CN106778981B - A kind of indoor three-dimensional localization platform and its localization method based on RFID - Google Patents
A kind of indoor three-dimensional localization platform and its localization method based on RFID Download PDFInfo
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Abstract
The present invention relates to a kind of indoor three-dimensional localization platform and its localization method based on RFID.The indoor three-dimensional localization platform based on RFID, including reference label array, antenna and computer；The top of reference label array is arranged in the antenna；Antenna is connect by reader with computer.Indoor three-dimensional localization platform of the present invention based on RFID proposes a kind of inexpensive method that labeled targets may be implemented and position without labeled targets, can be used for indoor low cost deployment positioning device, it can also be used to antitheft to wait security fields.
Description
Technical field
The present invention relates to a kind of indoor three-dimensional localization platform and its localization method based on RFID, belongs to RFID indoor positioning
Technical field.
Background technique
RFID (Radio Frequency Identity) radio frequency identification is a kind of former using electromagnetic coupling or backscattering
Reason carries out wireless communication the technology with automatic identification.Since last century the forties occur, always in fields such as military affairs, economy
It plays a significant role.Relative to technologies such as other identification technologies, such as bar code, magnetic stripe, IC card, RFID has information storage
Greatly, the advantages that holding time is long, it is wide to adapt to environment, non line of sight, remote operating distance.It has passed through the continuous wound of researcher in recent years
Newly, RFID system technology is increasingly mature, 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 the continuous development of Internet of Things and intelligent environment, RFID
It is to be expected to become one of Internet of Things mainstream technology with its own advantage.
Location information service all plays a crucial role in industry, life, is many smart machines and Intellectual garment
The basis of business, it is contemplated that the wide application scenarios of RFID study the indoor positioning technologies important in inhibiting based on RFID.The whole world
Positioning system is as a set of satellite system for the purpose of providing location information, and in military affairs, the various aspects of life have played weight
It acts on.If great number of issues will be will lead to by lacking geo-location information service at this stage: sophisticated weapon failure, communication navigation
Failure etc., it can be seen that the importance of location information.However the side of positioning indoors of the GPS system based on satellite communication technology
Face, due to building block performance it is unsatisfactory.With the rise of Internet of Things, for obtaining the location information of article
Demand is more urgent, and many applications are based on asset position information.In addition the proposition of intelligent scene is also to taking human as target
Positioning proposes requirement.Intelligent scene includes intelligent market, and smart home etc. provides corresponding clothes according to the location information of people
Business.However the indoor positioning technologies in reality still have relatively large distance apart from practical application, there are still many problems to need to solve, and deposits
It needs to break through in many obstacles.
The research of RFID indoor positioning technologies at present is one of hot research direction both domestic and external, and many research teams propose
RFID indoor orientation method based on space fingerprint, and by establishing fingerprint base, indoor positioning is carried out, is equivalent to and positioning is turned
It is changed to classification judgement.Positioning accuracy is fine in laboratory environments for the method, but in practical applications, and localizing environment is complicated more
Become, it is impossible to which holding same state, environment vary slightly for a long time, then must update fingerprint base, since it is desired that carrying out to each point
Resampling record, so update need of work takes considerable time and human cost.Ye You team is according to arrival time method, base
Ranging is carried out to label and antenna distance in receiving signal strength space attenuation model method, arrival phase method, further according to trigonometry
Then positioned.This distance measuring method derives from field of radar, uses in environment indoors, and since distance is shorter, error is larger.
Also there is the indoor orientation method by disposing reference label, nearest neighbor algorithm is mostly used to be positioned, positioning accuracy and reference are marked
Label density is positively correlated, and label densities are bigger, and positioning accuracy is accordingly higher.
Current location technology is chiefly used in indoor two-dimensional localization, when expanding to the direction of three-dimensional localization, encounters deployment
The problems such as complexity increases, and positioning accuracy significantly reduces.In addition, it is also particularly significant for the positioning of no labeled targets, such as market
Positioning, non-authorized infection detection etc., however this in RFID indoor positioning does not cause enough attention at present.
Summary of the invention
In view of the deficiencies of the prior art, the present invention provides a kind of indoor 3 D locating device based on RFID.
The indoor three-dimensional localization platform that the present invention also provides a kind of conducive to above-mentioned based on RFID carries out indoor three-dimensional localization
Method.
Summary of the invention:
It is positioned indoors to solve RFID technique, deployment complexity is high in especially three-dimensional indoor positioning, measurement cost
Height, the problem of positioning accuracy difference, the invention proposes a kind of simple, low cost, higher interior RFID three-dimensionals of precision to determine
Position method leads to too small amount of RFID device deployment and realizes target positioning, and can realize to position error caused by environmental change
It eliminates, realizes the positioning without labeled targets, reduce additional system cost of the progress without tag location.
The technical solution of the present invention is as follows:
A kind of indoor three-dimensional localization platform based on RFID, including reference label array, antenna and computer；The antenna
The top of reference label array is set；Antenna is connect by reader with computer.
Preferably, the reference label array is arranged on plastic pallet；The reference label array is divided between label
The square matrix of the 11*11 of 20cm, the reference label orientation in reference label array are consistent.
Preferably, antenna setting is above the reference label array at 3 meters；The antenna is circular polarisation omnidirectional antenna,
The beam angle of the antenna is greater than 70 °.
It is further preferred that the beam angle of the antenna covers all reference labels.
Preferably, the reference label includes practical reference label and virtual reference label.
A method of indoor three-dimensional localization, including step are carried out using the above-mentioned indoor three-dimensional localization platform based on RFID
It is as follows:
1) pass through the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；Pass through 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 parameters of frequency are kept
Unanimously, interference caused by the variation of other parameters is avoided.
2) phase value for passing through each practical reference label of computer measurement, uses nature neighbour between reference label
Virtual reference label is added in interpolation method；Since the concentration of label is positively correlated with positioning accuracy, intensive label energy
Higher precision is brought, however label densities cannot infinitely increase due to practical application limitation and cost consideration；In reference label
Between joined 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 weights 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 practical reference label and virtual reference label is stored in reference label phase base together
Quasi- database；
4) after introducing object to be measured, the phase value of practical reference label is acquired again, and by practical reference label at this time
The phase value for the practical reference label that phase value and step 2) measurement obtain makes the difference to obtain phase difference p；Object to be measured includes mark
Sign target and without labeled targets；
If 5) subpoint of object to be measured is in reference label array, using maximum value field method obtain obtain by
The maximum region of target jamming is surveyed, the smallest enclosing circle of the point in the region is then obtained by iteration, surrounds the round center of circle i.e.
For target projection point；When the projection of object to be measured is in reference label array edges, be arranged Δ p threshold interval, obtain by
Object to be measured interferes identical arc point, then carries out the subpoint that circle fitting obtains object to be measured using least square method；If quasi-
Close the equation of circle are as follows:
X2+Y2+ ax+by+c=0
Wherein, a, b, c are parameter to be asked；Substitute into region point coordinate (Xi, Yi), and calculate (Xi, Yi) putting down to circle center distance
The difference of side and radius squared:
δ=Xi2+Yi2+aXi+bYi+c
Corresponding a when δ minimum, b, c are the parameter that we need；δ seeks local derviation to a, b, c respectively, and enables three local derviations
Equal to 0, three equations are obtained, the equation group for solving three equations composition can acquire the parameter of fitting circle.
The center of circle of fitting circle is subpoint of the object to be measured in reference label plane；About label or barrier in reference mark
The acquisition for signing the subpoint of plane needs the phase change by detecting reference label to realize.Phase change caused by interfering
It can't be confined to straight line sighting distance, actual interference result is more like the water ripples of the stone investment water surface.Have most at subpoint
Big phase change, as certain waveform is presented in the enhancing of composite result and decrease around subpoint.Thus in reference mark
Label are internal can to use maximum value field method, and nearest neighbor algorithm is combined to carry out subpoint acquisition.For being referred in subpoint
Assume that synthesis enhancing or weakening outside label is prototype, and subpoint coordinate is obtained by least square method fitting.
6) object to be measured positions；
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 for measuring labeled targets again calculates labeled targets at a distance from antenna by the method for reaching phase difference；In conjunction with mark
Target is signed in the subpoint of reference label plane, obtains the position of labeled targets；Label or barrier all can be to reference labels
Phase value has an impact, and label or barrier can generate subpoint in reference label plane, passes through the meter to subpoint coordinate
The position of label or barrier can be fixed on the straight line connected by antenna coordinate with subpoint coordinate by calculation.Due to circuit
It is internal different to different frequency electromagnetic wave propagation with feeder line, so can have phase difference in initial 0 distance and position.Therefore we survey
The phase difference for having measured original state, is whereby corrected measured value.
For no labeled targets, portable antenna position, obtain without labeled targets reference label plane another
The straight line that the coordinate points of subpoint, subpoint and antenna connect into forms projection line, and antenna is in the corresponding projection line in two positions
Crosspoint, as without the position of labeled targets.Due to the presence of measurement error, practical projection line can not necessarily intersect, therefore
The process is to ask the midpoint of the line of shortest length section of space line.No labeled targets free space positioning then can be by increasing day
Line, the intersection by obtaining two projection straight lines realize positioning.
Preferably, the number for the virtual reference label being added in the step 2) is 2480.
It preferably, further include that reference label phase value is improved using average value processing before step 3) after the step 2)
The step of accuracy；The specific method of the average value processing is to calculate putting down for the reference label phase value measured in the set time
Mean value.The problems such as due to temperature, circuit noise, the phase value of reference label contain must noise, this noise meet 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, it in the step 5), is obtained by maximum value field method and is interfered maximum region by object to be measured
Specific method is to set the threshold value of practical reference label phase change amplitude, corresponding more than the practical reference label of the threshold value
Region be to be interfered maximum region by object to be measured.
It is further preferred that the threshold value of the practical reference label phase change amplitude is 70%.
Preferably, in the step 6), tool of the label to be measured at a distance from antenna is calculated by the method for reaching phase difference
Body method are as follows:
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
It can be indicated by the phase information that label returns are as follows:
Wherein, n is phase loop number.Thus it may be noted that there is phase loop in formula, i.e., phase is with distance
Increase using 2 π as loop cycle.In order to solve this problem double frequency carrier method can be used, will be recycled by doing phase difference
Factor of n, which is removed, to be obtained:
Preferably, it in the step 6), is determined in the crosspoint of the projection line of two positions without labeled targets with antenna
The detailed process of position is that the vector of two projection lines is done multiplication cross, obtains the common vertical line vector of two projection lines, passes through simultaneous
Equation group, obtains two extreme coordinates of line of shortest length section, and then obtains midpoint coordinates, i.e., without the space coordinate of labeled targets.
The invention has the benefit that
1. the indoor three-dimensional localization platform of the present invention based on RFID, propose a kind of low cost may be implemented label
Target and the method positioned without labeled targets can be used for indoor low cost deployment positioning device, it can also be used to antitheft equal safe neck
Domain；
2. the indoor three-dimensional localization platform of the present invention based on RFID, reduce the measurement of current indoor positioning manually and
Time cost is utilized RFID itself and makes an inventory function, realizes quick RFID positioning.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the indoor three-dimensional localization platform of the present invention based on RFID；
Fig. 2 is the method for carrying out indoor three-dimensional localization using this indoor three-dimensional localization platform of the present invention based on RFID
Flow chart；
Fig. 3 is the implement scene figure of the indoor three-dimensional localization platform of the present invention based on RFID.
Specific embodiment
Below 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
The top of reference label array is set；Antenna is connect by reader with computer.
Embodiment 2
Indoor three-dimensional localization platform based on RFID as described in Example 1, the difference is that the reference label array
It is arranged on plastic pallet；The reference label array is the square matrix that the 11*11 of 20cm is divided between label, in reference label array
Reference label orientation it is consistent.
Embodiment 3
Indoor three-dimensional localization platform based on RFID as described in Example 1, the difference is that antenna setting is being joined
It examines above tag array at 3 meters；The antenna is circular polarisation omnidirectional antenna, and the beam angle of the antenna is greater than 70 °.
Embodiment 4
Indoor three-dimensional localization platform based on RFID as described in Example 3, the difference is that the wave beam of the antenna is wide
Degree covers all reference labels.
Embodiment 5
Indoor three-dimensional localization platform based on RFID as described in Example 1, the difference is that the reference label includes
Practical reference label and virtual reference label.
Embodiment 6
As shown in Figure 2.
A kind of indoor three-dimensional localization platform using shown in embodiment 1-5 based on RFID carries out the side of indoor three-dimensional localization
Method comprises the following steps that
1) pass through the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；Pass through 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 parameters of frequency are kept
Unanimously, interference caused by the variation of other parameters is avoided.In view of China RFID band limits 920-925MHz, setting first is read
Write the carrier frequency that device uses 920.625MHz.
2) phase value for passing through each practical reference label of computer measurement, uses nature neighbour between reference label
Virtual reference label is added in interpolation method；Since the concentration of label is positively correlated with positioning accuracy, intensive label energy
Higher precision is brought, however label densities cannot infinitely increase due to practical application limitation and cost consideration；In reference label
Between joined 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 weights 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 practical reference label and virtual reference label is stored in reference label phase base together
Quasi- database；
4) after introducing object to be measured, the phase value of practical reference label is acquired again, and by practical reference label at this time
The phase value for the practical reference label that phase value and step 2) measurement obtain makes the difference to obtain phase difference p；Object to be measured includes mark
Sign target and without labeled targets；
If 5) subpoint of object to be measured is in reference label array, using maximum value field method obtain obtain by
The maximum region of target jamming is surveyed, the smallest enclosing circle of the point in the region is then obtained by iteration, surrounds the round center of circle i.e.
For target projection point；When the projection of object to be measured is in reference label array edges, be arranged Δ p threshold interval, obtain by
Object to be measured interferes identical arc point, then carries out the subpoint that circle fitting obtains object to be measured using least square method；If quasi-
Close the equation of circle are as follows:
X2+Y2+ ax+by+c=0
Wherein, a, b, c are parameter to be asked；Substitute into region point coordinate (Xi, Yi), and calculate (Xi, Yi) putting down to circle center distance
The difference of side and radius squared:
δ=Xi2+Yi2+aXi+bYi+c
Corresponding a when δ minimum, b, c are the parameter that we need；δ seeks local derviation to a, b, c respectively, and enables three local derviations
Equal to 0, three equations are obtained, the equation group for solving three equations composition can acquire the parameter of fitting circle.
The center of circle of fitting circle is subpoint of the object to be measured in reference label plane；About label or barrier in reference mark
The acquisition for signing the subpoint of plane needs the phase change by detecting reference label to realize.Phase change caused by interfering
It can't be confined to straight line sighting distance, actual interference result is more like the water ripples of the stone investment water surface.Have most at subpoint
Big phase change, as certain waveform is presented in the enhancing of composite result and decrease around subpoint.Thus in reference mark
Label are internal can to use maximum value field method, and nearest neighbor algorithm is combined to carry out subpoint acquisition.For being referred in subpoint
Assume that synthesis enhancing or weakening outside label is prototype, and subpoint coordinate is obtained by least square method fitting.
6) object to be measured positions；
For labeled targets, the phase value of labeled targets when carrier frequency is 920.625MHz is measured；Change the load of antenna
Wave frequency rate is 924.625MHz, measures the phase value of labeled targets at this time, passes through the method for reaching phase difference and calculates labeled targets
At a distance from antenna；Combination tag target obtains the position of labeled targets in the subpoint of reference label plane；Label or obstacle
Object can all have an impact the phase value of reference label, and label or barrier can generate subpoint in reference label plane, lead to
The position of label or barrier can be fixed on by antenna coordinate and subpoint coordinate company the calculating of subpoint coordinate by crossing
On the straight line connect.
For no labeled targets, portable antenna position, obtain without labeled targets reference label plane another
The straight line that the coordinate points of subpoint, subpoint and antenna connect into forms projection line, and antenna is in the corresponding projection line in two positions
Crosspoint, as without the position of labeled targets.Due to the presence of measurement error, practical projection line can not necessarily intersect, therefore
The process is to ask the midpoint of the line of shortest length section of space line.No labeled targets free space positioning then can be by increasing day
Line, the intersection by obtaining two projection straight lines realize positioning.
Embodiment 7
The method of interior three-dimensional localization as described in Example 6, the difference is that the virtual ginseng being added in the step 2)
The number for examining label is 2480.
Embodiment 8
The method of interior three-dimensional localization as described in Example 6, the difference is that after the step 2) before step 3)
The step of further including, reference label phase value accuracy improved using average value processing；The specific method of the average value processing is to count
Calculate the average value of the reference label phase value measured 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, the difference is that passing through maximum value in the step 5)
It is to set practical reference label phase change amplitude that field method, which obtains and interfered the specific method in maximum region by object to be measured,
Threshold value, be to be interfered maximum region by object to be measured more than the corresponding region of practical reference label of the threshold value.
Embodiment 10
The method of interior three-dimensional localization as described in Example 9, the difference is that the practical reference label phase change
The threshold value of amplitude is 70%.
Embodiment 11
The method of interior three-dimensional localization as described in Example 6, the difference is that in the step 6), by reaching phase
The method of potential difference calculates label to be measured at a distance from antenna method particularly includes:
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
It can be indicated by the phase information that label returns are as follows:
Wherein, n is phase loop number.Thus it may be noted that there is phase loop in formula, i.e., phase is with distance
Increase using 2 π as loop cycle.In order to solve this problem double frequency carrier method can be used, will be recycled by doing phase difference
Factor of n, which is removed, to be obtained:
Embodiment 12
The method of interior three-dimensional localization as described in Example 6, the difference is that existing in the step 6) with antenna
The crosspoint of the projection line of two positions determines that the detailed process without labeled targets position is to pitch the vector of two projection lines
Multiply, obtain the common vertical line vector of two projection lines, by Simultaneous Equations, obtains two extreme coordinates of line of shortest length section, in turn
Midpoint coordinates is obtained, i.e., without the space coordinate of labeled targets.
Claims (7)
1. a kind of method for carrying out indoor three-dimensional localization using the indoor three-dimensional localization platform based on RFID, described indoor three-dimensional fixed
Bit platform includes reference label array, antenna and computer；The top of reference label array is arranged in the antenna；Antenna passes through
Reader is connect with computer；The reference label includes practical reference label and virtual reference label；It is characterised in that it includes
Steps are as follows:
1) pass through the transmission power of computer settings antenna, receiving sensitivity and carrier frequency；
2) phase value for passing through each practical reference label of computer measurement, uses nature neighbour interpolation between reference label
Virtual reference label is added in method；
3) phase value of the phase value of practical reference label and virtual reference label is stored in reference label phase reference number together
According to library；
4) after introducing object to be measured, the phase value of practical reference label is acquired again, and by the phase of practical reference label at this time
The phase value for the practical reference label that value and step 2) measurement obtain makes the difference to obtain phase difference p；Object to be measured includes label mesh
It marks and without labeled targets；
If 5) subpoint of object to be measured is in reference label array, is obtained and obtained by mesh to be measured using maximum value field method
Mark interferes maximum region, the smallest enclosing circle of the point in the region is then obtained by iteration, surrounding the round center of circle is mesh
Mark subpoint；When the projection of object to be measured is in reference label array edges, Δ p threshold interval is set, is obtained by be measured
The identical arc point of target jamming, then the subpoint that circle fitting obtains object to be measured is carried out using least square method；Fitting circle
The center of circle is subpoint of the object to be measured in reference label plane；
6) object to be measured positions；
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 for measuring labeled targets calculates labeled targets at a distance from antenna by the method for reaching phase difference；Combination tag mesh
It is marked on the subpoint of reference label plane, obtains the position of labeled targets；
For no labeled targets, portable antenna position is obtained without labeled targets in another projection in reference label plane
The straight line that the coordinate points of point, subpoint and antenna connect into forms projection line, friendship of the antenna in the corresponding projection line in two positions
Crunode, as without the position of labeled targets.
2. the method for interior three-dimensional localization according to claim 1, which is characterized in that the reference label array setting exists
On plastic pallet；The reference label array is the square matrix that the 11*11 of 20cm is divided between label, the reference in reference label array
Tagging arrangements direction is consistent；Antenna setting is above the reference label array at 3 meters；The antenna is circular polarisation omnidirectional antennas
The beam angle of line, the antenna is greater than 70 °；The beam angle of the antenna covers all reference labels.
3. the method for interior three-dimensional localization according to claim 1, which is characterized in that after the step 2) step 3) it
Before further 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 measured in the set time.
4. the method for interior three-dimensional localization according to claim 1, which is characterized in that in the step 5), pass through maximum
It is to set practical reference label phase change width that value field method, which obtains and interfered the specific method in maximum region by object to be measured,
The threshold value of degree is to be interfered maximum region by object to be measured more than the corresponding region of practical reference label of the threshold value.
5. the method for interior three-dimensional localization according to claim 4, which is characterized in that the practical reference label phase becomes
The threshold value of change amplitude is 70%.
6. the method for interior three-dimensional localization according to claim 1, which is characterized in that in the step 6), pass through arrival
The method of phase difference calculates label to be measured at a distance from antenna method particularly includes:
Wherein, C is the light velocity；Δ f is the difference on the frequency of the carrier frequency of twi-read label setting.
7. the method for interior three-dimensional localization according to claim 1, which is characterized in that in the step 6), with antenna
Determine that the detailed process without labeled targets position is to do the vector of two projection lines in the crosspoint of the projection line of two positions
Multiplication cross obtains the common vertical line vector of two projection lines, by Simultaneous Equations, obtains two extreme coordinates of line of shortest length section, into
And obtain midpoint coordinates, i.e., without the space coordinate of labeled targets.
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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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| CN101587182A (en) * | 2009-06-25 | 2009-11-25 | 华南理工大学 | Locating method for RFID indoor locating system |
| 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 |
| 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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