CN108614980A - A kind of the dynamic object positioning system and method for combining RFID and laser intelligence - Google Patents
A kind of the dynamic object positioning system and method for combining RFID and laser intelligence Download PDFInfo
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10316—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves using at least one antenna particularly designed for interrogating the wireless record carriers
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- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
- G06K7/10297—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves arrangements for handling protocols designed for non-contact record carriers such as RFIDs NFCs, e.g. ISO/IEC 14443 and 18092
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Abstract
The invention discloses the dynamic object positioning systems and method of a kind of combining RFID information and laser intelligence, RFID signal and laser signal are carried out fusion treatment using particle filter, realization is accurately positioned dynamic object.The information that the present invention acquires laser sensor carries out clustering processing, and by the information processing after adjacent moment laser cluster at target speed.RFID tag signal strength and label phase information are acquired simultaneously, collected signal strength information is incorporated into the particle filter more new stage, and adjacent moment phase information is processed into target speed.Finally, the speed by the laser intelligence estimation after cluster is matched with the speed of RFID phase estimations, is chosen best match speed, is incorporated the particle filter more new stage, is more accurately positioned to moving target to realize.
Description
Technical field
The invention belongs to Internet of Things robotic technology fields, and in particular to a kind of dynamic mesh of combining RFID and laser intelligence
Demarcate the design of position system and method.
Background technology
With the fast development of technology of Internet of things, cognition technology is communicated by Intellisense, identification technology and internet etc.
Object and object, object and people are linked together, realize Weigh sensor, management and control.Wireless location becomes in technology of Internet of things
Pith, progress into people’s lives, and location based service (Location-based Services, LBS)
Increasingly paid close attention to by people.Radio frequency identification (Radio Frequency Identification, RFID) is believed using less radio-frequency
Number carry out Object identifying, have the advantages that following prominent：Contactless identification, recognizable high-speed moving object, anti-adverse environment.RFID
Passive label identification distance uses global unique ID as mark up to 7-10 meters, can solve laser sensor target identification
Singularity, cheap, compact is widely used in supermarket, airport, logistics, retail etc..Robot field is always
It is the most active part of forward position high-tech research, and robot perceives mark in certain environments as an intelligent mobile agent
Label, can provide the services such as help and navigation for the mankind.
Have many researchers both at home and abroad and carried out the research in terms of RFID target positioning, but there are many more this fields
Problem to be resolved, traditional method uses signal strength to tag location, since signal strength is by Metals in Environments or water
Be affected, cause positioning accuracy limited.In addition, both at home and abroad mainly around the positioning of static RFID tags, to dynamic labels
Positioning and tracking research it is seldom, be difficult to apply to mobile robot operation field at present.
Invention content
The purpose of the present invention is be directed to above-mentioned deficiency in the prior art, it is proposed that a kind of combining RFID and laser intelligence
Dynamic object positioning system and method realize that high-precision dynamic object positions by combining RFID information and laser intelligence.
The technical scheme is that：A kind of dynamic object positioning system of combining RFID information and laser intelligence, including
The RFID tag being arranged in target, the RFID antenna being arranged in robot, the RFID reader being connected with RFID antenna,
The control system being connected with RFID reader, and the laser sensor that is connected to the control system.
RFID tag is used to reflect the radio frequency signal of RFID antenna transmission.
RFID antenna is used to send radio frequency signal and receives the radio frequency signal reflected by RFID tag.
RFID reader is used to obtain the signal strength and phase information of RFID tag by RFID antenna.
Laser sensor is used to obtain the distance and angle of target by Laser Measuring.
Control system is used to carry out clustering processing by the target range and angle for measuring laser sensor to calculate target
Movement velocity, by two adjacent moment RFID phase difference calculating target speeds, the speed that clustering processing is calculated
The speed obtained with RFID phase difference calculatings is matched, and the speed and RFID signal after being matched by particle filter fusion are strong
Information is spent, realizes the positioning to dynamic object.
The present invention also provides the dynamic object localization methods of a kind of combining RFID information and laser intelligence, including following step
Suddenly：
S1, by RFID antenna emit radio frequency signal, and receive by be arranged in target RFID tag reflection
Radio frequency signal, and reflection signal is sent to RFID reader.
S2, in RFID reader according to reflection signal acquisition RFID tag signal strength and phase information, and will letter
Number intensity and phase information are sent to control system.
S3, the distance and angle that target is acquired by laser sensor, and collected distance and angle information are sent
To control system.
S4, the signal strength for using particle filter combining RFID label in the controls and phase information and laser
The distance and angle information of sensor acquisition, realize the positioning to dynamic object.
Wherein, step S4 include it is following step by step：
S41, initialization particle filter, structure indicate the cum rights heavy particle of moving target position.
S42, pass through the position of particle filter predicted motion target.
S43, RFID signal strength model is built according to the signal strength information of RFID tag, and use RFID signal intensity
Model is updated particle weights.
S44, clustering processing is carried out to the distance and angle information of laser sensor acquisition, calculates target speed.
S45, according to the RFID phase difference calculating target speeds of two adjacent moments.
S46, by the speed and step S45 that are calculated by clustering processing in step S44 by RFID phasometers
Obtained speed is matched.
S47, the update of particle weights is constrained according to the matching result of step S46.
S48, all particles are carried out with resampling, the great particle in weight threshold of right of retention, removal weight is less than weight
The particle of threshold value calculates the average value of particle collection, obtains the position of moving target.
The beneficial effects of the invention are as follows：The advantages of present invention merges laser and RFID between the two by speeds match, will
RFID signal strength information incorporates the particle filter more new stage, then utilizes the speed of the laser data estimation moving target after cluster
Degree, the velocity to moving target gone out with RFID phase difference estimations are matched, and are finally carried out to particle using the data of successful match
Further constraint, to realize the positioning of dynamic object so that positioning result is more accurate.
Description of the drawings
Fig. 1 show the dynamic object positioning of a kind of the combining RFID information and laser intelligence of the offer of the embodiment of the present invention one
System structure diagram.
Fig. 2 show the dynamic object positioning of a kind of combining RFID information provided by Embodiment 2 of the present invention and laser intelligence
Method flow diagram.
Fig. 3 show the flow chart step by step of step S4 provided by Embodiment 2 of the present invention.
Specific implementation mode
Carry out detailed description of the present invention illustrative embodiments with reference to the drawings.It should be appreciated that shown in attached drawing and
The embodiment of description is only exemplary, it is intended that is illustrated the principle and spirit of the invention, and is not limited the model of the present invention
It encloses.
Embodiment one：
An embodiment of the present invention provides the dynamic object positioning systems of a kind of combining RFID information and laser intelligence, are used for machine
Device people is accurately positioned dynamic object, as shown in Figure 1, including the RFID tag being arranged in target, is arranged in robot
On RFID antenna, the RFID reader being connected with RFID antenna, the control system being connected with RFID reader, Yi Jiyu
The laser sensor that control system is connected.
Wherein, RFID tag is used to reflect the radio frequency signal of RFID antenna transmission.
RFID antenna is used to send radio frequency signal and receives the radio frequency signal reflected by RFID tag.
RFID reader is used to obtain the signal strength and phase information of RFID tag by RFID antenna.
Laser sensor is used to obtain the distance and angle of target by Laser Measuring.
Control system is used to carry out clustering processing by the target range and angle for measuring laser sensor to calculate target
Movement velocity, by two adjacent moment RFID phase difference calculating target speeds, the speed that clustering processing is calculated
The speed obtained with RFID phase difference calculatings is matched, and the speed and RFID signal after being matched by particle filter fusion are strong
Information is spent, realizes the positioning to dynamic object.
Embodiment two：
An embodiment of the present invention provides the dynamic object localization method of a kind of combining RFID information and laser intelligence, such as Fig. 2
It is shown, include the following steps S1-S4：
S1, by RFID antenna emit radio frequency signal, and receive by be arranged in target RFID tag reflection
Radio frequency signal, and reflection signal is sent to RFID reader.
S2, in RFID reader according to reflection signal acquisition RFID tag signal strength and phase information, and will letter
Number intensity and phase information are sent to control system.
S3, the distance and angle that target is acquired by laser sensor, and collected distance and angle information are sent
To control system.
S4, the signal strength for using particle filter combining RFID label in the controls and phase information and laser
The distance and angle information of sensor acquisition, realize the positioning to dynamic object.
As shown in figure 3, step S4 includes following S41-S48 step by step：
S41, initialization particle filter, structure indicate the cum rights heavy particle of moving target position.
Since particle filter can be good at obtaining the analytic solutions of non-gaussian and nonlinear system, the present invention is implemented
Selection particle filter is realized in example.Particle filter is a kind of filtering method based on Monte Carlo simulation, and core concept is to use
The particle of stochastical sampling expresses probability density distribution.
Particle filter is initialized, moving target position is indicated using the particle of one group of Weight：WhereinIndicate the two-dimensional coordinate of particle,Indicate the weight of particle, subscript t
Indicate that the particle of t moment, subscript [n] indicate n-th of particle, N is total number of particles.
S42, pass through the position of particle filter predicted motion target.
Due to uncertain, the mould of the selection Gaussian function as motion prediction in the embodiment of the present invention in moving target direction
Type, distribution and the intensity of particle can be adjusted by the parameter of Gaussian function.Its cardinal principle is in t-1 moment grain
The particle of Gaussian Profile is generated around sub, as the particle collection of t moment prediction, specific formula is：
Wherein σ indicates that the dispersion degree of particle, N (0, σ) indicate that mean value is 0, and variance is the Gaussian function of σ.
S43, RFID signal strength model is built according to the signal strength information of RFID tag, and use RFID signal intensity
Model is updated particle weights.
RFID signal strength model p (Z are built according to the signal strength information of RFID tagt|Xt)：
p(Zt|Xt)=p (Z | (x, y))=p (d | (x, y)) p (s | d, (x, y)) (2)
Wherein p (Zt|Xt) indicate in position XtPlace's reader obtains label measurement data ZtProbability, Zt={ d, s }, d tables
Whether indicating label are detected, and s is the signal strength that label is detected, and p (Z | (x, y)) indicates position under the coordinate system of RFID antenna
Detect the probability of label measurement data Z at (x, y), p (d | (x, y)) indicate to detect RFID tag at position (x, y)
Probability, and p (s | d, (x, y)) indicate to detect that the signal strength of RFID tag is the probability of s at (x, y), calculation formula is：
Wherein π is constant, uxFor signal strength mean value, σxFor signal strength variance.
According to RFID signal strength model p (Zt|Xt) to particle weightsIt is updated：
Wherein ηtFor normalized parameter.
S44, clustering processing is carried out to the distance and angle information of laser sensor acquisition, calculates target speed.
The collected distance of laser sensor is converted to two-dimensional coordinate information with angle information first, for any two
Neighbouring scanning element i and i-1, if meeting condition d (pi,pi-1)<dg+Ridp, then it is assumed that it is possible individual object；Wherein dg
Indicate packet threshold, RiIndicate i-th of scanning element to the distance of origin, dpFor distance parameter, d (pi,pi-1) indicate scanning element i and
The distance between i-1.
Using a subset Sj=(j ∈ 1,2,3 ..., Ns) indicate that possible individual object, completion divide laser data
Group, NsIndicate grouping number.
Grouping when, only focused on the Euclidean distance between two beam laser, there may be in a group two or
Multiple individual objects, it is therefore desirable to which processing is split to group result.In the embodiment of the present invention, segmentation process uses
Iterative fitting algorithm：
In set SjStraight line is established as guide line on two points of middle lie farthest away, and in set SjIt is middle searching with
The point of the line lie farthest away, if the point is to the distance, delta d of guide linekMeet Δ dk>ds+dr·dp, then calculated using iterative fitting
Method is to set SjIt is split processing, otherwise without segmentation；Wherein dsFor segmentation threshold, drFor the length of guide line.
The form of individual object circle is expressed as in t moment：
Wherein rt (i)Indicate the radius of ith cluster,Indicate the centre coordinate of ith cluster, NtWhen indicating t
The clusters number at quarter.
For each cluster of t momentFind its cluster closest at the t-1 momentIt willDepending on
For same target, clusterFormula of seeking be：
Then clusterIt is in the speed of t moment：
Wherein Δ t is adjacent detection time interval twice,Indicate clusterCentre coordinate.
S45, according to the RFID phase difference calculating target speeds of two adjacent moments.
According to the RFID phase values θ of two adjacent moments0And θ1Calculate target movement speed：
WhereinFor wavelength, f is carrier frequency, and c is the light velocity, and Δ t is adjacent detection time interval twice.
S46, by the speed and step S45 that are calculated by clustering processing in step S44 by RFID phasometers
Obtained speed is matched.
Laser clusters the position not only estimated the movement velocity of target, while also clustered, RFID phases
Information mainly estimates tag motion speed.Object more than one caused by laser cluster, it is therefore desirable to therefrom identify
It is complementary with all singularitys of laser since RFID tag has global unique identification to the moving target to be positioned.With for the moment
Carve RFID and estimate target speed, with the moving target movement velocity that estimates of laser cluster should similitude it is very high, this hair
Similarity is used in bright embodimentIt is rightWithIt is matched, matching formula is：
Value is bigger to illustrate that both t moments speed is closer, and the corresponding cluster target of the speed is likely to be
Need the target positioned.According toSize be ranked up, chooseMaximum preceding K match point,
And obtain its corresponding cluster
S47, the update of particle weights is constrained according to the matching result of step S46.
Due to being affected for metal of the signal strength in by environment and water, so being positioned using only signal strength
It will produce very big error.In order to improve precision in the embodiment of the present invention, the weight of particle is being carried out using signal strength information
After update, the laser data of successful match is recycled further to constrain particle weights：
Whereinλ1It indicates translation coefficient, affects power
The distribution of weight,Indicate clusterCentre coordinate, i=1,2 ..., K.
S48, all particles are carried out with resampling, the great particle in weight threshold of right of retention, removal weight is less than weight
The particle of threshold value, to obtain the final particle collection of t moment, the average value for calculating the particle collection can be obtained t moment movement mesh
Target position.
Embodiment three：
To a kind of combining RFID of the embodiment of the present invention one and the offer of embodiment two and swashed with a specific embodiment below
The dynamic object positioning system and method for optical information are further described：
In the embodiment of the present invention, the SCITOS G5 service robots of German Metralabs companies, the robot have been used
(maximum measurement distance is 29 meters to the laser sensor of one model SICK S300 of upper installation, and resolution ratio is 0.5 °, measures angle
Ranging from 270 ° of degree) with the ultrahigh frequency RFID reader of a model Impinj Speedwayr Revolution R420,
The maximum identification distance that this RFID reader provides is 7 meters.In addition two are also equipped with robot with robot to advance
Direction is in the circular polarisation RFID antenna (model Lairs Technologies SS8688P) of 45° angle.
First, RSSI off-line modelings are carried out, the embodiment of the present invention establishes RFID signal using semi-autonomous learning method
Strength model installs some RFID tags in the environment in advance, and measures the physical location of these labels.Manually control machine people
Data are collected in the environment, these data include the position of RFID measurement data and robot itself.Robot self-position is logical
The Monte Carlo indoor orientation method for crossing map and laser obtains.After obtaining these data, built by an off-line procedure
RFID signal strength model.
At the time point of each record data, can be obtained RFID days by the coordinate relationship between robot and antenna
The relative position of line and RFID tag.The relatively each label of measurement data each in this way generates a measurement sample, this sample
Including label (the big of label and tag signal strength whether is detected relative to the position of antenna and the measurement data of label
It is small).
RFID signal strength model is calculated using the sample generated on last stage：
p(Zt|Xt)=p (Z | (x, y))=p (d | (x, y)) p (s | d, (x, y)) (2)
Above-mentioned model gives the probability of a measured value Z at position (x, y) under the coordinate system of RFID antenna.The present invention
In embodiment RFID signal strength model is indicated using two-dimensional grid, the entire model space is discretized two-dimensional grid, p (d |
(x, y)) it can be acquired by following formula：
Wherein n+ (x,y)Expression falls the positive detection number in each grid, n- (x,y)Expression is fallen in each grid
Negative detection number is defined as just detecting if at a time detecting a certain label, is otherwise negative detection.
It is u to follow mean value according to the signal strength of the RFID on a certain given positionx, variance σxGaussian Profile, this position
It sets and measures the probability that RFID tag signal strength is s and be：
RFID signal strength model is established after completion, and robot can be used to be believed by combining RFID information and laser
The method of breath, the moving target to carrying RFID tag are positioned into Mobile state.In the embodiment of the present invention, robot is put in fixation
Position is constant, and position is located on the perpendicular bisector of rectangle longer sides, apart from 1 meter of distant place of rectangular path.RFID tag is carried by people
5 circles are walked with the speed movement of about 0.4 meter per second altogether along 4 meters × 2 meters of rectangle since initial position.By repeatedly weighing
Retrial is tested, the results showed that：The method that the present invention uses improves 54.9% than RFID sensor model orientation is used alone；Than list
Solely 34.4% or so is improved using laser positioning.Work as N=100, K=8, σ=1.0, λ=0.05；dg=0.2, ds=0.2, dp
When=0.1, locating effect is best.
In conclusion the present invention is by combining RFID information and laser intelligence, specifically by RFID signal strength information
The particle filter more new stage is incorporated, then using the speed of the laser data estimation moving target after cluster, with RFID phase differences
The velocity to moving target estimated is matched, and is finally further constrained particle using the laser data of successful match,
To realize that the positioning of moving target, precision obviously increase.
Those of ordinary skill in the art will understand that the embodiments described herein, which is to help reader, understands this hair
Bright principle, it should be understood that protection scope of the present invention is not limited to such specific embodiments and embodiments.This field
Those of ordinary skill can make according to the technical disclosures disclosed by the invention various does not depart from the other each of essence of the invention
The specific variations and combinations of kind, these variations and combinations are still within the scope of the present invention.
Claims (10)
1. the dynamic object positioning system of a kind of combining RFID information and laser intelligence, which is characterized in that including being arranged in target
On RFID tag, the RFID antenna being arranged in robot, the RFID reader being connected with the RFID antenna is and described
The control system that RFID reader is connected, and the laser sensor that is connected with the control system；
The RFID tag, the radio frequency signal for reflecting RFID antenna transmission；
The RFID antenna, for sending radio frequency signal and receiving the radio frequency signal reflected by RFID tag；
The RFID reader, signal strength and phase information for obtaining RFID tag by RFID antenna；
The laser sensor, distance and angle for obtaining target by Laser Measuring；
The control system, for the target range and angle progress clustering processing calculating target by being measured to laser sensor
Movement velocity, by two adjacent moment RFID phase difference calculating target speeds, the speed that clustering processing is calculated
The speed obtained with RFID phase difference calculatings is matched, and the speed and RFID signal after being matched by particle filter fusion are strong
Information is spent, realizes the positioning to dynamic object.
2. the dynamic object localization method of a kind of combining RFID information and laser intelligence, which is characterized in that include the following steps：
S1, by RFID antenna emit radio frequency signal, and receive by be arranged in target RFID tag reflection it is wireless
Radiofrequency signal, and reflection signal is sent to RFID reader；
S2, in RFID reader according to the signal strength and phase information of reflection signal acquisition RFID tag, and it is signal is strong
Degree and phase information are sent to control system；
S3, the distance and angle that target is acquired by laser sensor, and collected distance and angle information are sent to control
System processed；
S4, the signal strength for using particle filter combining RFID label in the controls and phase information and laser sensing
The distance and angle information of device acquisition, realize the positioning to dynamic object.
3. dynamic object localization method according to claim 2, which is characterized in that the step S4 includes following substep
Suddenly：
S41, initialization particle filter, structure indicate the cum rights heavy particle of moving target position；
S42, pass through the position of particle filter predicted motion target；
S43, RFID signal strength model is built according to the signal strength information of RFID tag, and use RFID signal strength model
Particle weights are updated；
S44, clustering processing is carried out to the distance and angle information of laser sensor acquisition, calculates target speed；
S45, according to the RFID phase difference calculating target speeds of two adjacent moments；
S46, it will be obtained by RFID phase difference calculatings in the speed being calculated by clustering processing in step S44 and step S45
To speed matched；
S47, the update of particle weights is constrained according to the matching result of step S46；
S48, all particles are carried out with resampling, the great particle in weight threshold of right of retention, removal weight is less than weight threshold
Particle, calculate particle collection average value, obtain the position of moving target.
4. dynamic object localization method according to claim 3, which is characterized in that the step S41 is specially：
Particle filter is initialized, moving target position is indicated using the particle of one group of Weight：
WhereinIndicate the two-dimensional coordinate of particle,Indicate that the weight of particle, subscript t indicate the particle of t moment,
Subscript [n] indicates n-th of particle, and N is total number of particles.
5. dynamic object localization method according to claim 4, which is characterized in that filtered by particle in the step S42
The formula of wave device predicted motion target is：
Wherein σ indicates that the dispersion degree of particle, N (0, σ) indicate that mean value is 0, and variance is the Gaussian function of σ.
6. dynamic object localization method according to claim 5, which is characterized in that the step S43 is specially：
RFID signal strength model p (Z are built according to the signal strength information of RFID tagt|Xt)：
p(Zt|Xt)=p (Z | (x, y))=p (d | (x, y)) p (s | d, (x, y)) (2)
Wherein p (Zt|Xt) indicate in position XtPlace's reader obtains label measurement data ZtProbability, p (Z | (x, y)) indicates RFID
Detect the probability of label measurement data Z under the coordinate system of antenna at position (x, y), p (d | (x, y)) indicate at position (x, y)
Place detects the probability of RFID tag, and p (s | d, (x, y)) it indicates to detect that the signal strength of RFID tag is s's at (x, y)
Probability, calculation formula are：
Wherein π is constant, uxFor signal strength mean value, σxFor signal strength variance；
According to RFID signal strength model p (Zt|Xt) to particle weightsIt is updated：
Wherein ηtFor normalized parameter.
7. dynamic object localization method according to claim 6, which is characterized in that the step S44 is specially：
Convert the collected distance of laser sensor to two-dimensional coordinate information with angle information first, it is neighbouring for any two
Scanning element i and i-1, if meeting condition d (pi,pi-1)<dg+Ridp, then it is assumed that it is possible individual object；Wherein dgIt indicates
Packet threshold, RiIndicate i-th of scanning element to the distance of origin, dpFor distance parameter, d (pi,pi-1) indicate scanning element i and i-1
The distance between；
Using a subset Sj=(j ∈ 1,2,3 ..., Ns) indicate possible individual object, the grouping to laser data is completed,
NsIndicate grouping number；
In set SjStraight line is established as guide line on two points of middle lie farthest away, and in set SjMiddle searching and the line
The point of lie farthest away, if the point is to the distance, delta d of guide linekMeet Δ dk>ds+dr·dp, then iterative fitting algorithm pair is used
Set SjIt is split processing, otherwise without segmentation；Wherein dsFor segmentation threshold, drFor the length of guide line；
The form of individual object circle is expressed as in t moment：
Wherein rt (i)Indicate the radius of ith cluster,Indicate the centre coordinate of ith cluster, NtIndicate t moment
Clusters number；
For each cluster of t momentFind its cluster closest at the t-1 momentIt willIt is considered as same
Target, clusterFormula of seeking be：
Then clusterIt is in the speed of t moment：
Wherein Δ t is adjacent detection time interval twice,Indicate clusterCentre coordinate.
8. dynamic object localization method according to claim 7, which is characterized in that the step S45 is specially：
According to the RFID phase values θ of two adjacent moments0And θ1Calculate target movement speed：
WhereinFor wavelength, f is carrier frequency, and c is the light velocity, and Δ t is adjacent detection time interval twice.
9. dynamic object localization method according to claim 8, which is characterized in that the step S46 is specially：
It is rightWithIt is matched, matching formula is：
According toSize be ranked up, chooseMaximum preceding K match point, and it is right to obtain its
The cluster answered
10. dynamic object localization method according to claim 9, which is characterized in that particle weights in the step S47
Update constraint formulations be：
Whereinλ1Indicate translation coefficient,It indicates
ClusterCentre coordinate, i=1,2 ..., K.
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Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
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| CN111340884A (en) * | 2020-02-24 | 2020-06-26 | 天津理工大学 | Binocular heterogeneous camera and RFID dual target positioning and identity identification method |
| CN111459192A (en) * | 2020-03-26 | 2020-07-28 | 华中科技大学 | Mobile robot dynamic target tracking method based on RFID |
| CN111474518A (en) * | 2020-05-25 | 2020-07-31 | 浙江大华技术股份有限公司 | Positioning method, fusion positioning base station, and storage medium |
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| CN113701821A (en) * | 2021-09-01 | 2021-11-26 | 西南科技大学 | Building aluminum template identification structure based on local features and method thereof |
| CN114765781A (en) * | 2022-06-14 | 2022-07-19 | 西南科技大学 | Communication perception map construction method for emergency robot |
| CN114925709A (en) * | 2022-07-20 | 2022-08-19 | 恒银金融科技股份有限公司 | File positioning method and system applied to file cabinet |
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| CN110132273A (en) * | 2019-04-17 | 2019-08-16 | 华中科技大学 | A kind of Mobile Robotics Navigation method based on RFID servo techniques |
| 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 |
| CN110674656A (en) * | 2019-09-18 | 2020-01-10 | 深圳盈达机器视觉技术有限公司 | Radio frequency identification reader and method of use |
| CN110674656B (en) * | 2019-09-18 | 2024-05-31 | 深圳盈达信息科技有限公司 | Radio frequency identification reader and method of use thereof |
| CN111144517A (en) * | 2019-10-17 | 2020-05-12 | 上海双十信息科技有限公司 | Article positioning method and device based on ultrahigh frequency RFID |
| CN111144517B (en) * | 2019-10-17 | 2023-04-25 | 上海双十信息科技有限公司 | Article positioning method and device based on ultrahigh frequency RFID |
| CN112781591A (en) * | 2019-11-06 | 2021-05-11 | 深圳市优必选科技股份有限公司 | Robot positioning method and device, computer readable storage medium and robot |
| CN111340884A (en) * | 2020-02-24 | 2020-06-26 | 天津理工大学 | Binocular heterogeneous camera and RFID dual target positioning and identity identification method |
| CN111459192A (en) * | 2020-03-26 | 2020-07-28 | 华中科技大学 | Mobile robot dynamic target tracking method based on RFID |
| CN111459192B (en) * | 2020-03-26 | 2021-08-03 | 华中科技大学 | Mobile robot dynamic target tracking method based on RFID |
| CN111474518A (en) * | 2020-05-25 | 2020-07-31 | 浙江大华技术股份有限公司 | Positioning method, fusion positioning base station, and storage medium |
| CN112085134B (en) * | 2020-09-09 | 2021-03-23 | 华清科盛(北京)信息技术有限公司 | Airport luggage identification system and method based on radio frequency identification |
| CN112085134A (en) * | 2020-09-09 | 2020-12-15 | 华清科盛(北京)信息技术有限公司 | Airport luggage identification system and method based on radio frequency identification |
| CN113701821A (en) * | 2021-09-01 | 2021-11-26 | 西南科技大学 | Building aluminum template identification structure based on local features and method thereof |
| CN113701821B (en) * | 2021-09-01 | 2024-03-05 | 西南科技大学 | Building aluminum template identification structure based on local features and method thereof |
| CN114765781A (en) * | 2022-06-14 | 2022-07-19 | 西南科技大学 | Communication perception map construction method for emergency robot |
| CN114765781B (en) * | 2022-06-14 | 2022-08-19 | 西南科技大学 | Communication perception map construction method facing emergency robot |
| CN114925709A (en) * | 2022-07-20 | 2022-08-19 | 恒银金融科技股份有限公司 | File positioning method and system applied to file cabinet |
| CN114925709B (en) * | 2022-07-20 | 2022-11-15 | 恒银金融科技股份有限公司 | File positioning method and system applied to file cabinet |
| CN116047399A (en) * | 2023-04-03 | 2023-05-02 | 深圳市成为信息股份有限公司 | Method and related device for precisely positioning tag by UHF handheld terminal |
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