CN113242523B - Indoor double-frequency RFID positioning multi-floor switching method - Google Patents
Indoor double-frequency RFID positioning multi-floor switching method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
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- 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
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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
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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
- 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
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- 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
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- 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
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- H—ELECTRICITY
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- 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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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 last time is changed, and the existing methods can directly change the floor information of the electronic tag and 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
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, the position information is required in the aspect of daily life of people, and the position information is greatly required in industries, businesses and service industries.
The positioning technologies 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 location projects, locators are often mounted on the ceiling, and in some relatively tall spaces, the electronic tags that need to be located on the floor are instead closer to the locator downstairs. Because the frequency of the activation signal of the locator is relatively low, the energy loss of the locator 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 tag c (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 weight c Locator I of last locating point l Carrying out judgment that the two are the same; if the two are the same, executing step 14; if not, executing step 5;
5) And judging whether the signal queue of the positioned label contains a positioner I of the last positioning point l The 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 weight c Locator I for locating point last time l Whether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) Locator I with the largest judgment weight c Whether 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 I s (ii) a Executing the step 10;
10 F), judge the locator I taken out s And the locator I with the largest weight c Whether they are the same; if yes, go to step 14; if not, executing step 11;
11 F), judge the locator I taken out s And the locator I with the largest weight c Whether belong to the same floor; if yes, go to step 12; if not, executing step 13;
12 Based on the removed locator I) s And the locator I with the largest weight c Respectively calculating the positioning points and deleting the stored positioners I s Storing the locator I with the largest weight c (ii) a Step 17 is executed;
13 Deleting the stored locator; executing the step 16;
14 Locator I of above positioning points l As a location point; executing the step 17;
15 The locator I with the largest weight c As a location point "; step 17 is executed;
16 Locator I with the largest database storage weight c (ii) a Executing the step 14;
17 ) and returns all anchor points in sequence.
The invention relates to an improvement of an indoor double-frequency RFID positioning multi-floor switching method, which comprises the following steps:
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.
The invention relates to an improvement of an indoor double-frequency RFID positioning multi-floor switching method, which comprises the following steps:
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.
The invention relates to an improvement of an indoor double-frequency RFID positioning multi-floor switching method, which comprises the following steps:
the weighting algorithm comprises the following steps:
(1) setting time interval weight of each signal in the signal queue of the positioned label to obtain a corresponding signal intensity queue;
calculating the average signal strength of each locator in the queue;
(2) the calculated quantity weight is: 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) each locator weight calculation formula:
W＝0.5W n +0.3W t +0.2W db
in the formula: w is the locator weight, W n Is a number weight, wt is a time weight, W db Are signal strength weights.
The invention relates to an improvement of an indoor double-frequency RFID positioning multi-floor switching method, which comprises the following steps:
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 invention;
FIG. 2 is a block schematic diagram of an indoor dual-frequency RFID-located multi-floor switching system;
figure 3 is a schematic view of the positioner installation.
Detailed Description
The invention will be further described with reference to specific examples, but the scope of the invention is not limited thereto.
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 the locator is provided with an excitation antenna. 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 as indoor locators, exit locators, and the like, depending on the location of the 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 in 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 adopt 3 seconds;
2) Calculating the locator I with the maximum weight according to the weight algorithm c (ii) a Executing the step 3;
the algorithm engine calculates the locator with the maximum weight according to the quantity of the locators, the signal time, the signal strength and other parameters;
an example weighting algorithm includes the steps of:
(1) signal queue within 3 seconds: BAABACCCBBC
A. B and C represent positioners, the queue represents time from old to new from left to right, time interval weights are set, and the corresponding time interval weights are respectively as follows: 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;
(2) 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; namely 3/10=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; i.e., (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 the same;
(3) each locator weight calculation formula:
W＝0.5W n +0.3W t +0.2W db
in the formula: w is the locator weight, W n As a quantitative weight, W t Is a time weight, W db Are 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 weight c Locator I for locating point last time l Carrying 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 point l The 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;
each tag being located will signal that it will be stored in the queue on an active basis when 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 trips to the computing localizer, the computing localizer 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) And the locator I with the maximum judgment weight c Locator I of last locating point l Whether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) Judgment ofLocator I with maximum weight of outage c Whether 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 I s (ii) a Executing the step 10;
10 Positioning device I) for judging and taking out s And the locator I with the largest weight c Whether they are the same; if yes, go to step 14; if not, executing step 11;
11 Positioning device I) for judging and taking out s And the locator I with the largest weight c Whether belong to the same floor; if yes, go to step 12; if not, go to step 13;
12 Based on the removed locator I) s And the locator I with the largest weight c Respectively calculating positioning points and deleting stored positioners I s Storing the locator I with the largest weight c (ii) a Step 17 is executed;
the positioning point calculation is for positioning, and the positioning point, that is, the longitude and latitude and the floor (X \ Y \ Z three-dimensional coordinates) of the electronic tag must be calculated to know the position 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 time, the label can switch floors if the locator is calculated according to the locator, and then no way is available for determining the accuracy of floor switching, and the locator is stored first 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 A) and a locator I of the above locating points l As a location point; step 17 is executed;
15 The locator I with the largest weight c As a location point; executing the step 17;
16 ) and the locator I with the highest database storage weight c (ii) a Executing the step 14;
17 ) and returns all anchor points in sequence.
Locator I with the largest weight c Locator I l Stored locator (removed locator I) s ) The relationship of (1): locator I with the largest weight c Is 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 weight c It becomes a locator I l I.e. the locator of the last point, when the locator I with the greatest weight is not used c When calculating the positioning point, it is stored as the positioner I with the maximum weight c It becomes a stored fixture (removed 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 the person skilled in the art from the present disclosure are to be considered within the scope of the present 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 positioned tag c (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 weight c Locator I for locating point last time l Judging whether the two are the same or not; 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 point l The 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 weight c Locator I for locating point last time l Whether belong to the same floor; if yes, go to step 15; if not, executing step 7;
7) Locator I with the largest judgment weight c Whether 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, wherein 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) And taking out the positioner stored before from the database to obtain a taken-out positioner I s (ii) a Executing the step 10;
10 Positioning device I) for judging and taking out s And the locator I with the largest weight c Whether they are the same; if yes, go to step 14; if not, executing step 11;
11 Positioning device I) for judging and taking out s And the locator I with the largest weight c Whether belong to the same floor; if yes, go to step 12; if not, executing step 13;
12 According to the extracted locator I) s And the locator I with the largest weight c Respectively calculating positioning points and deleting stored positioners I s Storing the locator I with the largest weight c (ii) a Executing the step 17;
13 Deleting the stored locator; step 16 is executed;
14 Locator I of the last positioning point) l As a location point; executing the step 17;
15 The locator I with the largest weight c As a location point; step 17 is executed;
16 Locator I with the largest database storage weight c (ii) a Step 14 is executed;
17 ) and then sequentially returning all 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:
(1) setting time interval weight of each signal in the signal queue of the positioned label to obtain a corresponding signal intensity queue;
calculating the average signal strength of each locator in the queue;
(2) the calculated number weight is: 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 period weights/the sum of all the time period weights of the locators 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) each locator weight calculation formula:
W＝0.5W n +0.3W t +0.2W db
in the formula: w is the locator weight, W n To a quantitative weight, W t Is a time weight, W db Are 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; the locator is arranged at the entrance and exit of each room, the locator is provided with an excitation antenna, when personnel and objects carrying the electronic tags are positioned in an excitation area of the 125KHz excitation antenna, the electronic tags are awakened and externally send 433MHz wireless radio frequency signals, 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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