CN108871334A - A kind of RFID indoor orientation method and system based on machine learning - Google Patents
A kind of RFID indoor orientation method and system based on machine learning Download PDFInfo
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- CN108871334A CN108871334A CN201810595369.XA CN201810595369A CN108871334A CN 108871334 A CN108871334 A CN 108871334A CN 201810595369 A CN201810595369 A CN 201810595369A CN 108871334 A CN108871334 A CN 108871334A
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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
Abstract
The invention discloses a kind of RFID indoor orientation method and system based on machine learning, wherein method include:Multifrequency carrier wave is sent to target, obtains phase data;Pre-process phase data;Prediction model is established using classification regression algorithm;The coordinate of target is obtained according to prediction model.Compared to traditional technology, positioning accuracy of the present invention is higher, precision ranging, data processing and modeling analysis can be carried out to target, to obtain accurate, stable positioning result.
Description
Technical field
The present invention relates to fixation and recognition field, especially a kind of RFID indoor orientation method based on machine learning and it is
System.
Background technique
RFID is the abbreviation of Radio Frequency Identification, i.e. Radio Frequency Identification Technology.RFID radio frequency is known
It is not a kind of contactless automatic identification technology, it passes through radiofrequency signal automatic identification target object and obtains related data,
Identify that work without manual intervention, is operable with various adverse circumstances;RFID technique can recognize high-speed moving object and can be simultaneously
Identify multiple labels, it is swift and convenient to operate.RFID indoor positioning technologies for simplicity, are generally adopted by unrelated with ranging at present
Location algorithm, since it does not carry out accurate ranging and data processing, positioning accuracy is lower, obtained positioning result
The probability of inaccuracy greatly increases.
Summary of the invention
To solve the above-mentioned problems, the object of the present invention is to provide a kind of RFID indoor orientation method based on machine learning
And system, precision ranging and data processing can be carried out to target, therefore positioning accuracy is higher.
In order to make up for the deficiencies of the prior art, the technical solution adopted by the present invention is that:
A kind of RFID indoor orientation method based on machine learning, includes the following steps:
Multifrequency carrier wave is sent to target, obtains phase data;
Pre-process phase data;
Prediction model is established using classification regression algorithm;
The coordinate of target is obtained according to prediction model.
Further, phase data is pre-processed, is included the following steps:
Normal distribution model RSSI is established, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI, m
For phase data total amount;
The range of f (x) and corresponding x are set, screening obtains that f (x) and corresponding x is made to meet the phase data of area requirement.
Further, the range of the f (x) and corresponding x are 0.6≤f (x)≤1, the 0.15 σ+μ≤σ of x≤3.09+μ.
Further, the classification regression algorithm includes in random forest, multiple linear regression model, model tree and random tree
It is one or more.
Further, using classification regression algorithm establish prediction model with according to prediction model obtain target coordinate it
Between, it further include step:It is tested assessment using ten times of cross-validation methods to all prediction models, selects wherein that position error is most
It is small as final prediction model.
A kind of RFID indoor locating system based on machine learning, including:
Acquisition module obtains phase data for sending multifrequency carrier wave to target;
Preprocessing module, for pre-processing phase data;
Modeling module, for establishing prediction model using classification regression algorithm;
Module is obtained, for obtaining the coordinate of target according to prediction model.
Further, the preprocessing module includes:
Condition module, for establishing normal distribution model RSSI, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI,
M is phase data total amount;
Screening module, for setting the range of f (x) and corresponding x, screening obtains that f (x) and corresponding x is made to meet area requirement
Phase data.
Further, the range of f (x) and corresponding x are 0.6≤f (x)≤1, the 0.15 σ+μ≤σ of x≤3.09+μ.
Further, the classification regression algorithm includes in random forest, multiple linear regression model, model tree and random tree
It is one or more.
Further, inspection module is additionally provided between modeling module and acquisition module;The inspection module, for using
Ten times of cross-validation methods test assessment to all prediction models, and it is the smallest as final prediction to select wherein position error
Model.
The beneficial effects of the invention are as follows:By sending different frequency carrier wave to target and calculating the phase difference of return, according to
Common knowledge although it is understood that target range;And it is handled for the data measured, to improve the validity and standard of data
True property;Then prediction model is established using classification regression algorithm, and the data measured is substituted into the model, can accurately understood
To coordinates of targets.Therefore, positioning accuracy of the present invention is higher, can carry out precision ranging, data processing and modeling analysis to target, from
And obtain accurate, stable positioning result.
Detailed description of the invention
Present pre-ferred embodiments are provided, with reference to the accompanying drawing with the embodiment that the present invention will be described in detail.
Fig. 1 is step flow diagram of the invention;
Fig. 2 is the schematic diagram that the present invention sends multifrequency carrier wave to target;
Fig. 3 is the algorithm principle figure of random forest of the present invention.
Specific embodiment
Referring to Fig.1, a kind of RFID indoor orientation method based on machine learning of the invention, includes the following steps:
Multifrequency carrier wave is sent to target, obtains phase data;
Pre-process phase data;
Prediction model is established using classification regression algorithm;
The coordinate of target is obtained according to prediction model.
Further, pre-processing used by phase data is Gauss filter method, to filter out abnormal phase data,
Satisfactory phase data is obtained, following steps are specifically included:
Normal distribution model RSSI is established, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI,
M is phase data total amount;
The range of f (x) and corresponding x are set, screening obtains that f (x) and corresponding x is made to meet the phase data of area requirement.
Further, the range of the f (x) and corresponding x are 0.6≤f (x)≤1, the 0.15 σ+μ≤σ of x≤3.09+μ.
Further, the classification regression algorithm includes in random forest, multiple linear regression model, model tree and random tree
It is one or more.
Further, using classification regression algorithm establish prediction model with according to prediction model obtain target coordinate it
Between, it further include step:It is tested assessment using ten times of cross-validation methods to all prediction models, selects wherein that position error is most
It is small as final prediction model.
A kind of RFID indoor locating system based on machine learning, including:
Acquisition module obtains phase data for sending multifrequency carrier wave to target;
Preprocessing module, for pre-processing phase data;
Modeling module, for establishing prediction model using classification regression algorithm;
Module is obtained, for obtaining the coordinate of target according to prediction model.
Further, the preprocessing module includes:
Condition module, for establishing normal distribution model RSSI, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI,
M is phase data total amount;
Screening module, for setting the range of f (x) and corresponding x, screening obtains that f (x) and corresponding x is made to meet area requirement
Phase data.
Further, the range of f (x) and corresponding x are 0.6≤f (x)≤1, the 0.15 σ+μ≤σ of x≤3.09+μ.
Further, the classification regression algorithm includes random forest (i.e. RF), multiple linear regression model (i.e. MLR), mould
One of type tree (i.e. M5P) and random tree (i.e. RT) are a variety of.
Further, inspection module is additionally provided between modeling module and acquisition module;The inspection module, for using
Ten times of cross-validation methods test assessment to all prediction models, and it is the smallest as final prediction to select wherein position error
Model.
Specifically, referring to Fig. 2, the positioning method based on FD-PDOA sends different frequencies to same target by reader
The carrier wave of rate, by subtracting each other the phase information of the carrier signal of these different frequencies with obtain phase difference and calculate away from
From:
Assuming that transmitting two carrier signals, frequency is respectively f1And f2, since the light velocity is c, according to phase difference and distance
Between relationship, then have
Two formulas above simultaneous, can obtain
Wherein Δ θ=θ1-θ2, Δ f=f1-f2, θ1And θ2It indicates in carrier frequency to be respectively f1And f2When phase change
Amount.
For 865MHz-956MHz, the range of corresponding effective distance exists the operating frequency range for the reader that the present invention uses
Between 15.7cm-17.3cm, therefore the method for using single frequency carrier can not preferably meet the requirement of indoor positioning, then this hair
It is bright that phase difference is obtained using FD-PDOA method, i.e., phase difference is obtained at different frequencies, is then subtracted each other two-by-two again;Preferably, it selects
Four readers taken can operating frequency be 920.625MHz, 921.875MHz, 923.125MHz and 924.375MHz respectively.
Wherein, random forest (RandomForest, RF) is a kind of assembled classifier algorithm, and Meta algorithm is by more decisions
Tree composition, can solve classification or regression problem.Each tree generates respective classification results, for classification problem, final result
It will be determined by ballot method with the most sorting item of number of votes obtained, for regression problem, according to the method for average with all subclassification results
Average value as final result.
Decision tree in random forest is mainly to be realized using recursive mode:First by root node, be divided into a left side
Then right two subtrees continue to generate corresponding left and right subtree from subtree, so go down, until every stalk tree recursive generation is new
Subtree simultaneously reaches leaf node.Optimal fork attribute is selected, training sample is subjected to optimal dividing, is pass when constructing decision
Key, fork attribute carry out branch using gini index.
Assuming that pi(=1,2 ..., | y |) indicate proportion of the i-th class sample in current sample I, the base of sample set I
Buddhist nun's value is represented by
In conjunction with above formula, the gini index of attribute x is represented by
Geordie value illustrates two different classes of probability of extraction in sample set, and Geordie value is smaller, i.e., gini index is got over
It is small, illustrate that the purity in sample set is higher.
Random forests algorithm thought:It referring to Fig. 3, is sampled first using bootstrap, from original training set, extracts k
Sub- training set;Secondly, establishing k decision tree (i.e. CART algorithm) respectively to k sub- training sets;Finally, for test sample collection
Each of sample to be sorted k kind classification results will be generated according to k decision-tree model, by being carried out to these classification results
It votes or average value selects, determine its final classification.
Multiple linear regression model (multivariable linear regression, MLR) is a kind of by multiple categories
The linear combination of property is come the algorithm predicted.It is assumed that variable ytWith k-1 explanatory variable xtj, exist between j=1,2 ... k-1
Linear relationship, then multiple linear regression model is expressed as:
yt=β0+β1xt1+β2xt2+…+βk-1xtk-1+μt
Wherein ytIt is explained variable (i.e. dependent variable), xtj, j=1,2 ... k-1 are explanatory variable (i.e. independent variable), μt
It is stochastic error, βi, i=0,1,2 ... k-1 are regression parameters.
As a given sample (yt, xt1, xt2,…xtk-1), when t=1,2 ... T, above-mentioned model is represented by,
Equation group is indicated with matrix form, it is as follows.
Enable Y=(y1 y2 … yT)′(T×1),
β=(β1 β2 … βk-1)′(k×1), μ=(μ1 μ2 … μT)′(T×1)
Then above formula can be write as:Y=X β+μ
Phase data is obtained in the actual environment and establishes prediction model, after prediction model is established, is needed to prediction
Model is verified, to select the lesser prediction model of error.Ten times of cross-validation methods are a kind of models more better than residual error method
The principle of appraisal procedure, this method is as follows:Data set is divided into 10 subsets, every time using 9 subsets as training set, is left one
This method is repeated 10 times by the data of a subset as test set, finally calculates all 10 mean errors.Ten times of intersections are tested
Card result is as shown in Table 1, and x, y are respectively the horizontal axis of reference axis, the longitudinal axis.
The position error of 10 times of cross validations of table
MLR | RF | M5P | RT | |
x/m | 0.460 | 0.347 | 0.414 | 0.492 |
y/m | 0.477 | 0.361 | 0.478 | 0.506 |
It can be seen that, the position error by the RF prediction model established is minimum, only 0.35m or so, secondly from table
It is RT, M5P and MLR, therefore RF is determined as final prediction model based on the prediction model that random forest is established, is based on this
Final prediction model obtains coordinates of targets.
Since the coordinate for obtaining target according to final prediction model is any technique commonly known, phase is almost related only to
The iteration or substitution of potential difference data or range data, and therefore not to repeat here.
Presently preferred embodiments of the present invention and basic principle is discussed in detail in the above content, but the invention is not limited to
Above embodiment, those skilled in the art should be recognized that also have on the premise of without prejudice to spirit of the invention it is various
Equivalent variations and replacement, these equivalent variations and replacement all fall within the protetion scope of the claimed invention.
Claims (10)
1. a kind of RFID indoor orientation method based on machine learning, which is characterized in that include the following steps:
Multifrequency carrier wave is sent to target, obtains phase data;
Pre-process phase data;
Prediction model is established using classification regression algorithm;
The coordinate of target is obtained according to prediction model.
2. a kind of RFID indoor orientation method based on machine learning according to claim 1, which is characterized in that pretreatment
Phase data includes the following steps:
Normal distribution model RSSI is established, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI,
M is phase data total amount;
The range of f (x) and corresponding x are set, screening obtains that f (x) and corresponding x is made to meet the phase data of area requirement.
3. a kind of RFID indoor orientation method based on machine learning according to claim 2, which is characterized in that the f
(x) and the range of corresponding x is the σ of 0.6≤f (x)≤1,0.15+μ≤σ of x≤3.09+μ.
4. a kind of RFID indoor orientation method based on machine learning according to claim 1, which is characterized in that described point
Class regression algorithm includes one of random forest, multiple linear regression model, model tree and random tree or a variety of.
5. a kind of RFID indoor orientation method based on machine learning according to claim 1 or 4, which is characterized in that
Prediction model is established using classification regression algorithm and is obtained between the coordinate of target according to prediction model, further includes step:Using
Ten times of cross-validation methods test assessment to all prediction models, and it is the smallest as final prediction to select wherein position error
Model.
6. a kind of RFID indoor locating system based on machine learning, which is characterized in that including:
Acquisition module obtains phase data for sending multifrequency carrier wave to target;
Preprocessing module, for pre-processing phase data;
Modeling module, for establishing prediction model using classification regression algorithm;
Module is obtained, for obtaining the coordinate of target according to prediction model.
7. a kind of RFID indoor locating system based on machine learning according to claim 6, which is characterized in that described pre-
Processing module includes:
Condition module, for establishing normal distribution model RSSI, by i-th of phase difference piDensity function be expressed as
Wherein, μ and σ is respectively the mean value and standard deviation of RSSI,
M is phase data total amount;
Screening module, for setting the range of f (x) and corresponding x, screening obtains that f (x) and corresponding x is made to meet the phase of area requirement
Potential difference data.
8. a kind of RFID indoor locating system based on machine learning according to claim 7, which is characterized in that f (x) and
The range of corresponding x is the σ of 0.6≤f (x)≤1,0.15+μ≤σ of x≤3.09+μ.
9. a kind of RFID indoor locating system based on machine learning according to claim 6, which is characterized in that described point
Class regression algorithm includes one of random forest, multiple linear regression model, model tree and random tree or a variety of.
10. a kind of RFID indoor locating system based on machine learning according to claim 6 or 9, which is characterized in that
Inspection module is additionally provided between modeling module and acquisition module;The inspection module, for using ten times of cross-validation methods pair
All prediction models are tested assessment, and it is the smallest as final prediction model to select wherein position error.
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