CN113242523A - Indoor double-frequency RFID positioning multi-floor switching method - Google Patents

Indoor double-frequency RFID positioning multi-floor switching method Download PDF

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CN113242523A
CN113242523A CN202110307815.4A CN202110307815A CN113242523A CN 113242523 A CN113242523 A CN 113242523A CN 202110307815 A CN202110307815 A CN 202110307815A CN 113242523 A CN113242523 A CN 113242523A
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locator
weight
signal
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floor
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CN113242523B (en
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张擒豹
冯文举
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Hangzhou Yihui Internet Of Things Technology Co ltd
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    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/30—Services specially adapted for particular environments, situations or purposes
    • H04W4/33—Services specially adapted for particular environments, situations or purposes for indoor environments, e.g. buildings
    • 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
    • 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
    • G01S11/00—Systems for determining distance or velocity not using reflection or reradiation
    • G01S11/02—Systems for determining distance or velocity not using reflection or reradiation using radio waves
    • G01S11/06—Systems for determining distance or velocity not using reflection or reradiation using radio waves using intensity measurements
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/02—Services making use of location information
    • H04W4/023—Services making use of location information using mutual or relative location information between multiple location based services [LBS] targets or of distance thresholds
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04W—WIRELESS COMMUNICATION NETWORKS
    • H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
    • H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Signal Processing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Radar Systems Or Details Thereof (AREA)

Abstract

The invention provides an indoor double-frequency RFID positioning multi-floor switching method.A positioned label receives a signal of a positioner, so that a signal queue of the positioned label is obtained, and point location is carried out according to the signal queue of the positioned label. The invention can greatly improve the accuracy of indoor double-frequency RFID positioning multi-floor switching, and is convenient and simple to implement. The invention can position the floor more accurately, if the electronic tag is positioned by the downstairs positioner, the floor positioned at the time and the floor positioned at the last time are changed, and the floor information of the electronic tag can be directly changed by some existing methods to position the tag downstairs; in the invention, the floor of the electronic tag is not directly changed, but a plurality of methods such as judging the attribute of the locator (whether the locator is an exit locator) and comparing the locator with a historical locating point are comprehensively judged.

Description

Indoor double-frequency RFID positioning multi-floor switching method
Technical Field
The invention relates to the technical field of positioning and navigation, and discloses an indoor double-frequency RFID positioning multi-floor switching method.
Background
Nowadays, with the increasing progress of science and technology, electronic products are more and more popularized and have more and more powerful functions, people have more and more requirements on position information, and the people not only need the position information in the aspect of daily life, but also have great requirements on the position information in industries, businesses and service industries.
The positioning technology can be divided into a positioning technology in an outdoor environment and a positioning technology in an indoor environment according to different environments, and the two technologies are similar but different from each other. Firstly, the environment is different, the outdoor environment is relatively spacious, the obstacles are less, and the indoor environment has more obstacles such as walls, furniture and the like; secondly, the dimensions are different, and two-dimensional positioning is generally realized in an outdoor environment, while the two-dimensional positioning can not meet the requirements in an indoor environment due to more buildings and underground buildings; the requirement on the positioning accuracy is different, the outdoor positioning realization meter level can meet the requirements of most common users, even the ten-meter level is enough, but the positioning in the indoor environment has higher requirement on the accuracy and even can meet the requirement of the users by reaching the centimeter level.
The RFID positioning has the advantages of low price of the electronic tag, strong penetrating power of the positioner, non-contact and the like, so that the RFID positioning becomes one of the commonly used indoor positioning technologies at present, the RFID positioning can realize indoor multi-target positioning and non-line-of-sight positioning, and the unique identification of the electronic tag can realize tracking and positioning of specific personnel. In practical RFID positioning projects, the positioner is often installed on the ceiling, and in some relatively high-altitude spaces, the electronic tag to be positioned on the floor is closer to the positioner located downstairs. Because the frequency of the locator activation signal is relatively low, the energy loss penetrating through the floor is small, most of the existing indoor dual-frequency RFID locating technologies only rely on the position information of the locator to determine the floor where the electronic tag is located, and the mode can cause inaccurate floor locating under the scene.
Accordingly, there is a need for improvements in the art.
Disclosure of Invention
The invention aims to provide an efficient indoor double-frequency RFID positioning multi-floor switching method.
In order to solve the technical problem, the invention provides an indoor double-frequency RFID positioning multi-floor switching method, which comprises the following steps:
1) the positioned label receives the signal of the positioner, so that a signal queue of the positioned label is obtained, and the step 2 is executed;
2) calculating the locator I with the maximum weight through a weight algorithm according to the signal queue of the located tagc(ii) a Executing the step 3;
3) judging whether the positioned label is positioned for the first time; if yes, go to step 15; if not, executing step 4;
4) the locator I with the largest weightcLocator I of last locating pointlCarrying out judgment that the two are the same; if the two are the same, executing step 14; if not, executing step 5;
5) and a locator I for judging whether the signal queue of the located label contains the last locating pointlThe time for calculating the locator this time and the time interval for calculating the locator last time do not exceed the preset interval time; if yes, go to step 14; if not, executing step 6;
6) locator I with the largest judgment weightcLocator I of last locating pointlWhether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) locator I with the largest judgment weightcWhether it is an exit locator; if yes, go to step 15; if not, executing step 8;
8) judging whether a locator is stored in the database (the locator is the locator stored in the database in the step 16); if yes, executing step 9; if not, go to step 16;
9) taking out the positioner stored before from the database to obtain the taken out positioner Is(ii) a Executing the step 10;
10) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether they are the same; such asIf yes, go to step 14; if not, executing step 11;
11) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether belong to the same floor; if yes, go to step 12; if not, executing step 13;
12) according to the taken out positioner IsAnd the locator I with the largest weightcRespectively calculating positioning points and deleting stored positioners IsStoring the locator I with the largest weightc(ii) a Step 17 is executed;
13) deleting the stored locator; step 16 is executed;
14) the locator I of the above locating pointslAs a location point; step 17 is executed;
15) locator I with the greatest weightcAs a location point "; step 17 is executed;
16) locator I with maximum database storage weightc(ii) a Step 14 is executed;
17) and sequentially returning all the positioning points.
As an improvement of the indoor double-frequency RFID positioning multi-floor switching method of the invention:
in step 1, the signal queue of the located tag comprises: all wireless radio frequency signals sent by the positioned label within the preset positioning time; the tag to be located generates a radio frequency signal each time it receives an excitation signal from the excitation antenna of a locator.
As an improvement of the indoor double-frequency RFID positioning multi-floor switching method of the invention:
the preset positioning time is 3 seconds.
As an improvement of the indoor double-frequency RFID positioning multi-floor switching method of the invention:
in step 2, the algorithm engine calculates the locator with the largest weight according to the number of locators, the signal time and the signal strength.
As an improvement of the indoor double-frequency RFID positioning multi-floor switching method of the invention:
the weighting algorithm comprises the following steps:
setting time interval weight of each signal in a signal queue of a positioned label to obtain a corresponding signal intensity queue;
calculating the average signal strength of each locator in the queue;
calculating the quantity weight as: the number of signals of the locator in the signal queue/the total number of signals in the signal queue; the time weight is calculated as: the sum of the time interval weights/the sum of all the time interval weights of the locator in the signal queue;
the signal weights are calculated as: (mean signal strength of the localizers +255)/(255 x 3-sum of mean signal strength of the localizers);
③ calculating the weight of each locator:
W＝0.5Wn+0.3Wt+0.2Wdb
in the formula: w is the locator weight, WnFor quantitative weight, Wt is temporal weight, WdbAre signal strength weights.
As an improvement of the indoor double-frequency RFID positioning multi-floor switching method of the invention:
in step 5, the preset interval time is 3 seconds.
The technical advantages of the indoor double-frequency RFID positioning multi-floor switching method of the invention are as follows:
the invention can greatly improve the accuracy of indoor double-frequency RFID positioning multi-floor switching, and is convenient and simple to implement.
The invention can position the floor more accurately, if the electronic tag is positioned by the downstairs positioner, the floor positioned at the time and the floor positioned at the last time are changed, and the floor information of the electronic tag can be directly changed by some existing methods to position the tag downstairs; in the invention, the floor of the electronic tag is not directly changed, but a plurality of methods such as judging the attribute of the locator (whether the locator is an exit locator) and comparing the locator with a historical locating point are comprehensively judged.
Drawings
The following describes embodiments of the present invention in further detail with reference to the accompanying drawings.
FIG. 1 is a schematic flow chart of an indoor dual-frequency RFID positioning multi-floor switching method of the present invention;
FIG. 2 is a block schematic diagram of an indoor dual-frequency RFID-located multi-floor switching system;
FIG. 3 is a schematic view of the fixture installation.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto.
Embodiment 1, an indoor dual-frequency RFID positioning multi-floor switching method, as shown in fig. 1-3;
firstly, each person and object distributes 1 electronic tag to realize one object, one card and one code; a locator is installed at the entrance and exit of each room, and an excitation antenna is installed on the locator. When personnel and objects carrying the electronic tags are in an excitation area of a 125KHz excitation antenna, the electronic tags are awakened and send 433MHz wireless radio frequency signals to the outside, and the reader receives the wireless radio frequency signals and sends the wireless radio frequency signals to the server.
The locators may be classified into indoor locators, exit locators, and the like according to the position of arrangement.
An indoor double-frequency RFID positioning multi-floor switching method comprises the following steps:
1) obtaining a signal queue of the positioned label, and executing the step 2;
the signal queue of the located tag comprises: and all wireless radio frequency signals sent by the positioned label within the preset positioning time. The tag to be located generates a radio frequency signal each time it receives an excitation signal from the excitation antenna of a locator.
The preset positioning time is generally not more than 5 seconds, and can be 3 seconds;
2) calculating the locator I with the maximum weight according to the weight algorithmc(ii) a Executing the step 3;
the algorithm engine calculates the locator with the maximum weight according to the number of the locators, the signal time, the signal intensity and other parameters;
an example weighting algorithm includes the steps of:
signal queue in 3 seconds: BAABACCBC
A. B, C represents the locator, the queue represents time from old to new from left to right, the time interval weight is set, the corresponding time interval weight is: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10; the corresponding signal strength queues are: -71, -76, -74, -69, -75, -66, -64, -68, -72, -65;
the average signal strength of each locator in the queue is respectively: a: -75, B: -70, C: -65;
the quantity weight of A is: the number of signals of the locator in the signal queue/the total number of signals in the signal queue; 3/10 is equal to 0.3;
the time weight of A is: the sum of the time interval weights/the sum of all the time interval weights of the locator in the signal queue; that is, (2+3+5)/(1+2+3+4+5+6+7+8+9+10) ═ 10/55
The signal weight of A is: (mean signal strength of the localizers +255)/(255 x 3-sum of mean signal strength of the localizers); namely (-75+255)/(255-75+255-70+255-65) ═ 180/555
B. C, weight calculation is carried out in the same way;
③ calculating the weight of each locator:
W＝0.5Wn+0.3Wt+0.2Wdb
in the formula: w is the locator weight, WnTo a quantitative weight, WtIs a time weight, WdbAre signal strength weights.
3) Judging whether the positioned label is positioned for the first time; if yes, go to step 15; if not, executing step 4;
4) the locator I with the largest weightcLocator I of last locating pointlCarrying out judgment that the two are the same; if the two are the same, executing step 14; if not, executing step 5;
5) and a locator I for judging whether the signal queue of the located label contains the last locating pointlThe time for calculating the locator this time and the time interval for calculating the locator last time do not exceed the preset interval time; if yes, go to step 14; if not, executeStep 6 is executed;
each tag being located will signal that it is being stored in the queue continuously when it is being read by the locator (locator). The action of calculating the locator is driven by signals, and as long as new signals are stored in the queue, the signals with preset locating time are taken out from the queue to calculate the locator according to the weight. To avoid frequent calculation of the locator, the action of calculating the locator is limited to at least 2 seconds, since the signal may come very quickly. That is, when the frequency of the signal is fast (at least 1 in 2 seconds), the locator is calculated once every 2 seconds, and when 1 in more than 2 seconds, the locator is calculated according to the interval time from the actual signal.
The preset interval time can be set by itself and can be 3 seconds.
6) Locator I with the largest judgment weightcLocator I of last locating pointlWhether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) locator I with the largest judgment weightcWhether it is an exit locator; if yes, go to step 15; if not, executing step 8;
8) judging whether a locator is stored in the database (the locator is the locator stored in the database in the step 16); if yes, executing step 9; if not, go to step 16;
9) taking out the positioner stored before from the database to obtain the taken out positioner Is(ii) a Executing the step 10;
10) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether they are the same; if yes, go to step 14; if not, executing step 11;
11) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether belong to the same floor; if yes, go to step 12; if not, executing step 13;
12) according to the taken out positioner IsAnd the locator I with the largest weightcSeparately calculating anchor points, deleting storedLocator IsStoring the locator I with the largest weightc(ii) a Step 17 is executed;
the positioning point calculation is for positioning, and the positioning point must be calculated to know the position of the electronic tag, that is, the longitude and latitude and the floor (X \ Y \ Z three-dimensional coordinates) of the electronic tag, and the positioning point is obtained according to a positioner, and a specific tag has a certain position under a specific positioner.
The extracted locator may be used to calculate a point, and the locator with the greatest weight may calculate a point at that time. The stored locator is the locator with the largest weight calculated before, and if the locator is calculated at the moment, the label can switch floors if the locator is calculated according to the locator, and at the moment, no method is available for determining the accuracy of floor switching, and the locator is only stored firstly to keep the original position of the label. When a locator is calculated again, if the locator is located at a floor, the accuracy of floor switching can be determined, and the locator can be taken out for use.
13) Deleting the stored locator; step 16 is executed;
14) the locator I of the above locating pointslAs a location point; step 17 is executed;
15) locator I with the greatest weightcAs a location point; step 17 is executed;
16) locator I with maximum database storage weightc(ii) a Step 14 is executed;
17) and sequentially returning all the positioning points.
Locator I with the largest weightcLocator IlStored locator (removed locator I)s) The relationship of (1): locator I with the largest weightcIs the locator with the maximum weight calculated according to the signal queue within 3 seconds, and when the locator is used for calculating the locating point, the locator I with the maximum weightcIt becomes a locator IlI.e. the locator of the last point, when the locator I with the greatest weight is not usedcWhen calculating the anchor point, it is savedHeavy maximum locator IcIt becomes a stored fixture (taken-out fixture I)s)。
Finally, it is also noted that the above-mentioned lists merely illustrate a few specific embodiments of the invention. It is obvious that the invention is not limited to the above embodiments, but that many variations are possible. All modifications which can be derived or suggested by a person skilled in the art from the disclosure of the present invention are to be considered within the scope of the invention.

Claims (7)

1. An indoor double-frequency RFID positioning multi-floor switching method is characterized in that: the method comprises the following steps:
1) the positioned label receives the signal of the positioner, so that a signal queue of the positioned label is obtained, and the step 2 is executed;
2) calculating the locator I with the maximum weight through a weight algorithm according to the signal queue of the located tagc(ii) a Executing the step 3;
3) judging whether the positioned label is positioned for the first time; if yes, go to step 15; if not, executing step 4;
4) the locator I with the largest weightcLocator I of last locating pointlCarrying out judgment that the two are the same; if the two are the same, executing step 14; if not, executing step 5;
5) and a locator I for judging whether the signal queue of the located label contains the last locating pointlThe time for calculating the locator this time and the time interval for calculating the locator last time do not exceed the preset interval time; if yes, go to step 14; if not, executing step 6;
6) locator I with the largest judgment weightcLocator I of last locating pointlWhether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) locator I with the largest judgment weightcWhether it is an exit locator; if yes, go to step 15; if not, executing step 8;
8) judging whether a locator is stored in the database (the locator is the locator stored in the database in the step 16); if yes, executing step 9; if not, go to step 16;
9) taking out the positioner stored before from the database to obtain the taken out positioner Is(ii) a Executing the step 10;
10) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether they are the same; if yes, go to step 14; if not, executing step 11;
11) and a positioner I taken out by judgmentsAnd the locator I with the largest weightcWhether belong to the same floor; if yes, go to step 12; if not, executing step 13;
12) according to the taken out positioner IsAnd the locator I with the largest weightcRespectively calculating positioning points and deleting stored positioners IsStoring the locator I with the largest weightc(ii) a Step 17 is executed;
13) deleting the stored locator; step 16 is executed;
14) the locator I of the above locating pointslAs a location point; step 17 is executed;
15) locator I with the greatest weightcAs a location point "; step 17 is executed;
16) locator I with maximum database storage weightc(ii) a Step 14 is executed;
17) and sequentially returning all the positioning points.
2. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 1, characterized in that:
in step 1, the signal queue of the located tag comprises: all wireless radio frequency signals sent by the positioned label within the preset positioning time; the tag to be located generates a radio frequency signal each time it receives an excitation signal from the excitation antenna of a locator.
3. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 2, characterized in that:
the preset positioning time is 3 seconds.
4. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 3, characterized in that:
in step 2, the algorithm engine calculates the locator with the largest weight according to the number of locators, the signal time and the signal strength.
5. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 4, characterized in that:
the weighting algorithm comprises the following steps:
setting time interval weight of each signal in a signal queue of a positioned label to obtain a corresponding signal intensity queue;
calculating the average signal strength of each locator in the queue;
calculating the quantity weight as: the number of signals of the locator in the signal queue/the total number of signals in the signal queue; the time weight is calculated as: the sum of the time interval weights/the sum of all the time interval weights of the locator in the signal queue;
the signal weights are calculated as: (mean signal strength of the localizers +255)/(255 x 3-sum of mean signal strength of the localizers);
③ calculating the weight of each locator:
W＝0.5Wn+0.3Wt+0.2Wdb
in the formula: w is the locator weight, WnTo a quantitative weight, WtIs a time weight, WdbAre signal strength weights.
6. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 5, characterized in that:
each person and object distributes corresponding electronic tags to realize one object, one card and one code; a locator is installed at the entrance and exit of each room, and an excitation antenna is installed on the locator. When personnel and objects carrying the electronic tags are in an excitation area of a 125KHz excitation antenna, the electronic tags are awakened and send 433MHz wireless radio frequency signals to the outside, and the reader receives the wireless radio frequency signals and sends the wireless radio frequency signals to the server.
7. The indoor dual-frequency RFID positioning multi-floor switching method according to claim 6, characterized in that:
in step 5, the preset interval time is 3 seconds.
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YOUNGSU PARK: "Improving position estimation on RFID tag floor localization using RFID reader transmission power control", 《2008 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND BIOMIMETICS》 *
张振燕: "室内多楼层目标定位与追踪研究", 《中国优秀博硕士学位论文全文数据库(硕士)信息科技辑》 *

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