CN106559750B - Passive type localization method in multiple target room based on passive ultra-high frequency RFID - Google Patents
Passive type localization method in multiple target room based on passive ultra-high frequency RFID Download PDFInfo
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- CN106559750B CN106559750B CN201611054788.XA CN201611054788A CN106559750B CN 106559750 B CN106559750 B CN 106559750B CN 201611054788 A CN201611054788 A CN 201611054788A CN 106559750 B CN106559750 B CN 106559750B
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
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Abstract
The present invention discloses passive type location algorithm in a kind of multiple target room based on passive ultra-high frequency RFID, and steps are as follows: ultrahigh frequency RFID signal transmitter and passive RFID tags are arranged in passive type positioning scene.It is several grids by scene partitioning, each grid is as a fingerprint point；A communication link can be established between each reader and each label；Off-line phase manually acquires the RSS value of each of the links in the presence of not having target in scene first, establishes fingerprint base；The RSS value of each link is arrived in on-line stage, actual measurement, by the link difference that can must be surveyed compared with the RSS value that measures when no target, obtains the set for all positions that a target is likely to occur accordingly；The difference degree of a subset of definition set L；Its difference angle value is all calculated to all possible subset of set L, finds out the smallest subset of difference degree, position included in this subset is the position with positioning target.The present invention has the characteristics that precision is higher.
Description
Technical field
The invention belongs to indoor positioning field, it is related to passive type location algorithm in a kind of multiple target room.
Background technique
With the continuous development of wireless technology, associated location technology receives the extensive pass of domestic and international experts and scholars
Note, new business relevant to location technology continuously emerge.Many electronic products existing so far include the clothes of positioning mostly
Business, location based service (LBS) has become one of hot spot of research, and has the extensive market space.
The application field of location technology is very extensive, includes the various aspects such as business, the disaster relief, military, civilian, at present the world
On the most famous positioning system be the U.S. global positioning system (GPS), GPS by satellite can range covering the whole world, base
Present principles are to be positioned using signal time difference, are used widely in many countries and regions at present.Some other state
Also there is an of this sort positioning system in family, such as GLONASS satellite navigation system (GLONASS) and the China of Russia
Beidou satellite navigation system etc..But these positioning systems only possess good positioning accuracy under outdoor environment, indoors
Due to environment is complicated, the blocking of building, more than barrier and the GPS such as walk about of personnel cannot achieve accurates positionin, satisfaction is not
People's location requirement under environment indoors.
Carrying out positioning using wireless signal in the research positioned indoors is current mainstream.Indoor positioning technologies mainly divide
For telemetry and non-ranging method, common distance measuring method is arrival time (TOA), reaching time-difference (TDOA), to receive signal strong
Spend (RSS), reach phase difference (PDOA) etc..Common non-ranging method is fingerprint location method, common algorithm packet in fingerprint technique
Include nearest neighbor method (NN), K nearest neighbor method (KNN), weighting K nearest neighbor method (WKNN) etc..To indoor positioning technologies effect quality
Evaluation index is broadly divided into the following:
(1) positioning accuracy: no matter for outdoor positioning or indoor positioning, positioning accuracy is all most important index
One of.Indoor environment is small compared to outdoor environment range, therefore comparatively needs higher positioning for the application of indoor positioning
Precision.
(2) coverage area: the coverage area of indoor locating system refers to system institute under conditions of meeting user demand
Attainable farthest range.Indoor locating system can be positioned using different methods, including bluetooth, RFID,
Ultrasonic wave, infrared ray, WIFI, ZIGBEE etc., and its coverage area is different for different localization methods, it can be according to practical need
Select suitable localization method.
(3) robustness: due to the raising of modern life level, there is the layout and decoration of indoor environment a variety of in people
The variation of multiplicity, and indoor environment is not unalterable, and people are often according to actual needs and the hobby of oneself is to environment
It is changed, this allows for indoor locating system and wants that good robustness is kept to face huge challenge.
(4) scalability: scalability is one of important indicator for indoor locating system, due to different indoor rings
Otherness between border is larger, therefore same set of indoor locating system is to need to do in being transplanted to different indoor environments
It improves.The positioning system of poor expandability is just needed to do very big improvement, it is both inconvenient or uneconomical in this way.
(5) cost and complexity: indoor locating system be mostly position for personal user, therefore its scale compared with
It is small, so its cost and complexity not Ying Taigao.
Since RSS is easy to get and cost is relatively low, the location fingerprint positioning mode based on RSS is current most popular room
One of interior positioning application.Fingerprint location method is broadly divided into i.e. offline fingerprint collecting stage in two stages and online positioning rank in real time
Section.The offline fingerprint collecting stage at each fingerprint point being determined in advance by manually measuring each emission source to the fingerprint point
Received signal strength RSS and construct a position and RSS location fingerprint database.Online positioning stage in real time passes through user
The RSS sequence of each emission source received and the location fingerprint database for being established it with off-line phase progress matching treatment
Obtain the position coordinates of current target to be positioned.But traditional fingerprint location method is needed when establishing fingerprint base to target appearance
Each may all pre-establish finger print information.Such way can be easily achieved in the case where single target, still
After destination number increases, the size of fingerprint base can show a kind of exponential growth, greatly increase the workload of early period with
And the difficulty of storage.
Summary of the invention
The purpose of the present invention overcomes the above-mentioned deficiency of the prior art, and fingerprint base size and offline rank can be reduced by providing one kind
Passive type location algorithm in the multiple target room of section workload.Technical scheme is as follows:
Passive type location algorithm in a kind of multiple target room based on passive ultra-high frequency RFID, steps are as follows:
1) ultrahigh frequency RFID signal transmitter and passive RFID tags are arranged in passive type positioning scene.
It 2) is several grids by scene partitioning, each grid is as a fingerprint point；Each reader and each label
Between can all establish a communication link, hereinafter referred to as link；
3) off-line phase manually acquires the RSS value for not having each of the links in the presence of target in scene first, then works as target
When positioned at some fingerprint point, the RSS value of each of the links at this time is acquired, defining link difference is with the RSS in the presence of no target
Value subtracts the RSS value in the presence of target, and each link difference obtained when target is located at fingerprint point forms a vector, as
The finger print information of the fingerprint point；The finger print information of each fingerprint point is obtained according to the above method, establishes fingerprint base；
4) on-line stage can survey the RSS value of each link, by can compared with the RSS value that measures when no target
The link difference that must be surveyed is compared, if at certain with this link difference with the finger print information of fingerprint point each in fingerprint base
A fingerprint point, belonging to fingerprint in each of the links link difference both less than be equal to the link difference surveyed accordingly, then recognize
This position is likely to be at for target to be positioned；After the comparison of all fingerprint points, all positions that a target is likely to occur are obtained
Set L, the element number for including in set is Nφ；
5) the difference degree of a subset of definition set L: to a subset in set L, fingerprint wherein included is extracted
These finger print informations are done superposition processing, i.e., by the chain of same link in the fingerprint of each position by the corresponding finger print information of point
Road difference value obtains the RSS vector of a superposition, using the RSS link that least square method calculates this RSS vector and surveys
Difference value vector, obtained value define the difference degree of subset thus；
6) its difference angle value is all calculated to all possible subset of set L, finds out the smallest subset of difference degree, in this subset
The position for being included is the position with positioning target.
The present invention substitutes the thought of multiple target fingerprint base using the superposition of single goal fingerprint base, it is believed that multiple targets are simultaneously to list
The influence of RFID link RSS value is greater than influence of the single target to it, by choose in advance target be likely to occur it is all
Position, then algorithm is carried out to the information of these positions and preferentially completes position fixing process.The size for greatly reducing fingerprint base, reduces
The workload of off-line phase alleviates the storage pressure of fingerprint base
Detailed description of the invention
Fig. 1 shows present invention scene to be positioned
Fig. 2 shows the flow diagrams of holistic approach of the present invention.
Specific embodiment
With reference to the accompanying drawing in a kind of multiple target room based on fingerprint technique and passive ultra-high frequency RFID of the present invention
Passive type location algorithm is further described.
Fig. 1 shows the mentioned algorithm positioning scene schematic diagram of the present invention, in the indoor environment of 20m*15m, 4 emission sources
Coordinate is respectively (- 1,10), (16,10), (7.5, -1), (7.5,21).Scene is divided into the grid of 1m*1m, Mei Gefang by we
Lattice are a fingerprint points.Fingerprint point and target distribution to be positioned are as shown in Figure 1 in the environment of 20m*15m.Fig. 2 show this hair
Bright flow diagram, as follows in the concrete application of the present embodiment:
1, it is manually acquired under off-line state in positioning schematic diagram shown in Fig. 1 each in the presence of there is no target in scene
RSS vector value between label and each reader, RSS0,i,jThe RSS of j-th of label return is received for i-th of emission source
Value.NsFor the number of transmitter, NtFor number of tags, NwFor the number of fingerprint point.Establish a Ns×NtRank vector RSS0, the
The value of i row jth column is RSS0,i,j.Single target in scene is manually acquired under off-line state in the RSS vector of each fingerprint point,
RSSk,i,jI-th of emission source receives the RSS value of j-th of label return when at target at k-th of fingerprint point.Establish one
Ns×NtRank matrix RSSk, the value of the i-th row jth column is RSSk,i,j.Use RSS0,i,jSubtract RSSk,i,jIt obtains being in not when target
With fingerprint point when link changing value, in this, as the fingerprint of fingerprint base
2, tuning on-line phase acquisition a to Ns×NtThe signal vector RSS of rankTBD, by itself and original RSS0,i,jInto
Row relatively obtains the RSS value transformation matrices of each link of this moment, false because target present in scene is at least one at this time
If multiple targets are greater than single target to decaying caused by a link, by RSS single goal fingerprint obtained in step 1 and this
Transformation matrices compare, if each changing value in single goal fingerprint, which is respectively less than, is equal to this transformation matrices, then it is assumed that target may
It is present in the position where the fingerprint, the set L of all possible positions will can be obtained after fingerprint all comparison.
Position in 3, set L is sharedKind permutation and combination method, it is assumed that include in one of combination
Position is Lγ={ L1,L2,…,Lα}α≤NφIfEach permutation and combination all calculates one
A such value, then pass through calculatingIts smallest permutation and combination can be made by finding.This permutation and combination
In location information be exactly position where target.
Claims (1)
1. passive type localization method in a kind of multiple target room based on passive ultra-high frequency RFID, steps are as follows:
1) ultrahigh frequency RFID signal transmitter and passive RFID tags are arranged in passive type positioning scene；
It 2) is several grids by scene partitioning, each grid is as a fingerprint point；Between each reader and each label
A communication link, hereinafter referred to as link will be established；
3) off-line phase manually acquires the RSS value for not having each of the links in the presence of target in scene first, then when target is located at
When some fingerprint point, the RSS value of each of the links at this time is acquired, defining link difference is to be subtracted with the RSS value in the presence of no target
The RSS value in the presence of target is gone, each link difference obtained when target is located at fingerprint point forms a vector, refers to as this
The finger print information of line point；The finger print information of each fingerprint point is obtained according to the above method, establishes fingerprint base；
4) on-line stage can survey the RSS value of each link, by that can obtain reality compared with the RSS value that measures when no target
The link difference of survey is compared with this link difference with the finger print information of fingerprint point each in fingerprint base, if referred at some
Line point, belonging to fingerprint in the link differences of each of the links be both less than equal to the link difference surveyed accordingly, then it is assumed that
Positioning target is likely to be at this position；After the comparison of all fingerprint points, the collection for all positions that a target is likely to occur is obtained
L is closed, the element number for including in set is Nφ；
5) the difference degree of a subset of definition set L: to a subset in set L, fingerprint point wherein included institute is extracted
Corresponding finger print information does superposition processing to these finger print informations, i.e., the link of same link in the fingerprint of each position is poor
Value is added, and obtains the RSS vector of a superposition, using the RSS link difference that least square method calculates this RSS vector and surveys
Vector, obtained value define the difference degree of subset thus；
6) its difference angle value is all calculated to all subsets of set L, finds out the smallest subset of difference degree, position included in this subset
It sets as the position of target to be positioned.
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| CN107064872A (en) * | 2017-02-14 | 2017-08-18 | 天津大学 | A kind of passive type indoor orientation method and system based on intensity variation |
| CN107544054B (en) * | 2017-08-15 | 2020-06-02 | 西京学院 | Indoor positioning method and device based on environment backscattering |
| CN108051798B (en) * | 2017-12-15 | 2021-07-30 | 上海聚星仪器有限公司 | Method for positioning passive radio frequency identification tag |
| CN108732534A (en) * | 2018-04-19 | 2018-11-02 | 天津大学 | A kind of multi-tag Cooperative Localization Method based on weighting MDS |
| CN110187333B (en) * | 2019-05-23 | 2022-04-05 | 天津大学 | RFID label positioning method based on synthetic aperture radar technology |
| CN110726968A (en) * | 2019-09-08 | 2020-01-24 | 天津大学 | Visible light sensing passive indoor positioning method based on clustering fingerprint method |
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| CN103901398A (en) * | 2014-04-16 | 2014-07-02 | 山东大学 | Position fingerprint positioning method based on combination ordering classification |
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| CN103901398A (en) * | 2014-04-16 | 2014-07-02 | 山东大学 | Position fingerprint positioning method based on combination ordering classification |
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