CN104391269B - Spatial orientation method and apparatus based on radio frequency identification technology - Google Patents
Spatial orientation method and apparatus based on radio frequency identification technology Download PDFInfo
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- CN104391269B CN104391269B CN201410561890.3A CN201410561890A CN104391269B CN 104391269 B CN104391269 B CN 104391269B CN 201410561890 A CN201410561890 A CN 201410561890A CN 104391269 B CN104391269 B CN 104391269B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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Abstract
The application provides a spatial orientation method and apparatus based on the radio frequency identification technology. The spatial orientation method comprises the following steps that: each antenna arranged in a measured zone is driven to send a first message that is used for triggering an electronic tag arranged in the measured zone to carry out field intensity measurement work, wherein at least three antenna are arranged in the measured zone and form a spatial plane; second messages that contain magnetic field intensities of all antennas and sent by the electronic tags are received, wherein the magnetic field intensities are obtained by converting the field intensity signals sent by the antennas by the electronic tags; the magnetic field intensities of all antennas are obtained from the second messages; and according to the magnetic field intensities of all antennas as well as the layout of the antennas in the measured zone, the positions of the electronic tags in the measured zone are determined. In the prior art, only whether electronic equipment is located in a measured zone is tested; however, according to the method, the position of an electronic tag in the measured zone can be determined, thereby improving precision of the position detection.
Description
Technical field
The application is related to space orientation technique field, particularly to a kind of space-location method based on REID
And device.
Background technology
REID (RFID, Radio Frequency Identification) is that one kind can pass through aerogram
Number identification specific objective simultaneously reads and writes the communication technology of related data, in REID conventional radio signal include low
Frequently (125-134.2KHz), high frequency (13.56MHz), hyperfrequency (315/434/868MHz etc.), microwave etc..
REID is widely used in the space orientation to object at present, is wherein carried out based on REID
Sterically defined process is as follows：Obtain the field intensity data of the electronic tag measurement using REID, this field intensity data is
One scalar；The threshold value of the field intensity getting data and demarcation is compared, when field intensity data is more than threshold value, determines electronics
Label, in the area of space of regulation, otherwise determines electronic tag not in the area of space of regulation.
Above describe existing sterically defined process is carried out based on REID, but using RF identification skill
When art carries out space orientation, only can determine that electronic tag whether in the area of space of regulation, and cannot know that electronic tag exists
The position of area of space.
Content of the invention
Technical problems to be solved in this application are to provide a kind of space-location method based on REID, are used for
Determine the position in area of space for the electronic tag.The application also provides a kind of space positioning apparatus based on REID,
In order to ensure said method realization in practice and application.Technical scheme is as follows：
On the one hand, the embodiment of the present application provides a kind of space-location method based on REID, methods described bag
Include：
Every antenna in tested region for the drive arrangement sends the first message, and described first message is used for triggering and is located at institute
State the electronic tag in tested region and carry out field strength measurement work, in described tested region, be disposed with least three antennas, and its
In three antennas constitute the space plane being located in described tested region；
Receive the second message of the field strength of every antenna of inclusion that described electronic tag sends, described field strength is
The field intensity signal that described antenna sends is converted to by described electronic tag；
The field strength of every antenna is obtained from described second message；
According to the field strength of every antenna and the layout of tested region internal antenna, determine electricity described in described tested region
The position of subtab.
Preferably, it is disposed with three antennas in described tested region, the described field strength according to every antenna and tested
The layout of region internal antenna, determines the position of electronic tag described in described tested region, including：
Described field strength is compared with each the reference magnetic field field intensity in field intensity position relationship table, determine with described
The corresponding described reference magnetic field field intensity of field strength；
From described field intensity position relationship table obtain with determined by each reference magnetic field field intensity distinguish corresponding first away from
From described first distance is for indicating the distance apart from described antenna for the described electronic tag；
With described first distance as radius, build the closed surface that every antenna is formed in described tested region respectively；
Obtain two intersection points that the closed surface of three described antennas formation intersects, described two intersection points are described electronics mark
Sign two points in described tested region；
Based on described two intersection points, obtain incident point in described space plane for two intersection points；
Obtain described two intersection points each to first vector distance in described incident point from described field intensity position relationship table；
Each arrive first vector distance in described incident point based on described first distance and described two intersection point, in conjunction with space
Geometrical principle obtains coordinate in described tested region for the described electronic tag, and described coordinate is used for indicating described in tested region
The position of electronic tag.
Preferably, be also located at the 4th antenna outside described space plane in described tested region, described based on described
One distance and described two intersection point each arrive first vector distance in described incident point, obtain described electricity in conjunction with space geometry principle
Coordinate in described tested region for the subtab, including：
Obtain the field strength of described 4th antenna, and the field strength of described 4th antenna is closed with field intensity position
It is that each reference magnetic field field intensity in table is compared, determine described benchmark corresponding with the described field strength of the 4th antenna
Field strength；
Obtain from described field intensity position relationship table with the reference magnetic field field intensity corresponding second of described 4th antenna away from
From described second distance is used for indicating the distance apart from described 4th antenna for the described electronic tag；
Obtain described two intersection points to the second vector distance of described 4th antenna；
The mould of the second vector distance of described two intersection points is contrasted, is obtained the less friendship of mould of the second vector distance
Point is point in described tested region for the described electronic tag；
The less intersection point of mould obtaining described second vector distance from described field intensity position relationship table is to described incident point
The first vector distance；
The first vector based on described first distance and the less intersection point of described second vector distance to described incident point away from
From obtaining coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, described coordinate is used for indicating quilt
Survey the position of electronic tag described in region.
Preferably, methods described also includes：Described field intensity position relationship table pre-build process, described pre-build
Journey includes：
When described electronic tag is in a fixed position in described tested region, to described electronic tag with positioned at described
The position relationship between antenna in tested region takes multiple measurements, and obtains calibration result；
Described calibration result is written in described field intensity position relationship table, described field intensity position relationship table includes：Institute
State electronic tag to the distance between described antenna, the reference magnetic field field intensity of described antenna and described intersection point to described incident point
Vector distance.
Preferably, in drive arrangement after every antenna in described tested region sends the first message, methods described
Also include：
Receive the response message that described electronic tag is replied according to described first message；
When described response message is legal message, triggering receives the magnetic of the every antenna of inclusion that described electronic tag sends
Second message of field field intensity.
On the other hand, the application also provides a kind of space positioning apparatus based on REID, and described device includes：
Drive module, sends the first message, described first message for every antenna in tested region for the drive arrangement
The electronic tag being located in described tested region for triggering carries out field strength measurement work, is disposed with least in described tested region
Three antennas, and wherein three antennas constitute the space plane being located in described tested region；
Receiver module, for receiving the second message of the field strength of the every antenna of inclusion that described electronic tag sends,
Described field strength is that the field intensity signal that described antenna sends is converted to by described electronic tag；
Acquisition module, for obtaining the field strength of every antenna from described second message；
Computing module, for according to the field strength of every antenna and the layout of tested region internal antenna, determining described quilt
Survey the position of electronic tag described in region.
Preferably, it is disposed with three antennas in described tested region, described computing module includes：
First determining unit, for passing through each the reference magnetic field field in described field strength and field intensity position relationship table
Compare by force and determine described reference magnetic field field intensity corresponding with described field strength；
Second determining unit, for from described field intensity position relationship table obtain with determined by each reference magnetic field field intensity
Corresponding first distance respectively, described first distance is for indicating the distance apart from described antenna for the described electronic tag；
Construction unit, for described first distance as radius, building every antenna shape in described tested region respectively
The closed surface becoming；
First acquisition unit, two intersection points that the closed surface for obtaining three described antennas formation intersects, described two
Individual intersection point is two points in described tested region for the described electronic tag；
Second acquisition unit, for based on described two intersection points, obtaining projection in described space plane for two intersection points
Point；
3rd acquiring unit, for obtaining described two intersection points each to described projection from described field intensity position relationship table
First vector distance of point；
Computing unit, for each arriving first vector in described incident point based on described first distance and described two intersection point
Distance, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, and described coordinate is used for indicating
The position of electronic tag described in tested region.
Preferably, there also is provided the 4th antenna outside described space plane, described calculating in described tested region
Unit includes：
First acquisition subelement, for obtaining the field strength of described 4th antenna, and by described 4th antenna
Field strength is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines the described magnetic with the 4th antenna
The field corresponding described reference magnetic field field intensity of field intensity；
Second acquisition subelement, for obtaining the benchmark magnetic with described 4th antenna from described field intensity position relationship table
The corresponding second distance of field intensity, described second distance be used for indicating described electronic tag apart from described 4th antenna away from
From；
3rd acquisition subelement, for obtaining described two intersection points to the second vector distance of described 4th antenna；
Contrast subunit, for being contrasted the mould of the second vector distance of described two intersection points, obtains the second vector
The less intersection point of mould of distance is point in described tested region for the described electronic tag；
4th acquisition subelement, the mould for obtaining described second vector distance from described field intensity position relationship table is less
Intersection point to described incident point the first vector distance；
Computation subunit, for based on described first distance and the less intersection point of described second vector distance to described projection
First vector distance of point, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, described
Coordinate is used for indicating the position of electronic tag described in tested region.
Preferably, described device also includes：Relation table built in advance module, for being in described tested area when described electronic tag
In domain during a fixed position, described electronic tag is taken multiple measurements with the antenna in described tested region, is marked
Determine result, described calibration result is written in described field intensity position relationship table；Described field intensity position relationship table includes：Described
Electronic tag is to the distance between described antenna, the reference magnetic field field intensity of described antenna and described intersection point to the arrow in described incident point
Span from.
Preferably, described device also includes：
Message receiver module, for receiving the response message that described electronic tag is replied according to described first message；
Judge module, for when judging that described response message is legal message, triggering described receiver module.
Compared with prior art, the application includes advantages below：
Application technique scheme, the embodiment of the present application provide localization method can drive arrangement first in tested region
Every interior antenna sends the first message to trigger the electronic tag in tested region, receives electronic tag and sends the second report
Literary composition, and obtain the field strength of every antenna from the second message, then according to field strength and the tested region of every antenna
The layout of internal antenna determines the position of electronic tag in tested region.It is only capable of testing electronic equipment whether position with respect to prior art
In tested region, the embodiment of the present invention can determine that position in tested region for the electronic tag, improves position detection
Precision.
Brief description
For the technical scheme being illustrated more clearly that in the embodiment of the present application, will make to required in embodiment description below
Accompanying drawing be briefly described it should be apparent that, drawings in the following description are only some embodiments of the present application, for
For those of ordinary skill in the art, without having to pay creative labor, it can also be obtained according to these accompanying drawings
His accompanying drawing.
Fig. 1 is a kind of flow chart of space-location method based on REID that the embodiment of the present application provides；
Fig. 2 be the embodiment of the present application provide a kind of based on antenna in the space-location method of REID according to cloth
Put the schematic diagram that order sends field intensity signal；
Fig. 3 is that a kind of of the embodiment of the present application offer is based on the second message in the space-location method of REID
The form schematic diagram of high frequency message during high frequency message；
Fig. 4 be the embodiment of the present application provide a kind of based in tested region in the space-location method of REID
The flow chart of step 104 when being disposed with three antennas；
Fig. 5 be the embodiment of the present application provide a kind of based on closed surface in the space-location method of REID
The schematic diagram in the incident point of space plane that two intersection points are constituted in three antennas；
Fig. 6 be the embodiment of the present application provide a kind of based in tested region in the space-location method of REID
The flow chart of step 104 when being disposed with four antennas；
Fig. 7 is another kind of flow process of the space-location method based on REID that another embodiment of the application provides
Figure；
Fig. 8 is a kind of structural representation of space positioning apparatus based on REID that the embodiment of the present application provides
Figure；
Fig. 9 be the embodiment of the present application provide a kind of based on computing module in the space positioning apparatus of REID
Structural representation；
Figure 10 be the embodiment of the present application provide a kind of based on computing unit in the space positioning apparatus of REID
Structural representation；
Figure 11 is a kind of another kind of knot of space positioning apparatus based on REID that the embodiment of the present application provides
Structure schematic diagram；
Figure 12 is a kind of the third knot of space positioning apparatus based on REID that the embodiment of the present application provides
Structure schematic diagram.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present application, the technical scheme in the embodiment of the present application is carried out clear, complete
Site preparation describes it is clear that described embodiment is only some embodiments of the present application, rather than whole embodiments.It is based on
Embodiment in the application, it is every other that those of ordinary skill in the art are obtained under the premise of not making creative work
Embodiment, broadly falls into the scope of the application protection.
Refer to Fig. 1, a kind of space orientation side based on REID of the embodiment of the present application offer is provided
The flow chart of method, may comprise steps of：
101：Every antenna in described tested region for the drive arrangement sends the first message, and described first message is used for touching
Send out the electronic tag being located in described tested region and carry out field strength measurement work, be disposed with least three antennas in tested area and produce
Raw, and wherein three antennas constitute the space plane being located in described tested region.
Wherein first message is that have specific meanings data with certain carrier frequency according to what specific coding rule sent
Combination, it generally includes the contents such as wake-up sequence and command information.The electronics that wake-up sequence can will be under low power consumpting state
Label switches under high power consumption state, promotes electronic tag to start working.And the command information in the first message can indicate
Electronic tag carries out relevant work, such as field strength measurement work.
In the embodiment of the present application, the carrier frequency of the first message can be the Frequency of 125KHz/134KHz, accordingly
Radio-frequency antenna array system in antenna be low-frequency antenna.This low-frequency antenna sends the first message to trigger in tested region
Electronic tag carries out field strength measurement work.
102：Receive the second message of the field strength of every antenna of inclusion that described electronic tag sends, described magnetic field field
For described electronic tag, the field intensity signal that described antenna sends is converted to by force.
After electronic tag receives the first message, start to detect the field strength being sent by antenna with certain sequential, and
Often after completing the field strength of any one antenna, the field strength obtaining to be stored in its memory medium to be sent for detection.
Wherein necessarily sequential can be：Send the field intensity letter of constant field intensity according to order of placement in tested region for the antenna
Number.As shown in Fig. 2 the antenna A1 being initially positioned at the A of position sends the sine wave of constant field intensity E1, it persistently sends the time for 0
To Δ t, the antenna A2 being secondly located at the B of position sends the sine wave of constant field intensity E2, and it persistently sends the time for Δ t to 2 Δ
T, is finally sent the sine wave of constant field intensity E3 by the antenna A3 positioned at position C, and it persistently sends the time for 2 Δ t to 3 Δ t.
Electronic tag often detects and is stored in certainly, after completing any one antenna Ai (i=1,2,3), the field strength obtaining
In body memorizer, to wait electronic tag to obtain the field strength of all antennas.
In the embodiment of the present application, when in tested region, the antenna of arrangement is low-frequency antenna, this field intensity signal is low frequency letter
Number and using sine wave send.(this low frequency signal senses to be configured with low frequency signal induction installation on corresponding electronic tag
Device is generally low frequency induction coil), after electronic tag receives the low frequency signal as field intensity signal, low frequency signal senses
The low frequency signal of varying strength can be converted into the analog quantity voltage information of corresponding size, this analog quantity voltage simultaneously by device
Information by electronic tag internal A/D (Analog/Digital, analog/digital) processor collection and is changed, and is thus characterized
The digital quantity of field strength.
After electronic tag obtains the field strength of all antennas, the field strength obtaining is passed through the second message and sends,
Wherein second message can be high frequency message, and this high frequency message refers to certain carrier frequency such as 315MHz/433MHz according to spy
Determine the combination of the data with specific meanings of coding rule transmission, the data of specific meanings is then electricity in the embodiment of the present application
The field strength that subtab sends, the form of the high frequency message that it is sent can be as shown in figure 3, be formed with the form of E1-E2-E3
High frequency message.
103：The field strength of every antenna is obtained from described second message.
Receiving device, after receiving the second message, first determines whether whether the storage format of the second message is the storage of itself
Form is identical, if the same directly extracts field strength from the second message；If it is not the same, then first the second message is entered
Row format is changed, then obtains field strength from the second message after conversion.Itself and electronic tag in the embodiment of the present application
Storage format be preferably identical storage format, so both can simplify design it is also possible that methods simplification, it is right to save
The transformation process of the second message.
104：According to the field strength of every antenna and the layout of tested region internal antenna, determine institute in described tested region
State the position of electronic tag.
When the layout of tested region internal antenna, when as different with the space diagram that antenna is constituted in antenna number, according to antenna
Field strength and the layout of antenna determine that the mode of the position of electronic tag in tested region is also different, below will be with three skies
Illustrate based on line and four antennas, this is no longer excessively illustrated herein.
Application technique scheme, the embodiment of the present application provide localization method can drive arrangement first in tested region
Every interior antenna sends the first message to trigger the electronic tag in tested region, receives electronic tag and sends the second report
Literary composition, and obtain the field strength of every antenna from the second message, then according to field strength and the tested region of every antenna
The layout of internal antenna determines the position of electronic tag in tested region.It is only capable of testing electronic equipment whether position with respect to prior art
In tested region, the embodiment of the present invention can determine that position in tested region for the electronic tag, improves position detection
Precision.
Below will be tested to the determination in the embodiment of the present application to be disposed with three antennas and four antennas in tested region
The position of electronic tag in region, that is, the implementation process of step 104 be described in detail.
First by tested region arrange three antennas as a example, be disposed with tested region first antenna, the second antenna and
Third antenna, the position in first antenna, the second antenna and third antenna each leisure tested region and direction are fixed, and three
Antenna can not be located along the same line, but three antennas are arranged to a triangle, and this triangle can determine that positioned at quilt
Survey the space plane in region.
Refer to Fig. 4, it illustrates when being disposed with three antennas in tested region, the embodiment of the present application provide based on
In the space-location method of REID, the flow chart of step 104, comprises the following steps：
401：Field strength is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines and magnetic field
Field intensity corresponding reference magnetic field field intensity.
In the embodiment of the present application, the position relationship record of reference magnetic field field intensity and electronic tag and antenna is in a field intensity position
Put in relation table.After receiving device obtains the field strength of every antenna, by the benchmark magnetic in itself and field intensity position relationship table
Field field intensity is compared, and determines each field strength corresponding reference magnetic field field intensity.
402：From field intensity position relationship table obtain with determined by each reference magnetic field field intensity distinguish corresponding first away from
From the first distance is for indicating the distance apart from antenna for the electronic tag.
403：With the first distance as radius, build the closed surface that every antenna is formed in tested region respectively.
According to Gauss law, the point of equal field strength is distributed on a linear closed curved surface, therefore every antenna
Centered on point, the closed surface of every antenna, this closed surface can be obtained for radius with corresponding first distance of field strength
Indicate the position in the tested region being the first distance apart from antenna, electricity in tested region can be obtained by closed surface
Subtab and the position relationship of antenna.
404：Obtain two intersection points that the closed surface of three described antennas formation intersects, described two intersection points are described electricity
Two points in described tested region for the subtab.
Well known to a person skilled in the art, if in area of space, two nonconcentric(al) spheres intersect, and (centre of sphere distance is not
Less than arbitrary radius of a ball) then intersect at an annulus (point is the special circumstances of annulus).If another sphere and this two
Sphere intersects simultaneously, then intersection point must be on this annulus.The therefore three intersecting intersection point distributions of sphere are equivalent to two of which
Sphere is intersected the annulus obtaining and is intersected with the 3rd sphere, and annulus is intersected (decentraction) and is up to two intersection points with sphere.Therefore
The sphere of three mutual decentractions generally intersects at two points.Based on closed surface in this geometrical relationship principle the embodiment of the present application
Intersect at two intersection points.
Because closed surface is to represent the first distance apart from antenna for the electronic tag for radius structure, so closed surface
Two intersecting intersection points can indicate two positions of electronic tag in tested region.
405：Based on two intersection points, obtain incident point in space plane for two intersection points.Its mode can be：By two
The space plane that intersection point is formed to three antennas does the intersection point that vertical line can obtain vertical line and space plane, as incident point, such as
Point 504 in Fig. 5, the line of two intersection points that this point 504 intersects for closed surface is just perpendicular to the space of three antennas formation
Plane, the therefore line of two intersection points are incident point with the point 504 of space plane.
406：Obtain two intersection points each to first vector distance in incident point from field intensity position relationship table.
In the embodiment of the present application, according to the first vector distance, reference magnetic field field intensity corresponding with field strength obtains,
It indicates two intersection points to the direction in incident point and distance, and the direction wherein arriving incident point indicates intersection point and space plane
Position relation, distance then indicates the distance relation of intersection point and control plane, by the first vector distance can obtain intersection point and
The relative position relation of space plane.
407：Each arrive first vector distance in incident point based on the first distance and two intersection points, in conjunction with space geometry principle
Obtain coordinate in tested region for the electronic tag, wherein coordinate is used for indicating the position of electronic tag in tested region.
In addition four antennas, respectively first antenna, the second antenna and third antenna can also be disposed with tested region,
4th antenna, the position in first antenna, the second antenna, third antenna and the 4th antenna each leisure tested region and direction
Fixing, and when four antennas are arranged in tested region, first antenna, the second antenna and third antenna are in tested region
Construct a space plane, the 4th antenna is located at outside space plane, constitutes with this space plane and is located in tested region
One space multistory face.
Refer to Fig. 6, it illustrates when being disposed with four antennas in tested region, the embodiment of the present application provide based on
In the space-location method of REID, the flow chart of step 104, comprises the following steps：
601：Field strength is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines and magnetic field
Field intensity corresponding reference magnetic field field intensity.
602：From field intensity position relationship table obtain with determined by each reference magnetic field field intensity distinguish corresponding first away from
From the first distance is for indicating the distance apart from antenna for the electronic tag.
603：With the first distance as radius, build the closed surface that every antenna is formed in tested region respectively.
604：Obtain two intersection points that the closed surface of three antennas formation intersects, two intersection points are electronic tag tested
Two points in region.
605：Based on two intersection points, obtain incident point in space plane for two intersection points.
606：Obtain two intersection points each to first vector distance in incident point from field intensity position relationship table.
Above step is to carry out positioning according to three antenna pair electronic tags obtaining electronic tag in tested region two
Individual possible position, two of which possible position is two points in step 604, in the embodiment of the present application according to three antenna pairs
Electronic tag carries out positioning and obtains the implementation process of two possible positions and can refer to flow chart corresponding to Fig. 4, above-mentioned steps 601
Identical to step 406 with step 401 to the implementation process of step 606, this embodiment of the present application is no longer illustrated by.
607：Obtain the field strength of the 4th antenna, and by the field strength of the 4th antenna and field intensity position relationship table
In each reference magnetic field field intensity compare, determine and the field strength corresponding reference magnetic field field intensity of the 4th antenna.
Being introduced into the 4th antenna is in order to true in two possible positions in tested region from above-mentioned instruction electronic tag
Fixed position position in tested region as electronic tag, wherein determination process following steps 608 are to step 612.
608：The corresponding second distance of reference magnetic field field intensity with the 4th antenna is obtained from field intensity position relationship table, the
Two distances are for indicating the distance of the 4th antenna of electronic tag distance.
Wherein according to the field strength corresponding reference magnetic field field intensity with the 4th antenna, can from field intensity position relationship table
To obtain electronic tag to the distance of the 4th antenna, i.e. second distance.Also according to the Gauss theorem of electromagnetic field, with the 4th
Point centered on antenna, second distance be radius it may be determined that the closed surface of the 4th antenna, this closed surface indicates distance
Antenna is the position in the tested region of the first distance, can obtain electronic tag and sky in tested region by closed surface
The position relationship of line.
609：Obtain two intersection points to the second vector distance of the 4th antenna.Wherein second vector distance indicates two
Intersection point is to the distance of the 4th antenna and direction.
610：The mould of the second vector distance of two intersection points is contrasted, is obtained the less friendship of mould of the second vector distance
Point is point in tested region for the electronic tag.So i.e. can be from by the contrast of the mould of the second vector distance of two intersection points
Select in two intersection points a point as electronic tag the position in tested region, the point of wherein selected taking-up is the second arrow
Span from the less intersection point of mould.
611：The first arrow of the less intersection point of mould of the second vector distance to incident point is obtained from field intensity position relationship table
Span from.
612：Based on the first vector distance of the first distance and the less intersection point of the second vector distance to incident point, in conjunction with sky
Between geometrical principle obtain coordinate in tested region for the electronic tag, wherein coordinate is used for indicating electronic tag in tested region
Position.
The determination process of the position of electronic tag shown in above-mentioned Fig. 4 and Fig. 6 can by search field intensity position relationship table Lai
Accelerate electronic tag positioning, and obtain coordinate in tested region for the electronic tag, this side of tabling look-up with reference to space geometry principle
Formula can save a large amount of calculating of concrete numerical value, convenient and swift, this reduces the requirement to data processing centre's base station performance,
Reduce cost of implementation.
Above-mentioned field intensity position relationship table be pre- first pass through repeatedly actual measurement and obtain, wherein set up field intensity position relationship table
Process is as follows：When electronic tag is in a fixed position in tested region, to electronic tag and the sky in tested region
Position relationship between line takes multiple measurements, and obtains calibration result.Then calibration result is written to field intensity position relationship table
In, field intensity position relationship table includes：Electronic tag is to the distance between antenna, the reference magnetic field field intensity of antenna and intersection point to throwing
The vector distance (vector distance includes the first vector distance and the second vector distance) of exit point.
In the embodiment of the present application, during field intensity position relationship table is set up, tested region can be in electronic tag
During interior fixed position, the position relationship and antenna being located in tested region between, this position by manual measurement electronic tag
Relation can include electronic tag to the distance between antenna and intersection point to the vector distance in incident point.Additionally, in order to improve position
Put the safety of detection, the embodiment of the present application is during carrying out position determination it is necessary first to legitimacy to electronic tag
Detected, as shown in fig. 7, on the basis of flow chart shown in Fig. 1, further comprising the steps of：
105：Receive the response message that described electronic tag is replied according to described first message.
Wherein response message is described electronic tag after receiving described first message, is returned according to described first message content
Multiple corresponding high frequency message.After receiving response message, determine whether whether described response message is legal, if legal,
Then there is described electronic tag in described tested region.
106：Judge whether response message is legal message, when response message is for legal message, execution step 102, when
When response message is not legal message, execution step 107.
Wherein response message is described electronic tag after receiving described first message, is returned according to described first message content
Multiple corresponding high frequency message.After receiving response message, determine whether whether described response message is legal, if legal,
Then there is described electronic tag in described tested region, and receive the second message of electronic tag transmission.
107：There is not electronic tag in tested region.
Corresponding with said method embodiment, the embodiment of the present application also provides a kind of space based on REID fixed
Position device, its structural representation refers to shown in Fig. 8, including：Drive module 11, receiver module 12, acquisition module 13 and calculating
Module 14.Wherein：
Drive module 11, sends the first message, described first report for every antenna in tested region for the drive arrangement
Literary composition for triggering be located at described tested region in electronic tag carry out field strength measurement work, be disposed with described tested region to
Few three antennas, and wherein three antennas constitute the space plane being located in described tested region.
Wherein first message is that have specific meanings data with certain carrier frequency according to what specific coding rule sent
Combination, it generally includes the contents such as wake-up sequence and command information.The electronics that wake-up sequence can will be under low power consumpting state
Label switches under high power consumption state, promotes electronic tag to start working.And the command information in the first message can indicate
Electronic tag carries out relevant work, such as field strength measurement work.
Receiver module 12, for receiving the second report of the field strength of the every antenna of inclusion that described electronic tag sends
Literary composition, described field strength is that the field intensity signal that described antenna sends is converted to by described electronic tag.
After electronic tag receives the first message, start to detect the field strength being sent by antenna with certain sequential, and
Often after completing the field strength of any one antenna, the field strength obtaining to be stored in its memory medium to be sent for detection.
Wherein necessarily sequential can be：Send the field intensity signal of constant field intensity according to order of placement in tested region for the antenna.
Electronic tag often detects and after completing any one antenna, the field strength obtaining is stored in its memory, with
Electronic tag is waited to obtain the field strength of all antennas.
After electronic tag obtains the field strength of all antennas, the field strength obtaining is passed through the second message and sends,
Wherein second message can be high frequency message, and this high frequency message refers to certain carrier frequency such as 315MHz/433MHz according to spy
Determine the combination of the data with specific meanings of coding rule transmission, the data of specific meanings is then electricity in the embodiment of the present application
The field strength that subtab sends.
Acquisition module 13, for obtaining the field strength of every antenna from described second message.
Acquisition module 13, after receiver module 12 receives the second message, first determines whether the second report in the embodiment of the present application
Whether the storage format of literary composition is that the storage format of itself is identical, if the same directly extracts field strength from the second message；
If it is not the same, then first the second message is entered row format conversion, then obtain field strength from the second message after conversion.?
In the embodiment of the present application, the storage format of electronic tag and acquisition module 13 is preferably identical storage format, so both can letter
Change design it is also possible that methods simplification, save the transformation process to the second message for the acquisition module 13.
Computing module 14, described for according to the field strength of every antenna and the layout of tested region internal antenna, determining
The position of electronic tag described in tested region.
When the layout of tested region internal antenna, when as different with the space diagram that antenna is constituted in antenna number, according to antenna
Field strength and the layout of antenna determine that the mode of the position of electronic tag in tested region is also different.
Wherein computing module 14 can adopt structure as shown in Figure 9, can include：First determining unit 141, second determines
Unit 142, construction unit 143, first acquisition unit 144, second acquisition unit 145, the 3rd acquiring unit 146 and computing unit
147.
First determining unit 141, for passing through each the benchmark magnetic in described field strength and field intensity position relationship table
Field field intensity is compared and is determined described reference magnetic field field intensity corresponding with described field strength；
In the embodiment of the present application, the position relationship record of reference magnetic field field intensity and electronic tag and antenna is in a field intensity position
Put in relation table.After acquisition module 13 obtains the field strength of every antenna, the first determining unit 141 is by it with field intensity position
Reference magnetic field field intensity in relation table is compared, and determines each field strength corresponding reference magnetic field field intensity.
Second determining unit 142, for from described field intensity position relationship table obtain with determined by each reference magnetic field
Field intensity corresponding first distance respectively, described first distance is for indicating the distance apart from described antenna for the described electronic tag；
Construction unit 143, for described first distance as radius, building every antenna respectively in described tested region
The closed surface being formed；
According to Gauss law, the point of equal field strength is distributed on a linear closed curved surface, therefore with every sky
Point centered on line, can obtain the closed surface of every antenna with corresponding first distance of field strength for radius, and this closure is bent
The position in tested region that it is the first distance apart from antenna that face indicates, can be obtained in tested region by closed surface
Electronic tag and the position relationship of antenna.
First acquisition unit 144, for obtaining two intersection points that the closed surface that three described antennas are formed intersects, described
Two intersection points are two points in described tested region for the described electronic tag；
Because closed surface is to represent the first distance apart from antenna for the electronic tag for radius structure, so closed surface
Two intersecting intersection points can indicate two positions of electronic tag in tested region.Second acquisition unit 145, for based on institute
State two intersection points, obtain incident point in described space plane for two intersection points；Its mode can be：By two intersection points to three
The vertical line of space plane and the intersection point of space plane that antenna is formed, as incident point.
3rd acquiring unit 146, for obtaining described two intersection points each to described from described field intensity position relationship table
First vector distance in incident point；
In the embodiment of the present application, according to the first vector distance, reference magnetic field field intensity corresponding with field strength obtains,
It indicates two intersection points to the direction in incident point and distance, and the direction wherein arriving incident point indicates intersection point and space plane
Position relation, distance then indicates the distance relation of intersection point and control plane, by the first vector distance can obtain intersection point and
The relative position relation of space plane.
Computing unit 147, for each arriving the first of described incident point based on described first distance and described two intersection point
Vector distance, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, and described coordinate is used for
Indicate the position of electronic tag described in tested region.
When being additionally provided with the 4th antenna outside the space plane that three antennas build in tested region, calculate
Unit 147 can adopt structure as shown in Figure 10, including：First obtains subelement 1471, second obtains subelement the 1472, the 3rd
Obtain subelement 1473, contrast subunit the 1474, the 4th obtains subelement 1475 and computation subunit 1476.
First acquisition subelement 1471, for obtaining the field strength of described 4th antenna, and by described 4th sky
The field strength of line is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines the institute with the 4th antenna
State the corresponding described reference magnetic field field intensity of field strength；
Second acquisition subelement 1472, for obtaining the base with described 4th antenna from described field intensity position relationship table
The corresponding second distance of quasi- field strength, described second distance is used for indicating described electronic tag apart from described 4th antenna
Distance；
Wherein according to the field strength corresponding reference magnetic field field intensity with the 4th antenna, can from field intensity position relationship table
To obtain electronic tag to the distance of the 4th antenna, i.e. second distance.Also according to the Gauss theorem of electromagnetic field, with the 4th
Point centered on antenna, second distance be radius it may be determined that the closed surface of the 4th antenna, this closed surface indicates distance
Antenna is the position in the tested region of the first distance, can obtain electronic tag and sky in tested region by closed surface
The position relationship of line.
3rd acquisition subelement 1473, for obtain described two intersection points to described 4th antenna the second vector away from
From；Second vector distance indicates two intersection points to the distance of the 4th antenna and direction.
Contrast subunit 1474, for being contrasted the mould of the second vector distance of described two intersection points, obtains second
The less intersection point of mould of vector distance is point in described tested region for the described electronic tag；
Can determine that from two intersection points a point is used as by the contrast of the mould of the second vector distance of two intersection points
Position in tested region for the electronic tag, the point of wherein selected taking-up is the less intersection point of mould of the second vector distance.
4th acquisition subelement 1475, for obtaining the mould of described second vector distance from described field intensity position relationship table
Less intersection point is to first vector distance in described incident point；
Computation subunit 1476, for based on described first distance and the less intersection point of described second vector distance to described
First vector distance in incident point, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle,
Described coordinate is used for indicating the position of electronic tag described in tested region.
Refer to Figure 11, a kind of space orientation dress based on REID of the embodiment of the present application offer is provided
Another kind of structural representation put, on the basis of Fig. 8, also includes：
Relation table built in advance module 15 is for when described electronic tag is in a fixed position in described tested region, right
Described electronic tag is taken multiple measurements with the antenna in described tested region, obtains calibration result, demarcates knot by described
Fruit is written in described field intensity position relationship table；Described field intensity position relationship table includes：Described electronic tag is to described antenna
The distance between, the vector distance of the reference magnetic field field intensity of described antenna and described intersection point to described incident point.
Refer to Figure 12, a kind of space orientation dress based on REID of the embodiment of the present application offer is provided
Another kind of structural representation put, on the basis of Fig. 8, also includes：
Message receiver module 16, for receiving the response message that described electronic tag is replied according to described first message；
Wherein response message is described electronic tag after receiving described first message, is returned according to described first message content
Multiple corresponding high frequency message.After receiving response message, determine whether whether described response message is legal, if legal,
Then there is described electronic tag in described tested region.
Judge module 17, for when judging that described response message is legal message, triggering described receiver module 12.
For aforesaid each method embodiment, in order to be briefly described, therefore it is all expressed as a series of combination of actions, but
It is that those skilled in the art should know, the application is not limited by described sequence of movement, because according to the application, certain
A little steps can be carried out using other orders or simultaneously.Secondly, those skilled in the art also should know, is retouched in description
The embodiment stated belongs to preferred embodiment, necessary to involved action and module not necessarily the application.
Above a kind of space-location method based on REID provided herein and device are carried out in detail
Thin introduce, specific case used herein is set forth to the principle of the application and embodiment, the saying of above example
Bright it is only intended to help and understands the present processes and its core concept；Simultaneously for one of ordinary skill in the art, foundation
The thought of the application, all will change in specific embodiments and applications, and in sum, this specification content is not
It is interpreted as the restriction to the application.
Claims (10)
1. a kind of space-location method based on REID is it is characterised in that include：
Every antenna in tested region for the drive arrangement sends the first message, and described first message is used for triggering and is located at described quilt
The electronic tag surveyed in region carries out field strength measurement work, is disposed with least three antennas in described tested region, and wherein three
Root antenna constitutes the space plane being located in described tested region；
Receive the second message of the field strength of every antenna of inclusion that described electronic tag sends, described field strength is described
The field intensity signal that described antenna sends is converted to by electronic tag；
The field strength of every antenna is obtained from described second message；
According to the field strength of every antenna and the layout of tested region internal antenna, determine electronics mark described in described tested region
The position signed；
The wherein said field strength according to every antenna and the layout of tested region internal antenna, determine institute in described tested region
The position stating electronic tag includes：Two intersection points that the corresponding closed surface of at least three antennas of acquisition intersects are put down in described space
Incident point on face, corresponding first distance of the field strength based on every antenna and described two intersection point each arrive described projection
First vector distance of point, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, each
The corresponding described closed surface of antenna is obtained by each self-corresponding described first distance of each antenna.
2. method according to claim 1 is it is characterised in that be disposed with three antennas in described tested region, described according to
According to the field strength of every antenna and the layout of tested region internal antenna, determine the position of electronic tag described in described tested region
Put, including：
Described field strength is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines and described magnetic field
The corresponding described reference magnetic field field intensity of field intensity；
From described field intensity position relationship table obtain with determined by each reference magnetic field field intensity distinguish corresponding first distance, institute
State the first distance for indicating the distance apart from described antenna for the described electronic tag；
With described first distance as radius, build the closed surface that every antenna is formed in described tested region respectively；
Obtain two intersection points that the closed surface of three described antennas formation intersects, described two intersection points exist for described electronic tag
Two points in described tested region；
Based on described two intersection points, obtain incident point in described space plane for two intersection points；
Obtain described two intersection points each to first vector distance in described incident point from described field intensity position relationship table；
Each arrive first vector distance in described incident point based on described first distance and described two intersection point, in conjunction with space geometry
Principle obtains coordinate in described tested region for the described electronic tag, and described coordinate is used for indicating electronics described in tested region
The position of label.
3. method according to claim 2 is put down it is characterised in that there also is provided in described tested region positioned at described space
The 4th antenna outside face, described the first vector each arriving described incident point based on described first distance and described two intersection point
Distance, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, including：
Obtain the field strength of described 4th antenna, and by the field strength of described 4th antenna and field intensity position relationship table
In each reference magnetic field field intensity compare, determine described reference magnetic field corresponding with the described field strength of the 4th antenna
Field intensity；
The corresponding second distance of reference magnetic field field intensity with described 4th antenna, institute is obtained from described field intensity position relationship table
State second distance for indicating the distance apart from described 4th antenna for the described electronic tag；
Obtain described two intersection points to the second vector distance of described 4th antenna；
The mould of the second vector distance of described two intersection points is contrasted, the less intersection point of mould obtaining the second vector distance is
Point in described tested region for the described electronic tag；
Obtain the less intersection point of mould of described second vector distance to the of described incident point from described field intensity position relationship table
One vector distance；
Based on described first distance and the less intersection point of described second vector distance to first vector distance in described incident point, tie
Close space geometry principle and obtain coordinate in described tested region for the described electronic tag, described coordinate is used for indicating tested region
Described in electronic tag position.
4. according to the method in claim 2 or 3 it is characterised in that methods described also includes：Described field intensity position relationship table
Pre-build process, described pre-build that process includes：
When described electronic tag is in a fixed position in described tested region, to described electronic tag with positioned at described tested
The position relationship between antenna in region takes multiple measurements, and obtains calibration result；
Described calibration result is written in described field intensity position relationship table, described field intensity position relationship table includes：Described electricity
Subtab is to the distance between described antenna, the reference magnetic field field intensity of described antenna and described intersection point to the vector in described incident point
Distance.
5. method according to claim 1 it is characterised in that in drive arrangement every antenna in described tested region
After sending the first message, methods described also includes：
Receive the response message that described electronic tag is replied according to described first message；
When described response message is legal message, triggering receives the magnetic field field of the every antenna of inclusion that described electronic tag sends
The second strong message.
6. a kind of space positioning apparatus based on REID are it is characterised in that include：
Drive module, sends the first message for every antenna in tested region for the drive arrangement, described first message is used for
The electronic tag that triggering is located in described tested region carries out field strength measurement work, is disposed with least three in described tested region
Antenna, and wherein three antennas constitute the space plane being located in described tested region；
Receiver module, for receiving the second message of the field strength of the every antenna of inclusion that described electronic tag sends, described
Field strength is that the field intensity signal that described antenna sends is converted to by described electronic tag；
Acquisition module, for obtaining the field strength of every antenna from described second message；
Computing module, for according to the field strength of every antenna and the layout of tested region internal antenna, determining described tested area
The position of electronic tag described in domain；
The wherein said field strength according to every antenna and the layout of tested region internal antenna, determine institute in described tested region
The position stating electronic tag includes：Two intersection points that the corresponding closed surface of at least three antennas of acquisition intersects are put down in described space
Incident point on face, corresponding first distance of the field strength based on every antenna and described two intersection point each arrive described projection
First vector distance of point, obtains coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, each
The corresponding described closed surface of antenna is obtained by each self-corresponding described first distance of each antenna.
7. device according to claim 6 is it is characterised in that be disposed with three antennas, described meter in described tested region
Calculate module to include：
First determining unit, for by entering described field strength with each the reference magnetic field field intensity in field intensity position relationship table
Row compares and determines described reference magnetic field field intensity corresponding with described field strength；
Second determining unit, for obtain from described field intensity position relationship table with determined by each reference magnetic field field intensity respectively
Corresponding first distance, described first distance is for indicating the distance apart from described antenna for the described electronic tag；
Construction unit, for described first distance as radius, building what every antenna was formed in described tested region respectively
Closed surface；
First acquisition unit, for obtaining two intersection points that the closed surface that three described antennas are formed intersects, described two friendships
Point is two points in described tested region for the described electronic tag；
Second acquisition unit, for based on described two intersection points, obtaining incident point in described space plane for two intersection points；
3rd acquiring unit, for obtaining described two intersection points each to described incident point from described field intensity position relationship table
First vector distance；
Computing unit, for each arrived based on described first distance and described two intersection point first vector in described incident point away from
From obtaining coordinate in described tested region for the described electronic tag in conjunction with space geometry principle, described coordinate is used for indicating quilt
Survey the position of electronic tag described in region.
8. device according to claim 7 is put down it is characterised in that there also is provided in described tested region positioned at described space
The 4th antenna outside face, described computing unit includes：
First acquisition subelement, for obtaining the field strength of described 4th antenna, and the magnetic field by described 4th antenna
Field intensity is compared with each the reference magnetic field field intensity in field intensity position relationship table, determines the described magnetic field field with the 4th antenna
Corresponding described reference magnetic field field intensity by force；
Second acquisition subelement, for obtaining the reference magnetic field field with described 4th antenna from described field intensity position relationship table
Corresponding second distance by force, described second distance is used for indicating the distance apart from described 4th antenna for the described electronic tag；
3rd acquisition subelement, for obtaining described two intersection points to the second vector distance of described 4th antenna；
Contrast subunit, for being contrasted the mould of the second vector distance of described two intersection points, obtains the second vector distance
The less intersection point of mould be point in described tested region for the described electronic tag；
4th acquisition subelement, for obtaining the less friendship of mould of described second vector distance from described field intensity position relationship table
Point is to first vector distance in described incident point；
Computation subunit, for based on described first distance and the less intersection point of described second vector distance to described incident point
First vector distance, obtains coordinate in described tested region for the described electronic tag, described coordinate in conjunction with space geometry principle
For indicating the position of electronic tag described in tested region.
9. the device according to claim 7 or 8 is it is characterised in that described device also includes：Relation table built in advance module, uses
In when described electronic tag is in a fixed position in described tested region, to described electronic tag and positioned at described tested area
Antenna in domain takes multiple measurements, and obtains calibration result, and described calibration result is written in described field intensity position relationship table；
Described field intensity position relationship table includes：Described electronic tag is to the reference magnetic field of the distance between described antenna, described antenna
Field intensity and described intersection point are to the vector distance in described incident point.
10. device according to claim 6 is it is characterised in that described device also includes：
Message receiver module, for receiving the response message that described electronic tag is replied according to described first message；
Judge module, for when judging that described response message is legal message, triggering described receiver module.
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| CN108287933B (en) * | 2017-11-30 | 2021-06-22 | 沈阳工业大学 | Intelligent assembly type building hoisting system and method based on BIM and virtual reality technology |
| CN111753566B (en) * | 2019-03-27 | 2023-04-18 | 浙江宇视科技有限公司 | Radio frequency trigger equipment and trigger distance adjusting method |
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| JP2013148465A (en) * | 2012-01-19 | 2013-08-01 | Mitsubishi Electric Corp | Reader device, position estimation method and position estimation system |
| JP6027121B2 (en) * | 2012-08-30 | 2016-11-16 | 株式会社日立製作所 | Measuring position indicating device, measuring position indicating method |
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