CN107462249A - A kind of indoor orientation method based on RFID, apparatus and system - Google Patents
A kind of indoor orientation method based on RFID, apparatus and system Download PDFInfo
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- CN107462249A CN107462249A CN201710735262.6A CN201710735262A CN107462249A CN 107462249 A CN107462249 A CN 107462249A CN 201710735262 A CN201710735262 A CN 201710735262A CN 107462249 A CN107462249 A CN 107462249A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/20—Instruments for performing navigational calculations
- G01C21/206—Instruments for performing navigational calculations specially adapted for indoor navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/12—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 by co-ordinating position lines of different shape, e.g. hyperbolic, circular, elliptical or radial
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Abstract
Rotated the embodiment of the invention discloses a kind of indoor orientation method based on RFID, apparatus and system, including control RFID antenna with default angular speed；Obtain RFID antenna to rotate to the anglec of rotation of current location, and label is scanned, obtain tag signal strength corresponding with the anglec of rotation；Corresponding with label the first elliptic equation and the second elliptic equation are determined according to the anglec of rotation, tag signal strength and rotable antenna location algorithm；The first elliptic equation and the second elliptic equation are handled according to oval intersection point calculation algorithm to obtain corresponding two oval intersection points；Judge whether the distance between intersection point and origin are more than the first pre-determined distance, if so, then exporting intersection point, otherwise, continue to obtain anglec of rotation when RFID antenna rotates next position, and carry out circulate operation until obtaining final intersection point.The embodiment of the present invention use only a RFID antenna, have the advantages of system architecture is simple, cost is low, deployment difficulty is low and hardware utilization is high.
Description
Technical field
The present embodiments relate to indoor positioning technologies field, more particularly to a kind of indoor positioning side based on RFID
Method, apparatus and system.
Background technology
With LBS (Location Based Service, location Based service) and O2O (Online To
Offline, under line on line) fast development, location technology also receives much concern and quickly grows in recent years.In location technology
Indoor positioning can be used for logistics, ecommerce, occurred events of public safety etc..
Indoor positioning refers to position personnel or object in environment indoors, passes through arrangement base everywhere indoors
Stand, user produces including the information such as distance and signal intensity in a base station by instruments such as mobile phones, is determined according to these information
The position (or motion track) of user, realizes the monitoring and management to personnel, goods and materials.RFID technique (REID), it is
A kind of contactless automatic identification technology, by radiofrequency signal automatic identification destination object and related data is obtained to realize pair
The positioning of target.Rapid, and because RFID technique non-in itself is responded in position fixing process based on RFID indoor positioning technologies
Contact and non line of sight so that this technology has more preferable Consumer's Experience, and the indoor positioning technologies based on RFID are to apply at present
A kind of relatively broad indoor positioning technologies, there is the advantages of lower deployment cost is low, penetration power is strong.
At present, RSSI (received signal strength information) is positioned on hardware requirement only in the indoor positioning technologies based on RFID
Need RFID reader to provide the signal intensity received, there is the advantages of hardware requirement is low, easy to use, its application is more wide
It is general.In localization method of the prior art based on RSSI rangings, because in the ideal case, signal intensity and label and read-write
The distance of device is negatively correlated, so can uniquely confirm the possible location track of label by signal intensity, in actual location, often
One label obtains corresponding signal intensity under three or the scanning of multiple RFID antennas, so as to respectively obtain three kinds or more
Kind of track, some point of three or multiple intersection of locus is exactly label position, due to needing in the prior art using three
Or multiple RFID antennas position to single label, it is therefore desirable to substantial amounts of RFID antenna, so as to add system cost,
Deployment difficulty is increased, and hardware utilization is relatively low.
Therefore, how a kind of indoor orientation method based on RFID, apparatus and system for solving above-mentioned technical problem is provided
Need to solve the problems, such as those skilled in the art.
The content of the invention
The purpose of the embodiment of the present invention is to provide a kind of indoor orientation method based on RFID, apparatus and system, is using
During use only RFID antenna can and realize positioning to label, system architecture is simple, reduces system cost
With deployment difficulty, and the hardware utilization of system is improved to a certain extent.
In order to solve the above technical problems, the embodiments of the invention provide a kind of indoor orientation method based on RFID, including：
S11：Control RFID antenna is rotated with default angular speed；
S12：Obtain the RFID antenna to rotate to the anglec of rotation of current location, and label be scanned, obtain with
Tag signal strength corresponding to the anglec of rotation；
S13：Determined and the label according to the anglec of rotation, the tag signal strength and rotable antenna location algorithm
Corresponding first elliptic equation and the second elliptic equation；
S14：First elliptic equation and second elliptic equation are handled according to oval intersection point calculation algorithm,
Obtain corresponding two oval intersection points；
S15：Judge whether the distance between the intersection point and origin are more than the first pre-determined distance, if it is, output institute
Intersection point is stated, otherwise, returns to S12, to obtain the anglec of rotation when RFID antenna rotates next position.
Optionally, it is described according to the anglec of rotation, the tag signal strength and rotable antenna location algorithm determine with
The process of first elliptic equation and the second elliptic equation corresponding to the label is：
S130：New definition element E is obtained according to the anglec of rotation and the tag signal strengthn(θn, RSSIn), its
In, θnFor the anglec of rotation, RSSInFor the tag signal strength；
S131：Whether within a preset range to judge the tag signal strength, if it is, into S132, otherwise, enter
S135；
S132：By the new definition element EnWith the first location element E prestored1, the second location element E2And the 3rd
Location element E3It is compared, wherein, EiFor (θi, RSSIi), i=1,2,3, and θ1、θ2And θ3It is different, if the rotation
Angle, θnWith one of anglec of rotation θiIt is identical, then will be with the θiCorresponding RSSIiIt is updated to RSSIn, and enter S133；It is no
Then, into S134；
S133：Using the first location element E after renewal1, the second location element E2And the 3rd location element E3It is determined that with
First elliptic equation corresponding to the label and the second elliptic equation；
S134：Using the second location element E2Update the first location element E1, using the 3rd location element E3More
New second location element E2, using the new definition element EnUpdate the 3rd location element E3, and return to S133；
S135：Using the first location element E prestored1, the second location element E2And the 3rd location element E3Really
Fixed corresponding with the label the first elliptic equation and the second elliptic equation, wherein, EiFor (θi, RSSIi), i=1,2,3.
Optionally, the first location element E using after renewal1, the second location element E2And the 3rd location element E3
It is determined that the process of the first elliptic equation corresponding with the label and the second elliptic equation is：
Using the first location element E after renewal1In RSSI1, the 3rd location element E after renewal3In
RSSI3And the mapping relations of the signal intensity prestored and elliptic equation parameter respectively obtain and the RSSI1Corresponding first
Elliptic equation parameter and with the RSSI3Corresponding second elliptic equation parameter；
According to the first elliptic equation parameter and the first location element E1In anglec of rotation θ1It is oval to obtain first
Equation；
According to the second elliptic equation parameter and the 3rd location element E3In anglec of rotation θ3It is oval to obtain second
Equation.
Optionally, it is described that first elliptic equation and second elliptic equation are entered according to oval intersection point calculation algorithm
Row processing, the process for obtaining corresponding two oval intersection points are：
S141：Independent variable x preset initial value is substituted into first elliptic equation and second elliptic equation respectively,
Obtain two root ys corresponding with first elliptic equation11And y12, and two root ys corresponding with second elliptic equation21
And y22；
S142：By the y11With the y21, the y11With the y22, the y12With the y21, the y12With the y22
Carry out making the difference calculating respectively, obtain each difference, obtain two points (x, y corresponding to the minimum difference DELTA y of absolute value1) and (x,
y2)；
S143：Judge whether the x reaches predetermined threshold value, if it is, into S144；Otherwise, into S145；
S144：The preset initial value of the independent variable x is updated using preset increments, and returns to S141；
S145：All Δ y are ranked up according to order from small to large, and the acquisition present count from the Δ y of minimum
Corresponding one (x, y) of an amount Δ y, each Δ y, wherein, y be with corresponding Δ y corresponding to y1And y2In with x change rate of change
A less value；
S146：The y values for judging in the predetermined number Δ y to whether there is in point (x, y) corresponding to Δ y are more than minimum
Point (x corresponding to Δ y0, y0) in y0Value, and (x, y) and (x0, y0) the distance between be more than the second pre-determined distance,
If it is, (x, y) is as corresponding two oval intersection points by described in；Otherwise, (the x by described in0, y0) it is used as corresponding two
Oval intersection point.
Optionally, in addition to by positional information corresponding to the intersection point shown.
Optionally, in addition to when scanning is to the label alarm prompt is sent.
The embodiment of the present invention has also correspondingly provided a kind of indoor positioning device based on RFID, including：
Control module, for controlling RFID antenna to be rotated with default angular speed；
Angle detection module, rotated for obtaining the RFID antenna to the anglec of rotation of current location；
RFID reader, for being scanned to label, obtain tag signal strength corresponding with the anglec of rotation；
Elliptic equation determining module, for being positioned according to the anglec of rotation, the tag signal strength and rotable antenna
Algorithm determines corresponding with the label the first elliptic equation and the second elliptic equation；
Intersection point calculation module, for according to oval intersection point calculation algorithm to first elliptic equation and described second oval
Equation is handled, and obtains corresponding two oval intersection points；
Judge module, for judging whether the distance between the intersection point and origin are more than the first pre-determined distance, if it is,
Output module is then triggered, otherwise, trigger angle detection module, to obtain the rotation when RFID antenna rotates next position
Angle；
The output module, for exporting the intersection point.
Optionally, described device also includes display module, for positional information corresponding to the intersection point to be shown.
Optionally, described device also includes alarm module, for sending alarm prompt when scanning is to the label.
The embodiment of the present invention additionally provides a kind of indoor locating system based on RFID, including it is as described above based on
RFID indoor positioning device.
The embodiments of the invention provide a kind of indoor orientation method based on RFID, apparatus and system, including control RFID
Antenna is rotated with default angular speed；Obtain RFID antenna to rotate to the anglec of rotation of current location, and label is swept
Retouch, obtain tag signal strength corresponding with the anglec of rotation；Calculated according to the anglec of rotation, tag signal strength and rotable antenna positioning
Method determines corresponding with label the first elliptic equation and the second elliptic equation；According to oval intersection point calculation algorithm to the first ellipse side
Journey and the second elliptic equation are handled, and obtain corresponding two oval intersection points；Judging the distance between intersection point and origin is
It is no to be more than the first pre-determined distance, if it is, output intersection point, otherwise, continue obtain RFID antenna rotate next position when
The anglec of rotation, and circulate operation is carried out until obtaining final intersection point.
A RFID antenna is only needed in the embodiment of the present invention, can in each angle in RFID antenna rotary course
With obtain having identical signal strength values, different distance coordinate points, and the track shape of the point with identical signal strength values
Into an ellipse, after RFID antenna is rotated, the label of same position will appear in front and rear two of RFID antenna rotation
On elliptic curve, it is possible to by being monitored to the signal intensity at label, and go out according to label signal intensity, RFID
The anglec of rotation and rotable antenna location algorithm of antenna determine two elliptic equations corresponding with label, and by solve this two
The intersection point of two elliptical orbits can obtain the position where outgoing label corresponding to individual elliptic equation.In the embodiment of the present invention only with
One RFID antenna can realizes the positioning to label, and system architecture is simple, reduces system cost and deployment difficulty, and
And the hardware utilization of system is improved to a certain extent.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will be to institute in prior art and embodiment
The accompanying drawing needed to use is briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, on the premise of not paying creative work, can also be obtained according to these accompanying drawings
Obtain other accompanying drawings.
Fig. 1 is a kind of schematic flow sheet of the indoor orientation method based on RFID provided in an embodiment of the present invention；
Fig. 2 is a kind of structural representation of location data buffering area provided in an embodiment of the present invention；
Fig. 3 is a kind of structural representation of the indoor positioning device based on RFID provided in an embodiment of the present invention.
Embodiment
The embodiments of the invention provide a kind of indoor orientation method based on RFID, apparatus and system, in use
Positioning of the RFID antenna can realization to label is use only, system architecture is simple, reduces system cost and deployment
Difficulty, and the hardware utilization of system is improved to a certain extent.
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with the embodiment of the present invention
In accompanying drawing, the technical scheme in the embodiment of the present invention is clearly and completely described, it is clear that described embodiment is
Part of the embodiment of the present invention, rather than whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art
The every other embodiment obtained under the premise of creative work is not made, belongs to the scope of protection of the invention.
Fig. 1 is refer to, Fig. 1 is that a kind of flow of indoor orientation method based on RFID provided in an embodiment of the present invention is illustrated
Figure.
This method includes：
S11：Control RFID antenna is rotated with default angular speed；
S12：Obtain RFID antenna to rotate to the anglec of rotation of current location, and label is scanned, obtain and rotate
Tag signal strength corresponding to angle；
S13：Determine that corresponding with label first is ellipse according to the anglec of rotation, tag signal strength and rotable antenna location algorithm
Equation of a circle and the second elliptic equation；
S14：The first elliptic equation and the second elliptic equation are handled according to oval intersection point calculation algorithm, obtained corresponding
Two oval intersection points；
S15：Judge whether the distance between intersection point and origin are more than the first pre-determined distance, if it is, into S16；It is no
Then, S12 is returned to, to obtain anglec of rotation when RFID antenna rotates next position；
S16：Export intersection point.
It should be noted that after RFID antenna normal work, space that can in its vicinity produces certain magnetic field, is in
Label (i.e. electronic tag) under the magnetic field can induce corresponding signal intensity.In the ideal situation, when antenna is in identical bits
When putting, signal intensity and the distance between label and RFID antenna that label senses are logarithmic decrement relation.In rotary course
In, it can obtain that there are identical signal strength values, the coordinate points of different distance in each angle, these coordinate points are connected
An ellipse substantially can be obtained.Can thinks that label is located at corresponding oval rail after measuring the signal intensity of label
On mark.After RFID antenna is rotated, the electronic tag of same position will appear in RFID antenna and rotate former and later two ellipses
On curve, the position of outgoing label can be obtained by solving the two oval intersection points.
In actual applications ARM development boards can be used to control monitoring head to drive as processor, and by processor
RFID antenna is rotated, can in real time or interval preset time gathers RFID antenna in RFID antenna rotary course
The anglec of rotation, and label can be scanned under the control of a processor by RFID reader, when label is arrived in scanning
Obtain tag signal strength (signal intensity that i.e. label is sensed), for RFID antenna in some anglec of rotation, label
Signal intensity can average to obtain by the signal intensity of Multiple-Scan, can also be according to the signal intensity pair of reference mode
Tag signal strength is modified, and tag signal strength is corresponding relation with the anglec of rotation.
By rotable antenna location algorithm, label is sensed to the obtained anglec of rotation of monitoring and under the anglec of rotation
Signal intensity, which is analyzed, can both obtain two elliptic equations corresponding with the label, i.e. the first elliptic equation and the second ellipse
Equation, by carrying out finding intersection calculating to the two elliptic equations, obtain corresponding to the two elliptic equations two it is oval
Intersection point, in order that positioning is more accurate, pre-determined distance (being, for example, 0.03m) can be more than in the distance between the intersection point and origin
When, it is final intersection point to determine the intersection point, and the particular location of outgoing label can be determined by the intersection point.If the intersection point and original
Directly distance is less than pre-determined distance to point, then the RFID antenna elliptic equation resulting in the anglec of rotation e insufficient to determine
It the position of label, now can continue to rotate with RFID antenna, it is corresponding at next position to continue acquisition RFID antenna
The anglec of rotation and corresponding tag signal strength, so as to being obtained accordingly according to the anglec of rotation and corresponding tag signal strength
The first elliptic equation and the second elliptic equation, and solve corresponding intersection point, and when the distance between the intersection point and origin greatly
When pre-determined distance, exported the intersection point as final intersection point, so circulation is carried out until obtaining satisfactory friendship
Untill point.
It should also be noted that, the first predetermined threshold value in the embodiment of the present invention can be 0.3m, it is of course also possible to be it
His concrete numerical value, its specific value can be determined according to actual conditions, and the application does not do special restriction to this.Separately
Outside, can also be determined for the concrete numerical value of the default angular speed in the application according to actual conditions, the application to this not
Make special restriction.
A RFID antenna is only needed in the embodiment of the present invention, can in each angle in RFID antenna rotary course
With obtain having identical signal strength values, different distance coordinate points, and the track shape of the point with identical signal strength values
Into an ellipse, after RFID antenna is rotated, the label of same position will appear in front and rear two of RFID antenna rotation
On elliptic curve, it is possible to by being monitored to the signal intensity at label, and signal intensity according to label, RFID days
The anglec of rotation and rotable antenna location algorithm of line determine two elliptic equations corresponding with label, and by solving the two
The intersection point of two elliptical orbits can obtain the position where outgoing label corresponding to elliptic equation.In the embodiment of the present invention only with
One RFID antenna can realizes the positioning to label, and system architecture is simple, reduces system cost and deployment difficulty, and
The hardware utilization of system is improved to a certain extent.
The embodiment of the invention discloses a kind of indoor orientation method based on RFID, relative to a upper embodiment, sheet
Embodiment has made further instruction and optimization to technical scheme.Specifically：
Further, in above-mentioned S13, determined according to the anglec of rotation, tag signal strength and rotable antenna location algorithm
The process of corresponding with label the first elliptic equation and the second elliptic equation, is specifically as follows：
S130：New definition element E is obtained according to the anglec of rotation and tag signal strengthn(θn, RSSIn), wherein, θnFor rotation
Gyration, RSSInFor tag signal strength；It should be noted that location element E is by anglec of rotation θ and tag signal strength
RSSI compositions, it is possible to which new definition element E is obtained according to the current acquired anglec of rotation of system and tag signal strengthn
(θn, RSSIn), which new definition element wherein n represents.
S131：Whether within a preset range to judge tag signal strength, if it is, into S132, otherwise, enter
S135；
Specifically, the tag signal strength in the embodiment of the present invention can be the signal intensity of the label directly obtained,
Can be after the signal intensity sensed according to the current signal strength of reference mode and the difference of standard value to label is modified
Tag signal strength, so as to so that resulting tag signal strength is more accurate.
Preset range in the application can be [- 45, -85] dbm, certainly, also lose and be limited to use above-mentioned preset range,
The specific value of preset range can be determined according to the gain of the RFID antenna actually used, and it is special that the application is not done to this
Restriction.
S132：By new definition element EnWith the first location element E prestored1, the second location element E2And the 3rd positioning
Element E3It is compared, wherein, EiFor (θi, RSSIi), i=1,2,3, and θ1、θ2And θ3It is different, if anglec of rotation θnWith it
In an anglec of rotation θiIt is identical, then will be with θiCorresponding RSSIiIt is updated to RSSIn, and enter S133；Otherwise, into S134；
It should be noted that a positioning with certain capacity can be opened up in the embodiment of the present invention in internal memory in advance
Data buffer zone, such as capacity are 3 location data buffering area, and prestore three mutually different positioning of the anglec of rotation
Element, i.e. the first location element E1, the second location element E2And the 3rd location element E3, and E1、E2And E3According to E1E2E3It is suitable
Sequence is stored into buffering area successively, specifically refer to Fig. 2, and Fig. 2 is a kind of location data buffering area provided in an embodiment of the present invention
Structural representation.As one new definition element E of acquisitionn, and the anglec of rotation of the new definition element within a preset range when, then
By the anglec of rotation θ in the new definition elementnWith three anglec of rotation θ of three location elements prestored1、θ2And θ3Enter
Row compares, if θnWith θ1、θ2And θ3In some anglec of rotation it is identical, then will be with identical anglec of rotation θiIt is corresponding
RSSIiIt is updated to RSSIn, for example, θnWith θ1It is identical, then by E1In RSSI1It is updated to RSSIn, then the first location element E1Renewal
For (θ1, RSSIn), now the second location element and the 3rd location element do not change.That is, will be with the identical anglec of rotation
Spend θiCorresponding RSSIiIt is updated to RSSInAfterwards, corresponding location element EiIt is updated to corresponding (θi, RSSIn), it is other
Location element does not change.Now, into S133；
S133：Using the first location element E after renewal1, the second location element E2And the 3rd location element E3It is determined that with
First elliptic equation corresponding to label and the second elliptic equation；
Further, the first elliptic equation corresponding with label and the second ellipse side can be specifically determined in the following manner
Journey：
Using the first location element E after renewal1In RSSI1, the 3rd location element E after renewal3In
RSSI3And the mapping relations of the signal intensity prestored and elliptic equation parameter respectively obtain and RSSI1Corresponding first is oval
Equation parameter and and RSSI3Corresponding second elliptic equation parameter；
According to the first elliptic equation parameter and the first location element E1In anglec of rotation θ1Obtain the first elliptic equation；
According to the second elliptic equation parameter and the 3rd location element E3In anglec of rotation θ3Obtain the second elliptic equation.
It should be noted that work as θnWith θ1When identical, then by E1In RSSI1It is updated to RSSIn, also i.e. by RSSInAs
RSSI1With θ1Form the E after renewal1, then the 3rd location element E after now updating3Do not change, therefore RSSI3No
Change；Work as θnWith θ3When identical, then by E3In RSSI3It is updated to RSSIn, also i.e. by RSSInAs RSSI3With θ3Form
E after renewal3, the first location element E after now updating1Do not change, namely RSSI1Do not change；Work as θn
With θ2When identical, then by E2In RSSI2It is updated to RSSIn, also i.e. by RSSInAs RSSI2With θ2Form the E after renewal2, this
The first location element E after Shi Gengxin1With the 3rd location element E after renewal3It is respectively the first original location element
E1With the 3rd original location element E3, both of which do not change.
Because the point of identical signal intensity may be constructed an elliptical orbit, therefore can be determined according to tag signal strength
Corresponding elliptic equation, such as can arbitrarily be represented on the symmetrical elliptic equation of y-axis with following formula：
Ax2+Cy2+ Ey+F=0
When plus the anglec of rotation, corresponding elliptic equation is：
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+E sinθx+E
Cos θ y+F=0, wherein, x and y unit are rice, and θ unit is radian.
Then, beforehand through experiment and it can derive in actual applications and establish each of tag signal strength and elliptic equation
Tables of data between parameter, that is, the mapping relations between tag signal strength and elliptic equation parameter are pre-established, pass through renewal
The first location element E afterwards1In RSSI1(if do not update, if RSSI1For original RSSI1, if updating, then
RSSI1For RSSIn) and corresponding mapping relations be that can determine that elliptic equation parameter A, C, E and F now, further according to rotation
Gyration θ1With i.e. available first elliptic equation of the above-mentioned elliptic equation with the anglec of rotation；
Pass through the 3rd location element E after renewal3In RSSI3(if do not update, if RSSI3To be original
RSSI3, if renewal, then RSSI3For RSSIn), and corresponding mapping relations are that can determine that elliptic equation parameter now
A, C, E and F, further according to anglec of rotation θ3With the i.e. available second ellipse side of the above-mentioned elliptic equation with the anglec of rotation
Journey.It should be noted that work as θnWith θ1、θ2And θ3It is when differing, then specific as follows into S134：
S134：Using the second location element E2Update the first location element E1, using the 3rd location element E3Renewal second is fixed
Bit element E2, using new definition element EnUpdate the 3rd location element E3, and return to S133；
It should be noted that work as θnWith θ1、θ2And θ3When differing, the first location element E for will being stored in buffering area1
Remove to buffering area, and by the second location element E2Shifting is deposited to the position where the first original location element, and E now2
As new E1, equally by the 3rd location element E3Shifting is deposited to the position where the second original location element, and E now3
As new E2, similarly by new definition element EnStore to the position where the 3rd original location element, and turn into new E3,
Now need to determine corresponding with label the first elliptic equation and the second elliptic equation according to each location data after renewal,
It is specific as follows：
Also according to the first location element E after renewal1In RSSI1, the 3rd location element E after renewal3In
RSSI3And the mapping relations of the signal intensity prestored and elliptic equation parameter respectively obtain and RSSI1Corresponding first is oval
Equation parameter and and RSSI3Corresponding second elliptic equation parameter.
Further according to following elliptic equation：
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+E sinθx+E
Cos θ y+F=0
It can obtain corresponding first elliptic equation and the second elliptic equation.
S135：Using the first location element E prestored1, the second location element E2And the 3rd location element E3It is determined that with
First elliptic equation corresponding to label and the second elliptic equation, wherein, EiFor (θi, RSSIi), i=1,2,3.
It should be noted that as the tag signal strength RSSI of new definition elementnWhen not within a preset range, illustrate that this is new
Location element is invalid, is given up, while can determine corresponding with label first by three location elements prestored
Elliptic equation and the second elliptic equation, wherein, it can specifically pass through the first location element E1In RSSI1, the 3rd location element E3
In RSSI3And the mapping relations of the signal intensity prestored and elliptic equation parameter respectively obtain and RSSI1Corresponding first
Elliptic equation parameter and and RSSI3Corresponding second elliptic equation parameter.Corresponding first is obtained further according to following elliptic equation
Elliptic equation and the second elliptic equation：
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+E sinθx+E
Cos θ y+F=0.
As a specific embodiment, using the first location element E after updating in above-mentioned S1331, second positioning
Element E2And the 3rd location element E3It is determined that the process of the first elliptic equation corresponding with label and the second elliptic equation, specifically may be used
Think：
Using the first location element E after renewal1In RSSI1, the 3rd location element E after renewal3In
RSSI3And the mapping relations of the signal intensity prestored and elliptic equation parameter respectively obtain and RSSI1Corresponding first is oval
Equation parameter and and RSSI3Corresponding second elliptic equation parameter；
According to the first elliptic equation parameter and the first location element E1In anglec of rotation θ1Obtain the first elliptic equation；
According to the second elliptic equation parameter and the 3rd location element E3In anglec of rotation θ3Obtain the second elliptic equation.
Certainly, in addition to determining the first elliptic equation and the second elliptic equation using the above method, it can also be used
His method determines corresponding with tag signal strength the first elliptic equation and the second elliptic equation, and it is special that the application is not done to this
Restriction, the purpose of the embodiment of the present invention can be realized.
As a specific embodiment, in above-mentioned S14, according to oval intersection point calculation algorithm to the first elliptic equation and
Two elliptic equations are handled, and are obtained the process of corresponding two oval intersection points, are specifically as follows：
S141：Independent variable x preset initial value is substituted into the first elliptic equation and the second elliptic equation respectively, obtained and the
Two root y corresponding to one elliptic equation11And y12, and two root y corresponding with the second elliptic equation21And y22；
It should be noted that such as the first elliptic equation is A1x2+B1xy+C1y2+D1x+E1y+F1=0, the second elliptic equation
For A2x2+B2xy+C2y2+D2x+E2y+F2=0, independent variable x preset initial value can be -5, naturally it is also possible to for other tools
Body numerical value, the embodiment of the present invention do not do special restriction to this.
X preset initial value is substituted into above-mentioned two elliptic equation, now elliptic equation is changed into quadratic equation with one unknown, i.e.,
Corresponding y values can be obtained.When y values be 0, that is, when not having intersection point, (example now is updated to independent variable x by preset increments
Such as x=x+0.01), and substituted into from new in two elliptic equations, untill each elliptic equation has two roots, and when y values are 1
When individual, you can think two it is equal, still regarding as has two intersection points., then can be another first ellipse because each ellipse has two intersection points
Point corresponding to equation of a circle on the first ellipse is (x, y11) and (x, y12), the point corresponding to the second elliptic equation on the second ellipse
For (x, y21) and (x, y22)。
S142：By y11With y21、y11With y22、y12With y21、y12And y22Carry out making the difference calculating respectively, obtain each difference, obtain
Take absolute value two points (x, y corresponding to the difference DELTA y of minimum1) and (x, y2)；
Specifically, by calculating (x, y11) and (x, y21) between difference obtain Δ y1, calculate (x, y11) and (x, y22) it
Between difference obtain Δ y2, calculate (x, y12) and (x, y21) between difference obtain Δ y3, (x, y12) and (x, y22) between difference
It is worth to Δ y4If Δ y2Absolute value be it is minimum, then can be by y11As y1, by y22As y2。
S143：Judge whether x reaches predetermined threshold value, if it is, into S144；Otherwise, into S145；
Predetermined threshold value can be+5, naturally it is also possible to which, for other specific data, its concrete numerical value can be according to actual feelings
The gain of RFID antenna in condition is determined.
S144：Independent variable x preset initial value is updated using preset increments, and returns to S141；
Such as preset increments are 0.01, then independent variable x are updated according to formula x=x+0.01 and return to S141 and counted
Calculate.
Certainly, the preset increments in the embodiment of the present invention are not limited only to as 0.01, or other concrete numerical values, its
Specific value can be determined according to actual conditions, and the application does not do special restriction to this, can realize the embodiment of the present invention
Purpose.
S145：All Δ y are ranked up according to order from small to large, and the acquisition present count from the Δ y of minimum
Corresponding one (x, y) of an amount Δ y, each Δ y, wherein, y be with corresponding Δ y corresponding to y1And y2In with x change rate of change
A less value；
When x reaches predetermined threshold value, you can end loop, now obtain N number of Δ y, each Δ y corresponding one group of (x, y1) and
(x, y2), after this N number of Δ y is sorted from small to large, predetermined number (such as 50) individual Δ y, each Δ y are taken from the Δ y of minimum
Corresponding data can use (x, y) to represent that wherein y is corresponding y1And y2In x values be incremented by during change it is more slow
One value.
S146：The y values for judging in predetermined number Δ y to whether there is in point (x, y) corresponding to Δ y are more than minimum Δ y
Corresponding point (x0, y0) in y0Value, and (x, y) and (x0, y0) the distance between be more than the second pre-determined distance, if it is, will
(x, y) is as corresponding two oval intersection points；Otherwise, by (x0, y0) as corresponding two oval intersection points.
It should be noted that the second pre-determined distance can be 0.03m, certainly, it is not limited only to take the numerical value, its specific value
It can be determined according to actual conditions, the application does not do special restriction to this.In addition, working as has its corresponding point of multiple Δ y
Y values in (x, y) are more than point (x corresponding to minimum Δ y0, y0) in y0Value, and (x, y) and (x0, y0) the distance between be more than
Second pre-determined distance, now using the intersection point oval as two of data point (x, y) corresponding to Δ y minimum in this multiple Δ y.
It should also be noted that, after two oval intersection points (x, y) are obtained by the above method, can also pass through
Intersection point (x is calculated when rotating a supreme angle in RFID antenna0', y0') currently available intersection point (x, y) is modified,
Obtain final positioning result (x', y'), and should be (x', y') oval as two intersection point, and should for the judgement in S15
Whether the distance between intersection point and origin are more than the first predetermined threshold value.
The process that antinode (x, y) is modified is specific as follows：
Calculate intersection point (x, y) and intersection point (x0', y0') the distance between s, i.e.,：
The weight of intersection point (x, y) is ε, and ε computational methods are：
Further, final positioning result (x', y') can be represented by the formula：
Optionally, in addition to by positional information corresponding to intersection point shown.
It should be noted that in actual applications when it is determined that outgoing label positional information after, can by camera or its
He is taken pictures at device to label, and user is shown to by way of radar image, so that user easier finds setting
The article of the label.
Optionally, in addition to when scanning is to label alarm prompt is sent.
In addition, system can also send alarm prompt when scanning is to label, can specifically be entered by buzzer etc.
Row alarm, so as to remind user in time, to be tracked processing in time to label.
Accordingly the embodiment of the invention also discloses a kind of indoor positioning device based on RFID, Fig. 3 is specifically refer to, is schemed
3 be a kind of structural representation of the indoor positioning device based on RFID provided in an embodiment of the present invention.In the base of above-described embodiment
On plinth：
The device includes：
Control module 1, for controlling RFID antenna to be rotated with default angular speed；
Angle detection module 2, rotated for obtaining RFID antenna to the anglec of rotation of current location；
RFID reader 3, for being scanned to label, obtain tag signal strength corresponding with the anglec of rotation；
Elliptic equation determining module 4, for being determined according to the anglec of rotation, tag signal strength and rotable antenna location algorithm
Corresponding with label the first elliptic equation and the second elliptic equation；
Intersection point calculation module 5, for entering according to oval intersection point calculation algorithm to the first elliptic equation and the second elliptic equation
Row processing, obtains corresponding two oval intersection points；
Judge module 6, for judging whether the distance between intersection point and origin are more than the first pre-determined distance, if it is,
Output module 7 is triggered, otherwise, trigger angle detection module 2, to obtain anglec of rotation when RFID antenna rotates next position
Degree；
Output module 7, for exporting intersection point.
It should be noted that control module can include ARM development boards (processor) and monitoring head in actual applications,
To be controlled by processor to monitoring head, so as to drive RFID antenna to be revolved to preset angular speed by monitoring head
Turn.Angle detection module can be inclinator, and intersection point calculation module, judge module and output module can be integrated in computer
In software systems, wherein communicated between hardware system and computer software by Ethernet.
Optionally, device also includes display module, for positional information corresponding to intersection point to be shown.
Optionally, device also includes alarm module, for sending alarm prompt when scanning is to label.
It should be noted that the alarm module can include buzzer, alerted by way of blowing a whistle.Certainly,
Other devices can be included, alerted in other way, such as flashing lamp, accused by way of light flash
Alert prompting, the specific embodiment of the present invention do not limit.
It should be noted that a RFID antenna is only needed in the embodiment of the present invention, in RFID antenna rotary course, often
It can obtain that there are identical signal strength values, the coordinate points of different distance in individual angle, and there are identical signal strength values
The track of point form an ellipse, after RFID antenna is rotated, the label of same position will appear in RFID antenna rotation
On two elliptic curves before and after turning, it is possible to by being monitored to the signal intensity at label, and go out according to label
Signal intensity, the anglec of rotation of RFID antenna and rotable antenna location algorithm determine two elliptic equations corresponding with label,
And the position where outgoing label being obtained by solving the intersection point of two elliptical orbits corresponding to the two elliptic equations.The present invention
Realize the positioning to label only with RFID antenna can in embodiment, system architecture is simple, reduce system into
Originally and difficulty is disposed, and improves the hardware utilization of system to a certain extent.
In addition, the specific introduction for the indoor orientation method based on RFID involved in the embodiment of the present invention please be joined
According to above method embodiment, the application will not be repeated here.
The embodiment of the present invention additionally provides a kind of indoor locating system based on RFID, including described above based on RFID's
Indoor positioning device.
A RFID antenna is only needed in the embodiment of the present invention, can in each angle in RFID antenna rotary course
With obtain having identical signal strength values, different distance coordinate points, and the track shape of the point with identical signal strength values
Into an ellipse, after RFID antenna is rotated, the label of same position will appear in front and rear two of RFID antenna rotation
On elliptic curve, it is possible to by being monitored to the signal intensity at label, and go out according to label signal intensity, RFID
The anglec of rotation and rotable antenna location algorithm of antenna determine two elliptic equations corresponding with label, and by solve this two
The intersection point of two elliptical orbits can obtain the position where outgoing label corresponding to individual elliptic equation.In the embodiment of the present invention only with
One RFID antenna can realizes the positioning to label, and system architecture is simple, reduces system cost and deployment difficulty, and
And the hardware utilization of system is improved to a certain extent.
In addition, the specific introduction for the indoor orientation method based on RFID involved in the embodiment of the present invention please be joined
According to above method embodiment, the application will not be repeated here.
Each embodiment is described by the way of progressive in this specification, what each embodiment stressed be and other
The difference of embodiment, between each embodiment identical similar portion mutually referring to.For device disclosed in embodiment
For, because it is corresponded to the method disclosed in Example, so description is fairly simple, related part is said referring to method part
It is bright.
It should also be noted that, in this manual, such as first and second or the like relational terms be used merely to by
One entity or operation make a distinction with another entity or operation, and not necessarily require or imply these entities or operation
Between any this actual relation or order be present.Moreover, term " comprising ", "comprising" or its any other variant meaning
Covering including for nonexcludability, so that process, method, article or equipment including a series of elements not only include that
A little key elements, but also the other element including being not expressly set out, or also include for this process, method, article or
The intrinsic key element of equipment.In the absence of more restrictions, the key element limited by sentence "including a ...", is not arranged
Except other identical element in the process including the key element, method, article or equipment being also present.
Professional further appreciates that, with reference to the unit of each example of the embodiments described herein description
And algorithm steps, can be realized with electronic hardware, computer software or the combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software, the composition and step of each example are generally described according to function in the above description.These
Function is performed with hardware or software mode actually, application-specific and design constraint depending on technical scheme.Specialty
Technical staff can realize described function using distinct methods to each specific application, but this realization should not
Think beyond the scope of this invention.
Directly it can be held with reference to the step of method or algorithm that the embodiments described herein describes with hardware, processor
Capable software module, or the two combination are implemented.Software module can be placed in random access memory (RAM), internal memory, read-only deposit
Reservoir (ROM), electrically programmable ROM, electrically erasable ROM, register, hard disk, moveable magnetic disc, CD-ROM or technology
In the storage medium of any other forms well known in field.
The foregoing description of the disclosed embodiments, professional and technical personnel in the field are enable to realize or using the present invention.
A variety of modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The most wide scope caused.
Claims (10)
- A kind of 1. indoor orientation method based on RFID, it is characterised in that including：S11：Control RFID antenna is rotated with default angular speed；S12：Obtain the RFID antenna to rotate to the anglec of rotation of current location, and label be scanned, obtain with it is described Tag signal strength corresponding to the anglec of rotation；S13：Determined according to the anglec of rotation, the tag signal strength and rotable antenna location algorithm corresponding with the label The first elliptic equation and the second elliptic equation；S14：First elliptic equation and second elliptic equation are handled according to oval intersection point calculation algorithm, obtained Corresponding two oval intersection points；S15：Judge whether the distance between the intersection point and origin are more than the first pre-determined distance, if it is, exporting the friendship Point, otherwise, S12 is returned to, to obtain the anglec of rotation when RFID antenna rotates next position.
- 2. the indoor orientation method according to claim 1 based on RFID, it is characterised in that described according to the anglec of rotation Degree, the tag signal strength and rotable antenna location algorithm determine the first elliptic equation corresponding with the label and second ellipse The process of equation of a circle is：S130：New definition element E is obtained according to the anglec of rotation and the tag signal strengthn(θn, RSSIn), wherein, θnFor The anglec of rotation, RSSInFor the tag signal strength；S131：Whether within a preset range to judge the tag signal strength, if it is, into S132, otherwise, enter S135；S132：By the new definition element EnWith the first location element E prestored1, the second location element E2And the 3rd positioning Element E3It is compared, wherein, EiFor (θi, RSSIi), i=1,2,3, and θ1、θ2And θ3It is different, if the anglec of rotation θn With one of anglec of rotation θiIt is identical, then will be with the θiCorresponding RSSIiIt is updated to RSSIn, and enter S133；Otherwise, enter Enter S134；S133：Using the first location element E after renewal1, the second location element E2And the 3rd location element E3It is determined that with it is described First elliptic equation corresponding to label and the second elliptic equation；S134：Using the second location element E2Update the first location element E1, using the 3rd location element E3Renewal the Two location element E2, using the new definition element EnUpdate the 3rd location element E3, and return to S133；S135：Using the first location element E prestored1, the second location element E2And the 3rd location element E3It is determined that with First elliptic equation corresponding to the label and the second elliptic equation, wherein, EiFor (θi, RSSIi), i=1,2,3.
- 3. the indoor orientation method according to claim 2 based on RFID, it is characterised in that after the use renewal First location element E1, the second location element E2And the 3rd location element E3It is determined that the first elliptic equation corresponding with the label Process with the second elliptic equation is：Using the first location element E after renewal1In RSSI1, the 3rd location element E after renewal3In RSSI3It is and pre- The mapping relations of the signal intensity first stored and elliptic equation parameter respectively obtain and the RSSI1Corresponding first elliptic equation Parameter and with the RSSI3Corresponding second elliptic equation parameter；According to the first elliptic equation parameter and the first location element E1In anglec of rotation θ1Obtain the first ellipse side Journey；According to the second elliptic equation parameter and the 3rd location element E3In anglec of rotation θ3Obtain the second ellipse side Journey.
- 4. the indoor orientation method according to claim 2 based on RFID, it is characterised in that described according to oval intersection point meter Calculate algorithm to handle first elliptic equation and second elliptic equation, obtain corresponding two oval intersection points Process is：S141：Independent variable x preset initial value is substituted into first elliptic equation and second elliptic equation respectively, obtained Two root ys corresponding with first elliptic equation11And y12, and two root ys corresponding with second elliptic equation21And y22；S142：By the y11With the y21, the y11With the y22, the y12With the y21, the y12With the y22Respectively Carry out making the difference calculating, obtain each difference, obtain two points (x, y corresponding to the minimum difference DELTA y of absolute value1) and (x, y2)；S143：Judge whether the x reaches predetermined threshold value, if it is, into S144；Otherwise, into S145；S144：The preset initial value of the independent variable x is updated using preset increments, and returns to S141；S145：All Δ y are ranked up according to order from small to large, and predetermined number is obtained from the Δ y of minimum Corresponding one (x, y) of Δ y, each Δ y, wherein, y be with corresponding Δ y corresponding to y1And y2In with x change rate of change it is smaller One value；S146：The y values for judging in the predetermined number Δ y to whether there is in point (x, y) corresponding to Δ y are more than minimum Δ y Corresponding point (x0, y0) in y0Value, and (x, y) and (x0, y0) the distance between be more than the second pre-determined distance, if It is that then (x, y) described in general is as corresponding two oval intersection points；Otherwise, (the x by described in0, y0) it is used as corresponding two ellipses Intersection point.
- 5. the indoor orientation method according to claim 1 based on RFID, it is characterised in that also include the intersection point pair The positional information answered is shown.
- 6. the indoor orientation method according to claim 5 based on RFID, it is characterised in that also include when scanning is described in Alarm prompt is sent during label.
- A kind of 7. indoor positioning device based on RFID, it is characterised in that including：Control module, for controlling RFID antenna to be rotated with default angular speed；Angle detection module, rotated for obtaining the RFID antenna to the anglec of rotation of current location；RFID reader, for being scanned to label, obtain tag signal strength corresponding with the anglec of rotation；Elliptic equation determining module, for according to the anglec of rotation, the tag signal strength and rotable antenna location algorithm It is determined that the first elliptic equation corresponding with the label and the second elliptic equation；Intersection point calculation module, for according to oval intersection point calculation algorithm to first elliptic equation and second elliptic equation Handled, obtain corresponding two oval intersection points；Judge module, for judging whether the distance between the intersection point and origin are more than the first pre-determined distance, if it is, touching Output module is sent out, otherwise, trigger angle detection module, to obtain the anglec of rotation when RFID antenna rotates next position Degree；The output module, for exporting the intersection point.
- 8. the indoor positioning device according to claim 7 based on RFID, it is characterised in that described device also includes display Module, for positional information corresponding to the intersection point to be shown.
- 9. the indoor positioning device according to claim 8 based on RFID, it is characterised in that described device also includes alarm Module, for sending alarm prompt when scanning is to the label.
- 10. a kind of indoor locating system based on RFID, it is characterised in that including as described in claim 7 to 9 any one Indoor positioning device based on RFID.
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