CN107462249B - Indoor positioning method, device and system based on RFID - Google Patents
Indoor positioning method, device and system based on RFID Download PDFInfo
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- CN107462249B CN107462249B CN201710735262.6A CN201710735262A CN107462249B CN 107462249 B CN107462249 B CN 107462249B CN 201710735262 A CN201710735262 A CN 201710735262A CN 107462249 B CN107462249 B CN 107462249B
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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
Abstract
The embodiment of the invention discloses an indoor positioning method, device and system based on RFID (radio frequency identification devices), which comprises the steps of controlling an RFID antenna to rotate at a preset angular speed; acquiring a rotation angle of the RFID antenna rotating to the current position, scanning the label, and acquiring label signal intensity corresponding to the rotation angle; determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotation antenna positioning algorithm; processing the first ellipse equation and the second ellipse equation according to an ellipse intersection calculation algorithm to obtain the intersection of the two corresponding ellipses; and judging whether the distance between the intersection point and the original point is greater than a first preset distance, if so, outputting the intersection point, otherwise, continuously acquiring the rotation angle of the RFID antenna at the next position, and performing cycle operation until the final intersection point is obtained. The embodiment of the invention only adopts one RFID antenna, and has the advantages of simple system structure, low cost, low deployment difficulty and high hardware utilization rate.
Description
Technical Field
The embodiment of the invention relates to the technical field of indoor positioning, in particular to an indoor positioning method, device and system based on RFID.
Background
With the rapid development of L BS (L position Based Service) and O2O (Online to offline), positioning technology has attracted much attention in recent years and has rapidly developed.
Indoor positioning refers to positioning people or objects in an indoor environment, base stations are arranged at various positions in the room, a user generates information including distance, signal strength and the like in the base stations by means of tools such as a mobile phone, the position (or moving track) of the user is determined according to the information, and monitoring and management of the people and materials are achieved. The RFID technology (radio frequency identification technology) is a non-contact automatic identification technology, and realizes the positioning of a target by automatically identifying the target object through a radio frequency signal and acquiring related data. The indoor positioning technology based on the RFID has quick response in the positioning process, and has better user experience because of the non-contact and non-line-of-sight performance of the RFID, is widely applied at present, and has the advantages of low deployment cost and strong penetrating power.
At present, in the indoor positioning technology based on the RFID, the RSSI (received signal strength information) positioning only needs the RFID reader to provide the received signal strength on the hardware requirement, and has the advantages of low hardware requirement and convenient use, and the application is relatively wide. In the positioning method based on RSSI ranging in the prior art, because the signal strength is negatively correlated with the distance between a tag and a reader-writer under an ideal condition, the possible position track of the tag can be uniquely confirmed through the signal strength, and each tag obtains corresponding signal strength under the scanning of three or more RFID antennas during actual positioning, so that three or more tracks are respectively obtained, a certain point where the three or more tracks intersect is the tag position, and because three or more RFID antennas are needed to position a single tag in the prior art, a large number of RFID antennas are needed, so that the system cost is increased, the deployment difficulty is increased, and the hardware utilization rate is low.
Therefore, how to provide an RFID-based indoor positioning method, device and system to solve the above technical problems becomes a problem to be solved by those skilled in the art.
Disclosure of Invention
The embodiment of the invention aims to provide an indoor positioning method, device and system based on RFID, which can realize the positioning of a label by only adopting one RFID antenna in the using process, has a simple system structure, reduces the system cost and the deployment difficulty and improves the hardware utilization rate of the system to a certain extent.
In order to solve the above technical problem, an embodiment of the present invention provides an indoor positioning method based on an RFID, including:
s11: controlling the RFID antenna to rotate at a preset angular speed;
s12: acquiring a rotation angle of the RFID antenna rotating to the current position, scanning a label, and acquiring label signal intensity corresponding to the rotation angle;
s13: determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotating antenna positioning algorithm;
s14: processing the first ellipse equation and the second ellipse equation according to an ellipse intersection calculation algorithm to obtain the intersection of the two corresponding ellipses;
s15: and judging whether the distance between the intersection point and the origin is greater than a first preset distance, if so, outputting the intersection point, otherwise, returning to S12 to obtain the rotation angle of the RFID antenna at the next position.
Optionally, the process of determining the first elliptical equation and the second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength, and the rotating antenna positioning algorithm is as follows:
s130: obtaining a new positioning element E according to the rotation angle and the label signal strengthn(θn，RSSIn) Wherein, thetanIs the rotation angle, RSSInIs the tag signal strength;
s131: judging whether the label signal intensity is in a preset range, if so, entering S132, otherwise, entering S135;
s132: positioning the new positioning element EnWith a pre-stored first positioning element E1A second positioning element E2And a third orientation element E3A comparison is made, wherein EiIs (theta)i，RSSIi) I is 1,2,3, and θ1、θ2And theta3Are different from each other if the rotation angle thetanAt an angle theta of rotation with respect to one of themiIs the same as the value of thetaiCorresponding RSSIiUpdate to RSSInAnd proceeds to S133; otherwise, go to S134;
s133: using the updated first positioning element E1A second positioning element E2And a third orientation element E3Determining a first elliptical equation and a second elliptical equation corresponding to the tag;
s134: using said second positioning element E2Updating the first positioning element E1Using said third positioning element E3Updating the second positioning element E2Using said new positioning element EnUpdating the third positioning element E3And returns to S133;
s135: using the first pre-stored constant element E1A second positioning element E2And a third orientation element E3Determining a first and a second elliptical equation corresponding to the tag, wherein EiIs (theta)i，RSSIi)，i＝1,2,3。
Optionally, the first positioning element E after the update is adopted1A second positioning element E2And a third orientation element E3The process of determining the first and second elliptical equations corresponding to the tag is:
using the updated first positioning element E1RSSI in (radio frequency identification) system1And the updated third positioning element E3RSSI in (radio frequency identification) system3And the mapping relation between the pre-stored signal strength and the elliptic equation parameters is respectively obtained and compared with the RSSI1Corresponding first elliptic equation parameter and RSSI3Corresponding second elliptic equation parameters;
according to the first elliptic equation parameter and the first positioning element E1Angle of rotation of (1) & theta1Obtaining a first elliptic equation;
according to the second ellipse equation parameter and the third positioning element E3Angle of rotation of (1) & theta3A second ellipse equation is obtained.
Optionally, the process of processing the first ellipse equation and the second ellipse equation according to the ellipse intersection calculation algorithm to obtain the intersection of the two ellipses includes:
s141: respectively substituting preset initial values of independent variables x into the first elliptic equation and the second elliptic equation to obtain two roots y corresponding to the first elliptic equation11And y12And two roots y corresponding to the second ellipse equation21And y22；
S142: will be the same as y11And said y21The y11And said y22The y12And said y21The y12And said y22Respectively calculating difference to obtain difference values, and obtaining two points (x, y) corresponding to the difference value delta y with the minimum absolute value1) And (x, y)2)；
S143: judging whether x reaches a preset threshold value, if so, entering S144; otherwise, go to S145;
s144: updating the preset initial value of the independent variable x by adopting a preset increment, and returning to S141;
s145: sorting all the deltay in the order from small to large, and obtaining a preset number of deltay from the smallest deltay, wherein each deltay corresponds to one (x, y), and y is y corresponding to the corresponding deltay1And y2A value of (1) which is less in rate of change with x;
s146: judging whether a point (x) corresponding to the minimum delta y in the points (x, y) corresponding to the delta y exists in the preset number of delta y or not0，y0) Y in (1)0A value, and said (x, y) and said (x)0，y0) The distance between the two ellipses is greater than a second preset distance, if so, the (x, y) is taken as the intersection point of the two corresponding ellipses; otherwise, the (x) is0，y0) As the intersection of the respective two ellipses.
Optionally, the method further includes displaying the position information corresponding to the intersection.
Optionally, sending an alarm prompt message when the label is scanned.
The embodiment of the invention also correspondingly provides an indoor positioning device based on the RFID, which comprises:
the control module is used for controlling the RFID antenna to rotate at a preset angular speed;
the angle detection module is used for acquiring the rotation angle of the RFID antenna rotating to the current position;
the RFID reader is used for scanning the label to acquire the label signal intensity corresponding to the rotation angle;
the elliptical equation determining module is used for determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotating antenna positioning algorithm;
the intersection point calculation module is used for processing the first ellipse equation and the second ellipse equation according to an ellipse intersection point calculation algorithm to obtain the intersection point of the two corresponding ellipses;
the judging module is used for judging whether the distance between the intersection point and the origin is greater than a first preset distance or not, if so, the output module is triggered, and otherwise, the angle detection module is triggered to acquire the rotation angle of the RFID antenna when the RFID antenna rotates to the next position;
and the output module is used for outputting the intersection point.
Optionally, the apparatus further includes a display module, configured to display the position information corresponding to the intersection.
Optionally, the apparatus further includes an alarm module, configured to send an alarm prompt message when the tag is scanned.
The embodiment of the invention also provides an indoor positioning system based on the RFID, which comprises the indoor positioning device based on the RFID.
The embodiment of the invention provides an indoor positioning method, device and system based on RFID (radio frequency identification devices), which comprises the steps of controlling an RFID antenna to rotate at a preset angular speed; acquiring a rotation angle of the RFID antenna rotating to the current position, scanning the label, and acquiring label signal intensity corresponding to the rotation angle; determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotation antenna positioning algorithm; processing the first ellipse equation and the second ellipse equation according to an ellipse intersection point calculation algorithm to obtain the intersection point of the two corresponding ellipses; and judging whether the distance between the intersection point and the origin is greater than a first preset distance, if so, outputting the intersection point, otherwise, continuously acquiring the rotation angle of the RFID antenna at the next position, and performing cycle operation until the final intersection point is obtained.
In the embodiment of the invention, only one RFID antenna is needed, in the rotation process of the RFID antenna, coordinate points with the same signal strength value and different distances can be obtained at each angle, the track of the points with the same signal strength value forms an ellipse, after the RFID antenna rotates, the label at the same position appears on two elliptic curves before and after the RFID antenna rotates, so that the position of the label can be obtained by monitoring the signal strength at the label, determining two elliptic equations corresponding to the label according to the signal strength, the rotation angle of the RFID antenna and a rotating antenna positioning algorithm, and solving the intersection point of the two elliptic curves corresponding to the two elliptic equations. In the embodiment of the invention, the label can be positioned by only adopting one RFID antenna, the system has simple structure, the system cost and the deployment difficulty are reduced, and the hardware utilization rate of the system is improved to a certain extent.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed in the prior art and the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
Fig. 1 is a schematic flowchart of an indoor positioning method based on RFID according to an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a positioning data buffer according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of an indoor positioning device based on RFID according to an embodiment of the present invention.
Detailed Description
The embodiment of the invention provides an indoor positioning method, device and system based on RFID, which can realize the positioning of a label by only adopting one RFID antenna in the using process, has simple system structure, reduces the system cost and the deployment difficulty and improves the hardware utilization rate of the system to a certain extent.
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating an indoor positioning method based on RFID according to an embodiment of the present invention.
The method comprises the following steps:
s11: controlling the RFID antenna to rotate at a preset angular speed;
s12: acquiring a rotation angle of the RFID antenna rotating to the current position, scanning the label, and acquiring label signal intensity corresponding to the rotation angle;
s13: determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotation antenna positioning algorithm;
s14: processing the first ellipse equation and the second ellipse equation according to an ellipse intersection point calculation algorithm to obtain the intersection point of the two corresponding ellipses;
s15: judging whether the distance between the intersection point and the origin is greater than a first preset distance, and if so, entering S16; otherwise, returning to the step S12 to obtain the rotation angle of the RFID antenna at the next position;
s16: and outputting the intersection point.
It should be noted that after the RFID antenna normally works, a certain magnetic field is generated in a space near the RFID antenna, and a tag (i.e., an electronic tag) under the magnetic field induces a corresponding signal strength. In an ideal state, when the antenna is at the same position, the strength of the signal sensed by the tag and the distance between the tag and the RFID antenna are in a logarithmic attenuation relation. During the rotation, coordinate points with the same signal intensity value and different distances can be obtained at each angle, and the coordinate points are connected to obtain a rough ellipse. After the signal strength of the tag is measured, the tag can be considered to be located on the corresponding elliptical locus. When the RFID antenna rotates, the electronic tags at the same position appear on two elliptic curves before and after the RFID antenna rotates, and the positions of the tags can be obtained by solving the intersection point of the two ellipses.
In practical application, an ARM development board can be used as a processor, the monitoring holder is controlled by the processor to drive the RFID antenna to rotate, the rotation angle of the RFID antenna can be acquired in real time or at preset time intervals in the rotation process of the RFID antenna, the label can be scanned under the control of the processor through an RFID reader-writer, the signal intensity of the label (namely the signal intensity induced by the label) is acquired when the label is scanned, the signal intensity of the label can be obtained by averaging the signal intensities of multiple scans when the RFID antenna is at a certain rotation angle, the signal intensity of the label can be corrected according to the signal intensity of a reference node, and the signal intensity of the label is in a corresponding relation with the rotation angle.
The method comprises the steps of analyzing a rotation angle obtained through monitoring and signal strength induced by a label under the rotation angle through a rotation antenna positioning algorithm to obtain two elliptic equations corresponding to the label, namely a first elliptic equation and a second elliptic equation, calculating an intersection point of the two elliptic equations through calculating the intersection point of the two elliptic equations, determining the intersection point to be a final intersection point when the distance between the intersection point and an origin is larger than a preset distance (for example, 0.03m) in order to enable positioning to be more accurate, and determining the specific position of the label through the intersection point. If the direct distance between the intersection point and the origin is smaller than the preset distance, the elliptic equation obtained by the RFID antenna at the rotating angle is not enough to determine the position of the tag, at the moment, the rotating angle and the corresponding tag signal strength corresponding to the RFID antenna at the next position can be continuously obtained along with the continuous rotation of the RFID antenna, so that the corresponding first elliptic equation and the second elliptic equation are obtained according to the rotating angle and the corresponding tag signal strength, the corresponding intersection point is solved, when the distance between the intersection point and the origin is larger than the preset distance, the intersection point is taken as the final intersection point to be output, and the operation is repeated until the intersection point meeting the requirements is obtained.
It should be further noted that the first preset threshold in the embodiment of the present invention may be 0.3m, and of course, the first preset threshold may also be other specific values, and specific values thereof may be determined according to actual situations, which is not particularly limited in the present application. In addition, the specific value of the preset angular velocity in the present application may also be determined according to actual situations, and the present application does not specifically limit this.
In the embodiment of the invention, only one RFID antenna is needed, in the rotation process of the RFID antenna, coordinate points with the same signal strength value and different distances can be obtained at each angle, the track of the points with the same signal strength value forms an ellipse, after the RFID antenna rotates, the label at the same position appears on two elliptic curves before and after the RFID antenna rotates, so that the position of the label can be obtained by monitoring the signal strength at the label, determining two elliptic equations corresponding to the label according to the signal strength of the label, the rotation angle of the RFID antenna and a rotating antenna positioning algorithm and solving the intersection point of the two elliptic curves corresponding to the two elliptic equations. In the embodiment of the invention, the label can be positioned by only adopting one RFID antenna, the system has simple structure, the system cost and the deployment difficulty are reduced, and the hardware utilization rate of the system is improved to a certain extent.
The embodiment of the invention discloses an indoor positioning method based on RFID, and compared with the previous embodiment, the technical scheme is further explained and optimized by the embodiment. Specifically, the method comprises the following steps:
further, in the above S13, the process of determining the first elliptical equation and the second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength, and the rotating antenna positioning algorithm may specifically be:
s130: obtaining a new positioning element E according to the rotation angle and the label signal intensityn(θn，RSSIn) Wherein, thetanAs the rotation angle, RSSInIs the tag signal strength; it should be noted that the positioning element E is composed of the rotation angle θ and the tag signal strength RSSI, so that a new positioning element E can be obtained according to the rotation angle and the tag signal strength currently acquired by the systemn(θn，RSSIn) Where n represents the next new positioning element.
S131: judging whether the label signal intensity is in a preset range, if so, entering S132, otherwise, entering S135;
specifically, the tag signal strength in the embodiment of the present invention may be the signal strength of the tag directly obtained, or the tag signal strength obtained by correcting the signal strength induced by the tag according to the difference between the current signal strength of the reference node and the standard value, so that the obtained tag signal strength is more accurate.
The preset range in the present application may be [ -45, -85] dbm, and certainly, it is not limited to the above preset range, and the specific value of the preset range may be determined according to the actually adopted gain of the RFID antenna, which is not particularly limited in the present application.
S132: will newly locate element EnWith a pre-stored first positioning element E1A second positioning element E2And a third orientation element E3A comparison is made, wherein EiIs (theta)i，RSSIi) I is 1,2,3, and θ1、θ2And theta3Are different from each other if the angle of rotation thetanAt an angle theta of rotation with respect to one of themiSame, then will be equal to θiCorresponding RSSIiUpdate to RSSInAnd proceeds to S133; otherwise, go to S134;
it should be noted that the present invention is practiced in practiceIn the embodiment, a positioning data buffer with a certain capacity, for example, a positioning data buffer with a capacity of 3, may be created in the memory in advance, and three positioning elements with different rotation angles, that is, the first positioning element E, may be stored in advance1A second positioning element E2And a third orientation element E3And E is1、E2And E3According to E1E2E3Referring to fig. 2, fig. 2 is a schematic structural diagram of a positioning data buffer according to an embodiment of the present invention. When a new positioning element E is obtainednAnd when the rotation angle of the new positioning element is within a preset range, the rotation angle theta in the new positioning element is determinednThree rotation angles theta with three pre-stored positioning elements1、θ2And theta3Making a comparison if thetanAnd theta1、θ2And theta3Will be the same as the same rotation angle thetaiCorresponding RSSIiUpdate to RSSInE.g. thetanAnd theta1Same, then E1RSSI in (radio frequency identification) system1Update to RSSInThen the first constant bit element E1Is updated to (theta)1，RSSIn) The second orientation element and the third orientation element are unchanged. I.e. will be at the same rotation angle thetaiCorresponding RSSIiUpdate to RSSInThen, the corresponding positioning element EiI.e. updated to be corresponding (theta)i，RSSIn) The other positioning elements are unchanged. At this time, the process proceeds to S133;
s133: using the updated first positioning element E1A second positioning element E2And a third orientation element E3Determining a first elliptical equation and a second elliptical equation corresponding to the label;
further, the first and second elliptical equations corresponding to the tag may be determined specifically by:
using the updated first positioning element E1RSSI in (radio frequency identification) system1Update the dataFollowed by a third positioning element E3RSSI in (radio frequency identification) system3And respectively obtaining the pre-stored mapping relation between the signal intensity and the parameters of the elliptic equation and the RSSI1Corresponding first ellipse equation parameter sum and RSSI3Corresponding second elliptic equation parameters;
according to the first ellipse equation parameter and the first constant element E1Angle of rotation of (1) & theta1Obtaining a first elliptic equation;
according to the second elliptic equation parameter and the third positioning element E3Angle of rotation of (1) & theta3A second ellipse equation is obtained.
When θ is expressednAnd theta1When the same, then E1RSSI in (radio frequency identification) system1Update to RSSInI.e. the RSSInAs RSSI1And theta1Form updated E1Then the third positioning element E after the update at this time3There is no change, so RSSI3No change occurred; when theta isnAnd theta3When the same, then E3RSSI in (radio frequency identification) system3Update to RSSInI.e. the RSSInAs RSSI3And theta3Form updated E3The first constant element E after the update1No change, i.e. RSSI1No change occurred; when theta isnAnd theta2When the same, then E2RSSI in (radio frequency identification) system2Update to RSSInI.e. the RSSInAs RSSI2And theta2Form updated E2The first constant element E after the update1And a third positioning element E after updating3Are respectively the original first positioning elements E1And the original third positioning element E3Neither of them changed.
Since points of the same signal strength can form an elliptical locus, the corresponding elliptical equation can be determined according to the tag signal strength, for example, any elliptical equation that is symmetric about the y-axis can be represented by the following formula:
Ax2+Cy2+Ey+F＝0
when adding the rotation angle, the corresponding ellipse equation is:
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+ E sin θ x + Ecos θ y + F ═ 0, where x and y are in meters and θ is in radians.
In practical application, a data table between the tag signal strength and each parameter of the elliptic equation may be established in advance through experiments and derivation, that is, a mapping relationship between the tag signal strength and the parameter of the elliptic equation is established in advance, and the updated first positioning element E is used1RSSI in (radio frequency identification) system1(if not updated, then RSSI1Is the original RSSI1If there is an update, then RSSI1Is RSSIn) Determining the parameters A, C, E and F of the ellipse equation at the moment according to the corresponding mapping relation, and further according to the rotation angle theta1Obtaining a first elliptic equation by the elliptic equation with the rotation angle;
by the updated third positioning element E3RSSI in (radio frequency identification) system3(if not updated, then RSSI3Is the original RSSI3If there is an update, then RSSI3Is RSSIn) Determining the parameters A, C, E and F of the ellipse equation at the moment according to the corresponding mapping relation, and further according to the rotation angle theta3And the second elliptical equation can be obtained by the elliptical equation with the rotation angle. It should be noted that when θnAnd theta1、θ2And theta3If the two are not the same, the process proceeds to S134, specifically as follows:
s134: using a second positioning element E2Updating the first positioning element E1Using a third positioning element E3Updating the second positioning element E2Using a new positioning element EnUpdating the third positioning element E3And returns to S133;
when θ is expressednAnd theta1、θ2And theta3All the same, the first constant bit element E stored in the buffer area1Remove to bufferAnd a second positioning element E2Transferring to the position of the original first positioning element, and E at this time2Is new E1The third positioning element E is also3Move to the position of the original second positioning element, and E at this time3Is new E2The new positioning element E is positioned similarlynStoring the position of the original third positioning element and becoming a new E3At this time, a first elliptical equation and a second elliptical equation corresponding to the tag need to be determined according to each updated positioning data, which is specifically as follows:
also according to the first positioning element E after updating1RSSI in (radio frequency identification) system1And the updated third positioning element E3RSSI in (radio frequency identification) system3And respectively obtaining the pre-stored mapping relation between the signal intensity and the parameters of the elliptic equation and the RSSI1Corresponding first ellipse equation parameter sum and RSSI3Corresponding second elliptic equation parameters.
And then according to the following ellipse equation:
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+E sinθx+Ecosθy+F＝0
and obtaining a corresponding first elliptic equation and a second elliptic equation.
S135: using a pre-stored first positioning element E1A second positioning element E2And a third orientation element E3Determining a first and a second elliptical equation corresponding to the tag, wherein EiIs (theta)i，RSSIi)，i＝1,2,3。
It should be noted that, when the tag signal strength RSSI of the new location element isnWhen the positioning element is not in the preset range, the new positioning element is invalid and discarded, and meanwhile, a first elliptic equation and a second elliptic equation corresponding to the label can be determined through three pre-stored positioning elements, wherein the first positioning element E can be specifically used1RSSI in (radio frequency identification) system1A third positioning element E3RSSI in (radio frequency identification) system3And pre-stored lettersThe mapping relation between the signal intensity and the parameters of the elliptic equation is respectively obtained and the RSSI1Corresponding first ellipse equation parameter sum and RSSI3Corresponding second elliptic equation parameters. Then, a corresponding first elliptic equation and a second elliptic equation are obtained according to the following elliptic equations:
(A cos2θ+C sin2θ)x2+(-A sin2θ+C sin2θ)xy+(A sin2θ+C cos2θ)y2+E sinθx+Ecosθy+F＝0。
as a specific embodiment, the updated first positioning element E is adopted in the above S1331A second positioning element E2And a third orientation element E3The process of determining the first elliptic equation and the second elliptic equation corresponding to the tag may specifically be:
using the updated first positioning element E1RSSI in (radio frequency identification) system1And the updated third positioning element E3RSSI in (radio frequency identification) system3And respectively obtaining the pre-stored mapping relation between the signal intensity and the parameters of the elliptic equation and the RSSI1Corresponding first ellipse equation parameter sum and RSSI3Corresponding second elliptic equation parameters;
according to the first ellipse equation parameter and the first constant element E1Angle of rotation of (1) & theta1Obtaining a first elliptic equation;
according to the second elliptic equation parameter and the third positioning element E3Angle of rotation of (1) & theta3A second ellipse equation is obtained.
Of course, besides the above method for determining the first ellipse equation and the second ellipse equation, other methods may also be used for determining the first ellipse equation and the second ellipse equation corresponding to the tag signal strength.
As a specific example, in the above S14, the process of processing the first ellipse equation and the second ellipse equation according to the ellipse intersection calculation algorithm to obtain the intersection of the two ellipses may specifically be:
s141: initializing a preset of an argument xThe values are respectively substituted into a first elliptic equation and a second elliptic equation to obtain two roots y corresponding to the first elliptic equation11And y12And two roots y corresponding to the second elliptic equation21And y22；
It should be noted that, for example, the first ellipse equation is A1x2+B1xy+C1y2+D1x+E1y+F10, the second elliptic equation is A2x2+B2xy+C2y2+D2x+E2y+F2The preset initial value of the argument x may be-5, and may be other specific values, which is not particularly limited in the embodiment of the present invention.
And substituting the preset initial value of x into the two elliptic equations, wherein the elliptic equations become quadratic equations of a unary, and then the corresponding y value can be obtained. When the value of y is 0, that is, there are no intersections, the argument x is updated by a preset increment at this time (for example, x is x +0.01), and is newly substituted into two elliptic equations each having two roots, and when the value of y is 1, it is considered that the two equations are equal and still considered that there are two intersections. Since each ellipse has two intersection points, the point on the first ellipse corresponding to the first ellipse equation is (x, y)11) And (x, y)12) The point on the second ellipse corresponding to the second ellipse equation is (x, y)21) And (x, y)22)。
S142: will y11And y21、y11And y22、y12And y21、y12And y22Respectively calculating difference to obtain difference values, and obtaining two points (x, y) corresponding to the difference value delta y with the minimum absolute value1) And (x, y)2)；
Specifically, by calculating (x, y)11) And (x, y)21) The difference therebetween yields Δ y1Calculating (x, y)11) And (x, y)22) The difference therebetween yields Δ y2Calculating (x, y)12) And (x, y)21) The difference therebetween yields Δ y3、(x，y12) And (x, y)22) The difference therebetween yields Δ y4If Δ y2Is the smallest, y can be set to11As y1Will y is22As y2。
S143: judging whether x reaches a preset threshold value, if so, entering S144; otherwise, go to S145;
the preset threshold may be +5, and of course, may also be other specific data, and the specific value may be determined according to the gain of the RFID antenna in an actual situation.
S144: updating the preset initial value of the independent variable x by adopting a preset increment, and returning to S141;
for example, if the preset increment is 0.01, the argument x is updated according to the expression x +0.01, and the calculation is performed by returning to S141.
Of course, the preset increment in the embodiment of the present invention is not limited to 0.01, and may also be other specific values, and specific values thereof may be determined according to actual situations, which is not particularly limited in the present application, and the purpose of the embodiment of the present invention may be achieved.
S145: sorting all the deltay in the order from small to large, and obtaining a preset number of deltay from the smallest deltay, wherein each deltay corresponds to one (x, y), and y is y corresponding to the corresponding deltay1And y2A value of (1) which is less in rate of change with x;
when x reaches a preset threshold, the cycle can be ended, N Δ y are obtained, and each Δ y corresponds to one group (x, y)1) And (x, y)2) After sorting the N Δ y from small to large, a preset number (e.g., 50) Δ y is taken from the smallest Δ y, and the data corresponding to each Δ y can be represented by (x, y), where y is corresponding to y1And y2Of which the value changes more slowly during the increment of the value of x.
S146: judging whether a point (x) corresponding to the minimum delta y in the points (x, y) corresponding to the delta y exists in the preset number of delta y or not0，y0) Y in (1)0A value of, and (x, y) and (x)0，y0) Is greater than a second preset distance, if so, then (x, y) is taken asThe intersection of the respective two ellipses; otherwise, will (x)0，y0) As the intersection of the respective two ellipses.
It should be noted that the second preset distance may be 0.03m, and certainly, the second preset distance is not limited to taking the value, and a specific value thereof may be determined according to an actual situation, which is not particularly limited in the present application. In addition, when there are a plurality of Δ y corresponding to points (x, y) whose y value is larger than the minimum value Δ y corresponding to the point (x, y)0，y0) Y in (1)0A value of, and (x, y) and (x)0，y0) The distance between the data points (x, y) is greater than a second preset distance, and the data point (x, y) corresponding to the smallest deltay in the deltay is taken as the intersection point of the two ellipses.
It should be noted that, after the intersection point (x, y) of the two ellipses is obtained by the above method, the intersection point (x) can also be calculated when the RFID antenna is rotated to the previous angle0'，y0') the currently obtained intersection point (x, y) is corrected to obtain the final positioning result (x ', y '), and this (x ', y ') is used as the intersection point of the two ellipses and used in the judgment of S15 as to whether the distance between the intersection point and the origin is larger than the first preset threshold.
The process of correcting the intersection (x, y) is specifically as follows:
calculating the intersection point (x, y) and the intersection point (x)0'，y0') the distance s between them, i.e.:
the weight of the intersection (x, y) is, and the calculation method is:
further, the final positioning result (x ', y') can be represented by the following formula:
optionally, the method further includes displaying the position information corresponding to the intersection.
It should be noted that, in practical applications, after the position information of the tag is determined, the tag may be photographed by a camera or other devices, and displayed to a user in a radar image manner, so that the user can easily find an article on which the tag is disposed.
Optionally, the method further comprises sending an alarm prompt message when the label is scanned.
In addition, the system can also send out alarm prompt information when the label is scanned, and particularly can give an alarm through a buzzer and the like, so that a user is timely reminded, and the label is timely tracked.
Correspondingly, the embodiment of the invention also discloses an indoor positioning device based on the RFID, and specifically, refer to fig. 3, and fig. 3 is a schematic structural diagram of the indoor positioning device based on the RFID provided in the embodiment of the invention. On the basis of the above-described embodiment:
the device includes:
the control module 1 is used for controlling the RFID antenna to rotate at a preset angular speed;
the angle detection module 2 is used for acquiring a rotation angle of the RFID antenna to the current position;
the RFID reader-writer 3 is used for scanning the label and acquiring the label signal intensity corresponding to the rotation angle;
the elliptical equation determining module 4 is used for determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and the rotating antenna positioning algorithm;
the intersection point calculation module 5 is used for processing the first ellipse equation and the second ellipse equation according to an ellipse intersection point calculation algorithm to obtain the intersection point of the two corresponding ellipses;
the judging module 6 is used for judging whether the distance between the intersection point and the origin is greater than a first preset distance, if so, the output module 7 is triggered, otherwise, the angle detection module 2 is triggered to acquire the rotation angle of the RFID antenna when the RFID antenna rotates to the next position;
and the output module 7 is used for outputting the intersection points.
It should be noted that, in practical application, the control module may include an ARM development board (processor) and a monitoring console, so as to control the monitoring console through the processor, and thus, the monitoring console drives the RFID antenna to rotate at a preset angular velocity. The angle detection module can be an inclinometer, and the intersection point calculation module, the judgment module and the output module can be integrated in a computer software system, wherein the hardware system and the computer software system are communicated through the Ethernet.
Optionally, the apparatus further includes a display module, configured to display the position information corresponding to the intersection.
Optionally, the apparatus further includes an alarm module, configured to send an alarm prompt message when the tag is scanned.
It should be noted that the alarm module may include a buzzer, and alarm is performed by means of whistling. Of course, other devices may be included, and the warning may be performed in other manners, for example, by flashing a light, and the warning prompt may be performed in a manner of flashing light, and the specific embodiment of the present invention is not limited.
It should be noted that only one RFID antenna is needed in the embodiment of the present invention, during the rotation process of the RFID antenna, coordinate points with the same signal strength value and different distances can be obtained at each angle, and the track of the points with the same signal strength value forms an ellipse, after the RFID antenna rotates, the tag at the same position appears on two elliptical curves before and after the rotation of the RFID antenna, so that the position of the tag can be obtained by monitoring the signal strength at the tag, determining two elliptical equations corresponding to the tag according to the signal strength detected by the tag, the rotation angle of the RFID antenna, and the rotation antenna positioning algorithm, and solving the intersection point of the two elliptical tracks corresponding to the two elliptical equations. In the embodiment of the invention, the label can be positioned by only adopting one RFID antenna, the system has simple structure, the system cost and the deployment difficulty are reduced, and the hardware utilization rate of the system is improved to a certain extent.
In addition, for a specific description of the indoor positioning method based on the RFID in the embodiment of the present invention, please refer to the above method embodiment, which is not described herein again.
The embodiment of the invention also provides an indoor positioning system based on the RFID, which comprises the indoor positioning device based on the RFID.
In the embodiment of the invention, only one RFID antenna is needed, in the rotation process of the RFID antenna, coordinate points with the same signal strength value and different distances can be obtained at each angle, the track of the points with the same signal strength value forms an ellipse, after the RFID antenna rotates, the label at the same position appears on two elliptic curves before and after the RFID antenna rotates, so that the position of the label can be obtained by monitoring the signal strength at the label, determining two elliptic equations corresponding to the label according to the signal strength, the rotation angle of the RFID antenna and a rotating antenna positioning algorithm, and solving the intersection point of the two elliptic curves corresponding to the two elliptic equations. In the embodiment of the invention, the label can be positioned by only adopting one RFID antenna, the system has simple structure, the system cost and the deployment difficulty are reduced, and the hardware utilization rate of the system is improved to a certain extent.
In addition, for a specific description of the indoor positioning method based on the RFID in the embodiment of the present invention, please refer to the above method embodiment, which is not described herein again.
The embodiments in the present description are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (9)
1. An indoor positioning method based on RFID is characterized by comprising the following steps:
s11: controlling the RFID antenna to rotate at a preset angular speed;
s12: acquiring a rotation angle of the RFID antenna rotating to the current position, scanning a label, and acquiring label signal intensity corresponding to the rotation angle;
s13: determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotating antenna positioning algorithm;
s14: processing the first ellipse equation and the second ellipse equation according to an ellipse intersection calculation algorithm to obtain the intersection of the two corresponding ellipses;
s15: judging whether the distance between the intersection point and the origin is greater than a first preset distance, if so, outputting the intersection point, otherwise, returning to S12 to obtain the rotation angle of the RFID antenna at the next position;
the process of determining the first elliptical equation and the second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and the rotating antenna positioning algorithm is as follows:
s130: obtaining a new positioning element E according to the rotation angle and the label signal strengthn(θn，RSSIn) Wherein, thetanIs the rotation angle, RSSInIs the tag signal strength;
s131: judging whether the label signal intensity is in a preset range, if so, entering S132, otherwise, entering S135;
s132: positioning the new positioning element EnWith a pre-stored first positioning element E1A second positioning element E2And a third orientation element E3A comparison is made, wherein EiIs (theta)i，RSSIi)，i＝1,23, and θ1、θ2And theta3Are different from each other if the rotation angle thetanAt an angle theta of rotation with respect to one of themiIs the same as the value of thetaiCorresponding RSSIiUpdate to RSSInAnd proceeds to S133; otherwise, go to S134;
s133: using the updated first positioning element E1A second positioning element E2And a third orientation element E3Determining a first elliptical equation and a second elliptical equation corresponding to the tag;
s134: using said second positioning element E2Updating the first positioning element E1Using said third positioning element E3Updating the second positioning element E2Using said new positioning element EnUpdating the third positioning element E3And returns to S133;
s135: using the first pre-stored constant element E1A second positioning element E2And a third orientation element E3Determining a first and a second elliptical equation corresponding to the tag, wherein EiIs (theta)i，RSSIi)，i＝1,2,3。
2. The RFID-based indoor positioning method of claim 1, wherein the first positioning element E after the update is adopted1A second positioning element E2And a third orientation element E3The process of determining the first and second elliptical equations corresponding to the tag is:
using the updated first positioning element E1RSSI in (radio frequency identification) system1And the updated third positioning element E3RSSI in (radio frequency identification) system3And the mapping relation between the pre-stored signal strength and the elliptic equation parameters is respectively obtained and compared with the RSSI1Corresponding first elliptic equation parameter and RSSI3Corresponding second elliptic equation parameters;
according to the first elliptic equation parameter and the first positioning element E1Angle of rotation of (1) & theta1Obtain a first ellipse equation；
According to the second ellipse equation parameter and the third positioning element E3Angle of rotation of (1) & theta3A second ellipse equation is obtained.
3. The RFID-based indoor positioning method of claim 1, wherein the processing the first ellipse equation and the second ellipse equation according to an ellipse intersection calculation algorithm to obtain the intersection of the two ellipses comprises:
s141: respectively substituting preset initial values of independent variables x into the first elliptic equation and the second elliptic equation to obtain two roots y corresponding to the first elliptic equation11And y12And two roots y corresponding to the second ellipse equation21And y22；
S142: will be the same as y11And said y21The y11And said y22The y12And said y21The y12And said y22Respectively calculating difference to obtain difference values, and obtaining two points (x, y) corresponding to the difference value delta y with the minimum absolute value1) And (x, y)2)；
S143: judging whether x reaches a preset threshold value, if so, entering S144; otherwise, go to S145;
s144: updating the preset initial value of the independent variable x by adopting a preset increment, and returning to S141;
s145: sorting all the deltay in the order from small to large, and obtaining a preset number of deltay from the smallest deltay, wherein each deltay corresponds to one (x, y), and y is y corresponding to the corresponding deltay1And y2A value of (1) which is less in rate of change with x;
s146: judging whether a point (x) corresponding to the minimum delta y in the points (x, y) corresponding to the delta y exists in the preset number of delta y or not0，y0) Y in (1)0A value, and said (x, y) and said (x)0，y0) Is greater than a second preset distance, and if so, the (x, y) is) As the intersection of the respective two ellipses; otherwise, the (x) is0，y0) As the intersection of the respective two ellipses.
4. The RFID-based indoor positioning method of claim 1, further comprising displaying location information corresponding to the intersection point.
5. The RFID-based indoor positioning method of claim 4, further comprising issuing an alarm prompt message when the tag is scanned.
6. An RFID-based indoor positioning device, comprising:
the control module is used for controlling the RFID antenna to rotate at a preset angular speed;
the angle detection module is used for acquiring the rotation angle of the RFID antenna rotating to the current position;
the RFID reader is used for scanning the label to acquire the label signal intensity corresponding to the rotation angle;
the elliptical equation determining module is used for determining a first elliptical equation and a second elliptical equation corresponding to the tag according to the rotation angle, the tag signal strength and a rotating antenna positioning algorithm;
the intersection point calculation module is used for processing the first ellipse equation and the second ellipse equation according to an ellipse intersection point calculation algorithm to obtain the intersection point of the two corresponding ellipses;
the judging module is used for judging whether the distance between the intersection point and the origin is greater than a first preset distance or not, if so, the output module is triggered, and otherwise, the angle detection module is triggered to acquire the rotation angle of the RFID antenna when the RFID antenna rotates to the next position;
the output module is used for outputting the intersection point;
the ellipse equation determining module is specifically configured to obtain a new positioning element E according to the rotation angle and the tag signal strengthn(θn，RSSIn) Wherein, thetanIs the rotation angle, RSSInIs the tag signal strength; judging whether the label signal intensity is in a preset range or not, and if the label signal intensity is in the preset range, enabling the new positioning element EnWith a pre-stored first positioning element E1A second positioning element E2And a third orientation element E3A comparison is made, wherein EiIs (theta)i，RSSIi) I is 1,2,3, and θ1、θ2And theta3Are different from each other if the rotation angle thetanAt an angle theta of rotation with respect to one of themiIs the same as the value of thetaiCorresponding RSSIiUpdate to RSSInUsing the updated first positioning element E1A second positioning element E2And a third orientation element E3Determining a first elliptical equation and a second elliptical equation corresponding to the tag; if the angle of rotation thetanAt an arbitrary angle of rotation thetaiAll are different, then the second positioning element E is adopted2Updating the first positioning element E1Using said third positioning element E3Updating the second positioning element E2Using said new positioning element EnUpdating the third positioning element E3And executing the first positioning element E after adopting the update1A second positioning element E2And a third orientation element E3An operation step of determining a first elliptical equation and a second elliptical equation corresponding to the tag; if the label signal intensity is not in the preset range, adopting the first positioning element E stored in advance1A second positioning element E2And a third orientation element E3Determining a first and a second elliptical equation corresponding to the tag, wherein EiIs (theta)i，RSSIi)，i＝1,2,3。
7. The RFID-based indoor positioning device of claim 6, further comprising a display module for displaying the position information corresponding to the intersection point.
8. The RFID-based indoor positioning device of claim 7, further comprising an alarm module for sending an alarm prompt message when the tag is scanned.
9. An RFID-based indoor positioning system, comprising an RFID-based indoor positioning device according to any one of claims 6 to 8.
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| CN109118813B (en) * | 2018-08-21 | 2021-06-25 | 广东工业大学 | Intelligent vehicle searching system and method for parking lot |
| CN109959897B (en) * | 2019-04-08 | 2022-06-21 | 南京邮电大学 | RFID two-dimensional position positioning method based on rotating antenna |
| CN111060870B (en) * | 2019-12-04 | 2022-09-27 | 南京邮电大学 | RFID positioning method based on antenna rotation |
| CN113050022B (en) * | 2019-12-28 | 2023-11-03 | 香港理工大学深圳研究院 | Image positioning method and device based on rotary antenna and terminal equipment |
| CN112327250A (en) * | 2020-10-30 | 2021-02-05 | 杭州海康威视数字技术股份有限公司 | Target positioning method and system and positioning node |
| CN113484824B (en) * | 2021-07-05 | 2023-09-12 | 北京信息科技大学 | RSS difference trilateral positioning method based on receiving and transmitting separation RFID positioning system |
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