CN117805728A - Positioning method and device based on radio frequency identification technology - Google Patents
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Abstract
The invention provides a positioning method and a positioning device based on a radio frequency identification technology, which belong to the technical field of electronic information, wherein the method comprises the following steps: inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinate of the target tag; dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set; determining a plurality of target specific reference tags with higher similarity from a specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags; and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags. The positioning algorithm provided by the invention has the advantages of high precision and strong stability, and is suitable for most storage environments.
Description
Technical Field
The present invention relates to the field of electronic information technologies, and in particular, to a positioning method and apparatus based on a radio frequency identification technology.
Background
The internet of things (Internet of Things, ioT) is a network for realizing connection between objects, and intelligent devices are connected according to a certain communication protocol through radio frequency identification (Radio Frequency Identification, RFID) technology, embedded technology, wireless communication technology, computer network communication technology and the like, so as to realize detection, positioning and intelligent management of the objects. The internet of things technology is an important stage of intelligent development, and is considered as the next communication industry with trillion-level markets, and the development of the internet of things technology is strongly supported by a plurality of countries. Location services are critical services for the internet of things. In recent years, along with the development of unmanned warehouse and intelligent logistics industry, the requirements of location services (Location Based Service) are more and more vigorous, and the method has wide application prospect and market value. The premise of the location service is an efficient positioning technology, so the development of the positioning technology is focused widely, and the development of the positioning technology becomes a research hotspot. The RFID-based positioning technology is used for providing the location service in the Internet of things, so that the expansion cost of the system is reduced, the applicability of the system is improved, and the method has important research value and application prospect.
The existing RFID positioning technology is that under the control of a software system, a reader sends out electromagnetic wave signals with certain frequency to a tag through an antenna, and the tag modulates stored tag data into the signals and reflects the signals back in a mode of changing self impedance after receiving the signals; the reader receives the reflected signals through the antenna, then obtains tag RSSI and phase information through demodulation and decoding, and transmits the information to the software system; the software system can realize positioning according to the data such as RSSI and the like.
However, the RFID positioning technology is not only not accurate enough but also has low efficiency.
Disclosure of Invention
The invention provides a positioning method and a positioning device based on a radio frequency identification technology, which are used for solving the defects of lower positioning precision and low efficiency in the prior art and realizing high-efficiency and high-precision positioning.
In a first aspect, the present invention provides a positioning method based on radio frequency identification technology, including: inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area; dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set; determining a plurality of target specific reference tags with higher similarity from a specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags; and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
According to the positioning method based on the radio frequency identification technology provided by the invention, before the RSSI signal sequence of the target tag is input into the pre-trained reference tag positioning model, the positioning method further comprises the following steps: acquiring an initial RSSI signal sequence of a target tag; and filtering the initial RSSI signal sequence of the target tag to obtain the RSSI signal sequence of the target tag.
According to the positioning method based on the radio frequency identification technology provided by the invention, the step of training the reference tag positioning model comprises the following steps: acquiring an initial RSSI signal sequence of each reference tag; filtering the initial RSSI signal sequence of each reference tag to obtain the RSSI signal sequence of each reference tag; the target neural network is trained based on the RSSI signal sequence of each reference tag and the reference position coordinates of each reference tag to obtain a reference tag positioning model.
According to the positioning method based on the radio frequency identification technology, the initial RSSI signal sequence is formed according to the RSSI values of the tags sequentially read by a plurality of readers.
According to the positioning method based on the radio frequency identification technology provided by the invention, the similarity analysis is carried out on the RSSI signal sequences of the specific reference tag and the target tag, and the positioning method comprises the following steps: calculating the mean square error of RSSI signal sequences of the specific reference tag and the target tag; wherein, the smaller the mean square error is, the higher the similarity is.
According to the positioning method based on the radio frequency identification technology provided by the invention, the position coordinates of the target tag are determined according to the reference position coordinates of a plurality of target specific reference tags, and the positioning method concretely comprises the following steps: determining corresponding weighting weights according to the similarity corresponding to the target specific reference labels; and determining the position coordinates of the target labels according to the weighted weight of each target specific reference label and the corresponding reference position coordinates.
According to the positioning method based on the radio frequency identification technology, the filter adopted in the filtering processing is a Gaussian filter and/or a Kalman filter.
In a second aspect, the present invention also provides a positioning device based on radio frequency identification technology, including:
the first processing module is used for inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area;
the second processing module is used for dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set;
the third processing module is used for determining a plurality of target specific reference labels with higher similarity from the specific reference label set by carrying out similarity analysis on RSSI signal sequences of the specific reference labels and the target labels;
and the fourth processing module is used for determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
In a third aspect, the present invention provides an electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of any of the above described radio frequency identification technology based positioning methods when the program is executed.
In a fourth aspect, the present invention also provides a non-transitory computer readable storage medium having stored thereon a computer program which, when executed by a processor, implements the steps of a positioning method based on radio frequency identification technology as described in any of the above.
According to the positioning method and device based on the radio frequency identification technology, the coordinate position of any label to be positioned is predicted through the pre-trained reference label positioning model, and the estimated position coordinate is obtained; further, the positioning area range is divided based on the estimated position coordinates, so that a plurality of target specific reference labels with higher similarity are selected from the positioning area range, and positioning of the labels to be positioned is achieved according to the target specific reference labels. The positioning algorithm provided by the invention has the advantages of high precision and strong stability, and is suitable for most storage environments.
Drawings
In order to more clearly illustrate the invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the invention, and other drawings can be obtained according to the drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a positioning method based on RFID technology provided by the invention;
FIG. 2 is a schematic diagram of a reference tag arrangement provided by the present invention;
FIG. 3 is a schematic flow chart of a training reference tag positioning model provided by the invention;
FIG. 4 is a schematic structural diagram of a positioning device based on RFID technology according to the present invention;
fig. 5 is a schematic structural diagram of an electronic device provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is apparent that the described embodiments are some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that in the description of embodiments of the present invention, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
The terms "first," "second," and the like in this application are used for distinguishing between similar objects and not for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged, as appropriate, such that embodiments of the present application may be implemented in sequences other than those illustrated or described herein, and that the objects identified by "first," "second," etc. are generally of a type and not limited to the number of objects, e.g., the first object may be one or more. In addition, "and/or" indicates at least one of the connected objects, and the character "/", generally indicates that the associated object is an "or" relationship.
In order to make the technical solution of the present invention more clear, a brief description of the RFID system of the present invention will now be given.
The RFID system of the present invention includes: m RFID readers, N reference labels and U labels to be tested; wherein the number of reference tags can be set as desired and their position coordinates are known.
The following describes a positioning method and apparatus based on radio frequency identification technology according to an embodiment of the present invention with reference to fig. 1 to 5.
Fig. 1 is a flow chart of a positioning method based on radio frequency identification technology provided by the invention, as shown in fig. 1, including but not limited to the following steps:
step 101: and inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinates of the target tag.
The target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinates of each reference tag.
Fig. 2 is a schematic diagram of a reference tag setting manner provided in the present invention, as shown in fig. 2, each reference tag is preset at a different designated position of a positioning working area, and the number and setting density of the reference tags can be set according to needs.
Step 102: dividing a positioning area range according to the estimated position coordinates, and taking the reference tags in the positioning area range as specific reference tags to form a specific reference tag set.
The invention can set the surrounding adjacent area of the estimated position coordinates as the positioning area range. For example, let the estimated position coordinates of the target tag c be (x c ，y c ) The positioning area of the target label c is defined by X c And Y c And (5) determining.
Wherein X is c The range of values representing the abscissa of the range of the positioning area can be set as [ x ] c -d，x c +d]；Y c Value range representing ordinate of positioning area rangeCan be set as [ y ] c -d，y c +d]D is a preset distance value.
Step 103: and determining a plurality of target specific reference tags with higher similarity from the specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags.
Specifically, the method can select the similarity from the specific reference label set through the analysis result of the similarity, and select top K specific reference labels ranked at the top as target specific reference labels.
Step 104: and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
According to the positioning method based on the radio frequency identification technology, the coordinate position of any label to be positioned is predicted through the pre-trained reference label positioning model, and the estimated position coordinate is obtained; further, the positioning area range is divided based on the estimated position coordinates, so that a plurality of target specific reference labels with higher similarity are selected from the positioning area range, and positioning of the labels to be positioned is achieved according to the target specific reference labels.
Based on the foregoing embodiment, as an optional embodiment, the positioning method based on radio frequency identification technology provided by the present invention further includes, before inputting the RSSI signal sequence of the target tag into the pre-trained reference tag positioning model: acquiring an initial RSSI signal sequence of a target tag; and filtering the initial RSSI signal sequence of the target tag to obtain the RSSI signal sequence of the target tag.
The initial RSSI signal sequence is composed of RSSI values of tags sequentially read by a plurality of readers.
The initial RSSI signal sequence of the target tag may be expressed as:
[S 1c ，...,S ac ，...，S Mc ]；
wherein S is ac The RSSI value of the c-th target tag read by the a-th reader/writer is shown.
The filter used in the filtering process is Gauss Gaussian filter and/or Kalman filter. Preferably, the invention utilizes Gauss filter and Kalman filter to filter the initial RSSI signal sequence of the target label, so as to obtain the RSSI signal sequence of the target label.
Fig. 3 is a schematic flow chart of a training reference tag positioning model provided by the present invention, as shown in fig. 3, the steps include:
step 301: an initial RSSI signal sequence for each reference tag is obtained.
The initial RSSI signal sequence of the reference tag may be expressed as:
[θ 1b ，...,θ ab ，...，θ Mb ]；
wherein θ ab Indicating the RSSI value of the b-th reference tag read by the a-th reader.
Step 302: filtering the initial RSSI signal sequence of each reference tag to obtain the RSSI signal sequence of each reference tag;
preferably, the invention uses Gauss filter and Kalman filter to filter the initial RSSI signal sequence of the reference label to obtain the RSSI signal sequence of the reference label.
Step 303: the target neural network is trained based on the RSSI signal sequence of each reference tag and the reference position coordinates of each reference tag to obtain a reference tag positioning model.
Optionally, the target neural network in the present invention is a BP neural network.
The structure of the target neural network can be preset, and then the target neural network is trained by utilizing the RSSI signal sequence of each reference label and the reference position coordinate of each reference label.
The mapping relation between the RSSI signal sequence and the reference position coordinate can be realized through repeated training, so that the prediction estimation of the position coordinate of the target label can be realized by utilizing the mapping relation.
Based on the foregoing embodiment, as an optional embodiment, the positioning method based on the radio frequency identification technology provided by the present invention performs similarity analysis on RSSI signal sequences of a specific reference tag and a target tag, and specifically includes the following steps:
calculating the mean square error of RSSI signal sequences of the specific reference tag and the target tag; the specific formula is as follows:
wherein E is cj Representing the mean square error of the RSSI signal sequence of the c-th target tag and the j-th specific reference tag; θ aj Indicating the RSSI value of the j-th specific reference tag read by the a-th reader.
Wherein, the smaller the mean square error is, the higher the similarity is.
Based on the foregoing embodiments, as an optional embodiment, the positioning method based on the radio frequency identification technology provided by the present invention determines, according to reference position coordinates of a plurality of target specific reference tags, position coordinates of the target tag, specifically: determining corresponding weighting weights according to the similarity corresponding to the target specific reference labels; and determining the position coordinates of the target labels according to the weighted weight of each target specific reference label and the corresponding reference position coordinates.
The invention can set that the larger the similarity corresponding to the target specific reference label is, the larger the corresponding weighting weight is.
Further, determining the position coordinates (x, y) of the target tags according to the weighted weight of each target specific reference tag and the corresponding reference position coordinates; the method comprises the following steps:
wherein W is t A weighted weight representing the t-th target specific reference tag, (x) t ,y t ) Representing the reference position coordinates of the t-th object-specific reference tag,k is the number of target specific reference tags.
Optionally, the accuracy of system judgment can be further improved by using the infrared sensor at the same time.
According to the invention, the infrared sensor 1 and the infrared sensor 2 can be arranged in the channel door structure according to the front and back positions of goods passing through, so that the receiving and transmitting communication state is maintained. When goods pass through the passage door, infrared laser is shielded, the level of the infrared module changes, and a low-level signal is sent to the background algorithm module through the communication module. The background algorithm module judges the passing of the goods according to the change of the level signals and judges the warehouse-in and warehouse-out direction of the goods according to the change sequence of the infrared sensors 1 and 2.
Further, when the RFID positioning algorithm module judges that the internal and external states of the goods warehouse are changed and the infrared module does not send signals to the background algorithm module, the background algorithm module defaults that the internal and external states of the goods warehouse are not changed and sends a secondary positioning instruction to the positioning algorithm module.
The invention discloses a positioning method based on a radio frequency identification technology, which is characterized in that the prediction of the coordinate position of any label to be positioned is realized through a pre-trained reference label positioning model, and an estimated position coordinate is obtained; further, the positioning area range is divided based on the estimated position coordinates, so that a plurality of target specific reference labels with higher similarity are selected from the positioning area range, and positioning of the labels to be positioned is achieved according to the target specific reference labels. The positioning algorithm provided by the invention has the advantages of high precision and strong stability, and is suitable for most storage environments.
Fig. 4 is a schematic structural diagram of a positioning device based on radio frequency identification technology according to the present invention, as shown in fig. 4, the device includes:
the first processing module 401 is configured to input the RSSI signal sequence of the target tag to a pre-trained reference tag positioning model, and output an estimated position coordinate of the target tag.
The target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at a different designated position of the positioning work area.
A second processing module 402, configured to divide a positioning area range according to the estimated position coordinates, and use reference tags in the positioning area range as specific reference tags to form a specific reference tag set;
the third processing module 403 is configured to determine, from the specific reference tag set, a plurality of target specific reference tags with higher similarity by performing similarity analysis on RSSI signal sequences of the specific reference tag and the target tag.
A fourth processing module 404, configured to determine the position coordinates of the target tag according to the reference position coordinates of a plurality of target specific reference tags.
It should be noted that, in the positioning device based on the radio frequency identification technology provided in the embodiment of the present invention, the positioning method based on the radio frequency identification technology described in any one of the above embodiments may be executed during specific operation, which is not described in detail in this embodiment.
Fig. 5 is a schematic structural diagram of an electronic device according to the present invention, and as shown in fig. 5, the electronic device may include: processor 510, communication interface (communications interface) 520, memory 530, and communication bus 540, wherein processor 510, communication interface 520, memory 530 complete communication with each other through communication bus 540. Processor 510 may invoke logic instructions in memory 530 to perform a positioning method based on radio frequency identification technology, the method comprising: inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area; dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set; determining a plurality of target specific reference tags with higher similarity from a specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags; and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
Further, the logic instructions in the memory 530 described above may be implemented in the form of software functional units and may be stored in a computer-readable storage medium when sold or used as a stand-alone product. Based on this understanding, the technical solution of the present invention may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing a computer device (which may be a personal computer, a server, a network device, etc.) to perform all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.
In yet another aspect, the present invention further provides a non-transitory computer readable storage medium having stored thereon a computer program, which when executed by a processor is implemented to perform the positioning method based on the radio frequency identification technology provided in the above embodiments, the method includes: inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area; dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set; determining a plurality of target specific reference tags with higher similarity from a specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags; and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags. The apparatus embodiments described above are merely illustrative, wherein the elements illustrated as separate elements may or may not be physically separate, and the elements shown as elements may or may not be physical elements, may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art will understand and implement the present invention without undue burden.
From the above description of the embodiments, it will be apparent to those skilled in the art that the embodiments may be implemented by means of software plus necessary general hardware platforms, or of course may be implemented by means of hardware. Based on this understanding, the foregoing technical solution may be embodied essentially or in a part contributing to the prior art in the form of a software product, which may be stored in a computer readable storage medium, such as ROM/RAM, a magnetic disk, an optical disk, etc., including several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method described in the respective embodiments or some parts of the embodiments.
Finally, it should be noted that: the above embodiments are only for illustrating the technical solution of the present invention, and are not limiting; although the invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A positioning method based on radio frequency identification technology, comprising:
inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model, and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area;
dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set;
determining a plurality of target specific reference tags with higher similarity from a specific reference tag set by carrying out similarity analysis on RSSI signal sequences of the specific reference tags and the target tags;
and determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
2. The method of claim 1, further comprising, prior to inputting the RSSI signal sequence of the target tag into the pre-trained reference tag location model:
acquiring an initial RSSI signal sequence of a target tag;
and filtering the initial RSSI signal sequence of the target tag to obtain the RSSI signal sequence of the target tag.
3. The method of positioning based on radio frequency identification technology of claim 1, wherein the step of training the reference tag positioning model comprises:
acquiring an initial RSSI signal sequence of each reference tag;
filtering the initial RSSI signal sequence of each reference tag to obtain the RSSI signal sequence of each reference tag;
the target neural network is trained based on the RSSI signal sequence of each reference tag and the reference position coordinates of each reference tag to obtain a reference tag positioning model.
4. The positioning method based on the radio frequency identification technology according to claim 2, wherein the initial RSSI signal sequence is formed according to RSSI values of tags sequentially read by a plurality of readers.
5. The positioning method based on radio frequency identification technology according to claim 1, wherein performing similarity analysis on RSSI signal sequences of a specific reference tag and a target tag comprises:
calculating the mean square error of RSSI signal sequences of the specific reference tag and the target tag;
wherein, the smaller the mean square error is, the higher the similarity is.
6. The positioning method based on radio frequency identification technology according to claim 1, wherein the determining the position coordinates of the target tag according to the reference position coordinates of a plurality of target specific reference tags is specifically:
determining corresponding weighting weights according to the similarity corresponding to the target specific reference labels;
and determining the position coordinates of the target labels according to the weighted weight of each target specific reference label and the corresponding reference position coordinates.
7. The positioning method according to claim 2, wherein the filter used in the filtering process is a gaussian filter and/or a kalman filter.
8. A positioning device based on radio frequency identification technology, comprising:
the first processing module is used for inputting the RSSI signal sequence of the target tag into a pre-trained reference tag positioning model and outputting the estimated position coordinate of the target tag; the target tag is any tag to be positioned, and the reference tag positioning model is trained based on the RSSI signal sequence of each reference tag and the reference position coordinate of each reference tag; each reference label is preset at different appointed positions of the positioning working area;
the second processing module is used for dividing a positioning area range according to the estimated position coordinates, and taking reference tags in the positioning area range as specific reference tags to form a specific reference tag set;
the third processing module is used for determining a plurality of target specific reference labels with higher similarity from the specific reference label set by carrying out similarity analysis on RSSI signal sequences of the specific reference labels and the target labels;
and the fourth processing module is used for determining the position coordinates of the target tag according to the reference position coordinates of the plurality of target specific reference tags.
9. An electronic device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the positioning method based on radio frequency identification technology as claimed in any one of claims 1 to 7 when the computer program is executed by the processor.
10. A non-transitory computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the positioning method based on radio frequency identification technology as claimed in any one of claims 1 to 7.
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