CN107992915B - Radio frequency identification positioning method using unmanned aerial vehicle - Google Patents
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Abstract
The invention discloses a radio frequency identification positioning method by using an unmanned aerial vehicle, which is characterized by comprising the following steps: 1) preparing at least three unmanned aerial vehicles, wherein each unmanned aerial vehicle carries an RFID reader-writer with the same model parameter and flies to a storage area of target goods from at least three different directions, and the flying heights of the unmanned aerial vehicles are consistent; 2) when a certain unmanned aerial vehicle reads the ID of the electronic tag of the target cargo, the unmanned aerial vehicle immediately sends the current longitude and latitude information to a server through a wireless network; when all the unmanned aerial vehicles send the longitude and latitude information back, the server calculates the longitude and latitude of the target cargo according to the longitude and latitude information; 3) the server sends the longitude and latitude of the target goods to the mobile terminal, and the mobile terminal can quickly find the goods through navigation. The invention has the positioning error of the target goods not more than 5m, brings great convenience for goods search of goods in goods yards (ports, wharfs and the like), and only needs to maintain the unmanned aerial vehicle, thereby completely avoiding the problem of difficult maintenance of the active tag.
Description
Technical Field
The invention relates to the technical field of signal positioning, in particular to a radio frequency identification positioning method by using an unmanned aerial vehicle.
Background
Microwave band active RFID tags (2.4GHZ) are becoming more and more widely used, mainly for vehicle and cargo management in large cargo yards, such as container management in port terminals. An active electronic tag (microwave electronic tag) is installed on a management object, and a plurality of readers are arranged at different interval positions of a large goods yard, so that automatic management can be realized for inflow and outflow of goods and vehicles. However, the area of a goods yard (port, dock, etc.) is often very large, and a specific position of goods corresponding to a certain ID number often needs to be searched in practical application, and although some reader-writers may read the ID number, the read-write distance of the microwave RFID can be as far as 300 meters, so that the specific position of the goods cannot be accurately known, and only the goods can be proved to be in a certain range, which is often very large, which brings great trouble to accurate goods searching and has very low efficiency.
Researchers try to install a GPS module in an active electronic tag, and hope that the active electronic tag sends back GPS position information (latitude and longitude), but since the GPS module consumes power, the active tag has the greatest defect that maintenance is difficult due to power consumption, and the method is not operable.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a method for accurately positioning goods with radio frequency electronic tags by using an unmanned aerial vehicle.
In order to achieve the purpose, the invention adopts the following technical scheme.
A radio frequency identification positioning method using an unmanned aerial vehicle is characterized by comprising the following steps: 1) preparing at least three unmanned aerial vehicles, wherein each unmanned aerial vehicle carries an RFID reader-writer with the same model parameter and flies to a storage area of target goods from at least three different directions, and the flying heights of the unmanned aerial vehicles are consistent; 2) when a certain unmanned aerial vehicle reads the ID of the electronic tag of the target cargo, the unmanned aerial vehicle immediately sends the current longitude and latitude information to a server through a wireless network; when all the unmanned aerial vehicles send the longitude and latitude information back, the server calculates the longitude and latitude of the target cargo according to the longitude and latitude information; 3) the server sends the longitude and latitude of the target goods to the mobile terminal, and the mobile terminal can quickly find the goods through navigation.
As a further explanation of the above scheme, the RFID reader is a microwave RFID reader.
As a further explanation of the above scheme, the longitude and latitude information of the unmanned aerial vehicle is determined by the GPS module, and the technical parameters of the GPS modules carried on the unmanned aerial vehicles are completely the same.
As a further explanation of the above scheme, the wireless network is a WiFi network, and a WiFi module connected with the unmanned aerial vehicle main controller is provided on the unmanned aerial vehicle.
As a further explanation of the above scheme, the RFID reader is installed on a rack of the unmanned aerial vehicle, and the installation specifications of the RFID readers are consistent; and the RFID reader-writer is connected with the corresponding unmanned aerial vehicle main controller through an RS232 serial port.
As a further explanation of the above solution, the antenna plane of the RFID reader-writer 2 is perpendicular to the ground.
As a further explanation of the above scheme, the storage area of the target goods is determined by the RFID reader of the goods location.
As a further explanation of the above scheme, the mobile terminal is a smart phone or a tablet computer.
As a further explanation of the above scheme, there are three unmanned planes; let the longitude and latitude information sent back by the unmanned aerial vehicle A be (E)1，N1) The longitude and latitude information returned by the unmanned aerial vehicle B is (E)2，N2) The longitude and latitude information returned by the unmanned aerial vehicle C is (E)3，N3) (ii) a The coordinates of the circle center of the circle determined by the 3 pieces of longitude and latitude information are the longitude and latitude of the target cargo.
Assuming a circle radius of r and coordinates of the center of the circle of (x, y), the system of equations that can be listed according to the standard equation of a circle is as follows:
(E1-x)2+(N1–y)2＝r2；
(E2–x)2+(N2–y)2＝r2；
(E3–x)2+(N3–y)2＝r2；
and (3) calculating the coordinates of the circle center through server programming, wherein the programming calculation steps are as follows:
S1＝2*(E2-E1)；
S2＝2*(N2-N1)；
S3＝E2*E2+N2*N2-E1*E1-N1*N1；
S4＝2*(E3-E2)；
S5＝2*(N3–N2)；
S6＝E3*E3+N3*N3–E2*E2–N2*N2；
obtaining the coordinates of the circle center as:
x＝(S2*S6–S5*S3)/(S2*S4–S5*S1)；
y＝(S4*S3-S1*S6)/(S2*S4-S5*S1)；
namely, the precise position of the target cargo is x degrees east longitude and y degrees north latitude.
The invention has the beneficial effects that:
the longitude and latitude information of the target cargo is accurately positioned by utilizing the longitude and latitude information of the radio frequency identification point of the unmanned aerial vehicle, the target cargo can be accurately found through the navigation function of the mobile terminal, and the error is not more than 5 m; great convenience is brought to goods searching of goods yards (ports, wharfs and the like), and goods searching efficiency is high. And only need to maintain unmanned aerial vehicle can, avoid the problem that active label maintains the difficulty completely.
Drawings
Fig. 1 shows a schematic structural diagram of the drone.
Fig. 2 is a view showing a data acquisition topology.
Fig. 3 is a geometric model diagram showing the positioning of the target cargo.
Detailed Description
The technical scheme and the beneficial effects of the invention are clearer and clearer by further describing the specific embodiment of the invention with the accompanying drawings of the specification. The embodiments described below are exemplary and are intended to be illustrative of the invention, but are not to be construed as limiting the invention.
A radio frequency identification positioning method using an unmanned aerial vehicle has the following principle: preparing at least three unmanned aerial vehicles, each unmanned aerial vehicle carries a microwave RFID reader-writer with the same model parameters, and flies to the areas where the target goods are likely to be stored from at least three different directions, and paying attention to the fact that the flying heights of the unmanned aerial vehicles need to be controlled to be basically consistent. Once an unmanned aerial vehicle reads the ID of the electronic tag of the target cargo, the GPS data of the unmanned aerial vehicle at the moment, including longitude and latitude, is recorded immediately, and the data is sent to a server through a wireless network. If all unmanned aerial vehicles send data back in sequence, the server can calculate the accurate coordinates (longitude and latitude) of the target goods through the GPS coordinates, then position information is sent to the mobile terminal (such as a mobile phone) and the mobile terminal can quickly find the goods through navigation.
Wherein, as shown in fig. 1, the configuration of the unmanned aerial vehicle is as follows: each unmanned aerial vehicle's technical parameter is the same completely, and it has GPS module and the wiFi communication module of being connected with unmanned aerial vehicle main control unit 1 to embed on every unmanned aerial vehicle. The technical parameters of the microwave RFID readers are completely the same, one microwave RFID reader is fixed on the rack of each unmanned aerial vehicle, and the microwave RFID reader 2 is connected with the main controller of the corresponding unmanned aerial vehicle through a communication interface 3(RS232 serial port communication). The antenna plane of the microwave RFID reader-writer 2 is vertical to the ground, and the installation specifications of the microwave RFID reader-writers 2 are consistent.
As shown in fig. 2, during data acquisition, the range of a target cargo is determined according to the microwave RFID reader of the cargo area, then three unmanned aerial vehicles A, B, C are used to fly to the range of the target cargo from the outside of the range of the target cargo along three different directions, the flying heights of the unmanned aerial vehicles are kept consistent, but the microwave RFID reader carried by a certain unmanned aerial vehicle captures the ID number of the microwave electronic tag, and the GPS position information of the current position of the unmanned aerial vehicle is immediately transmitted back to the wireless router 4 through the WiFi network and uploaded to the server 5. And after the three unmanned aerial vehicles capture the information of the electronic tags and transmit the information back to the server 5, the data acquisition is finished.
Because three unmanned aerial vehicle performance parameter are the same (GPS module precision is the same), flight height h is the same, the microwave RFID read write line 2 performance of carrying on is the same, and three unmanned aerial vehicle catch ground microwave electronic tags's induction distance for the first time like this is equal basically, as shown in fig. 2, a is b is c.
Let GPS position data that unmanned aerial vehicle A returned be east longitude E1North latitude N1Abbreviation, for (E)1，N1) The GPS position data returned by drone B is (E)2，N2) The GPS position data returned by drone C is (E)3，N3) Since the sensing distances are equal (i.e., a is equal to b is equal to c) and the flying heights are equal, the projection lines on the ground are necessarily equal, so that it can be determined that the center coordinates of a circle determined by the 3 coordinates are the accurate position of the target cargo 6 (microwave electronic tag) (the coordinates of the center of the circle are x and y); the geometric model is shown in fig. 3.
Assuming a circle radius of r and coordinates of the center of the circle of (x, y), the system of equations that can be listed according to the standard equation of a circle is as follows:
(E1-x)2+(N1–y)2＝r2……………①
(E2–x)2+(N2–y)2＝r2……………②
(E3–x)2+(N3–y)2＝r2……………③
the problem is converted into a solution ternary quadratic equation set, the coordinates of the circle center can be easily solved through computer programming, and the programming calculation steps are as follows:
S1＝2*(E2-E1)；
S2＝2*(N2-N1)；
S3＝E2*E2+N2*N2-E1*E1-N1*N1；
S4＝2*(E3-E2)；
S5＝2*(N3–N2)；
S6＝E3*E3+N3*N3–E2*E2–N2*N2；
obtaining the coordinates of the circle center as:
x＝(S2*S6–S5*S3)/(S2*S4–S5*S1)；
y＝(S4*S3-S1*S6)/(S2*S4-S5*S1)；
namely, the accurate position of the target goods (electronic label) is x degrees east longitude and y degrees north latitude.
All the above variables are of the double precision type (double), which ensures that the error of the positioning does not exceed 5 m.
According to the position information (longitude and latitude) of the target object (electronic tag) calculated by the application program, the position data is transmitted to an APP program installed in the mobile terminal in advance, and then the target object can be accurately navigated to the position near the target object through a GIS map, so that the positioning and goods-searching target is realized.
It will be appreciated by those skilled in the art from the foregoing description of construction and principles that the invention is not limited to the specific embodiments described above, and that modifications and substitutions based on the teachings of the art may be made without departing from the scope of the invention as defined by the appended claims and their equivalents.
Claims (6)
1. A radio frequency identification positioning method by using an unmanned aerial vehicle is characterized by being used for searching goods in a goods yard and comprising the following steps:
1) preparing three unmanned aerial vehicles, wherein each unmanned aerial vehicle carries an RFID reader-writer with the same model parameter and flies to a storage area of target goods from three different directions, the flying heights of the unmanned aerial vehicles are consistent, the antenna planes of the RFID reader-writers are vertical to the ground, and the installation specifications of the RFID reader-writers are consistent;
2) when a certain unmanned aerial vehicle reads the ID of the electronic tag of the target cargo, the unmanned aerial vehicle immediately sends the current longitude and latitude information to a server through a wireless network; when all the unmanned aerial vehicles send the longitude and latitude information back, the server calculates the longitude and latitude of the target cargo according to the longitude and latitude information; the longitude and latitude information of the unmanned aerial vehicles is determined by a GPS module, and the technical parameters of the GPS modules carried on the unmanned aerial vehicles are completely the same;
3) the server sends the longitude and latitude of the target goods to the mobile terminal, and the mobile terminal searches the target goods through navigation;
the longitude and latitude calculation method of the target cargo comprises the following steps: let the longitude and latitude information sent back by the unmanned aerial vehicle A be (E)1，N1) The longitude and latitude information returned by the unmanned aerial vehicle B is (E)2，N2) The longitude and latitude information returned by the unmanned aerial vehicle C is (E)3，N3) (ii) a The circle center coordinates of the circle determined by the 3 pieces of longitude and latitude information are the longitude and latitude of the target cargo;
assuming a circle radius of r and coordinates of the center of the circle of (x, y), the system of equations that can be listed according to the standard equation of a circle is as follows:
(E1- x)2 + (N1–y)2 = r2；
(E2–x)2 + (N2–y)2 = r2 ；
(E3–x)2 + (N3–y)2 = r2；
and (3) calculating the coordinates of the circle center through programming, wherein the programming calculation steps are as follows:
S1 = 2*( E2- E1)；
S2 = 2*( N2- N1)；
S3 = E2* E2 + N2* N2 - E1* E1 - N1* N1；
S4 = 2*( E3 - E2)；
S5 = 2*( N3 – N2)；
S6 = E3* E3 + N3* N3 – E2* E2 – N2* N2；
obtaining the coordinates of the circle center as:
x = (S2*S6 – S5*S3)/(S2*S4 – S5*S1)；
y = (S4*S3 - S1*S6)/(S2*S4 - S5*S1)；
namely, the precise position of the target cargo is x degrees east longitude and y degrees north latitude.
2. The method of claim 1, wherein the RFID reader is a microwave RFID reader.
3. The method according to claim 1, wherein the wireless network is a WiFi network, and a WiFi module connected to the drone main controller is disposed on the drone.
4. The radio frequency identification positioning method using the unmanned aerial vehicle as claimed in claim 1, wherein the RFID reader is mounted on a frame of the unmanned aerial vehicle, and the RFID reader is connected with a corresponding unmanned aerial vehicle main controller through an RS232 serial port.
5. The method of claim 1, wherein the storage area of the target cargo is determined by an RFID reader of the cargo area.
6. The method according to claim 1, wherein the mobile terminal is a smart phone or a tablet computer.
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| CN108830343B (en) * | 2018-05-25 | 2021-08-17 | 北京星网锐捷网络技术有限公司 | Method for determining position of article and mobile terminal |
| IT201900000721A1 (en) * | 2019-01-17 | 2020-07-17 | Mariacristina Forleo | DRONE SYSTEM FOR AUTOMATIC DETECTION OF THE SPATIAL POSITION COORDINATES OF A RADIOMOBILE DEVICE |
| CN109738864B (en) * | 2019-02-18 | 2021-02-02 | 中国人民解放军战略支援部队信息工程大学 | Positioning method and system based on multiple unmanned aerial vehicles |
| CN111060869B (en) * | 2019-12-02 | 2023-10-31 | 中睿通信规划设计有限公司 | Positioning method and system of intelligent storage UHFRFID label |
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| CN105248308A (en) * | 2015-11-18 | 2016-01-20 | 谭圆圆 | Grazing system based on unmanned aerial vehicle and grazing method thereof |
| CN105425815A (en) * | 2015-11-27 | 2016-03-23 | 杨珊珊 | Intelligent pasture management system and method by using unmanned aerial vehicle |
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