CN106778981A - A kind of indoor three-dimensional localization platform and its application based on RFID - Google Patents
A kind of indoor three-dimensional localization platform and its application based on RFID Download PDFInfo
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- CN106778981A CN106778981A CN201611268145.5A CN201611268145A CN106778981A CN 106778981 A CN106778981 A CN 106778981A CN 201611268145 A CN201611268145 A CN 201611268145A CN 106778981 A CN106778981 A CN 106778981A
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Abstract
The present invention relates to a kind of indoor three-dimensional localization platform based on RFID and its application.The indoor three-dimensional localization platform based on RFID, including reference label array, antenna and computer；The antenna is arranged on the top of reference label array；Antenna is connected by read write line with computer.A kind of indoor three-dimensional localization platform based on RFID of the present invention, it is proposed that inexpensive method that can be realized labeled targets and be positioned without labeled targets, can be used for indoor low cost deployment positioner, it can also be used to the security fields such as antitheft.
Description
Technical field
The present invention relates to a kind of indoor three-dimensional localization platform based on RFID and its application, belong to the skill of RFID indoor positionings
Art field.
Background technology
RFID (Radio Frequency Identity) radio frequency identification is a kind of former using electromagnetic coupled or backscattering
Reason carries out the technology of radio communication and automatic identification.Since occurring from last century the forties, always in military, economic dispatch field
Play a significant role.Relative to other identification technologies, such as the technology such as bar code, magnetic stripe, IC-card, RFID has information storage
Greatly, the holding time is long, the advantages of adapt to environment wide, non line of sight, remote operating distance.Have passed through researcher's continuous wound in recent years
Newly, rfid system technology is increasingly ripe, and the function of realization is increasingly various, nowadays in logistics transportation, entrance guard management, food and drink, traffic
The fields such as management, retail storage can find the figure of rfid system.With continuing to develop for Internet of Things and intelligent environment, RFID
It is to be expected to turn into one of Internet of Things mainstream technology with its own advantage.
Location information service all plays vital effect in industry, life, is many smart machines and Intellectual garment
The basis of business, it is contemplated that the wide application scenarios of RFID, indoor positioning technologies important in inhibiting of the research based on RFID.The whole world
Used as a set of satellite system for the purpose of providing positional information, in military affairs, the various aspects of life have played weight to alignment system
Act on.If lacking geo-location information service at this stage will cause great number of issues：Sophisticated weapon fails, communication navigation
Failure etc., it can be seen that the importance of location information.But the side of positioning indoors of the gps system based on satellite communication technology
Face, because blocking for building shows unsatisfactory.With the rise of Internet of Things, for the positional information for obtaining article
Demand is more urgent, and many applications are based on asset position information.The proposition of other intelligent scene is also to artificial target
Positioning proposes requirement.Intelligent scene includes intelligent market, smart home etc., and the positional information according to people provides corresponding clothes
Business.But the indoor positioning technologies in reality still have relatively large distance apart from practical application, still suffering from many problems needs to solve, and deposits
Need to break through in many obstacles.
The research of current RFID indoor positioning technologies is one of hot research direction both domestic and external, and many research teams propose
RFID indoor orientation methods based on space fingerprint, and by setting up fingerprint base, indoor positioning is carried out, turn equivalent to positioning
It is changed to classification judgement.Positioning precision is fine in laboratory environments for the method, but in actual applications, localizing environment is complicated more
Become, it is impossible to keep equal state for a long time, environment is varied slightly, then must update fingerprint base, since it is desired that being carried out to each point
Resampling is recorded, so update need of work taking considerable time and human cost.Ye You team is according to arrival time method, base
Label and antenna distance are found range in signal strength space attenuation model method, arrival phase method is received, further according to trigonometry
Then positioned.This distance-finding method derives from field of radar, is used in environment indoors, and because distance is shorter, error is larger.
Also there is the indoor orientation method by disposing reference label, positioned using nearest neighbor algorithm more, positioning precision is marked with reference
Density is signed into positive correlation, label densities are bigger, and positioning precision is accordingly higher.
Current location technology is used for indoor two-dimensional localization, when being expanded to the direction of three-dimensional localization, encounters deployment
Complexity increases, the problems such as positioning precision is significantly reduced.Additionally, such as market also particularly significant for the positioning without labeled targets
Positioning, non-authorized infection detection etc., but this does not cause enough attention in RFID indoor positionings at present.
The content of the invention
In view of the shortcomings of the prior art, the present invention provides a kind of indoor 3 D locating device based on RFID.
The present invention is also provided and a kind of carries out indoor three-dimensional localization beneficial to the above-mentioned indoor three-dimensional localization platform based on RFID
Method.
Summary of the invention：
Positioned indoors to solve RFID technique, especially deployment complexity is high in three-dimensional indoor positioning, measurement cost
Height, the problem of positioning precision difference, it is three-dimensional fixed that the present invention proposes a kind of indoor RFID simple, that low cost, precision is higher
Position method, logical too small amount of RFID device deployment realizes that target is positioned, and can realize to position error caused by environmental change
Eliminate, realize the positioning without labeled targets, reducing additionally carries out the system cost without tag location.
The technical scheme is that：
A kind of indoor three-dimensional localization platform based on RFID, including reference label array, antenna and computer；The antenna
It is arranged on the top of reference label array；Antenna is connected by read write line with computer.
Preferably, the reference label array is arranged on plastic pallet；The reference label array be label at intervals of
The square formation of the 11*11 of 20cm, the reference label orientation in reference label array is consistent.
Preferably, the antenna is arranged at 3 meters of reference label array top；The antenna is circular polarisation omnidirectional antenna,
The beam angle of the antenna is more than 70 °.
It is further preferred that the beam angle of the antenna covers all reference labels.
Preferably, the reference label includes actual reference label and virtual reference label.
A kind of method for carrying out indoor three-dimensional localization using the above-mentioned indoor three-dimensional localization platform based on RFID, including step
It is as follows：
1) by the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；By computer settings day
The parameters such as transmission power, the receiving sensitivity of line, and be consistent in position fixing process, that is, ensure that the outer other specification of frequency keeps
Unanimously, it is to avoid the interference that the change of other specification causes.
2) by computer measurement each actual reference label phase value, between reference label use nature neighbour
Interpolation method adds virtual reference label；Due to the dense degree and positioning precision into positive correlation, therefore intensive label energy of label
Precision higher is brought, but label densities can not infinitely increase due to practical application limitation and cost consideration；In reference label
Between add virtual reference label with nature interpolation method, reduce cost while improving precision.
Natural neighbour's interpolation method chooses the phase value of consecutive points around interpolation point as reference, according to the weight of Thiessen polygon
Folded region determines the weight of each consecutive points.Compare linear interpolation, and natural neighbour's interpolation more meets reference label phase
Nonlinear change.
3) phase value of the phase value of actual reference label and virtual reference label is stored in reference label phase base in the lump
Quasi- database；
4) after introducing target to be measured, the phase value of actual reference label is gathered again, and by now actual reference label
Phase value and step 2) phase value of actual reference label that obtains of measurement makes the difference and obtains phase difference p；Target to be measured includes mark
Sign target and without labeled targets；
If 5) subpoint of target to be measured is in reference label array, obtains to obtain using maximum field method and treated
The maximum region of target jamming is surveyed, the smallest enclosing circle of the point in the region is then obtained by iteration, the center of circle for surrounding circle is
It is target projection point；When the projection of target to be measured is in reference label array edges, Δ p threshold intervals are set, acquisition is subject to
Target jamming identical arc point to be measured, then carry out justifying the subpoint that fitting obtains target to be measured using least square method；If intending
Closing round equation is：
X2+Y2+ ax+by+c=0
Wherein, a, b, c are parameter to be asked；Substitute into region point coordinates (Xi, Yi), and calculate (Xi, Yi) putting down to center of circle distance
Side and the difference of radius squared：
δ=Xi2+Yi2+aXi+bYi+c
Corresponding a when δ is minimum, b, c are the parameter of our needs；Respectively to a, b, c seeks local derviation to δ, and makes three local derviations
Equal to 0, three equations are obtained, the equation group of three equation compositions of solution can try to achieve the parameter of fitting circle.
The center of circle of fitting circle is subpoint of the target to be measured in reference label plane；On label or barrier with reference to mark
The acquisition of subpoint of plane is signed, it is necessary to be realized by detecting the phase place change of reference label.Phase place change caused by interference
Straight line sighting distance can't be confined to, actual interference result puts into the water ripples of the water surface more like stone.Have most at subpoint
Big phase place change, enhancing and decrease with composite result around subpoint are presented certain waveform.Thus with reference to mark
Signing inside can use maximum field method, and carry out subpoint acquisition with reference to nearest neighbor algorithm.For being referred in subpoint
Assume that synthesis enhancing or weakening outside label is prototype, and projection point coordinates is obtained by least square fitting.
6) target positioning to be measured；
For labeled targets, the phase value of the labeled targets under current carrier frequency is measured；Change the carrier frequency of antenna,
The phase value of labeled targets is measured again, and the distance of labeled targets and antenna is calculated by the method for reaching phase difference；With reference to mark
Subpoint of the target in reference label plane is signed, the position of labeled targets is obtained；Label or barrier all can be to reference labels
Phase value produces influence, and label or barrier can produce subpoint in reference label plane, by the meter to projecting point coordinates
Calculating can just be fixed on the straight line connected by antenna coordinate and projection point coordinates the position of label or barrier.Due to circuit
It is internal different to different frequency electromagnetic wave propagation with feeder line, so phase difference can be had in initial 0 distance and position.Therefore we survey
The phase difference of original state is measured, measured value has been corrected whereby.
For without labeled targets, portable antenna position, obtain without labeled targets reference label plane another
Subpoint, the straight line that the coordinate points of subpoint and antenna are connected into forms projection line, and antenna is in the corresponding projection line in two positions
Crosspoint, the as position without labeled targets.Due to the presence of measurement error, actual projection line can not necessarily intersect, therefore
The process is the midpoint of the line of shortest length section for seeking space line.Then can be by increasing day without labeled targets free space positioning
Line, positioning is realized by obtaining two intersections of projection straight line.
Preferably, the step 2) in add virtual reference label number be 2480.
Preferably, the step 2) after step 3) before also include, using average value processing improve reference label phase value
The step of accuracy；The specific method of the average value processing is to calculate putting down for the set time interior reference label phase value for measuring
Average.The problems such as due to temperature, circuit noise, the phase value of reference label contain must noise, this noise meets Gauss system
Score cloth, therefore the phase value of more accurate reference label can be obtained using average value processing.
It is further preferred that the sampling time of average value processing process is one minute.
Preferably, the step 5) in, obtained by the maximum region of target jamming to be measured by maximum field method
Specific method is to set the threshold value of actual reference label phase place change amplitude, more than the actual reference label correspondence of the threshold value
Region be by the maximum region of target jamming to be measured.
It is further preferred that the threshold value of the actual reference label phase place change amplitude is 70%.
Preferably, the step 6) in, the tool of label to be measured and the distance of antenna is calculated by the method for reaching phase difference
Body method is：
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
The phase information returned by label can be expressed as：
Wherein, n is phase loop number of times.Thus it may be noted that there is phase loop, i.e., phase is with distance in formula
Increase with 2 π be loop cycle.Be able to will be circulated by doing phase difference using double frequency carrier method to solve this problem
Factor of n is removed can be obtained：
Preferably, the step 6) in, determine without labeled targets in two crosspoints of the projection line of position with antenna
The detailed process of position is that the vector of two projection lines is done into multiplication cross, two common vertical line vectors of projection line is obtained, by simultaneous
Equation group, obtains two extreme coordinates of line of shortest length section, and then obtains middle point coordinates, i.e. the space coordinates without labeled targets.
Beneficial effects of the present invention are：
1. the indoor three-dimensional localization platform based on RFID of the present invention, it is proposed that a kind of low cost can realize label
Target and the method without labeled targets positioning, can be used for indoor low cost deployment positioner, it can also be used to antitheft to wait safety neck
Domain；
2. the indoor three-dimensional localization platform based on RFID of the present invention, reduce current indoor positioning measurement it is artificial and
Time cost, make use of RFID to make an inventory in itself function, realize quick RFID positioning.
Brief description of the drawings
Fig. 1 is the structural representation of the indoor three-dimensional localization platform based on RFID of the present invention；
Fig. 2 is the method for carrying out indoor three-dimensional localization using this indoor three-dimensional localization platform based on RFID of the present invention
Flow chart；
Fig. 3 is the implement scene figure of the indoor three-dimensional localization platform based on RFID of the present invention.
Specific embodiment
With reference to embodiment and Figure of description, the present invention will be further described, but not limited to this.
Embodiment 1
As shown in Figure 1, Figure 3.
A kind of indoor three-dimensional localization platform based on RFID, including reference label array, antenna and computer；The antenna
It is arranged on the top of reference label array；Antenna is connected by read write line with computer.
Embodiment 2
The indoor three-dimensional localization platform of RFID is based on as described in Example 1, except that, the reference label array
It is arranged on plastic pallet；The reference label array is square formation of the label at intervals of the 11*11 of 20cm, in reference label array
Reference label orientation it is consistent.
Embodiment 3
The indoor three-dimensional localization platform of RFID is based on as described in Example 1, except that, the antenna is arranged on ginseng
Examine at 3 meters of tag array top；The antenna is circular polarisation omnidirectional antenna, and the beam angle of the antenna is more than 70 °.
Embodiment 4
The indoor three-dimensional localization platform of RFID is based on as described in Example 3, except that, the wave beam of the antenna is wide
The all reference labels of degree covering.
Embodiment 5
The indoor three-dimensional localization platform of RFID is based on as described in Example 1, except that, the reference label includes
Actual reference label and virtual reference label.
Embodiment 6
As shown in Figure 2.
A kind of side that indoor three-dimensional localization is carried out using the indoor three-dimensional localization platform based on RFID embodiment 1-5 Suo Shi
Method, including step is as follows：
1) by the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；By computer settings day
The parameters such as transmission power, the receiving sensitivity of line, and be consistent in position fixing process, that is, ensure that the outer other specification of frequency keeps
Unanimously, it is to avoid the interference that the change of other specification causes.In view of China RFID band limits 920-925MHz, set read first
Write the carrier frequency that device uses 920.625MHz.
2) by computer measurement each actual reference label phase value, between reference label use nature neighbour
Interpolation method adds virtual reference label；Due to the dense degree and positioning precision into positive correlation, therefore intensive label energy of label
Precision higher is brought, but label densities can not infinitely increase due to practical application limitation and cost consideration；In reference label
Between add virtual reference label with nature interpolation method, reduce cost while improving precision.
Natural neighbour's interpolation method chooses the phase value of consecutive points around interpolation point as reference, according to the weight of Thiessen polygon
Folded region determines the weight of each consecutive points.Compare linear interpolation, and natural neighbour's interpolation more meets reference label phase
Nonlinear change.
3) phase value of the phase value of actual reference label and virtual reference label is stored in reference label phase base in the lump
Quasi- database；
4) after introducing target to be measured, the phase value of actual reference label is gathered again, and by now actual reference label
Phase value and step 2) phase value of actual reference label that obtains of measurement makes the difference and obtains phase difference p；Target to be measured includes mark
Sign target and without labeled targets；
If 5) subpoint of target to be measured is in reference label array, obtains to obtain using maximum field method and treated
The maximum region of target jamming is surveyed, the smallest enclosing circle of the point in the region is then obtained by iteration, the center of circle for surrounding circle is
It is target projection point；When the projection of target to be measured is in reference label array edges, Δ p threshold intervals are set, acquisition is subject to
Target jamming identical arc point to be measured, then carry out justifying the subpoint that fitting obtains target to be measured using least square method；If intending
Closing round equation is：
X2+Y2+ ax+by+c=0
Wherein, a, b, c are parameter to be asked；Substitute into region point coordinates (Xi, Yi), and calculate (Xi, Yi) putting down to center of circle distance
Side and the difference of radius squared：
δ=Xi2+Yi2+aXi+bYi+c
Corresponding a when δ is minimum, b, c are the parameter of our needs；Respectively to a, b, c seeks local derviation to δ, and makes three local derviations
Equal to 0, three equations are obtained, the equation group of three equation compositions of solution can try to achieve the parameter of fitting circle.
The center of circle of fitting circle is subpoint of the target to be measured in reference label plane；On label or barrier with reference to mark
The acquisition of subpoint of plane is signed, it is necessary to be realized by detecting the phase place change of reference label.Phase place change caused by interference
Straight line sighting distance can't be confined to, actual interference result puts into the water ripples of the water surface more like stone.Have most at subpoint
Big phase place change, enhancing and decrease with composite result around subpoint are presented certain waveform.Thus with reference to mark
Signing inside can use maximum field method, and carry out subpoint acquisition with reference to nearest neighbor algorithm.For being referred in subpoint
Assume that synthesis enhancing or weakening outside label is prototype, and projection point coordinates is obtained by least square fitting.
6) target positioning to be measured；
For labeled targets, the phase value of labeled targets when measurement carrier frequency is 920.625MHz；Change the load of antenna
Wave frequency rate, is 924.625MHz, measures the phase value of now labeled targets, and labeled targets are calculated by the method for reaching phase difference
With the distance of antenna；Combination tag target obtains the position of labeled targets in the subpoint of reference label plane；Label or obstacle
Thing all can produce influence to the phase value of reference label, and label or barrier can produce subpoint in reference label plane, lead to
Cross that the position of label or barrier can be just fixed on the calculating of projection point coordinates and connected by antenna coordinate and projection point coordinates
On the straight line for connecing.
For without labeled targets, portable antenna position, obtain without labeled targets reference label plane another
Subpoint, the straight line that the coordinate points of subpoint and antenna are connected into forms projection line, and antenna is in the corresponding projection line in two positions
Crosspoint, the as position without labeled targets.Due to the presence of measurement error, actual projection line can not necessarily intersect, therefore
The process is the midpoint of the line of shortest length section for seeking space line.Then can be by increasing day without labeled targets free space positioning
Line, positioning is realized by obtaining two intersections of projection straight line.
Embodiment 7
The method of interior three-dimensional localization as described in Example 6, except that, the step 2) the middle virtual ginseng for adding
The number for examining label is 2480.
Embodiment 8
As described in Example 6 interior three-dimensional localization method, except that, the step 2) after step 3) before
Also include, using average value processing improve reference label phase value accuracy the step of；The specific method of the average value processing is to count
Calculate the average value of the reference label phase value of measurement in the set time.The problems such as due to temperature, circuit noise, the phase of reference label
Place value contain must noise, this noise meet Gaussian statistics distribution, therefore can using average value processing obtain it is more accurate
The phase value of reference label.
The sampling time of average value processing process is one minute.
Embodiment 9
The method of interior three-dimensional localization as described in Example 6, except that, the step 5) in, by maximum
It is to set actual reference label phase place change amplitude that field method is obtained by the specific method in the maximum region of target jamming to be measured
Threshold value, be by the maximum region of target jamming to be measured more than the corresponding region of actual reference label of the threshold value.
Embodiment 10
The method of interior three-dimensional localization as described in Example 9, except that, the actual reference label phase place change
The threshold value of amplitude is 70%.
Embodiment 11
The method of interior three-dimensional localization as described in Example 6, except that, the step 6) in, by reaching phase
The method of potential difference calculates label to be measured：
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
The phase information returned by label can be expressed as：
Wherein, n is phase loop number of times.Thus it may be noted that there is phase loop, i.e., phase is with distance in formula
Increase with 2 π be loop cycle.Be able to will be circulated by doing phase difference using double frequency carrier method to solve this problem
Factor of n is removed can be obtained：
Embodiment 12
The method of interior three-dimensional localization as described in Example 6, except that, the step 6) in, exist with antenna
Two crosspoints of the projection line of position determine that the detailed process without labeled targets position is to pitch the vector of two projection lines
Multiply, obtain two common vertical line vectors of projection line, by Simultaneous Equations, obtain two extreme coordinates of line of shortest length section, and then
Obtain middle point coordinates, the i.e. space coordinates without labeled targets.
Claims (9)
1. a kind of indoor three-dimensional localization platform based on RFID, it is characterised in that including reference label array, antenna and calculating
Machine；The antenna is arranged on the top of reference label array；Antenna is connected by read write line with computer.
2. the indoor three-dimensional localization platform based on RFID according to claim 1, it is characterised in that the reference label battle array
Row are arranged on plastic pallet；The reference label array is square formation of the label at intervals of the 11*11 of 20cm, reference label array
Interior reference label orientation is consistent；The antenna is arranged at 3 meters of reference label array top；The antenna is circular polarisation
Omnidirectional antenna, the beam angle of the antenna is more than 70 °；The beam angle of the antenna covers all reference labels.
3. the indoor three-dimensional localization platform based on RFID according to claim 1, it is characterised in that the reference label bag
Include actual reference label and virtual reference label.
4. a kind of method that locating platform using described in claim 1-3 carries out indoor three-dimensional localization, it is characterised in that including
Step is as follows：
1) by the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；
2) by computer measurement each actual reference label phase value, between reference label use nature neighbour's interpolation
Method adds virtual reference label；
3) phase value of the phase value of actual reference label and virtual reference label is stored in reference label phase reference number in the lump
According to storehouse；
4) after introducing target to be measured, the phase value of actual reference label is gathered again, and by the phase of now actual reference label
Value and step 2) phase value of actual reference label that obtains of measurement makes the difference and obtains phase difference p；Target to be measured includes label mesh
Mark and without labeled targets；
If 5) subpoint of target to be measured is in reference label array, is obtained using maximum field method and obtained by mesh to be measured
The maximum region of mark interference, then obtains the smallest enclosing circle of the point in the region by iteration, and the center of circle for surrounding circle is mesh
Mark subpoint；When the projection of target to be measured is in reference label array edges, Δ p threshold intervals are set, are obtained and is subject to be measured
Target jamming identical arc point, then carry out justifying the subpoint that fitting obtains target to be measured using least square method；Fitting circle
The center of circle is subpoint of the target to be measured in reference label plane；
6) target positioning to be measured；
For labeled targets, the phase value of the labeled targets under current carrier frequency is measured；Change the carrier frequency of antenna, again
The phase value of labeled targets is measured, the distance of labeled targets and antenna is calculated by the method for reaching phase difference；Combination tag mesh
The subpoint of reference label plane is marked on, the position of labeled targets is obtained；
For without labeled targets, portable antenna position is obtained without labeled targets in another projection in reference label plane
Point, the straight line that the coordinate points of subpoint and antenna are connected into forms projection line, friendship of the antenna in the corresponding projection line in two positions
Crunode, the as position without labeled targets.
5. the method for indoor three-dimensional localization according to claim 4, it is characterised in that the step 2) after step 3) it
It is preceding also to include, using average value processing improve reference label phase value accuracy the step of；The specific method of the average value processing is,
Calculate the average value of the reference label phase value of measurement in the set time.
6. the method for indoor three-dimensional localization according to claim 4, it is characterised in that the step 5) in, by maximum
It is to set actual reference label phase place change width that value field method is obtained by the specific method in the maximum region of target jamming to be measured
The threshold value of degree, is by the maximum region of target jamming to be measured more than the corresponding region of actual reference label of the threshold value.
7. the method for indoor three-dimensional localization according to claim 6, it is characterised in that the actual reference label phase becomes
The threshold value of change amplitude is 70%.
8. the method for indoor three-dimensional localization according to claim 4, it is characterised in that the step 6) in, by reaching
The method of phase difference calculates label to be measured：
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
9. the method for indoor three-dimensional localization according to claim 4, it is characterised in that the step 6) in, with antenna
Determine that the detailed process without labeled targets position is to do the vector of two projection lines in two crosspoints of the projection line of position
Multiplication cross, obtains two common vertical line vectors of projection line, by Simultaneous Equations, obtains two extreme coordinates of line of shortest length section, enters
And obtain middle point coordinates, i.e. the space coordinates without labeled targets.
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Cited By (3)
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| CN107907856A (en) * | 2017-10-24 | 2018-04-13 | 东南大学 | A kind of RFID localization methods and system based on virtual reference label |
| CN110402548A (en) * | 2017-03-20 | 2019-11-01 | 华为技术有限公司 | Equipment based on user equipment positioning accuracy configuration reference signal wave beam |
| CN111366895A (en) * | 2018-12-25 | 2020-07-03 | 中国移动通信集团浙江有限公司 | Positioning system |
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| CN102111876A (en) * | 2011-02-24 | 2011-06-29 | 华为技术有限公司 | Method and device for selecting reference labels used for location |
| KR101214650B1 (en) * | 2011-06-21 | 2012-12-24 | 부산대학교 산학협력단 | Virtual tag identification event generation system for testing rfid middleware |
| US20160139238A1 (en) * | 2013-06-20 | 2016-05-19 | Qatar University Qstp-B | System and method for rfid indoor localization |
| CN104535960A (en) * | 2014-12-29 | 2015-04-22 | 华南理工大学 | Indoor rapid positioning method based on RFID |
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| CN107907856B (en) * | 2017-10-24 | 2021-07-27 | 东南大学 | RFID positioning method and system based on virtual reference label |
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