CN108414972A - A kind of mobile robot RFID localization methods based on phase property - Google Patents
A kind of mobile robot RFID localization methods based on phase property Download PDFInfo
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- CN108414972A CN108414972A CN201810384983.1A CN201810384983A CN108414972A CN 108414972 A CN108414972 A CN 108414972A CN 201810384983 A CN201810384983 A CN 201810384983A CN 108414972 A CN108414972 A CN 108414972A
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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
- G01S5/0284—Relative positioning
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
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- Theoretical Computer Science (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The invention belongs to wireless positioning fields, and specifically disclose a kind of mobile robot RFID localization methods based on phase property, include the following steps：S1RFID readers form the loop of rf with the RFID tag installed on object in moveable robot movement, and RFID reader measures the phase information and signal wavelength information of RFID the loop of rf；S2 converts period discrete phase information to continuous aperiodic phase information, and obtains the location information of RFID reader antenna；S3 structure solutions twine phase position model, the location information of signal wavelength information, continuous aperiodic phase information and antenna is substituted into solution to twine in phase position model, the location information for obtaining RFID tag relative to mobile robot is calculated, the positioning of object is realized with this.The present invention has many advantages, such as that positioning accuracy height, strong antijamming capability, calculation amount be small, simple system.
Description
Technical field
The invention belongs to wireless positioning fields, more particularly, to a kind of mobile robot RFID based on phase property
Localization method.
Background technology
RFID (Radio Frequency Identification), i.e. Radio Frequency Identification Technology, are a kind of structure Internet of Things
Wireless communication technique, passive ultra-high frequency RFID by its unique ID, low cost, long range, do not need the advantages such as battery,
It is widely used in warehousing management etc..Location technology based on RFID can greatly improve the efficiency of Item Management, nearly ten years,
Indoor locating system and method based on RFID are constantly suggested.Wherein, signal strength (RSSI) and phase are in RFID positioning
Most important two kinds of radio-frequency informations.
Due to the presence of the environmental disturbances such as multipath effect, the mapping of the distance of the decaying of signal strength and antenna and label
Relationship is simultaneously unreliable, and the distance resolution of signal strength is more coarse, so the method based on signal strength can mostly use
Reference label needs to arrange reference label system in the environment in advance, and demarcates the location information of reference label, and system is
It is complicated.
Phase information essence is a kind of signal transmission delay information, and the susceptibility adjusted the distance is higher, up to 2 °/mm.Based on up to
It is two kinds of most important phase type localization methods to angle (AOA) and based on synthetic aperture (SAR), wherein AOA methods utilize day
Phase information between linear array calculates the angle between label and antenna, and mutiple antennas array can be by calculating all directions
The intersection point of angle obtains label position, and AOA methods need the distance between antenna to be less than half-wavelength, but directive antenna itself
Size is larger, which is often difficult to meet；And SAR methods are constituted using mobile antenna and are observed the synthetic aperture of label,
This method can be observed label from all directions, and influence of the environmental disturbances to positioning is minimized, and positioning accuracy is higher,
Since such method is generally based on the periodical mathematical model of phase-distance, label position solution process often has larger
Calculated load, real-time are restricted.
Invention content
For the disadvantages described above or Improvement requirement of the prior art, the present invention provides a kind of moving machines based on phase property
Device people's RFID localization methods resolve the object phase for being equipped with RFID tag using the mobile robot for carrying RFID reader
For the location information of mobile robot, have many advantages, such as that positioning accuracy height, strong antijamming capability, calculation amount be small, simple system.
To achieve the above object, the present invention proposes a kind of mobile robot RFID localization methods based on phase property,
This method comprises the following steps：
S1 is set to the RFID reader in mobile robot in moveable robot movement, and is installed on object
RFID tag formation the loop of rf, the phase information and signal wavelength information of RFID reader test constantly RFID the loop of rf,
The phase information is period discontinuous information；
S2 converts period discrete phase information to continuous aperiodic phase information, and obtains RFID reader day
The location information of line；
S3 structure solutions twine phase-position model, by the signal wavelength information, continuous aperiodic phase information and
The location information of RFID reader antenna substitutes into solution and twines in phase-position model, calculates and obtains RFID tag relative to moving machine
The location information of device people realizes the positioning of object with this.
As it is further preferred that converting period noncontinuous phase information to company using phase unwrapping algorithm in step S2
Continuing aperiodic phase information is specially：Enable γ(1)=θ(1), and start following cycle, until by all period noncontinuous phases
Information is converted into continuous non-periodic phase information：
Work as θ(i)-θ(i-1)When ＞ Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))-2π；
Work as θ(i)-θ(i-1)When ＜-Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))+2π；
As-Ψ≤θ(i)-θ(i-1)When≤Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))；
Wherein, θ(i)It is the phase measured at i-th of phase measurement moment, γ(i)It is the phase measured at i-th of phase measurement moment
The corresponding practical solution in position twines phase, and Ψ is the arbitrary value in 0~2 π, and i=2~N, N are phase information quantity.
As it is further preferred that the position for being obtained antenna in step S2 with rotation translation transformation using flying track conjecture method is believed
Breath, specially：According to the inertial sensor letter inside the mobile robot azimuth information and mobile robot of last moment i-1
Breath, the mobile robot azimuth information of current time i is obtained by recurrence calculation；According to the mobile robot side of current time i
Position information translates transformation equation by rotation and obtains the location information of current time RFID reader antenna.
As it is further preferred that rotation translation equation of transformation is specially：
Wherein, (x(i), y(i), th(i)) it is i-th of phase measurement moment corresponding mobile robot orientation, z is that RFID is read
Z coordinate of the device antenna in mobile robot coordinate system is write, (ρ, α) is RFID reader antenna in mobile robot coordinate system
Polar coordinates,It is the position coordinates of i-th of phase measurement moment corresponding RFID reader antenna.
As it is further preferred that the solution twines phase-position model is specially：
Wherein, δ(i)It is that the corresponding Theory Solution of phase measured at i-th of phase measurement moment twines phase, λ(i)It is i-th of phase
The corresponding signal wavelength of position measurement time,It is i-th of phase measurement moment corresponding RFID reader day
The position coordinates of line, (x, y, z) are the coordinates of RFID tag to be positioned on object, and β is fuzzy factor.
RFID tag is obtained relative to shifting as it is further preferred that being calculated by Iteration Optimization algorithm in step S3
The location information of mobile robot, specially：
It is as follows that S31 establishes cost function：
Wherein, N is phase information quantity；
S32 solves the minimum of cost function, and corresponding (x, y, z) is RFID when the cost function being made to obtain minimum
Location information of the label relative to mobile robot.
As it is further preferred that N >=4.
In general, through the invention it is contemplated above technical scheme is compared with the prior art, mainly have below
Technological merit：
1. mobile robot is combined by the method for the present invention with RFID system, label can be read from different directions
It takes, effectively reduces influence of the environmental disturbances to positioning, and by the phase information of High Range Resolution, it is higher fixed to obtain
Position precision.
2. the present invention builds a solution and twines phase-position model, pass through routine by designed phase unwrapping algorithm
Iteration Optimization algorithm the resolving of label position can be realized, calculated load is small.
3. localization method proposed by the invention, without reference to label, simple system is at low cost, there is accurate positioning, resist
The advantages that interference performance is strong, calculation amount is small.
Description of the drawings
Fig. 1 is the RFID location system schematic diagram for realizing localization method of the present invention；
Fig. 2 is the flow chart of the mobile robot RFID localization methods based on phase property of the present invention；
Fig. 3 is the phase unwrapping arithmetic result schematic diagram of the present invention.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in the various embodiments of the present invention described below
It does not constitute a conflict with each other and can be combined with each other.
As shown in Figure 1, RFID system is combined by the present invention with mobile robot, the movement for carrying RFID reader is utilized
Robot resolves location information of the object relative to mobile robot of installation RFID tag, reader with label communication
In the process, phase information and channel wavelength information can be measured, inertial sensor is installed in mobile robot.
As shown in Fig. 2, a kind of mobile robot RFID localization methods based on phase property provided in an embodiment of the present invention,
It resolves position of the object of installation RFID tag relative to mobile robot using the mobile robot for carrying RFID reader
Confidence ceases, and this method specifically comprises the following steps：
S1 is set to the RFID reader in mobile robot when with moveable robot movement, is installed on object
RFID tag formed the loop of rf, RFID reader it is uninterrupted measure RFID the loop of rf phase information and signal
Wavelength information, wherein phase information are period discontinuous information；
S2 converts period discrete phase information to continuous aperiodic phase information, and obtains RFID reader day
The location information of line；
For converting period discrete phase information to continuous aperiodic phase information, phase is specifically utilized
Solution twines algorithm and converts period noncontinuous phase information to continuous aperiodic phase information, and wherein phase unwrapping algorithm is specific
For：Enable γ(1)=θ(1), and start following cycle, until converting all period noncontinuous phase information to continuous aperiodic phase
Position information：
Work as θ(i)-θ(i-1)When ＞ Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))-2π；
Work as θ(i)-θ(i-1)When ＜-Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))+2π；
As-Ψ≤θ(i)-θ(i-1)When≤Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))；
Wherein, θ(i)It is the phase measured at i-th of phase measurement moment, γ(i)It is the phase measured at i-th of phase measurement moment
The corresponding practical solution in position twines phase, and Ψ is the arbitrary value in 0~2 π, and i=2~N, N are phase information quantity.
Solution twines front and back phase value as shown in figure 3, the phase before solution twines is that the period is discrete, and size is limited in 0-2 π
Between, the phase after solution twines is continuous aperiodic, and its size is no longer limited to 0-2 π.
For the location information of RFID reader antenna, antenna is obtained using flying track conjecture method and rotation translation transformation
Location information, specially：Inside the mobile robot azimuth information and mobile robot of last moment (the (i-1)-th moment)
Inertial sensor information, the mobile robot azimuth information (x at current time (the i-th moment) is obtained by recurrence calculation(i), y(i), th(i))；Transformation equation is translated by rotation according to the mobile robot azimuth information at current time and obtains current time RFID
The location information of reading and writing device antenna
For flying track conjecture method, inertial sensor (such as odometer, the gyro inside mobile robot are utilized
Instrument, accelerometer, magnetometer etc.) information obtained by recurrence calculation by the mobile robot azimuth information of last moment
The mobile robot azimuth information of subsequent time, i.e., can obtain machine according to the information of the inertial sensor inside mobile robot
The mobile message of device people, then when superposition mobile message can be obtained current in the mobile robot azimuth information of last moment
The mobile robot azimuth information at quarter, and the mobile robot azimuth information of last moment can be used same procedure recurrence calculation and obtain
.Such as two-wheeled difference mobile robot, by the speedometer sensor being installed in two-wheeled, it can perceive respectively
The distance rotated to two wheels, and then by its differential kinematics model, can be believed by the mobile robot orientation of last moment
Breath recursion obtains the mobile robot azimuth information at current time.It should be noted that flying track conjecture method can only obtain it is opposite
Azimuth information can not obtain absolute orientation information.What is finally obtained due to localization method proposed by the invention is label phase
For the position coordinates of mobile vehicle present orientation, it is only necessary to its relative orientation information, therefore flying track conjecture method can meet the present invention
Requirement.
Specifically, rotation translation equation of transformation is specially：
Wherein, (x(i), y(i), th(i)) be i-th of phase measurement moment corresponding mobile robot orientation (position+direction,
Orientation under robot coordinate system), x(i), y(i)It is the position of mobile robot, th(i)It is the direction of mobile robot, it can be with
Obtained by flying track conjecture method, z be RFID reader antenna in mobile robot coordinate system z coordinate (it is known parameters,
That is height of the RFID reader antenna in the Z-direction of mobile robot coordinate system), (ρ, α) is that RFID reader antenna exists
Polar coordinates (it is known parameters) in mobile robot coordinate system,It is i-th of phase measurement moment pair
The position coordinates for the reading and writing device antenna answered (under robot coordinate system).
S3 establishes solution and twines phase-position model, the step S1 signal wavelength information obtained and step S2 is obtained continuous
The location information of aperiodic phase information (i.e. solution twine treated phase information) and antenna substitutes into solution and twines phase-position mould
Type is calculated the location information for obtaining RFID tag relative to mobile robot, the positioning of object is realized with this.
For solution twines phase-position model, it is specially：
Wherein, δ(i)It is that the corresponding Theory Solution of phase measured at i-th of phase measurement moment twines phase, λ(i)It is i-th of phase
The corresponding signal wavelength of position measurement time, is obtained by step S1；It is i-th of phase measurement moment pair
The position coordinates for the reading and writing device antenna answered are obtained by step S2；(x, y, z) is the coordinate of RFID tag to be positioned on object
(coordinate of the RFID tag in mobile robot coordinate system), β is fuzzy factor, is the additional parameter of model, representative is solution
The fog-level of phase is twined, can be set as needed.In the model, there are four unknown numbers, are x, y, z, β respectively, lead to
Cross the solution equation, you can realize that the positioning of label, wherein x represent label x coordinate, y represents label y-coordinate, and z represents label z
Coordinate, β represent fuzzy factor.
Specifically, the corresponding signal wavelength information that each moment is obtained, continuous non-periodic phase information and antenna
After location information substitution solution twines phase-position model, following equation group, which can be obtained, is：
Wherein, N is phase information quantity namely phase measurement moment quantity, has 4 since solution twines in phase-position model
A unknown number at least realizes phase to ensure that certain precision, equation number should be no less than 4 in four different locations
Observation.
Since equation group obtained above is usually overdetermination and nonlinear, it is difficult to obtain analytic solutions, therefore number need to be used
Value iteration optimization algorithms are solved.Since Gaussian Profile is presented in the observation noise of system information, the present invention is according to least square
Criterion establishes cost function：
Wherein, γ(i)It is that the corresponding solution of phase measured at i-th of phase measurement moment twines rear phase, is obtained by step S2
, the minimum for substantially solving the cost function that label position resolves, specific calculation method can be selected existing all multi-party
Method carries out, such as Newton method, Levenberg-Marquardt, Trust Region Algorithm etc., is the prior art, this will not be repeated here.
Such optimization algorithm need to generally set an iteration initial point, and iteration initial point is defined according to actual needs, then foundation
Iterative rules so that cost function is gradually reduced, and eventually finds function minimum, is realized the resolving of label position, that is, is solved generation
The minimum of valence function, corresponding (x, y, z) is RFID tag relative to moving machine when the cost function being made to obtain minimum
The location information (i.e. coordinate of the RFID tag in mobile robot coordinate system) of device people.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all within the spirits and principles of the present invention made by all any modification, equivalent and improvement etc., should all include
Within protection scope of the present invention.
Claims (7)
1. a kind of mobile robot RFID localization methods based on phase property, which is characterized in that this method comprises the following steps：
S1 is set to the RFID reader in mobile robot in moveable robot movement, is marked with the RFID installed on object
Label form the loop of rf, the phase information and signal wavelength information of RFID reader test constantly RFID the loop of rf, the phase
Information is period discontinuous information；
S2 converts period discrete phase information to continuous aperiodic phase information, and obtains RFID reader antenna
Location information；
S3 structure solutions twine phase-position model, by the signal wavelength information, continuous aperiodic phase information and RFID
The location information of reading and writing device antenna substitutes into solution and twines in phase-position model, calculates and obtains RFID tag relative to mobile robot
Location information, the positioning of object is realized with this.
2. the mobile robot RFID localization methods based on phase property as described in claim 1, which is characterized in that step S2
Middle utilization phase unwrapping algorithm converts period noncontinuous phase information to continuous aperiodic phase information：Enable γ(1)
=θ(1), and start following cycle, until converting all period noncontinuous phase information to continuous non-periodic phase information：
Work as θ(i)-θ(i-1)When ＞ Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))-2π；
Work as θ(i)-θ(i-1)When ＜-Ψ, γ is enabled(i)=γ(i-1)+(θ(i)-θ(i-1))+2π；
As-Ψ≤θ(i)-θ(i-1）When≤Ψ, γ is enabled（i)=γ(i-1)+(θ(i)-θ(i-1))；
Wherein, θ(i)It is the phase measured at i-th of phase measurement moment, γ(i)It is the phase pair measured at i-th of phase measurement moment
The practical solution answered twines phase, and Ψ is the arbitrary value in 0~2 π, and i=2~N, N are phase information quantity.
3. the mobile robot RFID localization methods based on phase property as claimed in claim 1 or 2, which is characterized in that step
The location information of antenna is obtained using flying track conjecture method and rotation translation transformation in rapid S2, specially：According to last moment i-1's
Inertial sensor information inside mobile robot azimuth information and mobile robot obtains current time i by recurrence calculation
Mobile robot azimuth information；Transformation equation is translated according to the mobile robot azimuth information of current time i by rotation to obtain
To the location information of current time RFID reader antenna.
4. the mobile robot RFID localization methods based on phase property as claimed in claim 3, which is characterized in that the rotation
Turning translation transformation equation is specially：
Wherein, (x(i), y(i), th(i)) it is i-th of phase measurement moment corresponding mobile robot orientation, z is RFID reader
Z coordinate of the antenna in mobile robot coordinate system, (ρ, α) are pole of the RFID reader antenna in mobile robot coordinate system
Coordinate,It is the position coordinates of i-th of phase measurement moment corresponding RFID reader antenna.
5. the mobile robot RFID localization methods based on phase property as described in claim 1, which is characterized in that the solution
Twining phase-position model is specially：
Wherein, δ(i)It is that the corresponding Theory Solution of phase measured at i-th of phase measurement moment twines phase, λ(i)It is that i-th of phase is surveyed
Moment corresponding signal wavelength is measured,It is i-th of phase measurement moment corresponding RFID reader antenna
Position coordinates, (x, y, z) are the coordinates of RFID tag to be positioned on object, and β is fuzzy factor.
6. the mobile robot RFID localization methods based on phase property as described in claim 1, which is characterized in that step S3
In calculated by Iteration Optimization algorithm and obtain location information of the RFID tag relative to mobile robot, specially：
It is as follows that S31 establishes cost function：
Wherein, N is phase information quantity；
S32 solves the minimum of cost function, and corresponding (x, y, z) is RFID tag when the cost function being made to obtain minimum
Location information relative to mobile robot.
7. the mobile robot RFID localization methods as claimed in any one of claims 1 to 6 based on phase property, feature exist
In N >=4.
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| CN108828572A (en) * | 2018-08-24 | 2018-11-16 | 杭州物必连科技有限公司 | A kind of Internet of Things Web robot, articles from the storeroom positioning system and localization method |
| CN110161527A (en) * | 2019-05-30 | 2019-08-23 | 华中科技大学 | A kind of three-dimensional map reconfiguration system and method based on RFID and laser radar |
| CN110442014A (en) * | 2019-07-30 | 2019-11-12 | 华中科技大学 | A kind of location-based mobile robot RFID servo method |
| CN110711701A (en) * | 2019-09-16 | 2020-01-21 | 华中科技大学 | Grabbing type flexible sorting method based on RFID space positioning technology |
| CN110850401A (en) * | 2019-08-27 | 2020-02-28 | 天津大学 | RFID label positioning method based on motion model and synthetic aperture |
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| CN111487585A (en) * | 2020-04-29 | 2020-08-04 | 华中科技大学 | Antenna position calibration method of mobile robot RFID positioning system |
| CN115314996A (en) * | 2022-08-09 | 2022-11-08 | 合肥拉塞特机器人科技有限公司 | Method for rapidly acquiring WIFI wireless signal coverage based on track inspection robot |
| CN117435902A (en) * | 2023-12-20 | 2024-01-23 | 武汉华威科智能技术有限公司 | Method and device for determining RFID tag movement behavior based on machine learning |
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| CN108828572A (en) * | 2018-08-24 | 2018-11-16 | 杭州物必连科技有限公司 | A kind of Internet of Things Web robot, articles from the storeroom positioning system and localization method |
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| CN110161527B (en) * | 2019-05-30 | 2020-11-17 | 华中科技大学 | Three-dimensional map reconstruction system and method based on RFID and laser radar |
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| CN110442014A (en) * | 2019-07-30 | 2019-11-12 | 华中科技大学 | A kind of location-based mobile robot RFID servo method |
| CN110442014B (en) * | 2019-07-30 | 2020-08-04 | 华中科技大学 | Mobile robot RFID servo method based on position |
| CN110850401B (en) * | 2019-08-27 | 2022-06-28 | 天津大学 | RFID label positioning method based on motion model and synthetic aperture |
| CN110850401A (en) * | 2019-08-27 | 2020-02-28 | 天津大学 | RFID label positioning method based on motion model and synthetic aperture |
| CN110711701A (en) * | 2019-09-16 | 2020-01-21 | 华中科技大学 | Grabbing type flexible sorting method based on RFID space positioning technology |
| CN111487585A (en) * | 2020-04-29 | 2020-08-04 | 华中科技大学 | Antenna position calibration method of mobile robot RFID positioning system |
| CN115314996A (en) * | 2022-08-09 | 2022-11-08 | 合肥拉塞特机器人科技有限公司 | Method for rapidly acquiring WIFI wireless signal coverage based on track inspection robot |
| CN115314996B (en) * | 2022-08-09 | 2024-08-30 | 合肥拉塞特机器人科技有限公司 | Method for rapidly acquiring WIFI wireless signal coverage based on track inspection robot |
| CN117435902A (en) * | 2023-12-20 | 2024-01-23 | 武汉华威科智能技术有限公司 | Method and device for determining RFID tag movement behavior based on machine learning |
| CN117435902B (en) * | 2023-12-20 | 2024-04-02 | 武汉华威科智能技术有限公司 | Method and device for determining RFID tag movement behavior based on machine learning |
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