CN105093175A - Three-dimensional space positioning method based on RFID (Radio Frequency Identification) middleware - Google Patents

Three-dimensional space positioning method based on RFID (Radio Frequency Identification) middleware Download PDF

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CN105093175A
CN105093175A CN201510502361.0A CN201510502361A CN105093175A CN 105093175 A CN105093175 A CN 105093175A CN 201510502361 A CN201510502361 A CN 201510502361A CN 105093175 A CN105093175 A CN 105093175A
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reader
signal strength
target labels
rfid
middleware
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CN105093175B (en
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刘发贵
罗松超
钟德祥
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South China University of Technology SCUT
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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
    • G01S5/08—Position of single direction-finder fixed by determining direction of a plurality of spaced sources of known location

Abstract

The invention discloses a three-dimensional space positioning method based on RFID (Radio Frequency Identification) middleware. The method comprises the steps of dividing the signal intensity level of a reader, dividing maximum signal intensity level and minimum signal intensity level according to the signal intensity of a read target label, estimating the distance between the reader and the target label according to a reference label set between the maximum and minimum signal intensity levels, calculating a three-ball intersection formula to obtain an estimated coordinate point of the target label, and finally performing least square plane fitting to obtain an estimated coordinate of the target label. The architecture design integrating the algorithm and the RFID middleware adopts a data fusion module, a positioning algorithm factory module and a Web view module, wherein by integrating the algorithm and the RFID middleware, the existing RFID middleware can be expanded, and the development cycle of RFID positioning layout can be shortened.

Description

A kind of three-dimensional fix implementation method based on RFID middleware
Technical field
Patent of the present invention relates to RFID, three-dimensional fix algorithm, location middleware technical field, particularly relates to a kind of three-dimensional fix implementation method based on RFID middleware.
Background technology
In the application that tracking and the perception target of moving target exist, target localization is extremely important.Current existing solution comprises GPS (GPS), and the technology such as Wi-Fi, Bluethooth, ZigBee, RFID and RFIDUWB have had large quantifier elimination as possible solution.Compare and weigh us can analyze and obtain RFIDUWB from use cost, precision, scope, energy consumption four aspects there is better superiority, RFIDUWB derives from early stage RFID technique, but have higher frequency range, higher positioning precision, RFIDUWB becomes the preferred version of location.
Basic rfid system is made up of label, antenna and read write line, its basic functional principle is: rfid interrogator produces magnetic field by antenna, label enters magnetic field, receive the radiofrequency signal that read write line sends, the energy obtained by means of electromagnetic induction sends the product information (passive label or passive label) stored in the chips, or initiatively send the radiofrequency signal (ActiveTag, active label or active tag) of a certain frequency.Active label, internal battery, periodically launches identification signal, and comparing passive label has farther read range, but active label stock size is larger, and price is higher, and serviceable life is shorter.The location of active label is generally used for location reader such as and carries the people of RFID reader or the trajectory track of object.The location of passive label is generally used for the target object that passive label is carried in location.
The RFID location of current two-dimensional space has had to be studied widely, and three-dimensional RFID location there has also been further development.There is extensive research in a kind of LANDMARC (LocAtioNiDentificationbasedondynamicActiveRfidCalibratio n) location aware system, the basic thought of LANDMARC algorithm arranges a series of reference label and reader, each reader has multiple signal strength scale, according to signal strength scale, use k near neighbor method estimating target tag coordinate, but LANDMARC algorithm can only provide the locating information of coarseness, can not the indoor positioning demand in meeting requirements on three-dimensional space.Research and propose a kind of accurate RFID three-dimensional fix method, basic thought uses Nelder-Mead non-linear optimization scheme minimum error function, but this algorithm needs a lot of reader costs larger.Researched and proposed a kind of APM (AdaptivePowerMultilateration) method simultaneously, dynamic conditioning RFID reader through-put power uses the position of multipoint iterations estimating target label, however the fine granularity that APM method needs reader power grade dynamic conditioning to realize distance to resolve service condition harsher.
Summary of the invention
This technology bill provides a kind of three-dimensional fix implementation method based on RFID middleware.
The present invention is achieved through the following technical solutions.
A kind of three-dimensional fix implementation method based on RFID middleware, comprise: divide reader signal strength grade, signal intensity according to reading target labels divides maximum signal grade and minimum signal strength grade, the estimated distance of reader to target labels is estimated according to the reference label set between maximum and minimum signal strength grade, crossed by three balls the calculating of formula, obtain an estimated coordinates point of target labels, the coordinate finally using least square method plane fitting to obtain target labels is estimated.
Further, described method passes through the reference label of plane deployment known coordinate on hexahedron in advance, according to the number of configuration reader, different reader layouts is selected to be positioned over hexahedron, by the division of signal signal strength scale that reader is launched, read target labels according to reference read device and divide two key signal strength grades, i.e. maximum signal grade and minimum signal strength grade; Due to the signal that reference read device is launched, be similar to the signal ball that take reader as the centre of sphere, therefore can read the reference label set of plane simultaneously between minimum and maximum signal strength scale, estimate the estimated distance of reader to target labels according to the reference label set that upper plane reads.
Further, described division reader signal strength grade is specifically: by the increase from small to large of reader signal intensity, the signal intensity reading target labels according to reader divides different signal strength scales, comprising two crucial signal strength scales, maximum signal grade and minimum signal strength grade, during maximum signal grade, reader can not read target labels just, during minimum signal strength grade, reader can read target labels just, the estimated distance of reader to target labels is estimated according to the reference label collection between minimum and maximum signal strength scale.
Further, can estimate that set uses least square method plane fitting by row-coordinate to the three balls target labels calculated that crosses, the coordinate obtaining target labels is estimated.
Further, the framework of the location middleware of extended RFID middleware, framework comprises data fusion module, algorithm factory module and Web views module.
Further, described data fusion module comprises the EcReports form of middleware and the data fusion of reference label coordinate information and configuration file the configuration of signal intensity, reference label density.
Further, described algorithm factory module comprises and realizing the abstract and concrete of different location algorithm.
Compared with prior art, tool of the present invention has the following advantages the signal strength scale that the core of the present invention with technique effect is by dividing reference read device, reader reads target labels and divides minimum and maximum signal strength scale, according to the reference label set between two signal strength scales, estimate the distance of reader to target labels, to cross formula based on three balls of distance by using, the coordinate of estimating target label, finally use the plane fitting of least square method, reduce the evaluated error of target.The architecture design core that algorithm and RFID middleware are integrated is data fusion module, algorithm plant design, and Web view designs, and RFID middleware can be facilitated to realize the expansion of two-dimensional space, three-dimensional multiple location algorithm by the design of algorithm factory.By a kind of three dimensions passive label location algorithm localizing objects label, the architecture design integrated by algorithm and RFID middleware and realization, expand existing RFID middleware, the method of the advantage of comprehensive RFID middleware and RFID location, both shielded the difference of bottom hardware equipment, and further provided RFID location and support, shorten the construction cycle, reduce production cost, improve actual utilization ratio.
Accompanying drawing explanation
Fig. 1 is the deployment model schematic diagram of the three-dimensional fix implementation method based on RFID middleware;
Fig. 2 is the minimum and maximum signal strength scale circle schematic diagram that reader arrives target labels division;
To be reader to cross calculating schematic diagram to target labels estimated distance three ball Fig. 3;
Fig. 4 is least square method plane fitting schematic diagram;
Fig. 5 is the three-dimensional fix implementation method process flow diagram based on RFID middleware;
Fig. 6 is the assembling structure design drawing of RFID middleware in the three-dimensional fix implementation method based on RFID middleware;
Fig. 7 is localization process layer module collaboration diagram;
Fig. 8 is algorithm factory uml class figure;
Fig. 9 is location Web view;
Embodiment
In order to make technical scheme of the present invention and advantage clearly understand, below in conjunction with accompanying drawing, be described in further detail, but enforcement of the present invention and protection are not limited thereto.
1. the three dimensions passive label location algorithm that relates to of this method
As shown in Figure 1, Figure 2, Figure 3, Figure 4, this algorithm comprises three parts, and 1, signal intensity classification; 2, three balls cross calculating; 3, least square method plane fitting
The element of native system comprises RFID reader, RFID passive reference label, target labels to be positioned, the system of this algorithm is disposed as shown in Figure 1, pretreatment stage, the passive reference label portion of known coordinate position is deployed in hexahedral upper plane, and under default situations, four summits that 4 readers are placed on plane on hexahedron respectively disposed by reader.
1.1 signal intensity classifications
By carrying out classification to the signal intensity of reader reading tag, divide the level of signal of unlike signal intensity.Time initial reader from minimum signal intensity gradually increase, reader read target labels divided two signal strength scales, maximum signal grade is designated as K max, in this signal strength scale, reader can not read target labels just, and minimum signal strength grade is designated as K min, in this signal strength scale, reader can read target labels just.The upper Plane reference tag set read between two signal strength scales is designated as Q, as shown in Figure 2.
According to the reference label collection Q that reader reads, estimate that reader is designated as L to the estimated distance of target labels, adopt Euclidean distance to calculate:
L = ( Σ i = 0 n ( x i - x 0 ) 2 + ( y i - y 0 ) 2 + ( z i - z 0 ) 2 ) / n Wherein (x i, y i, z i) be K maxand K minbetween reference label collection Q, (x 0, y 0, z 0) be the coordinate of reader.
1.2 3 balls cross calculating
The estimated distance set of reference read device to reference label is obtained by step 1.1, suppose that the number of reader is N, in the calculating of reality, N number of reader comprises the N number of estimated distance of reader to target labels, select 3 groups of calculating carrying out coordinates of targets, can have altogether individual different combination, arbitrary one group of combination, crossed by three following balls the estimation calculating and can obtain one group of target labels coordinate:
( x 1 - x 0 ) 2 + ( y 1 - y 0 ) 2 + ( z 1 - z 0 ) 2 = L 1 2 ( x 2 - x 0 ) 2 + ( y 2 - y 0 ) 2 + ( z 2 - z 0 ) 2 = L 2 2 ( x 3 - x 0 ) 2 + ( y 3 - y 0 ) 2 + ( z 3 - z 0 ) 2 = L 3 2
Wherein (x i, y i, z i) be the coordinate of reference read device, (x 0, y 0, z 0) be unknown target labels coordinate, target labels can be solved by equation as above, as shown in Figure 3, analyze equation as above, the situation that may occur is (1) complex roots (2) real solution, in the process solved, we only record real solution, ignore complex roots (representing to there is not feasible solution).The viable targets coordinate set that therefore can solve is designated as R.
1.3 least square method plane fittings
Least square method (also known as least square method) is a kind of mathematical optimization techniques, it finds the optimal function coupling of data by the quadratic sum of minimum error, utilize least square method can solve unknown data easily, and between the data that these are tried to achieve and real data, the quadratic sum of error is minimum.By step 1.2, we obtain feasible target labels coordinate estimation set R, and the discrete point in note R is (x i, y i, z i), use the plane equation of least square fitting to be designated as:
z(x 1，y 1；b 0，b 1，b 2)＝a 0+a 1x 1+a 2y 1
Corresponding to the discrete point in R, following equation can be obtained:
a 0 + a 1 x 11 + a 2 y 11 = z 1 a 0 + a 1 x 21 + a 2 y 21 = z 2 ... a 0 + a 1 x n 1 + a 2 y n 1 = z n
The target equation of least square method is: solve fit equation coefficient (a 0, a 1, a 2) and can fit equation be obtained: z (x 1, y 1; b 0, b 1, b 2)=a 0+ a 1x 1+ a 2y 1, solve the x in viable targets coordinate set R, the mean value of centre 1/3rd number after the sequence of y coordinate, as the input of EQUATION x, finally obtains target state estimator coordinate.As shown in Figure 4.
1.4 algorithm flow chart
The algorithm flow chart that this algorithm relates to as shown in Figure 5, the reference label of known coordinate is obtained during beginning, reader reads target labels, divide reference label collection simultaneously between the signal strength scale that reads of journal reader of two signal strength scales and read the signal intensity of reference label, estimate the distance of reader to target labels according to the reference label collection between signal strength scale.Next step uses three balls to cross the coordinate of formula estimating target label; Finally use the coordinate of least square method plane fitting estimating target label.
2. the architecture design of location algorithm integrated rfid middleware
2.1 the design are extended RFID positioning function on existing RFID middleware framework basis, architecture design as shown in Figure 6, Organization Chart is localization process layer, equipment control layer, proxy for equipment layer, hardware abstraction layer from top to bottom successively, wherein localization process layer comprises data fusion module, algorithm factory module, Web views module, is responsible for the display of location algorithm and location model; Equipment control layer comprises equipment configuration module, monitoring of tools module, the responsible configuration such as communication module and RFID hardware device, the duty of watch-dog, and guarantee equipment normally works according to the behavior of expection; Proxy for equipment layer is responsible for performing the operations such as actual Equipments Setting and condition monitoring.
As shown in Figure 7, basic module comprises the modules such as XML module, log pattern, data fusion module, algorithm factory, Web view to the module collaboration diagram of 2.2 localization process layers, the wherein parse operation of XML module in charge XML file; Log pattern is responsible for the record of daily record; Data fusion module is responsible for the EcReports form of middleware and the data fusion of the information such as configuration file, reference label; Algorithm factory is responsible for the management of algorithm factory, and the realization of encapsulation specific algorithm is called to upper system; Web view provides the Web display of algorithm model with mutual.
3. the specific implementation of location algorithm integrated rfid middleware
3.1 data fusion modules realize
Data fusion module is responsible for the EcReports report file of middleware generation and configuration file, the data fusion of reference label file.
1) information that basic EcReports form EcReports.xml comprises following (following program code is not mess code):
2) information that comprises of reference label file Coordinates.xml is as follows:
3) basic configuration file Config.xml comprises: reader number, signal strength scale, reference label density, target labels coordinate information, as follows:
4) it is as follows that the reader after data fusion reads reference label information:
The realization of 3.2 algorithm factories
Be as shown in Figure 8 algorithm factory realize uml class figure, algorithm factory abstraction interface is IFactory, IFactory comprises getTargetByRSS and getTargetByDistance two interfaces, correspond respectively to and realize based on signal intensity with based on the location algorithm of distance, Factory2d and Factory3d achieves IFactory interface, encapsulate concrete algorithm realization, DistanceLocation2d and RssLocation2d and DistanceLocation3d and RSSLocation3d is two-dimensional space based on the location algorithm of Distance geometry signal intensity and the three dimensions location algorithm specific implementation based on Distance geometry signal intensity respectively.
3.3Web view realization
Be a kind of demonstrating model of the three-dimensional fix algorithm realization based on RFID middleware as shown in Figure 9, three-dimensional space model can use js storehouse or javaapplet to carry out concrete realization.
The present invention is by a kind of three dimensions passive label location algorithm localizing objects label, the architecture design integrated by algorithm and RFID middleware and realization, expand existing RFID middleware, the method of the advantage of comprehensive RFID middleware and RFID location, both shielded the difference of bottom hardware equipment, and further provided RFID location and support, shorten the construction cycle, reduce production cost, improve actual utilization ratio.

Claims (7)

1. the three-dimensional fix implementation method based on RFID middleware, it is characterized in that comprising: divide reader signal strength grade, signal intensity according to reading target labels divides maximum signal grade and minimum signal strength grade, the estimated distance of reader to target labels is estimated according to the reference label set between maximum and minimum signal strength grade, crossed by three balls the calculating of formula, obtain an estimated coordinates point of target labels, the coordinate finally using least square method plane fitting to obtain target labels is estimated.
2. the three-dimensional fix implementation method based on RFID middleware according to claim 1, it is characterized in that by advance on hexahedron plane dispose the reference label of known coordinate, according to the number of configuration reader, different reader layouts is selected to be positioned over hexahedron, by the division of signal signal strength scale that reader is launched, read target labels according to reference read device and divide two key signal strength grades, i.e. maximum signal grade and minimum signal strength grade; Due to the signal that reference read device is launched, be similar to the signal ball that take reader as the centre of sphere, therefore can read the reference label set of plane simultaneously between minimum and maximum signal strength scale, estimate the estimated distance of reader to target labels according to the reference label set that upper plane reads.
3. the three-dimensional fix implementation method based on RFID middleware according to claim 1, it is characterized in that described division reader signal strength grade specifically: by the increase from small to large of reader signal intensity, the signal intensity reading target labels according to reader divides different signal strength scales, comprising two crucial signal strength scales, maximum signal grade and minimum signal strength grade, during maximum signal grade, reader can not read target labels just, during minimum signal strength grade, reader can read target labels just, the estimated distance of reader to target labels is estimated according to the reference label collection between minimum and maximum signal strength scale.
4. the three-dimensional fix implementation method based on RFID middleware according to claim 1, it is characterized in that to estimate that set uses least square method plane fitting by row-coordinate to the three balls target labels calculated that crosses, the coordinate obtaining target labels is estimated.
5. the three-dimensional fix implementation method based on RFID middleware according to claim 1, is characterized in that the framework of the location middleware of extended RFID middleware, and framework comprises data fusion module, algorithm factory module and Web views module.
6. the three-dimensional fix implementation method based on RFID middleware according to claim 5, it is characterized in that, described data fusion module comprises the EcReports form of middleware and the data fusion of reference label coordinate information and configuration file the configuration of signal intensity, reference label density.
7. the three-dimensional fix implementation method based on RFID middleware according to claim 5, is characterized in that described algorithm factory module comprises and realizes the abstract and concrete of different location algorithm.
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CN105848109A (en) * 2016-04-26 2016-08-10 国网安徽省电力公司信息通信分公司 Indoor Internet of things active tag location method
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CN108038401A (en) * 2017-12-11 2018-05-15 苏州协同创新智能制造装备有限公司 Three-dimensional fix system based on RFID
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CN111405470A (en) * 2020-04-12 2020-07-10 北京牧家科技有限公司 System and method for tracking gathered people based on mobile phone positioning algorithm
CN111405470B (en) * 2020-04-12 2021-12-03 北京牧家科技有限公司 System and method for tracking gathered people based on mobile phone positioning algorithm
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