CN106842119A - A kind of indoor space locating method based on flexible RFID passive labels - Google Patents

A kind of indoor space locating method based on flexible RFID passive labels Download PDF

Info

Publication number
CN106842119A
CN106842119A CN201710012363.0A CN201710012363A CN106842119A CN 106842119 A CN106842119 A CN 106842119A CN 201710012363 A CN201710012363 A CN 201710012363A CN 106842119 A CN106842119 A CN 106842119A
Authority
CN
China
Prior art keywords
antenna
rssi
ultrasonic sensor
reader
label
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710012363.0A
Other languages
Chinese (zh)
Other versions
CN106842119B (en
Inventor
徐雷鸣
黄良辉
陈法波
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Guangdong Nanhai Eagle View Technology Co Ltd
Original Assignee
Guangdong Nanhai Eagle View Technology Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Guangdong Nanhai Eagle View Technology Co Ltd filed Critical Guangdong Nanhai Eagle View Technology Co Ltd
Priority to CN201710012363.0A priority Critical patent/CN106842119B/en
Publication of CN106842119A publication Critical patent/CN106842119A/en
Application granted granted Critical
Publication of CN106842119B publication Critical patent/CN106842119B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • 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
    • G01S5/18—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using ultrasonic, sonic, or infrasonic waves

Landscapes

  • Physics & Mathematics (AREA)
  • Engineering & Computer Science (AREA)
  • General Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
  • Measurement Of Velocity Or Position Using Acoustic Or Ultrasonic Waves (AREA)
  • Mobile Radio Communication Systems (AREA)

Abstract

The present invention relates to a kind of indoor space locating method based on flexible RFID passive labels, after determinand with ultrasonic sensor and flexible passive RFID label tag enters located space, when being moved in space, first pass through ultrasonic sensor and obtain determinand highly, flexible passive RFID label tag to the signal intensity of each antenna is read by positioning terminal again, then again by retrieving reference label location database by provide the position coordinates of object to be positioned；Indoor space locating method based on flexible RFID passive labels has the advantages that positioning precision is high, maintenance cost is low, easy implementation.

Description

A kind of indoor space locating method based on flexible RFID passive labels
Technical field
The invention belongs to wireless space field of locating technology, more particularly to a kind of interior based on flexible RFID passive labels Space-location method.
Background technology
In recent years, as wireless technology, mobile communication technology are developed rapidly, indoor positioning technologies are increasingly subject to people Concern.The indoor positioning technologies such as infrared ray, ultrasonic wave, bluetooth, laser, are not system complex, involve great expense, and are exactly positioning accurate Degree is barely satisfactory.And spy of radio frequency identification (RFID) technology with its with low cost, noncontact, non line of sight etc. better than other technologies Point, becomes the optimization technique in indoor positioning field, and it is one of this century most promising application technology to be known as by industry.Separately Outward, because indoor environment is complicated and changeable, the interference of multipath transmisstion and environment random noise is larger, therefore high-precision location algorithm Just it is particularly important in the design of rfid system indoors.
The rfid system indoor orientation method of uhf band is operated in as traditional wireless location method, according to positioning The difference of mode, can be divided into three major types：Based on space divide positioning, the positioning based on scene, based on range finding positioning (including Temporal information positioning-TOA/TDOA, angle of arrival positioning -- AOA, signal strength information positioning).
Although electromagnetic wave physical quantity need not be measured based on the positioning that space divides, and it is easier to implement, positioning precision It is relatively low.The position positioning of the medium-and-large-sized article of personnel in the pit and warehouse is mainly used at present.
Have more accurately time synchronized based on the timi requirement method requirement receiving-transmitting sides in ranging localization, this for It is difficult to accomplish for rfid system, cost can be accordingly increased if synchronised clock precision to be improved.
The present invention is positioned using signal strength information, in the patent of Application No. CN201210004597, using multiple Reader, high cost, the positioning for being also only limited to two dimensional surface, it is impossible to solve the positioning of solid space.
The content of the invention
It is an object of the invention to solve above-mentioned problem of the prior art, and provide a kind of based on flexibility RFID passive labels Indoor space locating method.
The technical solution adopted in the present invention is：
A kind of indoor space locating method based on flexible RFID passive labels, including it is arranged on the passive mark on object to be positioned Reader and antenna that label and ultrasonic sensor, location-server are adapted to passive label, the passive label are flexibility RFID passive labels, by the way that antenna induction is to passive label to be positioned and obtains its signal intensity, location-server leads to reader Wireless network and reader and ultrasonic sensor wireless connection are crossed, following steps are taken：
S1, reader is connected with location-server；
S2, the antenna of reader is numbered, installed in the top of the interior space of required positioning, the number of the antenna It it is 3, the signal intensity that reader is successively read the reception of each antenna indicates (RSSI), the RSSI of three antennas is constituted One group of elements of a fix point P (RSSIi,RSSIj,RSSIk)；
S3, the positioning plane for the located space being divided into some different heights, the reference label set up in each elevation plane Coordinate database；
S4, ultrasonic sensor be arranged on object to be positioned on, the ultrasonic sensor the signal transmission being collected into Location-server, height h of the object to be positioned in current spatial is determined by the ultrasonic sensor on object to be positioned；
S5, gather the elevation plane reference label coordinate and signal intensity samples set up database.Such as the position coordinates A of a points (xi, yj), the signal strength values R (RSSI1 of i=1~M, j=1~N, M, N >=2 and 3 antennas to each reference labelijh, RSSI2ijh,RSSI3ijh), then the reference label a points in the plane can be uniquely determined by A or R, the reference label coordinate of a points and Signal strength information is designated as a (A, R) (can obtain A by data base querying R below).The all reference label coordinates of the plane and letter Number strength information is designated as hDatabase (h, a [M*N]), and wherein a [M*N] represents that a reference planes gather M*N point；
S6, adjustment height h, make h=h+ Δ h, Δ h>0, S4 to S5 is repeated, until Q elevation plane h>H collections are finished；
S7, all reference label coordinates and the signal strength data storehouse eventually formed in the space, are designated as dbase [Q] and use in advance The dbase [Q] for first setting up is positioned by the coordinate matching carried out by data base querying to determinand.
Further improve, installed in asymmetric point triangular in shape of 3 antennas at the top of the interior space of required positioning Cloth；Further improve, location-server is connected by bluetooth or WiFi with reader and ultrasonic sensor.
Further improve, passed to by bluetooth or zigbee modes after the height h of ultrasonic sensor acquisition determinand Location-server.
A kind of indoor space locating method based on flexible RFID passive labels that the present invention is provided, with supersonic sensing After the determinand of device and RFID label tag enters the space, when being moved in space, first pass through ultrasonic wave and obtain determinand highly, then The label to the signal intensity of each antenna is read by location-server, then again by retrieving reference label location database i.e. The position coordinates of object to be positioned can be given to be had the advantages that positioning precision is high, maintenance cost is low, has been carried out.
Specific embodiment
With reference to specific embodiment, the invention will be further described.
Embodiment, a kind of indoor space locating method based on flexible RFID passive labels, including it is arranged on thing to be positioned Reader and antenna that passive label and ultrasonic sensor, location-server on body are adapted to passive label, it is described passive Label is flexibility RFID passive labels, and reader is fixed by the way that antenna induction is to passive label to be positioned and obtains its signal intensity Position server by wireless network and reader and ultrasonic sensor wireless connection, the wireless network can for bluetooth or WiFi, takes following steps：
S1, reader is connected with location-server；
S2, the antenna of reader is numbered, installed in the top of the interior space of required positioning, the number of the antenna It it is 3, asymmetric distribution triangular in shape, the signal intensity that reader is successively read the reception of each antenna indicates (RSSI), institute State three RSSI of antenna and constitute one group of elements of a fix point P (RSSIi,RSSIj,RSSIk)；
S3, the positioning plane for the located space being divided into some different heights, the reference label set up in each elevation plane Coordinate database；
S4, ultrasonic sensor be arranged on object to be positioned on, the ultrasonic sensor the signal transmission being collected into Location-server, height h of the object to be positioned in current spatial is determined by the ultrasonic sensor on object to be positioned；Ultrasound Location-server is passed to by bluetooth or zigbee modes after the height h of wave sensor acquisition determinand；
S5, gather the elevation plane reference label coordinate and signal intensity samples set up database.Such as the position coordinates A of a points (xi, yj), the signal strength values R (RSSI1 of i=1~M, j=1~N, M, N >=2 and 3 antennas to each reference labelijh, RSSI2ijh,RSSI3ijh), then the reference label a points in the plane can be uniquely determined by A or R, the reference label coordinate of a points and Signal strength information is designated as a (A, R) (can obtain A by data base querying R below).The all reference label coordinates of the plane and letter Number strength information is designated as hDatabase (h, a [M*N]), and wherein a [M*N] represents that a reference planes gather M*N point；
S6, adjustment height h, make h=h+ Δ h, Δ h>0, S4 to S5 is repeated, until Q elevation plane (h+Q* Δs h)>H has been gathered Finish；
S7, all reference label coordinates and the signal strength data storehouse eventually formed in the space, are designated as dbase [Q] and use in advance The dbase [Q] for first setting up is positioned by the coordinate matching carried out by data base querying to determinand.
When label to be measured enters in the interior space, the height h of object under test is obtained by ultrasonic sensor, led to Cross wireless (being not limited to wifi/bluetooth/zigbee) mode and the altitude information of object under test is passed to positioning terminal, so Reader will read each antenna RSSI to positioning terminal afterwards, and positioning terminal can determine that it has according to relation function D (i, j, h) Body coordinate, so as to realize space orientation.
Positioning of the present invention based on passive UHF type RFID can not only judge to whether there is RFID in induction zone, The specific sky of RFID can also be determined by each RFID monitoring devices to the difference of each RFID induction Between position, so as to be accurately positioned people or thing.
Specific embodiment more than can be seen that a kind of room based on flexible RFID passive labels of present invention offer Interior space-location method has the advantages that positioning precision is high, maintenance cost is low, has been carried out.

Claims (4)

1. a kind of indoor space locating method based on flexible RFID passive labels, it is characterised in that to be positioned including being arranged on Reader and antenna that passive label and ultrasonic sensor, location-server on object are adapted to passive label, the nothing Source label is flexibility RFID passive labels, and reader is by the passive label on antenna induction to object to be positioned and obtains its letter Number intensity, location-server takes following steps by wireless network and reader and ultrasonic sensor wireless connection：
S1, reader is connected with location-server；
S2, the antenna of reader is numbered, installed in the top of the interior space of required positioning, the height of the interior space It is H, the number of the antenna is 3, the intensity that reader is successively read the reception signal of each antenna indicates (RSSI), described Three RSSI of antenna constitute one group of elements of a fix point P (RSSIi,RSSIj,RSSIk)；
S3, the positioning plane for the located space being divided into some different heights, the reference label set up in each elevation plane Coordinate database；
S4, ultrasonic sensor is arranged on object to be positioned, the ultrasonic sensor passes the elevation information that collects Location-server is defeated by, height h of the object to be positioned in current spatial is determined by the ultrasonic sensor on object to be positioned, h<H；
S5, the position coordinates sample R (x for gathering any reference label (i, j, h) in the planei, yj, zh), i=1~M, j=1 ~N, M, N >=2,0<h<Signal strength values P (RSSI1 of H and 3 antenna to reference label (i, j, h)ijh,RSSI2ijh, RSSI3ijh), so as to set up the relation of reference label coordinate and signal intensity：R(xi, yj, zh)<——>P(RSSI1ijh, RSSI2ijh,RSSI3ijh)；
S6, adjustment height h, increase Δ h, Δ h>0, S4 to S5 is repeated, until h+ Δs h>The height H of=interior space；
S7, demarcation relation function D (i, j, h) represent reference label coordinate (xi, yj, zh) signal with label to be positioned to antenna Relation between intensity, is that can determine that determinand coordinate by look-up table.
2. a kind of indoor space locating method based on flexible RFID passive labels according to claim 1, its feature exists In installed in 3 antenna asymmetric distributions triangular in shape at the top of the interior space of required positioning.
3. a kind of indoor space locating method based on flexible RFID passive labels according to claim 1, its feature exists In location-server is connected by bluetooth or WiFi with reader and ultrasonic sensor.
4. a kind of indoor space locating method based on flexible RFID passive labels according to claim 1, its feature exists Location-server is passed to by bluetooth or zigbee modes after, ultrasonic sensor obtains the height h of determinand.
CN201710012363.0A 2017-01-09 2017-01-09 A kind of indoor space locating method based on flexible RFID passive label Active CN106842119B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710012363.0A CN106842119B (en) 2017-01-09 2017-01-09 A kind of indoor space locating method based on flexible RFID passive label

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710012363.0A CN106842119B (en) 2017-01-09 2017-01-09 A kind of indoor space locating method based on flexible RFID passive label

Publications (2)

Publication Number Publication Date
CN106842119A true CN106842119A (en) 2017-06-13
CN106842119B CN106842119B (en) 2019-07-09

Family

ID=59117075

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710012363.0A Active CN106842119B (en) 2017-01-09 2017-01-09 A kind of indoor space locating method based on flexible RFID passive label

Country Status (1)

Country Link
CN (1) CN106842119B (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021068106A1 (en) * 2019-10-08 2021-04-15 Huawei Technologies Co., Ltd. Towards scalable, robust and cost-efficient mechanism for multiple object localization in smart indoor environment
CN113158699A (en) * 2021-04-29 2021-07-23 深圳供电局有限公司 Positioning method and system based on passive RFID sensing chip

Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100148985A1 (en) * 2008-12-17 2010-06-17 Lang Lin Association Based Locationing for RFID
CN102752851A (en) * 2012-06-29 2012-10-24 中国科学院深圳先进技术研究院 Method and system for collecting fingerprint information of indoor positioning fingerprint library
US20130172020A1 (en) * 2011-12-29 2013-07-04 Khalifa University of Science, Technology, and Research Method and system for localization
US20130281111A1 (en) * 2012-04-19 2013-10-24 Nokia Corporation Method, apparatus, and computer program product for distributed indoor three-dimensional radiomap
CN105142216A (en) * 2015-08-07 2015-12-09 北京航空航天大学 Indoor and outdoor positioning switching method based on characteristic signal fingerprint database
CN205175413U (en) * 2015-11-30 2016-04-20 成都因纳伟盛科技股份有限公司 Indoor positioning system based on RFID
US20160139238A1 (en) * 2013-06-20 2016-05-19 Qatar University Qstp-B System and method for rfid indoor localization
US20160300389A1 (en) * 2015-04-08 2016-10-13 Exactigo, Inc. Correlated immersive virtual simulation for indoor navigation

Patent Citations (8)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20100148985A1 (en) * 2008-12-17 2010-06-17 Lang Lin Association Based Locationing for RFID
US20130172020A1 (en) * 2011-12-29 2013-07-04 Khalifa University of Science, Technology, and Research Method and system for localization
US20130281111A1 (en) * 2012-04-19 2013-10-24 Nokia Corporation Method, apparatus, and computer program product for distributed indoor three-dimensional radiomap
CN102752851A (en) * 2012-06-29 2012-10-24 中国科学院深圳先进技术研究院 Method and system for collecting fingerprint information of indoor positioning fingerprint library
US20160139238A1 (en) * 2013-06-20 2016-05-19 Qatar University Qstp-B System and method for rfid indoor localization
US20160300389A1 (en) * 2015-04-08 2016-10-13 Exactigo, Inc. Correlated immersive virtual simulation for indoor navigation
CN105142216A (en) * 2015-08-07 2015-12-09 北京航空航天大学 Indoor and outdoor positioning switching method based on characteristic signal fingerprint database
CN205175413U (en) * 2015-11-30 2016-04-20 成都因纳伟盛科技股份有限公司 Indoor positioning system based on RFID

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2021068106A1 (en) * 2019-10-08 2021-04-15 Huawei Technologies Co., Ltd. Towards scalable, robust and cost-efficient mechanism for multiple object localization in smart indoor environment
CN113158699A (en) * 2021-04-29 2021-07-23 深圳供电局有限公司 Positioning method and system based on passive RFID sensing chip

Also Published As

Publication number Publication date
CN106842119B (en) 2019-07-09

Similar Documents

Publication Publication Date Title
CN106019221B (en) UWB positioning system based on AoA
CN107861100B (en) Indoor positioning method based on three-dimensional wave beam
CN107923960B (en) System and method for locating tags in space
CN102156283B (en) Real time location system and method for making a location information based on finger printing
CN103777174B (en) Indoor positioning system based on active multifunctional RFID tags
CN105717483B (en) A kind of location determining method and device based on multi-source positioning method
CN107544054A (en) A kind of indoor orientation method and device based on environment backscattering
WO2017185588A1 (en) Positioning system and method
CN103644905A (en) Situation-related indoor positioning method and system
CN103698745B (en) The method of indoor wireless positioning equipment and realization location thereof
CN102083201A (en) Positioning method and device based on wireless sensor network
CN109089209B (en) Indoor positioning big data analysis system and method based on RFID technology
CN101975938A (en) Five-dimensional positioning method and system based on radio-frequency signals
CN102707259A (en) Signal intensity-based multi-object positioning method in dynamic environment
CN104507163A (en) RFID (radio frequency identification device) indoor positioning system and method both adopting honeycomb type layout
CN107560618B (en) Robot indoor orientation method based on RFID
CN110187333A (en) A kind of RFID label tag localization method based on synthetic aperture radar technique
CN106375937A (en) Indoor positioning control system based on sensing
CN106405495A (en) VR equipment positioning system and positioning method thereof
CN106842119B (en) A kind of indoor space locating method based on flexible RFID passive label
CN102542227B (en) Built-up jig assembling detection method based on radio frequency identification devices (RFID)
CN104459621A (en) RFID reader antenna positioning method and system
CN108709558B (en) High-precision positioning method for large-size factory building
CN106792560B (en) Target identification method based on wireless reception of signals intensity
CN212160067U (en) Indoor positioning system based on UWB

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant