CN114444629A - Angle measurement positioning system and method based on RFID tag array - Google Patents

Angle measurement positioning system and method based on RFID tag array Download PDF

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CN114444629A
CN114444629A CN202210027680.0A CN202210027680A CN114444629A CN 114444629 A CN114444629 A CN 114444629A CN 202210027680 A CN202210027680 A CN 202210027680A CN 114444629 A CN114444629 A CN 114444629A
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tag
tag array
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rfid
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CN114444629B (en
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谢良波
任彦
周牧
王勇
聂伟
杨小龙
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Chongqing University of Post and Telecommunications
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    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
    • G06K17/00—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations
    • G06K17/0022—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device
    • G06K17/0029—Methods or arrangements for effecting co-operative working between equipments covered by two or more of main groups G06K1/00 - G06K15/00, e.g. automatic card files incorporating conveying and reading operations arrangements or provisious for transferring data to distant stations, e.g. from a sensing device the arrangement being specially adapted for wireless interrogation of grouped or bundled articles tagged with wireless record carriers
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
    • G01S5/04—Position of source determined by a plurality of spaced direction-finders
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02D—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN INFORMATION AND COMMUNICATION TECHNOLOGIES [ICT], I.E. INFORMATION AND COMMUNICATION TECHNOLOGIES AIMING AT THE REDUCTION OF THEIR OWN ENERGY USE
    • Y02D30/00—Reducing energy consumption in communication networks
    • Y02D30/70—Reducing energy consumption in communication networks in wireless communication networks

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Abstract

The invention discloses an angle measurement positioning system and method based on a Radio Frequency Identification (RFID) tag array, and relates to the technical field of RFID indoor positioning. Firstly, arranging a tag array consisting of a plurality of RFID passive tags on an object, acquiring phases of reflected signals of the tag array by utilizing a commercial reader-writer and a plurality of antennas arranged at fixed positions, and constructing a phase difference for the same reader antenna; then, a coupling phase error correction method is used for calibrating the measured phase difference, the influence of the coupling error is inhibited, and the MUSIC algorithm is used for estimating the antenna direction; and finally, retrieving and positioning the attitude of the tag array through the geometric relationship among the direction angles of the antennas at the known positions, the attitude angle of the tag array and the arrival angle of the signal. The invention provides an indoor positioning system with simple deployment of RFID (radio frequency identification) angle measurement, which can realize the estimation of the target attitude while positioning the target object and is suitable for most indoor positioning scenes.

Description

Angle measurement positioning system and method based on RFID tag array
Technical Field
The invention belongs to the field of RFID indoor positioning, and particularly relates to an indoor positioning system and method based on an RFID tag array.
Background
Radio Frequency Identification (RFID) technology uses a Radio Frequency method to perform non-contact bidirectional data communication between a target tag and a reader/writer, thereby realizing target Identification. The passive RFID technology in the uhf (ultra High frequency) band (860-960MHz) has the advantages of low cost, wide reading range, High reading speed and the like, is widely applied to a plurality of fields such as supply chain management, logistics management, warehouse management and the like, and the positioning technology based on the RFID also becomes a hotspot for researches of students.
In a traditional RFID indoor positioning system based on antenna arrays, each antenna array is composed of a plurality of antennas, certain requirements are made on the distance between the antennas in the array, the size of the antenna of the conventional commercial reader-writer cannot meet the requirements, a special customized antenna is needed, and the positioning cost of the antenna array is increased. In the existing positioning system based on the tag array, under the condition that the tag array has a certain attitude angular position, the positioning error is rapidly deteriorated, and the position service cannot be provided.
Disclosure of Invention
Based on the above, the invention provides an indoor positioning system and method based on an RFID tag array, which can provide position and attitude information of a positioning target, aiming at the problem that the positioning accuracy is deteriorated under the condition that the attitude angle of the tag array in the tag array positioning system is unknown.
The invention firstly provides an angle measurement positioning system based on an RFID label array:
an angle measurement positioning system based on an RFID tag array comprises an RFID reader-writer, an RFID tag array, a plurality of commercial RFID reader-writer antennas, a data processing terminal, a plurality of network cables and a plurality of radio frequency cables;
the RFID tag array is composed of a plurality of RFID tags of the same type, phase information acquisition required by positioning is completed by an RFID reader-writer and an RFID reader-writer antenna, and a data processing terminal of the system is responsible for RFID reader-writer control, data processing and positioning calculation.
Optionally, the model of the RFID reader-writer is Impinj R420;
optionally, the type of the RFID tag is a commercial tag of Alien-9746;
optionally, the commercial RFID reader antenna is VIKITEK VA 094;
optionally, the data processing terminal is configured as an i7-5500u processor, an 8G operating memory, and a storage device including hardware control and positioning requirements;
in order to solve the technical problem, the invention also provides an angle measurement positioning method based on the RFID tag array, which specifically comprises the following steps:
step S1, aiming at the label array constructed by a plurality of RFID labels, measuring the correction value of the label coupling phase error by using a reader and a data processing terminal;
further, in step S1, the specific step of measuring the correction value of the tag coupling phase error is:
firstly, for an RFID label array containing N labels, placing a corresponding RFID label at each fixed position, and acquiring phase values of all labels in the array by using a reader-writer
Figure BDA0003465275700000021
Taking the first label as a reference label, calculating and recording the phase difference between the reference label and other labels
Figure BDA0003465275700000022
；
Then, other tags are removed from the tag array, only one reference tag and one tag to be tested are reserved, and the phase values of the two tags are collected by the reader-writer
Figure BDA0003465275700000023
And
Figure BDA0003465275700000024
calculating and recording the phase difference
Figure BDA0003465275700000025
；
Secondly, calculate
Figure BDA0003465275700000026
And the phase error is used as the phase error introduced by the coupling of the tags in the phase difference of the pair of tags for the phase difference error calibration of the tag array;
and finally, repeating the steps, measuring the phase difference error introduced by the coupling of the tag in the phase difference between any tag in the array and the reference tag, and calibrating the phase difference between all other tags in the tag array and the reference tag.
Step S2, arranging a plurality of reader antennas, and enabling all the antennas to finish collecting all the label phase information in the label array according to the time sequence;
step S3, calibrating the phase difference between the labels by using the phase difference and the phase difference correction value in the step S1, and substituting the calibrated phase difference into an MUSIC algorithm to estimate the arrival angle of the antenna signal;
step S4, estimating the attitude angle of the tag array by using the signal arrival angle and the antenna position of a plurality of antennas and using a tag array attitude retrieval algorithm;
and S5, establishing an equation by using the geometric relationship among the label attitude angle, the antenna direction angle and the antenna position in the step S4, and taking the average value of a plurality of positions to be selected as a positioning result.
The invention has the beneficial effects that: the RFID reader-writer and the reader-writer antenna are commercial devices, and the system is simple in structure, flexible in deployment and suitable for most typical indoor environments; meanwhile, the attitude of the tag array is considered while positioning, the attitude estimation of the target object can be realized while positioning, and the method has wider application scenes compared with a general positioning system.
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FIG. 1 is a system block diagram of the present invention.
FIG. 2 is a diagram of a positioning model according to the present invention.
FIG. 3 is a schematic diagram of tag array pose retrieval according to the present invention.
Detailed Description
The invention is further described with reference to the following figures and specific embodiments. The embodiment described is only one embodiment of the invention, and not all embodiments.
The invention provides an angle measurement positioning system and method based on an RFID tag array, and the system structure is shown in figure 1. In this embodiment, the reader/writer in the figure uses Impinj R420, the tag in the tag array is Alien-9746, three commercial VIKITEK VA094 reader/writer antennas are used, and the data processing terminal is configured as an i7-5500u processor, an 8G operating memory, and a storage device including hardware control and positioning requirements.
When the method is used, a plurality of RFID labels of the same type are uniformly attached to a label of a target to be positioned to form a uniform linear label array, and then a terminal is used for controlling a reader-writer to measure the coupling phase error in the label array.
Firstly, the coupling error measurement of the tag array is carried out, and the coupling error measurement steps are as follows:
step S1, for an RFID label array containing N labels, placing a corresponding RFID label at each fixed position, and acquiring phase values of all labels in the array by using a reader-writer
Figure BDA0003465275700000031
Taking the first label as a reference label, calculating and recording the phase difference between the reference label and other labels
Figure BDA0003465275700000032
Step S2, removing other labels from the label array, only keeping a reference label and a label to be detected, and collecting phase values of the two labels by the reader-writer
Figure BDA0003465275700000033
And
Figure BDA0003465275700000034
calculating and recording the phase difference
Figure BDA0003465275700000035
Step S3, calculating
Figure BDA0003465275700000036
The phase difference is used as a phase error introduced by label coupling in the phase difference of the pair of labels and is used for phase difference error calibration of the label array;
step S4, repeating steps S2 and S3, and measuring a phase difference error introduced by tag coupling in the phase difference between any tag in the array and the reference tag, for calibrating the phase difference between all other tags in the tag array and the reference tag.
After the phase difference correction value is measured, the three antennas are arranged in a positioning scene, and as shown in fig. 1, the terminal is used for controlling the reader-writer to acquire the tag phase and realize the positioning algorithm.
The detailed steps for realizing the positioning algorithm are as follows:
in step S1, in order to realize the positioning and posture detection of the object, it is first necessary to estimate the signal arrival angle θ of the antenna relative to the tag array (antenna AOA for short). The transmitting antenna and the receiving antenna of the reader share the same antenna, so that the received signal can be regarded as a signal that an antenna transmitting signal s (t) enters the tag array at an angle theta, is backscattered by the tag and then exits to the antenna at the same angle. The distances between the antenna and different array elements in the tag array are different, and the distances are reflected as phase shifts in received signals. The ith tag receiving signal at the time t in the tag array can be modeled as:
Figure BDA0003465275700000041
wherein s (t) represents a transmission signal, riIs the distance between the antenna and the ith tag, λ represents the wavelength, ni(t) is noise. Combining the received signals of the tag array containing N array elements to obtain:
X(t)＝AS(t)+N(t)
wherein X (t) is M and of the arrayA 1-dimensional snapshot data vector, n (t) an M × 1-dimensional noise data vector of the array, s (t) a K × 1-dimensional vector of spatial signals, K is the number of incident signals, and a ═ α (θ) (i.e., M × 1-dimensional noise data vector of the array), and (d) a1),α(θ2),...,α(θK)]An M × K dimensional popular matrix (steering vector matrix) which is a space array, takes the first label array element as a reference, and is alpha (theta)i) Can be expressed as:
Figure BDA0003465275700000042
the reader-writer is used for collecting the phase information of the tag array to obtain the phase difference between each RFID tag in the tag array and the reference tag at the time t
Figure BDA0003465275700000043
Using the phase difference correction value to calibrate the phase difference
Figure BDA0003465275700000044
Reconstructing the received signal of the tag array at the time t by the calibrated phase to obtain:
Figure BDA0003465275700000045
and performing characteristic decomposition on the covariance matrix of the reconstructed Signal, decomposing the covariance matrix into a Signal subspace and a noise subspace according to the magnitude of the characteristic value, and searching the arrival angle of the antenna Signal by using an MUSIC (multiple Signal Classification) algorithm by utilizing the orthogonality.
And step S2, searching the attitude angle of the label array. Referring to fig. 2, a rectangular coordinate system is established with the leftmost antenna as the origin of coordinates and the straight lines of the three antennas as the x-axis. Wherein A is1、A2、A3Three reader-writer antennas with coordinates of (0,0) and (D)1,0)、(D1+D2,0). In the second step, the arrival angles of the signals of the three antennas are theta'1,θ′2,θ′3. Assuming that the attitude angle of the tag array is alpha, the tag array is phasedAngle of directivity to antenna betai＝θ′i+ alpha, the angle between the position of the antenna and the x-axis is betaiThree straight lines l1、l2、l3Comprises the following steps:
Figure BDA0003465275700000046
as shown in fig. 2, the position coordinates of the three antennas are arranged at an angle beta with the x-axis1、β2And beta3The three straight lines of (a) will intersect at one point, and the angle alpha can not intersect at one point again after rotating any angle. Then, all alpha angles are traversed within the range of-pi/2 to gamma to pi/2, and the attitude angle of the tag array is estimated to meet the following conditions:
Figure BDA0003465275700000051
step S3, after obtaining the attitude angle of the tag array, as shown in fig. 3, the antenna array relative to the antenna a can be obtainediAngle of orientation betai. Let the position of the center of the tag array be (x)c,yc) Antenna AiHas the coordinates of (x)i,yi) (i is 1,2,3), then β1、β2And beta3Satisfies the following conditions:
Figure BDA0003465275700000052
the combination of any two equations in the above equation can solve three different solutions { (x)c1,yc1),(xc2,yc2),(xc3,yc3) And taking the mean value of the coordinates of the three intersection points as the final position of the target:
Figure BDA0003465275700000053
therefore, the positioning and posture estimation of the target object are realized.
The above-mentioned embodiments are only preferred embodiments of the present invention, and are not intended to limit the present invention, and the protection scope of the present invention is not limited by the above-mentioned embodiments, and all equivalent substitutions, modifications, etc. made by the present disclosure should be included in the protection scope of the present invention for those skilled in the same field.

Claims (3)

1. An indoor positioning system based on Radio Frequency Identification (RFID) tag array angle measurement is characterized by comprising an RFID reader, an RFID tag array, a plurality of RFID reader antennae, a data processing terminal, a plurality of network lines and a plurality of Radio Frequency lines; the RFID tag array is composed of a plurality of RFID tags of the same type, the RFID reader and the RFID reader antenna realize phase information acquisition required by positioning, and a data processing terminal of the system is responsible for RFID reader control, data processing and positioning calculation.
2. The system of claim 1, comprising a method for measuring coupling phase error of the fixed RFID tag array, comprising the steps of:
step S1, for an RFID label array containing N labels, placing a corresponding RFID label at each fixed position, and acquiring phase values of all labels in the array by using a reader-writer
Figure FDA0003465275690000011
Taking the first label as a reference label, calculating and recording the phase difference between the reference label and other labels
Figure FDA0003465275690000012
Step S2, removing other labels from the label array, only keeping a reference label and a label to be detected, and collecting phase values of the two labels by the reader-writer
Figure FDA0003465275690000013
And
Figure FDA0003465275690000014
calculating and recording the phase difference
Figure FDA0003465275690000015
Step S3, calculating
Figure FDA0003465275690000016
The phase difference is used as a phase error introduced by label coupling in the phase difference of the pair of labels and is used for phase difference error calibration of the label array;
step S4, repeating steps S2 and S3, and measuring a phase difference error introduced by tag coupling in the phase difference between any tag in the array and the reference tag, for calibrating the phase difference between all other tags in the tag array and the reference tag.
3. The indoor positioning system based on RFID tag array as claimed in claim 1, comprising an indoor positioning method based on tag array angle measurement, characterized by comprising the following steps:
and step S1, estimating the arrival angle theta of the signals of the antenna relative to the tag array. The transmitting channel and the receiving channel of the reader share one antenna, and the received signal can be regarded as a signal which is transmitted by the antenna s (t) and enters the tag array at a fixed angle theta, and is backscattered back to the receiving antenna at the same angle through the tag array. Because the distances between the antenna and different array elements in the tag array are different, the received signals are represented as phase shifts, and the backscatter signal of the ith tag array element received by the receiving antenna at time t can be represented as:
Figure RE-FDA0003585889450000017
where s (t) denotes the signal transmitted by the antenna, riIs the link distance between the antenna and the ith tag array element, lambda represents the wavelength, ni(t) is noise. Combining all the received backscatter signals of the N tag array elements to obtain:
X(t)＝AS(t)+N(t) (2)
where x (t) is an M × 1-dimensional snapshot data vector of the array, M denotes the number of snapshots of the signal, n (t) is an M × 1-dimensional noise data vector of the array, s (t) is a K × 1-dimensional vector of the spatial signal, K is the number of incident signals, a is an M × K-dimensional prevalence matrix (steering vector matrix) of the tag array, and a ═ α (θ) is1),α(θ2),...,α(θK)]. Any column alpha (theta) in A by taking the first tag array element on the left side of the tag array as a referencei) Can be expressed as:
Figure RE-FDA0003585889450000021
using a reader-writer to collect phase information of all array element tags in the tag array, and calculating the phase difference between each array element tag and a reference tag at the time t
Figure RE-FDA0003585889450000022
Wherein
Figure RE-FDA0003585889450000023
Indicating the phase difference between tag i and the reference tag at time t. The method of claim 2, wherein the phase difference is calibrated by using the measured coupling phase difference error, and the received signal at t-time of the tag array is reconstructed with the calibrated phase as follows:
Figure RE-FDA0003585889450000024
and performing characteristic decomposition on the covariance matrix of the reconstructed Signal, decomposing the covariance matrix into a Signal subspace and a noise subspace according to the size of an eigenvalue, and estimating the arrival angle of the antenna Signal by using an MUSIC (multiple Signal classification) algorithm by utilizing the orthogonality of the noise subspace and the Signal subspace.
And step S2, searching the attitude angle of the label array. L (L is more than or equal to 3) reader-writer antennas are arranged in a positioning scene, and the arrival angles of signals of all the antennas are estimated by using the method in the step S1. The three reader-writer antennas are arranged on the same straight line, the leftmost antenna is taken as the origin of coordinates, the straight line where the three antennas are located is taken as an x axis to establish a rectangular coordinate system, and the coordinates of the three reader-writer antennas are A respectively1(0,0)、A2(D1,0)、A3(D1+D20), let the signal arrival angle estimation results of the three antennas in step S1 be θ respectively1′,θ2′,θ3'. Traversing all alpha angles in a fixed range by using the geometric relationship among the arrival angle of the antenna signal, the attitude angle of the antenna and the direction angle of the tag relative to the antenna, and carrying out retrieval estimation on the attitude angle of the tag array:
Figure RE-FDA0003585889450000025
step S3, after the attitude angle of the tag array is obtained, the relative antenna A of the center of the tag array can be obtainediAngle of orientation betai＝θ′i+α*(i ═ 1,2, 3). Let the position of the center of the tag array be (x)c,yc) Antenna AiHas the coordinates of (x)i,yi) Then β1、β2And beta3Satisfies the following conditions:
Figure RE-FDA0003585889450000031
the combination of any two equations in the above equation can solve three different solutions { (x)c1,yc1),(xc2,yc2),(xc3,yc3) And taking the mean value of the coordinates of the three intersection points as a final positioning result of the target:
Figure RE-FDA0003585889450000032
therefore, the positioning and posture estimation of the target object are realized.
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CN115550841A (en) * 2022-11-25 2022-12-30 深圳华云时空技术有限公司 Direction-finding positioning device and direction-finding positioning method based on UWB
CN115550841B (en) * 2022-11-25 2023-02-24 深圳华云时空技术有限公司 UWB-based direction finding positioning method
CN116582929A (en) * 2023-07-13 2023-08-11 杭州晟珈智能科技有限公司 Multi-antenna RFID tag positioning method and system based on RSSI
CN116582929B (en) * 2023-07-13 2023-09-19 杭州晟珈智能科技有限公司 Multi-antenna RFID tag positioning method and system based on RSSI

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