transportation way, comprises the following steps:

One, the sensor of multiple three-dimensional distribution is set in car body, it is thus achieved that the environment number of the internal three-dimensional distribution of envelope According to, obtain data and position thereof beyond preset value in environmental data；

Two, the RFID label tag of attachment on article in envelope environment is positioned, to obtain the position letter of article tag Breath；

Three, the positional information of the environmental data beyond preset value is associated with the positional information of article tag, by institute State in the article tag that the data beyond preset value write correspondence position.

The technical scheme that the embodiment of the present invention provides, by by RFID location algorithm and three-dimensional interpolation algorithm phase In conjunction with, utilize the storage characteristics of RFID label tag in prior art, it is achieved the environment in car body space is carried out comprehensively Monitoring, and obtain beyond the environmental data of preset value, be then written in article tag, therefore can record because of transport Accident in Tu, the impact that article are caused and make article produce change, and in prior art, this change is not know , thus cause the consequence being difficult to expect, and after using the present invention, the consequence that this change the most in transit causes It is avoidable.The modes such as employing coordinates other such as to report to the police, remote information transmission, this change even can connect Being prevented from of near real-time.Especially, the method for the present invention can accurately be applicable to the many article simultaneously transported, and not Other article can be affected, even if each article are different for the requirement of environment, it is also possible to guarantee that each article are suitable for difference Environmental data.Different from prior art, the present invention need not arrange sensor, even if fortune The size of defeated article there occurs change, the environmental data produced by interpolation method, still can be with the article after change Realizing corresponding, therefore the present invention can also be recycled, and reduces use cost further.Sensor in this example Include but not limited to temperature, humidity, acceleration and pressure transducer, obtain correspondingly temperature, humidity, acceleration and Pressure environment data, to adapt to the movement requirement of different article.

Preferably, in step one, comprise the following steps:

One, space coordinates are set up, according to the size of article, by equal sized by discrete for the three dimensions of car body Regular discrete unit；

First compartment space is carried out sliding-model control according to the size of article case, set up space coordinates, according to each article bag Compartment space is divided into M*N*Q interpolation point by the size of vanning.

Two, multiple sensors are randomly arranged in multiple discrete unit；

Three, using the geometric center of each discrete unit as interpolation point, obtain interpolation point to each sensor away from From, use distance weight reciprocal to carry out three dimensions interpolation, carry out global search, try to achieve the environment number of various discrete unit According to；

Obtain described to be inserted some N to each environment information acquisition equipment M_iDistance be d_i,

Wherein the property value environment value T of N point is

$T={\left\{\begin{array}{c}\frac{\underset{i=1}{\overset{n}{\Σ}}{\left(d_i\right)}^{-u}{T}_i}{\underset{i=1}{\overset{n}{\Σ}}{\left(d_i\right)}^{-u}},d_i\≠0\\ T_i,d_i=0\end{array}\right.}_i$

Wherein n represents the sampled point number searched out in spherical search window, and u typically takes 2, represents described distance The index of weight reciprocal, uses global search.

It is above using described three-dimensional interpolation algorithm to obtain the three-dimensional distribution of environment in described envelope transport space The process of data.

Four, the environmental data of various discrete unit is compared with preset value, it is thus achieved that beyond preset value in environmental data Component environment data.

In step 2, comprise the following steps:

One, in car body, arrange at least four separate and the rfid interrogator of known location；

Two, arrive the signal strength data of each rfid interrogator according to article tag to be positioned, obtain thing to be positioned Product label is to the distance of each rfid interrogator, and obtains the position of article tag to be positioned.

Four rfid interrogators, one of them is as the initial point of coordinate system, and its excess-three is respectively as x-axis, y-axis With a bit in z-axis.

The signal strength data collected, is processed signal strength data by gaussian filtering and weighted average；

Described gaussian filtering is applicable to approximate the event of Normal Distribution, is used for reducing small probability event to overall event Impact.When obtaining n RSSI value in the rfid interrogator section period, chosen high general by gaussian filtering The RSSI value of rate, rejects small probability event, then takes geometrical mean.Which reduce the event of small probability to entirety Impact, improve the precision of location.

Wherein the formula of gauss of distribution function is:

$f\left(x\right)=\frac{1}{\sqrt{2\mathrm{\π}\mathrm{\σ}}}{e}^{-\frac{{(x-\mathrm{\μ})}^2}{2{\mathrm{\σ}}^2}};$

In formula:

$\mathrm{\μ}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{x}_i,{\mathrm{\σ}}^2=\frac{1}{n-1}\underset{i=1}{\overset{n}{\Σ}}{(x_i-\mathrm{\μ})}^2;$

If more than 0.6 for high probability, then have

0.6≤f(x)≤1；

Wherein:

$\mathrm{\μ}=\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{\mathrm{RSSI}}_i,\mathrm{\σ}=\sqrt{\frac{1}{n-1}\underset{i=1}{\overset{n}{\Σ}}{({\mathrm{RSSI}}_i-\frac{1}{n}\underset{i=1}{\overset{n}{\Σ}}{\mathrm{RSSI}}_i)}^2};$

0.15σ+μ≤x≤3.09σ+μ；

After gaussian filtering, by filtered for taking-up RSSI value and seek its geometrical mean, it is after process relatively More accurate RSSI value i.e. signal strength data.

Log path loss model is the letter using most common description RFID label tag during indoor propagated Number Strength Changes.

$PL\left(d\right)=PL\left(d_0\right)+10n\lg \left(\frac{d}{d_0}\right)+X_{\mathrm{\σ}};$

Wherein PL (d) is the path loss representing signal through transmission range d, and in indoor environment, d0 typically takes 1m, PL (d) and PL (d0) is in units of dB.N is path loss index, and its value is relevant with the environmental factors of surrounding (to be hidden Cover the factor and envirment factor), span is generally [2,5].X σ be average be 0, standard deviation is σ (dB) Gaussian noise (shadowing factor), represents the speed that the path loss of signal intensity increases with distance.

There is following relation in path loss PL (d) and the intensity launching power P t and signal echo:

P_r(d)=P_t-PL(d)；

Then have:

$P_r\left(d\right)=P_r\left(d_0\right)-10k\lg \left(\frac{d}{d_0}\right)-X_{\mathrm{\σ}};$

What Pr (d0) represented is tag signal strength that rfid interrogator receives at d0, that Pr (d) represents is RFID The tag signal strength that read write line receives, its unit is dBm, by this formula can obtain distance and RSSI it Between relation.

Work as d₀During=1m, rewritable in above formula it is:

P_r(d)=A-10k lg (d)-X_σ；

In above formula, parameter A and k are empirical values, and its value is relevant with residing concrete actual environment and hardware, In different environment, A from k is different, it is therefore desirable to test in actual environment.Therefore, it is necessary to select Suitably A and k, could reduce range error as far as possible.In order to reduce the impact of environment, can take described in Young waiter in a wineshop or an inn's multiplication algorithm carries out curve fitting, and determines the value of A and k optimum in current environment, and then sets up relatively accurate Indoor range finding model.

The step utilizing method of least square to be fitted is:

(if xi, yi) (i=1,2 ... N), and be given data, equation y=f (x)=Sx+T, then use Least square fitting straight line is asked S, T and makes:

Minimum, then seek local derviation to E (S, T)

$\frac{\∂E(S,T)}{\∂S}=0,\frac{\∂E(S,T)}{\∂T}=0;$

Then have:

$\left\{\begin{array}{c}S\underset{i=1}{\overset{N}{\Σ}}{x_i}^2+T\underset{i=1}{\overset{N}{\Σ}}{x}_i=\underset{i=1}{\overset{N}{\Σ}}{x}_i{y}_i\\ S\underset{i=1}{\overset{N}{\Σ}}{x}_i+NT=\underset{i=1}{\overset{N}{\Σ}}{y}_i\end{array}\right.;$

Then can obtain S, T, and ensure that E (S, T) is minimum.Therefore for formula (1), P_rD () and lg d are linearly Relation, therefore, it can by some groups of (P_r(d), lg d), and be fitted with least-squares algorithm, obtain The value of excellent A and k.

Said process is summarized as: the signal strength data after processing substitutes in indoor classical distance～loss model, Obtain ambient parameter and the distance value of model；

Described gaussian filtering refers to be processed the impact reducing small probability event to overall event by certain data；

Described indoor classical distance～loss model refer to, through excess syndrome, summarize the signal received after multipath transmisstion strong Degree obeys the rule of logarithm normal distribution, and this model carrys out estimated distance by signal decay in space.

A kind of clustering algorithm that the present invention also provides for, described method includes:

Obtain the total n of sample, and n sample is divided into n class；

Calculate the distance between two classes, build symmetry distance matrix；

The two of least member classes are merged into a new class by off-diagonal least member in chosen distance matrix；

Eliminate the row and column corresponding to two classes of least member, add new class and the remaining between class distance not being polymerized institute The one row and one column of composition, obtains new distance matrix；

Repeat abovementioned steps, find off-diagonal least member in new distance matrix, until meeting the termination of classification Condition, the cluster that output is optimum.

In step 3, use least square location algorithm that label position to be positioned is carried out refinement, including:

Using rfid interrogator known to position as with reference to rfid interrogator；

For label to be positioned, obtain with reference to the distance between rfid interrogator and label to be positioned, and constitute distance Set；

Adjust the distance and cluster, reject the reference rfid interrogator that some numerical value differ greatly, remaining with reference to RFID Read write line continues to participate in location；

The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference rfid interrogator；

Method of least square is used to ask for the coordinate of target to be positioned.

The embodiment of the present invention also provides for a kind of LSL_DCRB algorithm flow, and described method includes:

Using rfid interrogator known to position as described reference rfid interrogator；

For label to be positioned, obtain with reference to the distance between rfid interrogator and label to be positioned, and constitute distance Set；

Adjust the distance and carry out described cluster, reject the described reference rfid interrogator that some numerical value differ greatly, residue Reference rfid interrogator continue to participate in location；

The reference rfid interrogator of the accumulation cluster degree minimum of the range error described in selection is as described reference Rfid interrogator；

Method of least square is used to ask for the coordinate of target to be positioned.

In equation group, introduce range error, then have:

$\left\{\begin{array}{c}{(x_1-x)}^2+{(y_1-y)}^2={d_1}^2+e_1\\ {(x_2-x)}^2+{(y_2-y)}^2={d_2}^2+e_2\\ .\\ .\\ .\\ {(x_{n-1}-x)}^2+{(y_{n-1}-y)}^2={d_{n-1}}^2+e_{n-1}\\ {(x_n-x)}^2+{(y_n-y)}^2={d_n}^2+e_n\end{array}\right.;$

In above-mentioned equation group, other separate equations of equation group deduct jth equation and carry out depression of order,

AX=B^*+E

Wherein:

$B^{*}=\left[\begin{array}{c}(x_1^2-x_j^2)+(y_1^2-y_j^2)-(d_1^2-d_j^2)\\ (x_2^2-x_j^2)+(y_2^2-y_j^2)-(d_2^2-d_j^2)\\ .\\ .\\ .\\ (x_{j-1}^2-x_j^2)+(y_{j-1}^2-y_j^2)-(d_{j-1}^2-d_j^2)\\ (x_{j+1}^2-x_j^2)+(y_{j+1}^2-y_j^2)-(d_{j+1}^2-d_j^2)\\ .\\ .\\ .\\ (x_n^2-x_j^2)+(y_n^2-y_j^2)-(d_n^2-d_j^2)\end{array}\right];$

$E=\left[\begin{array}{c}(e_j-e_1)\\ (e_j-e_2)\\ .\\ .\\ .\\ (e_j-e_{j-1})\\ (e_j-e_{j+1})\\ .\\ .\\ .\\ (e_j-e_n)\end{array}\right]$

AX=B^*+ E, X=(A^TA)^-1A^T(B^*+E)

Above-mentioned steps is the process using the least square location algorithm improved that label position to be positioned carries out refinement.

The supervising device of environment in a kind of goods transportation way, including environment information acquisition module, position acquisition module and letter Breath writing module；

Environmental data acquisition module, for according to the three-dimensional distributed data of environment in described car body transport space, obtains Take in described three-dimensional distributed data beyond the data presetting environment value；

Position acquisition module, is used for using RFID location algorithm to position article tag in envelope environment, obtains The positional information of article tag；

Information writing module, is carried out the positional information of the positional information of the environmental data beyond preset value with article tag The described data beyond preset value are write in the article tag of correspondence position by association.

Environmental data acquisition module includes:

First data capture unit, is used for using three-dimensional interpolation algorithm to obtain described envelope transport space medium ring The three-dimensional distributed data in border；

Second data capture unit, for described three-dimensional distributed data and described default environment value being compared, obtains Take in described three-dimensional distributed data beyond the data presetting environment value.

Described first data capture unit is used for setting up space coordinates, according to the size of article case, and will transport sky Between carry out sliding-model control, the size of each unit is in the same size with what article were packed, by the three-dimensional space of car body Between discrete sized by equal regular discrete unit；As a reference point, by several with described environment information acquisition equipment Environment information acquisition deployed with devices is in several discrete units of three dimensions that described envelope transports；With each discrete list The geometric center of unit, as interpolation point, obtains the point to be inserted distance to each sensor, uses distance weight reciprocal to carry out Three-dimensional interpolation, carries out global search, tries to achieve the environmental data of various discrete unit.

Described position acquisition module includes:

Range cells, is used for using signal strength data and indoor range finding model, obtains rfid interrogator with to be positioned The distance of label；

Location information acquiring unit, is used for by rfid interrogator and the range information of label to be positioned and location mould Type, obtains the positional information of label to be positioned；

Position refinement unit, for using the least square location algorithm of improvement that label position to be positioned is carried out refinement.

Described range cells, is used for collecting signal strength data, strong to signal by described gaussian filtering and weighted average Degrees of data processes；Signal strength data after processing substitutes in indoor classical distance～loss model, obtains mould The ambient parameter of type and distance value；

Described position refinement unit is used for rfid interrogator known to position as with reference to rfid interrogator；For treating Location label, obtains with reference to the distance between rfid interrogator and label to be positioned, and constitutes distance set；To away from From clustering, rejecting the reference rfid interrogator that some numerical value differ greatly, remaining reference rfid interrogator continues Continuous participation positions；The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference RFID Read write line；The method of least square improved is used to ask for the coordinate of target to be positioned.

It should be understood that the supervising device of the described environment in transit of above-described embodiment offer is in goods transportation way During the monitoring of environment, only it is illustrated with the division of above-mentioned each functional module, in actual application, can be according to need Want and above-mentioned functions distribution is completed by different functional modules, the internal structure of equipment will be divided into different functions Module, to complete all or part of function described above.It addition, in the goods transportation way of above-described embodiment offer The supervising device of environment belongs to same design with the monitoring embodiment of the method for environment in goods transportation way, and it implemented Journey refers to embodiment of the method, repeats no more here.

The foregoing is only presently preferred embodiments of the present invention, not in order to limit the present invention, all spirit in the present invention and Within principle, any modification, equivalent substitution and improvement etc. made, should be included within the scope of the present invention.

Claims (5)

1. a monitoring method for environment in goods transportation way, is characterized in that comprising the following steps:

One, the sensor of multiple three-dimensional distribution is set in car body, it is thus achieved that the environmental data of the internal three-dimensional distribution of envelope, obtains data and position thereof beyond preset value in environmental data；

This step comprises the following steps:

(1), space coordinates are set up, according to the size of article, by regular discrete unit equal sized by discrete for the three dimensions of car body；

(2), multiple sensors are randomly arranged in multiple discrete unit；

(3), using the geometric center of each discrete unit as interpolation point, obtain the interpolation point distance to each sensor, use distance weight reciprocal to carry out three dimensions interpolation, carry out global search, try to achieve the environmental data of various discrete unit；

(4), the environmental data of various discrete unit is compared with preset value, it is thus achieved that beyond the component environment data of preset value in environmental data；

Two, the RFID label tag of attachment on article in envelope environment is positioned, to obtain the positional information of article tag；

In this step, comprise the following steps:

(1) in car body, arrange at least four separate and the rfid interrogator of known location；

Four rfid interrogators, one of them is as the initial point of coordinate system, and its excess-three is respectively as a bit in x-axis, y-axis and z-axis；

(2), arrive the signal strength data of each rfid interrogator according to article tag to be positioned, obtain article tag to be positioned to the distance of each rfid interrogator, and obtain the position of article tag to be positioned；

Three, the positional information of the environmental data beyond preset value is associated with the positional information of article tag, the described data beyond preset value is write in the article tag of correspondence position.

In a kind of goods transportation the most according to claim 1 way, the monitoring method of environment, be is characterized in that: the signal strength data collected, is processed signal strength data by gaussian filtering and weighted average；

Signal strength data after processing substitutes in indoor classical distance ~ loss model, obtains ambient parameter and the distance value of model；

Described gaussian filtering refers to be processed the impact reducing small probability event to overall event by certain data；

Described indoor classical distance ~ loss model refers to, through excess syndrome, summarize the rule of the signal intensity obedience logarithm normal distribution received after multipath transmisstion, and this model carrys out estimated distance by signal decay in space.

The monitoring method of environment in a kind of goods transportation the most according to claim 1 way, is characterized in that:

In step 3, use least square location algorithm that label position to be positioned is carried out refinement, including:

Using rfid interrogator known to position as with reference to rfid interrogator；

For label to be positioned, obtain with reference to the distance between rfid interrogator and label to be positioned, and constitute distance set；

Adjusting the distance and cluster, reject the reference rfid interrogator that some numerical value differ greatly, remaining reference rfid interrogator continues to participate in location；

The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference rfid interrogator；

Method of least square is used to ask for the coordinate of target to be positioned.

4. a supervising device for environment in goods transportation way, is characterized in that:

Including environment information acquisition module, position acquisition module and information writing module；

Environmental data acquisition module, for according to the three-dimensional distributed data of environment in car body transport space, obtains in described three-dimensional distributed data beyond the data presetting environment value；

Environmental data acquisition module includes:

First data capture unit, for using three-dimensional interpolation algorithm to obtain the three-dimensional distributed data of environment in described envelope transport space；

Second data capture unit, for described three-dimensional distributed data and described default environment value being compared, obtains in described three-dimensional distributed data beyond the data presetting environment value；

Described first data capture unit is used for setting up space coordinates, size according to article case, transport space is carried out sliding-model control, and the size of each unit is in the same size with what article were packed, by regular discrete unit equal sized by discrete for the three dimensions of car body；As a reference point with described environment information acquisition equipment, by several environment information acquisition deployed with devices in several discrete units of three dimensions that described envelope transports；Using the geometric center of each discrete unit as interpolation point, obtain the point to be inserted distance to each sensor, use distance weight reciprocal to carry out three-dimensional interpolation, carry out global search, try to achieve the environmental data of various discrete unit；

Position acquisition module, is used for using RFID location algorithm to position article tag in envelope environment, obtains the positional information of article tag；

Described position acquisition module includes:

Range cells, is used for using signal strength data and indoor range finding model, obtains the distance of rfid interrogator and label to be positioned；

Location information acquiring unit, is used for, by rfid interrogator and the range information of label to be positioned and location model, obtaining the positional information of label to be positioned；

Position refinement unit, for using the least square location algorithm of improvement that label position to be positioned is carried out refinement；

Information writing module, is associated the positional information of the environmental data beyond preset value with the positional information of article tag, the described data beyond preset value is write in the article tag of correspondence position.

A kind of supervising device the most according to claim 4, is characterized in that:

Described range cells, is used for collecting signal strength data, is processed signal strength data by gaussian filtering and weighted average；Signal strength data after processing substitutes in indoor classical distance ~ loss model, obtains ambient parameter and the distance value of model；

Described position refinement unit is used for rfid interrogator known to position as with reference to rfid interrogator；For label to be positioned, obtain with reference to the distance between rfid interrogator and label to be positioned, and constitute distance set；Adjusting the distance and cluster, reject the reference rfid interrogator that some numerical value differ greatly, remaining reference rfid interrogator continues to participate in location；The reference rfid interrogator of the accumulation cluster degree minimum of chosen distance error is as reference rfid interrogator；The method of least square improved is used to ask for the coordinate of target to be positioned.