CN116976381B - Position positioning and tracking method in radio frequency identification system - Google Patents
Position positioning and tracking method in radio frequency identification system Download PDFInfo
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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
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06K—GRAPHICAL DATA READING; PRESENTATION OF DATA; RECORD CARRIERS; HANDLING RECORD CARRIERS
- G06K7/00—Methods or arrangements for sensing record carriers, e.g. for reading patterns
- G06K7/10—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation
- G06K7/10009—Methods or arrangements for sensing record carriers, e.g. for reading patterns by electromagnetic radiation, e.g. optical sensing; by corpuscular radiation sensing by radiation using wavelengths larger than 0.1 mm, e.g. radio-waves or microwaves
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Abstract
The invention discloses a position locating and tracking method in a radio frequency identification system, which relates to the technical field of signal locating and comprises the following steps: the RFID tag information entering the area is recorded into a computer database, and the RFID tag entering the monitoring area is positioned and tracked; setting at least one radio frequency reader-writer in a monitoring area; dividing a monitoring area by a grid; defining a coarse precision identification area; defining a middle precision identification area; a circular arc which is equal to n and coincides with the boundary circle of the coarse precision recognition area in the precision recognition area; defining a high-precision identification area; defining a high-precision positioning area; during tracking and positioning, at least one high-precision tracking area is defined at the high-precision positioning area; the computer database stores the tracking position range and the final positioning range of the target to be detected. The whole positioning and tracking range is reduced to any size by demarcating the middle precision recognition area, the high precision positioning area and the high precision tracking area, so that the positioning and tracking precision is improved.
Description
Technical Field
The invention relates to the technical field of signal positioning, in particular to a position positioning and tracking method in a radio frequency identification system.
Background
The microwave band active RFID electronic tag (2.4 GHZ) is widely applied, and is mainly applied to vehicle and cargo management of a large-scale cargo yard, such as container management of a port and a dock. An active electronic tag (microwave electronic tag) is arranged on a management object, and a plurality of readers are deployed at different interval positions of a large-scale cargo yard, so that the inflow and outflow of cargoes and vehicles can be automatically managed. However, since the area of the goods yard (ports, wharfs, etc.) is very large, a specific position of the goods corresponding to a certain ID number is often required to be searched in practical application, although a certain number of readers may read the ID number, the reading and writing distance of the microwave RFID may be as long as 300 meters, so that the specific position of the goods cannot be known accurately, only the goods can be proved to be in a certain range, the range is very large, which brings very great trouble to accurate goods searching, and the efficiency is very low.
Disclosure of Invention
In order to solve the technical problems, the technical scheme provides a position positioning and tracking method in a radio frequency identification system, and solves the problems that the read-write distance of the microwave RFID provided in the background art can be up to 300 meters at most, so that the specific position of the goods cannot be known accurately, the goods can only be proved to be in a certain range, the range is quite large, the problem of quite large trouble and quite low efficiency are caused to accurate goods searching.
In order to achieve the above purpose, the invention adopts the following technical scheme:
a method of location positioning and tracking in a radio frequency identification system, comprising:
the RFID tag is attached to the surface of the object to be detected, an identifier is arranged at the entrance of the monitoring area, the identifier identifies the RFID tag entering the monitoring area, the information of the RFID tag entering the monitoring area is input into a computer database, and the RFID tag entering the monitoring area is positioned and tracked;
setting at least one radio frequency reader-writer in a monitoring area, classifying the radio frequency reader-writers into a first-stage radio frequency reader-writer and at least one second-stage radio frequency reader-writer respectively, wherein the identification precision ranges of the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are consistent, and the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are circles with the radius r;
dividing a monitoring area by using a grid, marking the grid point as an identification point, taking an entrance of the monitoring area as a coordinate origin, and giving coordinates (x, y) to the identification point, wherein the grid is square, the side length of the grid is r;
the antenna emits radio frequency signals to cover a monitoring area, the primary radio frequency reader-writer takes an identification point as a base point to search the position of the RFID tag, when receiving a reflected signal reflected by the RFID tag, the base point is set as a coarse precision positioning point, the coarse precision positioning point is taken as a circle center, and r is taken as a radius to define a coarse precision identification area;
six equally dividing a boundary circle of the coarse precision identification area to obtain six equally dividing points, and searching the RFID tag position by using the six equally dividing points as base points by a plurality of secondary radio frequency readers/writers, and defining a middle precision identification area according to a search result, wherein the middle precision identification area is a Lorlo triangle;
n equally dividing the circular arcs of the middle precision recognition area, which are coincident with the boundary circles of the coarse precision recognition area, to obtain at least one middle precision positioning point, setting matching points matched with each middle precision positioning point to form at least one matching group, wherein the matching points are positioned on the boundary circle of the coarse precision recognition area and are positioned on the upper side of the middle precision recognition area, and the distance between each middle precision positioning point and the corresponding matching point is r;
the secondary radio frequency reader sequentially takes points in each pairing group as base points, searches the RFID tag position, and delimits a high-precision identification area according to search results, wherein the high-precision identification area is in a small sector shape;
taking a connecting line l of boundary endpoints of the high-precision identification area as an axis, taking scanning points at equal intervals on the part of the connecting line l exceeding the arc of the high-precision identification area, and carrying out retrieval on the RFID label position by a secondary radio frequency reader-writer by taking the scanning points as base points, and defining a high-precision positioning area according to a retrieval result;
during tracking and positioning, at least one high-precision tracking area is defined at the high-precision positioning area, a target to be detected moves and enters one of the high-precision tracking areas for recognition, the RFID tag is detected by the secondary radio frequency reader-writer and the primary radio frequency reader-writer, the original high-precision positioning area and the rest high-precision tracking areas are invalid in recognition, the high-precision tracking area recognition of the target to be detected is corrected into the high-precision positioning area by the computer database, at least one high-precision tracking area is defined again, and the steps are repeated to continuously track the target to be detected;
the computer database stores the tracking position range and the final positioning range of the target to be detected.
Preferably, the meshing monitoring area includes the following steps:
at least one transverse coordinate line is made, the transverse coordinate lines are arranged in parallel, and the distance between the adjacent transverse coordinate lines is r;
at least one longitudinal coordinate line is made, the longitudinal coordinate lines are arranged in parallel, and the distance between the adjacent longitudinal coordinate lines is r;
the longitudinal coordinate line is perpendicular to the transverse coordinate line;
the area covered by the longitudinal coordinate line and the transverse coordinate line comprises a monitoring area;
and the longitudinal coordinate lines and the transverse coordinate lines are staggered to form grid points, and the grid points outside the monitoring area are deleted to obtain grid division of the monitoring area.
Preferably, the primary radio frequency reader-writer searches the RFID tag position by taking the identification point as a base point, and comprises the following steps:
s1: the primary radio frequency reader-writer selects the identification point as a base point;
s2: the primary radio frequency reader-writer receives signals in an area surrounded by a round lock with the identification point as a circle center and the radius r;
when the RFID tag is in the circle, the antenna radio frequency signal reflected by the RFID tag can be received by the primary radio frequency reader-writer;
when the RFID tag is not in the circle, the antenna radio frequency signal reflected by the RFID tag can not be received by the primary radio frequency reader-writer;
s3: if the primary radio frequency reader-writer does not detect the RFID tag at the identification point, continuing to detect at the next identification point;
steps S1 to S3 are repeated until an RFID tag is detected.
Preferably, the boundary circle of the six-equal-division coarse precision identification area comprises the following steps:
b1, taking a point on the boundary circle of the coarse precision identification area, wherein the coordinates of the point are (u, v);
b2, searching a first point with a distance r from (u, v) on a boundary circle of the coarse precision identification area clockwise;
b3, searching a second point with a distance r from the first point clockwise on a boundary circle of the coarse precision identification area;
b4, searching a third point with a distance r from the second point clockwise on a boundary circle of the coarse precision identification area;
and (3) sequentially repeating the step B4 until all six points of boundary circles which equally divide the coarse precision identification area are found.
Preferably, the defining the middle precision identification area includes the following steps:
at least one secondary radio frequency reader-writer takes a six-equal-division point as a base point for identification to form six identification circles;
at least one secondary radio frequency reader-writer detects the RFID tag in six identification circles;
if the RFID tag is positioned in the identification circle, the corresponding secondary radio frequency reader-writer detects the RFID tag;
if the RFID tag is located outside the identification circle, the corresponding secondary radio frequency reader-writer cannot detect the RFID tag;
the area surrounded by the identification circles where the RFID tag is detected is a medium-precision identification area.
Preferably, the defining the high-precision identification area includes the steps of:
clockwise detecting according to the pairing group time sequence;
the secondary radio frequency reader-writer takes points in the pairing group as base points, and searches the RFID tag positions to form two identification circles;
if the RFID tags are detected, the RFID tags are contained in the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area, and the area is marked as a surrounded area;
continuing to detect the points in the next pairing group, and if the RFID tags are still detected, replacing the original surrounded area by the new surrounded area;
if one of the two-stage radio frequency reader-writers does not detect the RFID tag, the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area does not contain the RFID tag, and the area is marked as a dyeing area;
the portion of the enclosed area from which the dyed area is removed is defined as a high-precision identification area.
Preferably, the defining the high-precision positioning area includes the following steps:
the method comprises the steps that C1, a secondary radio frequency reader-writer searches the RFID tag position by taking a scanning point as a base point to form an identification circle;
c2, if the secondary radio frequency reader detects the RFID tag, the RFID tag is contained in the identification circle;
c3, the secondary radio frequency reader-writer continues to repeat the steps C1 and C2 to detect the next scanning point until the RFID tag cannot be detected at one scanning point;
and C4, the intersection of the range surrounded by the identification circle and the previous identification circle and the high-precision identification area is a high-precision positioning area.
Preferably, the defining the at least one high-precision tracking area in the high-precision positioning area includes the steps of:
at least one dividing point is taken at the boundary of the high-precision positioning area;
forming a corresponding sub-high-precision positioning area for each dividing point, wherein the generation mode of the sub-high-precision positioning area is consistent with that of the high-precision positioning area;
judging whether the whole sub-high precision positioning area covers the boundary of the high precision positioning area or not;
if yes, setting the whole sub-high-precision positioning areas as high-precision tracking areas;
if not, supplementing new dividing points between adjacent dividing points, supplementing the new dividing points to form sub-high precision positioning areas, and re-judging whether all sub-high precision positioning areas cover the high precision positioning area boundary, if not, continuing supplementing the dividing points until all sub-high precision positioning areas cover the high precision positioning area boundary.
Compared with the prior art, the invention has the beneficial effects that:
through demarcating well precision recognition area, high accuracy location area and demarcating high accuracy tracking area, can be under the condition that the reader-writer precision does not make the change, can reduce whole location and the scope of tracking to arbitrary size according to the demand to the scope size for the location area of the target that awaits measuring can be limited in less scope, thereby promotes the precision of location and tracking, conveniently seeks the target that awaits measuring later, promotes the efficiency of seeking.
Drawings
FIG. 1 is a schematic flow chart of the present invention;
FIG. 2 is a schematic diagram of a process for identifying a region of accuracy in demarcation according to the present invention;
FIG. 3 is a schematic flow chart of defining a high-precision identification area according to the present invention;
FIG. 4 is a schematic flow chart of defining a high-precision positioning area according to the present invention;
FIG. 5 is a diagram illustrating a medium accuracy identification zone determination according to the present invention;
FIG. 6 is a schematic diagram of a high accuracy identification area determination of the present invention;
FIG. 7 is a diagram illustrating a high accuracy positioning area determination according to the present invention.
Detailed Description
The following description is presented to enable one of ordinary skill in the art to make and use the invention. The preferred embodiments in the following description are by way of example only and other obvious variations will occur to those skilled in the art.
Referring to fig. 1-7, a method for locating and tracking a position in a radio frequency identification system includes:
the RFID tag is attached to the surface of the object to be detected, an identifier is arranged at the entrance of the monitoring area, the identifier identifies the RFID tag entering the monitoring area, the information of the RFID tag entering the monitoring area is input into a computer database, and the RFID tag entering the monitoring area is positioned and tracked;
the method gradually reduces the range of the position of the RFID tag by demarcating the rough precision identification area, demarcating the medium precision identification area, demarcating the high precision identification area and demarcating the high precision positioning area, thereby positioning and tracking the RFID tag with higher precision, and the read-write precision of the radio frequency reader-writer is not improved in the whole process.
Setting at least one radio frequency reader-writer in a monitoring area, classifying the radio frequency reader-writers into a first-stage radio frequency reader-writer and at least one second-stage radio frequency reader-writer respectively, wherein the identification precision ranges of the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are consistent, and the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are circles with the radius r;
dividing a monitoring area by using a grid, marking the grid point as an identification point, taking an entrance of the monitoring area as a coordinate origin, and giving coordinates (x, y) to the identification point, wherein the grid is square, the side length of the grid is r;
the antenna emits radio frequency signals to cover a monitoring area, the primary radio frequency reader-writer takes an identification point as a base point to search the position of the RFID tag, when receiving a reflected signal reflected by the RFID tag, the base point is set as a coarse precision positioning point, the coarse precision positioning point is taken as a circle center, and r is taken as a radius to define a coarse precision identification area;
six equally dividing a boundary circle of the coarse precision identification area to obtain six equally dividing points, and searching the RFID tag position by using the six equally dividing points as base points by a plurality of secondary radio frequency readers/writers, and defining a middle precision identification area according to a search result, wherein the middle precision identification area is a Lorlo triangle;
n equally dividing the circular arcs of the middle precision recognition area, which are coincident with the boundary circles of the coarse precision recognition area, to obtain at least one middle precision positioning point, setting matching points matched with each middle precision positioning point to form at least one matching group, wherein the matching points are positioned on the boundary circle of the coarse precision recognition area and are positioned on the upper side of the middle precision recognition area, and the distance between each middle precision positioning point and the corresponding matching point is r;
the secondary radio frequency reader sequentially takes points in each pairing group as base points, searches the RFID tag position, and delimits a high-precision identification area according to search results, wherein the high-precision identification area is in a small sector shape;
taking a connecting line l of boundary endpoints of the high-precision identification area as an axis, taking scanning points at equal intervals on the part of the connecting line l exceeding the arc of the high-precision identification area, and carrying out retrieval on the RFID label position by a secondary radio frequency reader-writer by taking the scanning points as base points, and defining a high-precision positioning area according to a retrieval result;
during tracking and positioning, at least one high-precision tracking area is defined at the high-precision positioning area, a target to be detected moves and enters one of the high-precision tracking areas for recognition, the RFID tag is detected by the secondary radio frequency reader-writer and the primary radio frequency reader-writer, the original high-precision positioning area and the rest high-precision tracking areas are invalid in recognition, the high-precision tracking area recognition of the target to be detected is corrected into the high-precision positioning area by the computer database, at least one high-precision tracking area is defined again, and the steps are repeated to continuously track the target to be detected;
the computer database stores the tracking position range and the final positioning range of the target to be detected.
The meshing monitoring area comprises the following steps:
at least one transverse coordinate line is made, the transverse coordinate lines are arranged in parallel, and the distance between the adjacent transverse coordinate lines is r;
at least one longitudinal coordinate line is made, the longitudinal coordinate lines are arranged in parallel, and the distance between the adjacent longitudinal coordinate lines is r;
the longitudinal coordinate line is perpendicular to the transverse coordinate line;
the area covered by the longitudinal coordinate line and the transverse coordinate line comprises a monitoring area;
and the longitudinal coordinate lines and the transverse coordinate lines are staggered to form grid points, and the grid points outside the monitoring area are deleted to obtain grid division of the monitoring area.
The primary radio frequency reader-writer taking the identification point as a base point to search the RFID tag position comprises the following steps:
s1: the primary radio frequency reader-writer selects the identification point as a base point;
s2: the primary radio frequency reader-writer receives signals in an area surrounded by a round lock with the identification point as a circle center and the radius r;
when the RFID tag is in the circle, the antenna radio frequency signal reflected by the RFID tag can be received by the primary radio frequency reader-writer;
when the RFID tag is not in the circle, the antenna radio frequency signal reflected by the RFID tag can not be received by the primary radio frequency reader-writer;
s3: and if the primary radio frequency reader-writer does not detect the RFID tag at the identification point, continuing to detect at the next identification point, and repeating the steps S1 to S3 until the RFID tag is detected.
The boundary circle of the six-equal coarse precision identification area comprises the following steps:
b1, taking a point on the boundary circle of the coarse precision identification area, wherein the coordinates of the point are (u, v);
b2, searching a first point with a distance r from (u, v) on a boundary circle of the coarse precision identification area clockwise;
b3, searching a second point with a distance r from the first point clockwise on a boundary circle of the coarse precision identification area;
b4, searching a third point with a distance r from the second point clockwise on a boundary circle of the coarse precision identification area;
and (3) sequentially repeating the step B4 until all six points of boundary circles which equally divide the coarse precision identification area are found.
The defining of the medium precision identification area comprises the following steps:
at least one secondary radio frequency reader-writer takes a six-equal-division point as a base point for identification to form six identification circles;
at least one secondary radio frequency reader-writer detects the RFID tag in six identification circles;
if the RFID tag is positioned in the identification circle, the corresponding secondary radio frequency reader-writer detects the RFID tag;
if the RFID tag is located outside the identification circle, the corresponding secondary radio frequency reader-writer cannot detect the RFID tag;
the area surrounded by the identification circles of the RFID tags is detected to be a medium-precision identification area;
referring to fig. 5, the process of defining the middle precision recognition area is explained, the RFID tag is detected to be located in a circle O, the circle O is a rough precision recognition area, the boundary circle of the six equally divided rough precision recognition areas, i.e., the intersection point on the circumference of the circle O in fig. 5, and when the two-level radio frequency reader/writer is used to detect the six equally divided parts, six recognition circles are formed, the circle O is obviously recognized to cover the rough precision recognition area, and the RFID tag is located in the rough precision recognition area, so that the RFID tag must be covered by several of the six recognition circles, and since any point of the circle O must be covered by two of the six recognition circles, two recognition circles can be found to cover the RFID tag, such as the circle a and the circle B in fig. 5, the RFID tag must appear in the common area of the circle a, the circle B and the circle O, i.e., the curved triangle ABO in fig. 5.
The defining of the high-precision identification area comprises the following steps:
clockwise detecting according to the pairing group time sequence;
the secondary radio frequency reader-writer takes points in the pairing group as base points, and searches the RFID tag positions to form two identification circles;
if the RFID tags are detected, the RFID tags are contained in the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area, and the area is marked as a surrounded area;
continuing to detect the points in the next pairing group, and if the RFID tags are still detected, replacing the original surrounded area by the new surrounded area;
if one of the two-stage radio frequency reader-writers does not detect the RFID tag, the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area does not contain the RFID tag, and the area is marked as a dyeing area;
the part of the enclosed area except the dyeing area is defined as a high-precision identification area;
referring to fig. 6, the process of defining the high-precision identification area is explained, since the middle-precision identification area is defined before, the position range of the RFID tag is continuously narrowed by the secondary radio frequency reader-writer in the middle-precision identification area, and the RFID tag is not located in the curved triangle ABO, and the arc AB is equally divided into n parts, so as to obtain at least one equally divided point, wherein D is the equally divided point closest to B, D is the middle-precision positioning point, and the pairing point is C, the secondary radio frequency reader-writer identifies at both D and C, and the area surrounded by the identification circle and the circle O is the curved triangle CDO, and if at least one undetected RFID tag is located at D and C, it is explained that the RFID tag is not located in the curved triangle CDO, but the RFID tag is necessarily located in the curved triangle ABO, namely, the curved triangle ODB is necessarily located in the curved triangle ABO, and if the secondary radio frequency reader-writer detects D and C at the curved triangle CDO, the two areas are both detected, namely, if the two areas are adjacent to each other, the RFID tag is detected, and the RFID tag is detected, so as to be detected, and the RFID tag is detected at the right triangle.
The defining of the high-precision positioning area comprises the following steps:
the method comprises the steps that C1, a secondary radio frequency reader-writer searches the RFID tag position by taking a scanning point as a base point to form an identification circle;
c2, if the secondary radio frequency reader detects the RFID tag, the RFID tag is contained in the identification circle;
c3, the secondary radio frequency reader-writer continues to repeat the steps C1 and C2 to detect the next scanning point until the RFID tag cannot be detected at one scanning point;
c4, the intersection of the range surrounded by the identification circle and the previous identification circle and the high-precision identification area is a high-precision positioning area;
referring to fig. 7, explaining the process of defining the high-precision positioning area, according to the foregoing conclusion, it may be assumed that the curved triangle OEF is the high-precision identification area, then the RFID tag makes an axis l in the curved triangle OEF with the end point of the curved triangle OEF, as shown in fig. 7, equidistant scan points are set at the portion below the FE, so that when all scan points are detected, the identification circle formed by the secondary radio frequency reader/writer at the scan points covers the curved triangle OEF, the scan points are ordered from top to bottom, the identification circle of the secondary radio frequency reader/writer at the first scan point necessarily covers the entire curved triangle OEF, without discussion meaning, therefore, setting circle G is the identification circle of the secondary radio frequency reader/writer at the second scan point, circle H is the identification circle formed by the secondary radio frequency reader/writer at the next scan point, if the RFID tag is not located in circle G, the RFID tag is located in the curved triangle OEF, which means that the RFID tag is located in the area of the upper portion of the circle G in the curved triangle OEF, which is a high-precision positioning area, if the RFID tag is located in the circle G but not in the circle H, which means that the RFID tag is located in the area enclosed by the circle G, the circle H and the curved triangle OEF, that is, the black shadow portion in fig. 7, if the RFID tag is located in the circle G and also in the circle H, the next scan point needs to be detected, and after the detection, the determination manner of the position of the RFID tag is consistent with the foregoing, so that the range of the RFID tag can be reduced to a size similar to the black portion in fig. 7, the recognition precision can be improved to any size without changing the recognition precision of the secondary radio frequency reader-writer and the primary radio frequency reader-writer, the size of the recognition precision can be adjusted according to the actual requirement and the requirement of the recognition speed, because the higher the identification accuracy is, the more secondary radio frequency readers are involved, the reaction speed is slower, and the reaction speed is required to be faster than the moving speed for position tracking, so the number of secondary radio frequency readers involved in detection is balanced by combining the moving speed.
Defining at least one high precision tracking area in the high precision positioning area comprises the steps of:
at least one dividing point is taken at the boundary of the high-precision positioning area;
forming a corresponding sub-high-precision positioning area for each dividing point, wherein the generation mode of the sub-high-precision positioning area is consistent with that of the high-precision positioning area;
judging whether the whole sub-high precision positioning area covers the boundary of the high precision positioning area or not;
if yes, setting the whole sub-high-precision positioning areas as high-precision tracking areas;
if not, supplementing new dividing points between adjacent dividing points, supplementing the new dividing points to form sub-high precision positioning areas, and re-judging whether all sub-high precision positioning areas cover the high precision positioning area boundary, if not, continuing supplementing the dividing points until all sub-high precision positioning areas cover the high precision positioning area boundary;
because the high-precision tracking area encloses the high-precision positioning area, when the RFID tag moves away from the high-precision positioning area, the RFID tag must enter one of the high-precision tracking areas, so that the high-precision tracking area becomes the high-precision positioning area, all other areas are abandoned, at least one high-precision tracking area is repartitioned by the new high-precision positioning area, the RFID tag can be tracked in the manner described above, and when the RFID tag moves to any position, the tracking of the RFID tag can be maintained.
It is understood that the storage medium suitable for the above method may be a magnetic medium, for example, a floppy disk, a hard disk, a magnetic tape; optical media such as DVD; or a semiconductor medium such as a solid state disk SolidStateDisk, SSD, etc.
In summary, the invention has the advantages that: through demarcating well precision recognition area, high accuracy location area and demarcating high accuracy tracking area, can be under the condition that the reader-writer precision does not make the change, can reduce whole location and the scope of tracking to arbitrary size according to the demand to the scope size for the location area of the target that awaits measuring can be limited in less scope, thereby promotes the precision of location and tracking, conveniently seeks the target that awaits measuring later, promotes the efficiency of seeking.
The foregoing has shown and described the basic principles, principal features and advantages of the invention. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, and that the above embodiments and descriptions are merely illustrative of the principles of the present invention, and various changes and modifications may be made therein without departing from the spirit and scope of the invention, which is defined by the appended claims. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (8)
1. A method for locating and tracking a position in a radio frequency identification system, comprising:
the RFID tag is attached to the surface of the object to be detected, an identifier is arranged at the entrance of the monitoring area, the identifier identifies the RFID tag entering the monitoring area, the information of the RFID tag entering the monitoring area is input into a computer database, and the RFID tag entering the monitoring area is positioned and tracked;
setting at least one radio frequency reader-writer in a monitoring area, classifying the radio frequency reader-writers into a first-stage radio frequency reader-writer and at least one second-stage radio frequency reader-writer respectively, wherein the identification precision ranges of the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are consistent, and the first-stage radio frequency reader-writer and the second-stage radio frequency reader-writer are circles with the radius r;
dividing a monitoring area by using a grid, marking the grid point as an identification point, taking an entrance of the monitoring area as a coordinate origin, and giving coordinates (x, y) to the identification point, wherein the grid is square, the side length of the grid is r;
the antenna emits radio frequency signals to cover a monitoring area, the primary radio frequency reader-writer takes an identification point as a base point to search the position of the RFID tag, when receiving a reflected signal reflected by the RFID tag, the base point is set as a coarse precision positioning point, the coarse precision positioning point is taken as a circle center, and r is taken as a radius to define a coarse precision identification area;
six equally dividing a boundary circle of the coarse precision identification area to obtain six equally dividing points, and searching the RFID tag position by using the six equally dividing points as base points by a plurality of secondary radio frequency readers/writers, and defining a middle precision identification area according to a search result, wherein the middle precision identification area is a Lorlo triangle;
n equally dividing the circular arcs of the middle precision recognition area, which are coincident with the boundary circles of the coarse precision recognition area, to obtain at least one middle precision positioning point, setting matching points matched with each middle precision positioning point to form at least one matching group, wherein the matching points are positioned on the boundary circle of the coarse precision recognition area and are positioned on the upper side of the middle precision recognition area, and the distance between each middle precision positioning point and the corresponding matching point is r;
the secondary radio frequency reader sequentially takes points in each pairing group as base points, searches the RFID tag position, and delimits a high-precision identification area according to search results, wherein the high-precision identification area is in a small sector shape;
taking a connecting line l of boundary endpoints of the high-precision identification area as an axis, taking scanning points at equal intervals on the part of the connecting line l exceeding the arc of the high-precision identification area, and carrying out retrieval on the RFID label position by a secondary radio frequency reader-writer by taking the scanning points as base points, and defining a high-precision positioning area according to a retrieval result;
during tracking and positioning, at least one high-precision tracking area is defined at the high-precision positioning area, a target to be detected moves and enters one of the high-precision tracking areas for recognition, the RFID tag is detected by the secondary radio frequency reader-writer and the primary radio frequency reader-writer, the original high-precision positioning area and the rest high-precision tracking areas are invalid in recognition, the high-precision tracking area recognition of the target to be detected is corrected into the high-precision positioning area by the computer database, at least one high-precision tracking area is defined again, and the steps are repeated to continuously track the target to be detected;
the computer database stores the tracking position range and the final positioning range of the target to be detected.
2. The method for locating and tracking a position in a radio frequency identification system according to claim 1, wherein said meshing of the monitored areas comprises the steps of:
at least one transverse coordinate line is made, the transverse coordinate lines are arranged in parallel, and the distance between the adjacent transverse coordinate lines is r;
at least one longitudinal coordinate line is made, the longitudinal coordinate lines are arranged in parallel, and the distance between the adjacent longitudinal coordinate lines is r;
the longitudinal coordinate line is perpendicular to the transverse coordinate line;
the area covered by the longitudinal coordinate line and the transverse coordinate line comprises a monitoring area;
and the longitudinal coordinate lines and the transverse coordinate lines are staggered to form grid points, and the grid points outside the monitoring area are deleted to obtain grid division of the monitoring area.
3. The method for locating and tracking a position in a radio frequency identification system according to claim 2, wherein the primary radio frequency reader-writer searches for the position of the RFID tag with the identification point as a base point, comprising the steps of:
s1, selecting an identification point as a base point by a primary radio frequency reader-writer;
s2, the primary radio frequency reader-writer receives signals in an area surrounded by a round lock with the identification point as a circle center and the radius r;
when the RFID tag is in the circle, the antenna radio frequency signal reflected by the RFID tag can be received by the primary radio frequency reader-writer;
when the RFID tag is not in the circle, the antenna radio frequency signal reflected by the RFID tag can not be received by the primary radio frequency reader-writer;
s3, if the primary radio frequency reader-writer does not detect the RFID tag at the identification point, continuing to detect at the next identification point;
steps S1 to S3 are repeated until an RFID tag is detected.
4. A method of positioning and tracking in a radio frequency identification system according to claim 3, wherein the bounding circles of the hexagonally divided coarse precision identification areas comprise the steps of:
b1, taking a point on the boundary circle of the coarse precision identification area, wherein the coordinates of the point are (u, v);
b2, searching a first point with a distance r from (u, v) on a boundary circle of the coarse precision identification area clockwise;
b3, searching a second point with a distance r from the first point clockwise on a boundary circle of the coarse precision identification area;
b4, searching a third point with a distance r from the second point clockwise on a boundary circle of the coarse precision identification area;
and (3) sequentially repeating the step B4 until all six points of boundary circles which equally divide the coarse precision identification area are found.
5. The method of positioning and tracking in a radio frequency identification system of claim 4, wherein said demarcating the medium accuracy identification region comprises the steps of:
at least one secondary radio frequency reader-writer takes a six-equal-division point as a base point for identification to form six identification circles;
at least one secondary radio frequency reader-writer detects the RFID tag in six identification circles;
if the RFID tag is positioned in the identification circle, the corresponding secondary radio frequency reader-writer detects the RFID tag;
if the RFID tag is located outside the identification circle, the corresponding secondary radio frequency reader-writer cannot detect the RFID tag;
the area surrounded by the identification circles where the RFID tag is detected is a medium-precision identification area.
6. The method of positioning and tracking in a radio frequency identification system of claim 5, wherein said defining a high accuracy identification zone comprises the steps of:
clockwise detecting according to the pairing group time sequence;
the secondary radio frequency reader-writer takes points in the pairing group as base points, and searches the RFID tag positions to form two identification circles;
if the RFID tags are detected, the RFID tags are contained in the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area, and the area is marked as a surrounded area;
continuing to detect the points in the next pairing group, and if the RFID tags are still detected, replacing the original surrounded area by the new surrounded area;
if one of the two-stage radio frequency reader-writers does not detect the RFID tag, the area surrounded by the two identification circles and the boundary circle of the coarse precision identification area does not contain the RFID tag, and the area is marked as a dyeing area;
the portion of the enclosed area from which the dyed area is removed is defined as a high-precision identification area.
7. The method of positioning and tracking in a radio frequency identification system of claim 6, wherein said defining a high precision positioning area comprises the steps of:
the method comprises the steps that C1, a secondary radio frequency reader-writer searches the RFID tag position by taking a scanning point as a base point to form an identification circle;
c2, if the secondary radio frequency reader detects the RFID tag, the RFID tag is contained in the identification circle;
c3, the secondary radio frequency reader-writer continues to repeat the steps C1 and C2 to detect the next scanning point until the RFID tag cannot be detected at one scanning point;
and C4, the intersection of the range surrounded by the identification circle and the previous identification circle and the high-precision identification area is a high-precision positioning area.
8. The method of positioning and tracking in a radio frequency identification system according to claim 7, wherein said defining at least one high precision tracking area in the high precision positioning area comprises the steps of:
at least one dividing point is taken at the boundary of the high-precision positioning area;
forming a corresponding sub-high-precision positioning area for each dividing point, wherein the generation mode of the sub-high-precision positioning area is consistent with that of the high-precision positioning area;
judging whether the whole sub-high precision positioning area covers the boundary of the high precision positioning area or not;
if yes, setting the whole sub-high-precision positioning areas as high-precision tracking areas;
if not, supplementing new dividing points between adjacent dividing points, supplementing the new dividing points to form sub-high precision positioning areas, and re-judging whether all sub-high precision positioning areas cover the high precision positioning area boundary, if not, continuing supplementing the dividing points until all sub-high precision positioning areas cover the high precision positioning area boundary.
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| US7957900B2 (en) * | 2008-02-08 | 2011-06-07 | Gaurav Chowdhary | Tracking vehicle locations in a parking lot for definitive display on a GUI |
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