CN106371059A - RFID (Radio Frequency Identification) label positioning method and RFID label positioning device - Google Patents
RFID (Radio Frequency Identification) label positioning method and RFID label positioning device Download PDFInfo
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- CN106371059A CN106371059A CN201510437809.5A CN201510437809A CN106371059A CN 106371059 A CN106371059 A CN 106371059A CN 201510437809 A CN201510437809 A CN 201510437809A CN 106371059 A CN106371059 A CN 106371059A
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- label
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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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- 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
- G01S5/0257—Hybrid positioning
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- Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
The invention discloses a RFID (Radio Frequency Identification) label positioning method and an RFID label positioning device. The method comprises steps: in a label area, RSSI strengths of a to-be-positioned label and reference labels are acquired through at least four reading heads, at least four groups of RSSI strengths of the to-be-positioned label and the reference labels are obtained, wherein at least one to-be-positioned label and a plurality of reference labels are arranged in the label area; and according to the at least four groups of RSSI strengths of the to-be-positioned label and the reference labels and in combination with a two-dimensional positioning algorithm and a triangle centroid positioning algorithm, the positioning information of the to-be-positioned label can be calculated and obtained. The label positioning error can be greatly reduced, the label positioning precision is improved, and the method and the device are applicable to an application scene with dense label distribution.
Description
Technical field
The present invention relates to tag identification technologies field, specifically, be related to one kind apply logistics,
Rfid tag location method and apparatus in Intelligent Recognition card, intelligent Optical Distribution Network.
Background technology
Because the field such as commodity manufacture sale, the tracking of goods and distribution, network wiring management has
The requirement of positioning product target, alignment system more and more receives publicity.Room common at present
Interior alignment system has cellular radio positioning, WLAN positioning, infrared ray positioning and ultrasound wave
Positioning.With the requirement more and more higher to product orientation precision, traditional location technology is not
Can meet and require.
Rfid (radio frequency identification, RF identification) technology, is a kind of
The noncontact automatic identification technology realized using radio communication.Compared to other techniques, rfid
Technology has the advantages that noncontact, non line of sight, positioning precision is high, no position blind area.rfid
Technology can also read substantial amounts of information from target while positioning object, a real realization " thing
One yard ", so can quickly realize tag location and data message using rfid technology
Exchange, human and material resources can be reduced and greatly improve identification and location efficiency.Location algorithm is
The key of rfid location technology, the location technology of current rfid is broadly divided into ranging technology
Location algorithm and the algorithm without ranging technology.Include reaching based on the location algorithm of ranging technology
Timi requirement (toa), reaching time-difference positioning (tdoa), orientation measurement positioning (aoa)
And signal intensity positioning (rssi)；Included based on the location algorithm without ranging technology
Dv-hop location algorithm, apit location algorithm, convex programming algorithm.
Existing passive rfid positioning is using the two-dimensional location method based on signal intensity.Reference
Fig. 1, this location technology in the theoretical basiss of one-dimensional positioning, by putting 4 ginsengs indoors
Examine label (r1/r2/r3/r4) and two long distance read/write head a and b, by two groups of rssi intensity with
The approximation polynomial of distance, can be evaluated whether the general position of outgoing label, thus realizing to label
Two-dimensional localization.But, due to the multipath effect of signal, there is error in the rssi signal of reception,
In the case of not having statistical error probability, the positioning precision that the method is realized is low, and error is big,
Therefore this localization method and device can be only applied to position that label distribution distance is larger, and precision positions
Require low scene, and under conditions of label is densely distributed, using the positioning of this localization method
Precision just cannot distinguish the position of label, can not meet application requirement.
Content of the invention
Present invention is primarily targeted at providing a kind of rfid tag location method and apparatus, purport
Realizing, under label intensity distribution occasion, label being accurately positioned and identifying.
For achieving the above object, a kind of rfid tag location method that the present invention provides, comprising:
In label area, gather labels to be positioned and reference label by least four read/write heads
Rssi intensity, obtains the rssi intensity of at least label to be positioned and reference label described in four groups,
Described label area is disposed with least one described label to be positioned and some reference label；
The rssi intensity of label to be positioned and reference label according to described at least four groups, and
In conjunction with two-dimensional localization algorithm and triangle centroid localization algorithm, it is calculated described label to be positioned
Location information.
Preferably, described in label area, by least four read/write heads gather labels to be positioned and
The rssi intensity of reference label, obtains label to be positioned and reference label at least described in four groups
The step of rssi intensity includes:
The id letter of each label by the way of point-to-multipoint, is gathered by least four read/write heads
Breath, and the id information of each read/write head collection is verified, to determine that each read/write head adopts
The id information correspondence of each label of collection is identical；
According to the id information of each label collecting, by each read/write head and each reference label
Interaction, obtains the rssi intensity of each reference label feedback, undetermined with described by each read/write head
Position label interaction, obtains the rssi intensity of described tag feedback to be positioned, obtains at least four groups
Described label to be positioned and the rssi intensity of reference label.
Preferably, described in label area, by least four read/write heads gather labels to be positioned and
The rssi intensity of reference label, obtains label to be positioned and reference label at least described in four groups
Also include before the step of rssi intensity:
Arrange reference label and label to be positioned in label area, specifically include:
Described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head corresponds to
Positioned at described each summit polygonal；
Each reference label is respectively disposed on the polygon frame being made up of read/write head；
Described label to be positioned is placed on polygonal internal region.
Preferably, described label to be positioned is multiple, and the plurality of label to be positioned is uniformly to divide
N × m type tag array of cloth.
Preferably, the rssi intensity according to described at least four groups labels to be positioned and reference label,
And combine two-dimensional localization algorithm and triangle centroid localization algorithm, it is calculated described label to be positioned
The step of location information include:
According to two-dimensional localization algorithm, the rssi intensity of described at least four groups of reference label is brought into
In default approximation polynomial, estimate a functional relationship multinomial, described functional relationship is multinomial
Formula is the multinomial of the corresponding relation between label and read/write head distance, and rssi intensity；
The rssi intensity of described label to be positioned is brought in described functional relationship multinomial, meter
Calculate the Primary Location information obtaining at least label to be positioned described in four groups；
According to triangle centroid localization algorithm, the Primary Location information of described label to be positioned is carried out
Revise, obtain the final location information of described label to be positioned.
The embodiment of the present invention also proposes a kind of rfid tag location device, including read-write head module,
Monitoring management module and some reference label, wherein:
Described read-write head module includes at least four read/write heads, in label area, gathering undetermined
Position label and the rssi intensity of described reference label, obtain label to be positioned at least described in four groups
With the rssi intensity of reference label, feed back to described monitoring management module, described label area cloth
It is equipped with least one described label to be positioned and some reference label；
Monitoring management module, for label to be positioned according to described at least four groups with reference to mark
The rssi intensity signed, and combine two-dimensional localization algorithm, it is calculated described label to be positioned
Location information.
Preferably, described read-write head module, is additionally operable to by the way of point-to-multipoint, by extremely
Few four read/write heads gather the id information of each label, and the id information to the collection of each read/write head
Verified, corresponded to the id information determining each label of each read/write head collection identical；Root
According to the id information of each label collecting, interacted with each reference label by each read/write head,
Obtain the rssi intensity of each reference label feedback, by each read/write head and described label to be positioned
Interaction, obtains the rssi intensity of described tag feedback to be positioned, obtains at least treating described in four groups
Positioning label and the rssi intensity of reference label.
Preferably, described device also includes:
Configuration module, for arranging reference label and label to be positioned in label area, specifically for:
Described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head correspondence is located at
Described each summit polygonal；Each reference label is respectively disposed on be made up of read/write head many
On the shape frame of side；Described label to be positioned is placed on polygonal internal region.
Preferably, described label to be positioned is multiple, and the plurality of label to be positioned is uniformly to divide
N × m type tag array of cloth.
Preferably, described label to be positioned is passive label；Described reference label is described polygon
It is uniformly distributed on shape frame.
Preferably, described monitoring management module, is additionally operable to according to two-dimensional localization algorithm, will be described
The rssi intensity of at least four groups of reference label is brought in default approximation polynomial, estimates one
Functional relationship multinomial, described functional relationship multinomial is label and read/write head distance, and rssi
The multinomial of the corresponding relation between intensity；The rssi intensity of described label to be positioned is brought into
In described functional relationship multinomial, it is calculated the tentatively fixed of label to be positioned at least described in four groups
Position information；According to triangle centroid localization algorithm, the Primary Location information of described label to be positioned is entered
Row is revised, and obtains the final location information of described label to be positioned.
A kind of rfid tag location method and apparatus proposed by the present invention, in label area, passes through
At least four read/write heads gather the rssi intensity of label to be positioned and reference label, obtain at least
Four groups of labels to be positioned and the rssi intensity of reference label, treat according to described at least four groups
Positioning label and the rssi intensity of reference label, and combine two-dimensional localization algorithm, it is calculated
The location information of described label to be positioned, due to using more than four read/write head and combine two dimension
Location algorithm and triangle centroid localization algorithm, greatly reduce the position error of label, improve
The positioning precision of label, is applicable to the application scenarios of intensive label distribution.
Brief description
Fig. 1 is existing passive rfid label two-dimensional localization sketch；
Fig. 2 is the basic block diagram of existing approximate triangle center coordination；
Fig. 3 is the schematic flow sheet of rfid tag location method first embodiment of the present invention；
Fig. 4 is the basic framework schematic diagram of embodiment of the present invention rfid positioner；
Fig. 5 is the schematic flow sheet of rfid tag location method second embodiment of the present invention；
Fig. 6 is that the functional module of rfid tag location device first embodiment of the present invention is illustrated
Figure；
Fig. 7 is that the functional module of rfid tag location device second embodiment of the present invention is illustrated
Figure.
The realization of the object of the invention, functional characteristics and advantage will be done in conjunction with the embodiments referring to the drawings
Further illustrate.
In order that technical scheme is clearer, clear, below in conjunction with accompanying drawing make into
One step describes in detail.
Specific embodiment
It should be appreciated that specific embodiment described herein is only in order to explain the present invention, not
For limiting the present invention.
The primary solutions of the embodiment of the present invention are: using more than four read/write heads, pass through
Two-dimensional location method, estimates more than four groups of label positioning information, more fixed by triangle barycenter
The method of position, obtains final label position, can be greatly enhanced the positioning precision of label,
And it is applicable to the application scenarios of intensive label distribution.
Due to, in the rfid tag location method of prior art, because of the multipath effect of signal, connecing
There is error in the rssi signal received, in the case of not having statistical error probability, the method is real
Existing positioning precision is low, and error is big, and therefore this localization method and device can be only applied to positioning mark
Sign distribution distance larger, the low scene of precision positioning requirements, and in the densely distributed condition of label
Under, just cannot distinguish the position of label using the positioning precision of this localization method, can not meet should
With requiring.
The present invention provides a solution, using the read/write heads of more than four and fixed with reference to two dimension
Position algorithm and triangle centroid localization algorithm, can be greatly enhanced the positioning precision of label, and can
It is applied to the application scenarios of intensive label distribution.
Introduce two-dimensional localization algorithm and triangle centroid localization algorithm first.
For two-dimensional localization algorithm, two-dimensional localization Organization Chart shown in Figure 1,4 electronics
Label r1～r4 is placed in the intermediate connection of read/write head (or read write line) a and b.According to no
Empirical model and theoretical model that line signal is propagated, label p to be positioned and read/write head (a, b)
Distance (rx, ry), the rssi of the label p to be positioned detecting with read/write head (a, b)
Value (sx, sy) relation can be by following polynomial repressentation:
By bringing four groups of signal rssi values of label r1～r4 feedback into, can calculate in multinomial
ax0、ax1、ax2、ax3And by0、by1、by2、by3Value.
In addition, the optimal rssi value of read/write head reading is between 0～256 integer value.To read
Signal intensity rssi value sp of label p to be positioned be updated in above-mentioned multinomial, can obtain
Obtain the position (r of labelx, ry).
For triangle centroid localization algorithm, approximate triangle center coordination figure shown in Figure 2.
After read write line a/b/c receives tag feedback signal rssi, respectively by three of label
Coordinate position d1, d2, d3 record set location (x1, y1), (x2, y2),
(x3, y3) }.
The barycenter d of the triangle that d1, d2, d3 are constituted is the final coordinate position of label.
The theory by statistical probability for this positioning mode, can reduce the mistake of label position drop point
Difference, greatly improves positioning precision.
Based on above-mentioned algorithm, specifically, with reference to Fig. 3, first embodiment of the invention provides a kind of
Rfid tag location method, comprising:
Step s101, in label area, by least four read/write heads gather labels to be positioned and
The rssi intensity of reference label, obtains label to be positioned and reference label at least described in four groups
Rssi intensity, described label area is disposed with least one described label to be positioned and some references
Label；
The present embodiment is illustrated with four read/write heads.By two-dimensional location method, estimate four
Group tag distances information, then the method by approximate triangle center coordination, reduce position error,
Obtain accurately label position.
As shown in figure 4, the positioner that this localization method is related to includes: four read/write heads are constituted
Read-write head module, reference label (r1～r16), label p to be positioned and monitoring management module
(or claiming system).
Reference label is respectively disposed in the rectangular shaped rim being made up of four read/write heads, and the four of rectangle
Individual vertex position lays read write line a, b, c, d respectively, and label p to be positioned is placed on rectangle
Internal optional position.If the read/write head of more than four, then each read/write head is uniformly distributed and encloses
Form polygon, each read/write head is corresponding to be located at described each summit polygonal；By each with reference to mark
Sign and be respectively disposed on the polygon frame being made up of read/write head；Described label to be positioned is placed
In polygonal internal region.
Label to be positioned can be single label or equally distributed n × m type label
Array.
Wherein, each read/write head is used for identifying identity (id) information of label, additionally, this read-write
Head also will measure the distance between label and each read/write head.
Label to be positioned will be used to identify that target to be positioned.
Preferably, label to be positioned can be passive label；Label to be positioned can be in rectangle
The uniformly random distribution in portion, reference label is uniformly placed on rectangle sideline.Certainly, real at other
Apply in example, label to be positioned and reference label can also be placed using other modes, and here is not made
Limit.
Form the label area of the present embodiment by above-mentioned framework.
In label area, gather the rssi of label to be positioned and reference label by four read/write heads
Intensity, obtains the rssi intensity of four groups of labels to be positioned and reference label.
Specifically, as a kind of embodiment, by the way of point-to-multipoint, by each read-write
Head gathers the id information of each label, and the id information of each read/write head collection is verified,
Identical with the id information correspondence of each label of determination each read/write head collection；According to collect
The id information of each label, is interacted with each reference label by each read/write head, obtains each reference
The rssi intensity of tag feedback, is interacted with described label to be positioned by each read/write head, obtains
The rssi intensity of described tag feedback to be positioned, obtains label to be positioned and reference described in four groups
The rssi intensity of label.
Concrete gatherer process is as follows:
1st, start the id reading flow of point-to-multipoint (p2mp).
It is first turned on read/write head a, the id information reading of all labels is entered read/write head a.Read
Run through to finish and close read/write head a.Then open read/write head b, c, d execution successively above-mentioned same
Flow process.
2nd, all label id information of read/write head a, b, c, d reading are compared, if institute
There is the id information correspondence that read/write head reads completely the same, then jump to the flow process of step 3；If
There is id information inconsistent, then jump to the flow process of step 1.
3rd, start reference label positioning flow.
Select the id of reference label r1 first, id inquiry command is sent by read/write head a, ginseng
Examine after label r1 receives order, carry out mating contrast with itself id, if id is consistent,
Transmitting feeds back to read/write head a.Otherwise, ignore.Read/write head a is anti-according to label
The signal intensity of signal acquisition reference label r1 of feedback, and result is uploaded to monitoring management mould
Block.
According to above-mentioned flow process, read/write head a obtains label r1～r4 and r13～r16 successively respectively
Feedback signal rssi intensity.And all measurement results are uploaded to monitoring management module.
4th, according to the flow process of step 3, start the positioning flow of read/write head b, read/write head b divides
Not Huo get label r1～r4 and r5～r8 feedback signal rssi intensity.Start read/write head c
Positioning flow, read/write head c obtains the feedback signal of label r5～r8 and r9～r12 respectively
Rssi intensity.Start the positioning flow of read/write head d, read/write head d obtains label r9～r12 respectively
Feedback signal rssi intensity with r13～r16.All measurement results are uploaded to monitoring management mould
Block.
5th, start tag location flow process to be positioned.
Select the id of label p to be positioned first, id inquiry command is sent by read/write head a, treats
After positioning label receives order, carry out mating contrast with itself id, if id is consistent, send out
Penetrate feedback information.Otherwise, ignore.Read/write head a is according to the signal acquisition of tag feedback
The signal intensity of label, and result is uploaded to monitoring management module.
6th, according to 5 flow process, read/write head b, c, d obtain label p to be positioned feedback respectively
Signal intensity, and result is uploaded to monitoring management module.
Obtain the rssi intensity of four groups of labels to be positioned and reference label by said process.
Step s102, label to be positioned and reference label according to described at least four groups
Rssi intensity, and combine two-dimensional localization algorithm and triangle centroid localization algorithm, it is calculated institute
State the location information of label to be positioned.
Concrete thought is as follows: first, according to two-dimensional localization algorithm, by described four groups of reference label
Rssi intensity bring in default approximation polynomial, estimate a functional relationship multinomial,
Described functional relationship multinomial is the correspondence between label and read/write head distance, and rssi intensity
The multinomial of relation；
Then, the rssi intensity of described label to be positioned is brought into described functional relationship multinomial
In, it is calculated the Primary Location information of four groups of labels to be positioned；
Finally, the Primary Location information to described label to be positioned according to triangle centroid localization algorithm
It is modified, obtain the final location information of described label to be positioned.
More specifically, the processing procedure of monitoring management module is as follows:
Monitoring management module according to upload result, according to the two-dimensional location method shown in Fig. 1,
It is estimated that the four of label to be positioned general coordinate position d1 (dx1, dy1), d2 (dx2,
Dy2), d3 (dx3, dy3), d4 (dx4, dy4).
Then, monitoring management module is according to triangle method for positioning mass center, coordinate position (d1,
D2, d3), (d1, d2, d4), (d2, d3, d4), (d1, d3, d4) permissible
Constitute four trianglees.The barycenter of four trianglees can orient four label positions further
Put.Further according to the size of error amount, exclude one of centroid position error maximum, remaining
Three centroid positions may be constructed a triangle again, and the barycenter of this triangle is mark to be positioned
Sign accurate label position.
Constantly repeat the above steps are it is possible to complete the positioning to all labels to be positioned and knowledge
Not.
This embodiment scheme, on the basis of two-dimensional location method, increases the quantity of read/write head,
By two-dimensional location method, estimate four groups of tag distances information, then pass through approximate triangle barycenter
The method of positioning, reduces position error, obtains accurately label position, drastically increases mark
The positioning precision signed, goes for intensive label distribution scene.
With reference to Fig. 5, second embodiment of the invention provides a kind of rfid tag location method, base
In the embodiment shown in above-mentioned Fig. 3, in above-mentioned steps s101: in label area, by least
Four read/write heads gather the rssi intensity of label to be positioned and reference label, obtain at least four groups
Also include before the rssi intensity of described label to be positioned and reference label:
Step s100, arranges reference label and label to be positioned in label area.
Detailed process is as follows:
Described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head corresponds to
Positioned at described each summit polygonal；Each reference label is respectively disposed on and is made up of read/write head
Polygon frame on；Described label to be positioned is placed on polygonal internal region.
As a example shown in by Fig. 4 four read/write head, reference label is respectively disposed on to be read and write by four
In the rectangular shaped rim that head is constituted, four vertex positions of rectangle lay respectively read write line a, b,
C, d, label p to be positioned can be placed on rectangle inside optional position.
The present embodiment passes through such scheme, in label area, is treated by least four read/write head collections
Positioning label and the rssi intensity of reference label, obtain at least four groups labels to be positioned and reference
The rssi intensity of label, label to be positioned and reference label according to described at least four groups
Rssi intensity, and combine two-dimensional localization algorithm, it is calculated the positioning of described label to be positioned
Information, due to using the read/write head of more than four and to combine two-dimensional localization algorithm and triangle barycenter fixed
Position algorithm, greatly reduces the position error of label, improves the positioning precision of label, can
It is applied to the application scenarios of intensive label distribution.
Accordingly, rfid tag location apparatus function module diagram of the present invention is proposed.
As shown in fig. 6, first embodiment of the invention proposes a kind of rfid tag location device,
Including read-write head module 201, monitoring management module 202 and some reference label 203, its
In:
Described read-write head module 201 includes at least four read/write heads, in label area, gathering
The rssi intensity of label to be positioned and described reference label, obtains at least to be positioned described in four groups
The rssi intensity of label and reference label, feeds back to described monitoring management module 202, described
Label area is disposed with least one described label to be positioned and some reference label；
Monitoring management module 202, for label to be positioned and ginseng according to described at least four groups
Examine the rssi intensity of label, and combine two-dimensional localization algorithm, be calculated described mark to be positioned
The location information signed.
Further, described read-write head module 201, is additionally operable to by the way of point-to-multipoint,
Gather the id information of each label by least four read/write heads, and to the collection of each read/write head
Id information is verified, and corresponds to phase with the id information determining each label of each read/write head collection
With；According to the id information of each label collecting, by each read/write head and each reference label
Interaction, obtains the rssi intensity of each reference label feedback, undetermined with described by each read/write head
Position label interaction, obtains the rssi intensity of described tag feedback to be positioned, obtains at least four groups
Described label to be positioned and the rssi intensity of reference label.
Described monitoring management module 202, is additionally operable to according to two-dimensional localization algorithm, by described at least
The rssi intensity of four groups of reference label is brought in default approximation polynomial, estimates a function
Relation multinomial, described functional relationship multinomial is label and read/write head distance, and rssi is strong
The multinomial of the corresponding relation between degree；The rssi intensity of described label to be positioned is brought into institute
State in functional relationship multinomial, be calculated the Primary Location of at least label to be positioned described in four groups
Information；According to triangle centroid localization algorithm, the Primary Location information of described label to be positioned is carried out
Revise, obtain the final location information of described label to be positioned.
Specifically, the present embodiment is illustrated with four read/write heads.By two-dimensional location method,
Estimate four groups of tag distances information, then the method by approximate triangle center coordination, it is fixed to reduce
Position error, obtains accurately label position.
As shown in figure 4, the positioner that this localization method is related to includes: four read/write heads are constituted
Read-write head module, reference label (r1～r16), label p to be positioned and monitoring management module
(or claiming system).
Reference label is respectively disposed in the rectangular shaped rim being made up of four read/write heads, and the four of rectangle
Individual vertex position lays read write line a, b, c, d respectively, and label p to be positioned is placed on rectangle
Internal optional position.If the read/write head of more than four, then each read/write head is uniformly distributed and encloses
Form polygon, each read/write head is corresponding to be located at described each summit polygonal；By each with reference to mark
Sign and be respectively disposed on the polygon frame being made up of read/write head；Described label to be positioned is placed
In polygonal internal region.
Label to be positioned can be single label or equally distributed n × m type label
Array.
Wherein, each read/write head is used for identifying identity (id) information of label, additionally, this read-write
Head also will measure the distance between label and each read/write head.
Label to be positioned will be used to identify that target to be positioned.
Preferably, label to be positioned can be passive label；Label to be positioned can be in rectangle
The uniformly random distribution in portion, reference label is uniformly placed on rectangle sideline.Certainly, real at other
Apply in example, label to be positioned and reference label can also be placed using other modes, and here is not made
Limit.
Form the label area of the present embodiment by above-mentioned framework.
In label area, gather the rssi of label to be positioned and reference label by four read/write heads
Intensity, obtains the rssi intensity of four groups of labels to be positioned and reference label.
Specifically, as a kind of embodiment, by the way of point-to-multipoint, by each read-write
Head gathers the id information of each label, and the id information of each read/write head collection is verified,
Identical with the id information correspondence of each label of determination each read/write head collection；According to collect
The id information of each label, is interacted with each reference label by each read/write head, obtains each reference
The rssi intensity of tag feedback, is interacted with described label to be positioned by each read/write head, obtains
The rssi intensity of described tag feedback to be positioned, obtains label to be positioned and reference described in four groups
The rssi intensity of label.
Concrete gatherer process is as follows:
1st, start the id reading flow of point-to-multipoint (p2mp).
It is first turned on read/write head a, the id information reading of all labels is entered read/write head a.Read
Run through to finish and close read/write head a.Then open read/write head b, c, d execution successively above-mentioned same
Flow process.
2nd, all label id information of read/write head a, b, c, d reading are compared, if institute
There is the id information correspondence that read/write head reads completely the same, then jump to the flow process of step 3；If
There is id information inconsistent, then jump to the flow process of step 1.
3rd, start reference label positioning flow.
Select the id of reference label r1 first, id inquiry command is sent by read/write head a, ginseng
Examine after label r1 receives order, carry out mating contrast with itself id, if id is consistent,
Transmitting feeds back to read/write head a.Otherwise, ignore.Read/write head a is anti-according to label
The signal intensity of signal acquisition reference label r1 of feedback, and result is uploaded to monitoring management mould
Block.
According to above-mentioned flow process, read/write head a obtains label r1～r4 and r13～r16 successively respectively
Feedback signal rssi intensity.And all measurement results are uploaded to monitoring management module.
4th, according to the flow process of step 3, start the positioning flow of read/write head b, read/write head b divides
Not Huo get label r1～r4 and r5～r8 feedback signal rssi intensity.Start read/write head c
Positioning flow, read/write head c obtains the feedback signal of label r5～r8 and r9～r12 respectively
Rssi intensity.Start the positioning flow of read/write head d, read/write head d obtains label r9～r12 respectively
Feedback signal rssi intensity with r13～r16.All measurement results are uploaded to monitoring management mould
Block.
5th, start tag location flow process to be positioned.
Select the id of label p to be positioned first, id inquiry command is sent by read/write head a, treats
After positioning label receives order, carry out mating contrast with itself id, if id is consistent, send out
Penetrate feedback information.Otherwise, ignore.Read/write head a is according to the signal acquisition of tag feedback
The signal intensity of label, and result is uploaded to monitoring management module.
6th, according to 5 flow process, read/write head b, c, d obtain label p to be positioned feedback respectively
Signal intensity, and result is uploaded to monitoring management module.
Obtain the rssi intensity of four groups of labels to be positioned and reference label by said process.
Afterwards, according to described at least four groups, the rssi of label to be positioned and reference label is strong
Degree, and combine two-dimensional localization algorithm and triangle centroid localization algorithm, it is calculated described to be positioned
The location information of label.
Concrete thought is as follows: first, according to two-dimensional localization algorithm, by described four groups of reference label
Rssi intensity bring in default approximation polynomial, estimate a functional relationship multinomial,
Described functional relationship multinomial is the correspondence between label and read/write head distance, and rssi intensity
The multinomial of relation；
Then, the rssi intensity of described label to be positioned is brought into described functional relationship multinomial
In, it is calculated the Primary Location information of four groups of labels to be positioned；
Finally, the Primary Location information to described label to be positioned according to triangle centroid localization algorithm
It is modified, obtain the final location information of described label to be positioned.
More specifically, the processing procedure of monitoring management module is as follows:
Monitoring management module according to upload result, according to the two-dimensional location method shown in Fig. 1,
It is estimated that the four of label to be positioned general coordinate position d1 (dx1, dy1), d2 (dx2,
Dy2), d3 (dx3, dy3), d4 (dx4, dy4).
Then, monitoring management module is according to triangle method for positioning mass center, coordinate position (d1,
D2, d3), (d1, d2, d4), (d2, d3, d4), (d1, d3, d4) permissible
Constitute four trianglees.The barycenter of four trianglees can orient four label positions further
Put.Further according to the size of error amount, exclude one of centroid position error maximum, remaining
Three centroid positions may be constructed a triangle again, and the barycenter of this triangle is mark to be positioned
Sign accurate label position.
Constantly repeat the above steps are it is possible to complete the positioning to all labels to be positioned and knowledge
Not.
This embodiment scheme, on the basis of two-dimensional location method, increases the quantity of read/write head,
By two-dimensional location method, estimate four groups of tag distances information, then pass through approximate triangle barycenter
The method of positioning, reduces position error, obtains accurately label position, drastically increases mark
The positioning precision signed, goes for intensive label distribution scene.
As shown in fig. 7, second embodiment of the invention proposes a kind of rfid tag location device,
Based on the embodiment shown in above-mentioned Fig. 6, this device also includes:
Configuration module 200, for arranging reference label and label to be positioned in label area, specifically
For: described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head pair
Described each summit polygonal should be located at；Each reference label is respectively disposed on by read/write head structure
On the polygon frame becoming；Described label to be positioned is placed on polygonal internal region.
Detailed process is as follows:
Described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head corresponds to
Positioned at described each summit polygonal；Each reference label is respectively disposed on and is made up of read/write head
Polygon frame on；Described label to be positioned is placed on polygonal internal region.
As a example shown in by Fig. 4 four read/write head, reference label is respectively disposed on to be read and write by four
In the rectangular shaped rim that head is constituted, four vertex positions of rectangle lay respectively read write line a, b,
C, d, label p to be positioned can be placed on rectangle inside optional position.
The present embodiment passes through such scheme, in label area, is treated by least four read/write head collections
Positioning label and the rssi intensity of reference label, obtain at least four groups labels to be positioned and reference
The rssi intensity of label, label to be positioned and reference label according to described at least four groups
Rssi intensity, and combine two-dimensional localization algorithm, it is calculated the positioning of described label to be positioned
Information, due to using the read/write head of more than four and to combine two-dimensional localization algorithm and triangle barycenter fixed
Position algorithm, greatly reduces the position error of label, improves the positioning precision of label, can
It is applied to the application scenarios of intensive label distribution.
The foregoing is only the preferred embodiments of the present invention, not thereby limit the patent of the present invention
The equivalent structure that scope, every utilization description of the invention and accompanying drawing content are made or flow process become
Change, or be directly or indirectly used in the technical field of other correlations, all include in the same manner in the present invention
Scope of patent protection in.
Claims (11)
1. a kind of rfid tag location method is it is characterised in that include:
In label area, gather the rssi intensity of label to be positioned and reference label by least four read/write heads,
Obtain the rssi intensity of at least label to be positioned and reference label described in four groups, described label area be disposed with to
A few described label to be positioned and some reference label；
The rssi intensity of label to be positioned and reference label according to described at least four groups, and combine two dimension
Location algorithm and triangle centroid localization algorithm, are calculated the location information of described label to be positioned.
2. method according to claim 1 it is characterised in that described in label area, by least
Four read/write heads gather the rssi intensity of label to be positioned and reference label, obtain at least undetermined described in four groups
The step of the rssi intensity of position label and reference label includes:
The id information of each label by the way of point-to-multipoint, is gathered by least four read/write heads, and right
The id information of each read/write head collection is verified, to determine the id of each label of each read/write head collection
Information correspondence is identical；
According to the id information of each label collecting, interacted with each reference label by each read/write head, obtain
To the rssi intensity of each reference label feedback, interacted with described label to be positioned by each read/write head, obtain
The rssi intensity of described tag feedback to be positioned, obtains label to be positioned and reference label at least described in four groups
Rssi intensity.
3. method according to claim 1 it is characterised in that described in label area, by least
Four read/write heads gather the rssi intensity of label to be positioned and reference label, obtain at least undetermined described in four groups
Also include before the step of rssi intensity of position label and reference label:
Arrange reference label and label to be positioned in label area, specifically include:
Described at least four read/write heads are uniformly distributed and enclose formation polygon, each read/write head is corresponding to be located at institute
State each summit polygonal；
Each reference label is respectively disposed on the polygon frame being made up of read/write head；
Described label to be positioned is placed on polygonal internal region.
4. method according to claim 3 it is characterised in that described label to be positioned be multiple,
The plurality of label to be positioned is equally distributed n × m type tag array.
5. the method according to any one of claim 1-4 it is characterised in that according to described at least
Four groups of labels to be positioned and the rssi intensity of reference label, and fixed with reference to two-dimensional localization algorithm and triangle barycenter
Position algorithm, the step being calculated the location information of described label to be positioned includes:
According to two-dimensional localization algorithm, the rssi intensity of described at least four groups of reference label is brought into default near
Like in multinomial, estimating a functional relationship multinomial, described functional relationship multinomial is label and read-write
The multinomial of corresponding relation between distance, and rssi intensity for the head；
The rssi intensity of described label to be positioned is brought in described functional relationship multinomial, be calculated to
The Primary Location information of label to be positioned described in few four groups；
According to triangle centroid localization algorithm, the Primary Location information of described label to be positioned is modified, obtains
Final location information to described label to be positioned.
6. a kind of rfid tag location device is it is characterised in that include read-write head module, monitoring management
Module and some reference label, wherein:
Described read-write head module includes at least four read/write heads, in label area, gathering label to be positioned
With the rssi intensity of described reference label, obtain label to be positioned and reference label at least described in four groups
Rssi intensity, feeds back to described monitoring management module, it is described undetermined that described label area is disposed with least one
Position label and some reference label；
Monitoring management module, for label to be positioned according to described at least four groups and reference label
Rssi intensity, and combine two-dimensional localization algorithm, it is calculated the location information of described label to be positioned.
7. device according to claim 6 it is characterised in that
Described read-write head module, is additionally operable to, by the way of point-to-multipoint, adopt by least four read/write heads
Collect the id information of each label, and the id information of each read/write head collection is verified, each to determine
The id information correspondence of each label of read/write head collection is identical；According to the id information of each label collecting,
Interacted with each reference label by each read/write head, obtain the rssi intensity of each reference label feedback, pass through
Each read/write head is interacted with described label to be positioned, obtains the rssi intensity of described tag feedback to be positioned, obtains
Rssi intensity to label to be positioned and reference label at least described in four groups.
8. device according to claim 6 is it is characterised in that described device also includes:
Configuration module, for arranging reference label and label to be positioned in label area, specifically for: by institute
State at least four read/write heads and be uniformly distributed and enclose formation polygon, each read/write head is corresponding to be located at described polygon
Each summit；Each reference label is respectively disposed on the polygon frame being made up of read/write head；By institute
State label to be positioned and be placed on polygonal internal region.
9. device according to claim 8 it is characterised in that described label to be positioned be multiple,
The plurality of label to be positioned is equally distributed n × m type tag array.
10. device according to claim 9 it is characterised in that
Described label to be positioned is passive label；Described reference label is uniformly divided on described polygon frame
Cloth.
11. devices according to any one of claim 6-10 it is characterised in that
Described monitoring management module, is additionally operable to according to two-dimensional localization algorithm, by described at least four groups with reference to mark
The rssi intensity signed is brought in default approximation polynomial, estimates a functional relationship multinomial, described letter
Number relation multinomial is the multinomial of the corresponding relation between label and read/write head distance, and rssi intensity；
The rssi intensity of described label to be positioned is brought in described functional relationship multinomial, is calculated at least four
Organize the Primary Location information of described label to be positioned；According to triangle centroid localization algorithm to described mark to be positioned
The Primary Location information signed is modified, and obtains the final location information of described label to be positioned.
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| CN201510437809.5A CN106371059A (en) | 2015-07-23 | 2015-07-23 | RFID (Radio Frequency Identification) label positioning method and RFID label positioning device |
| PCT/CN2016/083178 WO2017012409A1 (en) | 2015-07-23 | 2016-05-24 | Method and apparatus for locating rfid label |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510437809.5A CN106371059A (en) | 2015-07-23 | 2015-07-23 | RFID (Radio Frequency Identification) label positioning method and RFID label positioning device |
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| CN113079459A (en) * | 2021-03-23 | 2021-07-06 | 无锡职业技术学院 | Ultrahigh frequency RFID system indoor positioning method based on probability estimation |
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| CN111199258B (en) * | 2018-11-16 | 2022-08-26 | 汉朔科技股份有限公司 | Commodity positioning system and method and PDA (personal digital Assistant) equipment with RFID (radio frequency identification) reading head |
| CN109379701B (en) * | 2018-11-26 | 2020-07-10 | 华中科技大学 | Positioning method with error calibration function and gateway equipment |
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| CN101320092A (en) * | 2008-07-16 | 2008-12-10 | 黄以华 | Positioning method based on wireless radio frequency recognition technology |
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| WO2017012409A1 (en) | 2017-01-26 |
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