TW200928417A - Method for real-time positioning by radio frequency identification devices - Google Patents

Abstract

The present invention discloses a real-time positioning method, which utilizes the relation of a received signal strength indication - distance (RSSI-Distance) characteristic curve of a radio frequency identification (RFID) unit to obtain distance relation between an object and other tags; then, the position of the object is determined by means of triangulation positioning, and let the object move over a short distance, the position coordinates of two adjacent points can be obtained by using the above positioning method; then, the moving direction of the object can be obtained by means of appropriate functional operations and mathematical analyses. Therefore, the present invention can achieve the effect of real-time and accurate positioning.

Description

200928417 IX. Description of the Invention: [Technical Field of the Invention] The present invention relates to a positioning method, in particular, a method for instantaneously detecting and locating an object position and moving direction by using a plurality of radio frequency tags. [Prior Art]

A method and system for positioning a movable object in a limited space can be used to monitor the position and orientation of the robot in the indoor space, and can also be used to monitor the position and direction of movement of the patient in the hospital. A method of performing an instantaneous positioning using a radio frequency identification component is disclosed in Japanese Patent No. 1274176. The utility model is characterized in that the RF tag reader is worn on the monitored person, and the radio frequency tag is used to transmit a specific radio wave to the launcher. Each radio frequency tag is placed in a specific place and drives each tag in various different manners. Internal = ID code; as the monitor moves, the RF tag reader receives the Q code ID (4) 'At this time, the ID code is transmitted to the CPU through the second-line module communication to calculate The position, displacement, speed and acceleration of the monitored person are used for immediate positioning. The placement of each item in the case must be a 1D coding tree that constitutes a specific geometry ( (4) The position of the subject is limited', so the applicability does not meet the general needs. It will be applied to the mobile r and will be divided into sub-areas; Reduce the fixed (10) information. The towel pattern matches the mash and _B_ (Time Difeen^=^ Γ Γ , , , , , , , , , , , , , , , , , , , , , , , i i i i i i i i i i i i i i i i i i i i i i i i i i ^ Then let the transfer of the secrets to take the sub-area _ shooting ship number, showing that the applicability of the pre-profit case does not meet the general needs. ~ Ο [Invention content] # The pre-existing positioning method and system applicability is not good The lack of ϊ林 invention provides - the touch of the green, by the prior art, the main purpose is to provide - (4) locating green, within the space of several radio frequency tags, so that one has the second reading == Immediately and accurately, after the === number, according to the object and effect of the present invention, the instantaneous and distance, the curve step, the sound, the receiving signal between the complex domain and a reader Strong & jins to establish a receiving signal strength indicator (rssi) and distance between the iron and the reader to calculate the position of the second ft ϊί3 (4) determining the direction of the wire, using the object Adjacent one set of private cooperation is a few years old. 6 200928417 The method does not need to draw the molecular area in advance, and it does not need to be used. The applicability of the target is better than the method of determining the intensity index and the distance characteristic curve of the method tH, which can accurately locate the position of the object. [Embodiment] (4) ΐ 上上 v图士, the positioning system disclosed in the present invention includes a plurality of ^ " sigh in a limited space. Each tag 12 is a wireless radio 'identification device (RFID) 'And each of the Lai 12 is relative to a coordinate value:,, ❹ 株 株 2 2 2 可 在 在 在 在 在 在 在 在 在 在 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由 自由12 signal strength. κ Read Fig. 2 'The object 22 can be equipped with a wireless transceiver module electrically connected to the reader 24, and the 'wireless transceiver module 26 can be connected to a remote end, 30' For example, the server is connected to the transceiver, so that the position of the object 22 can be monitored by the remote device; and the remote device 3 can issue a control command to the object 22. See Figure 3. In the present invention The step of performing immediate positioning in the exposed system includes: establishing a characteristic relationship curve between the signal and the distance, step S4, determining the object and label distance step S43, determining the object position step S45, and determining the moving direction step S47. Establishing the characteristic relationship between the signal and the distance In the curve step S41, the complex number tags are built in a known space and have absolute coordinates. In the offline state, each tag generates a relationship data between the signal intensity and the distance with the reader, and the plurality of data. A characteristic curve of Received Signal Strength Indication (RSSI) and Distance (Distance) is established with a correction parameter. The RSSI-Distance characteristic curve can be obtained by using the waveguide theory and the approximation method. 200928417 Determining the distance between the object and the label Step S43 is the characteristic curve of the received signal strength index (RSSI) and the distance corresponding to the received signal strength between the reader and the unique label in the space where the object is disposed in the complex label. The distance between the object and the different labels. In terms of the RSSI value and the phase, the relationship between the m labels and the corresponding distance of the reader is: biliary (1) Ο where ί = 1, 2, 3..., hunger; parameter. Wood is the distance between the label and the reader; and the beat is: In order to find the correction parameter, the logarithm equation of the above formula (1) is taken as 1G, logtoRSSIi = l〇g1〇k - n -1〇310^ = α - 5 . Ιο9ι〇α. or write it into a matrix equation to form 1 t1 -lo9iQdi] [^] = log^RSS^ ;

Among them, α = / 〇 〇 1 = = n is the RSSI-Distance relationship of η meters per experiment, can be... to the following simultaneous equation: get 1 - • Ί t %ι〇财4· 1 ~%i〇rf2 * • • — l〇3i〇RSSI2 • • ^ ΑΧ=β -1 -'κ ^〇9i〇RSSInm where the parameters a, h can be found by the least squares method 8 (2) 200928417 (3) The above calculus knows & = li>Vn =b, so the equation (3) is calculated by substituting A: = 10' n = do ' can't get the parameters; then & the second parameter can be established by substituting (1) The relationship between each shop and the RSsi_Di_e of the reader. In other words, 'the RSSI value can be used to calculate the difference between the reader and each tag.

distance. The step S43 of determining the position of the object is a plurality of tag signals received by the reader in the object in a state in which the tag and the reader are oppositely operated, according to the signal strength between each tag and the extractor. Using the signal to receive the intensity index k and the distance of the special paste line, you can know the distance between the object and the standard lang, and then use the triangulation method to calculate the position coordinate of the object. Read Figure 4, 'We take m labels 12 and Let their coordinates be k(~W), T2, y2, Z2)~Tm=:(w *, and the distance d, · 1, 2, 3"·" m; convert each tag 12 phase to get one The simultaneous equation has a relative distance to the object 22 as follows: (4) 200928417 (% - χ) 2 + (yx - y) 2 + (Zl _ ζ γ _ (1⁄2 - ^) 2 + ( Y2 - 37)2 + (z2 - z)2 = rf22 » - Λ:)2 + 〇m - y)2 -h (zm - z)2 = Reduce the equation (4) to obtain the equation PX== Q, where: 2{xx - x2) 2(yt ~y2) 2(Zl - z2) ρ 2(^-^) -y.) 2(z1-zi) Ο Ο

2(^-^) 2(z1- zmX

Q 禹2 a #诗i212) + 03⁄42 - y22) + (V - y) d'- A2 + « -彳).:03⁄42 - y,) + (W) U2 a dl2 +W I, 2) + W — %2) + 〇 Then solve the matrix equation by the least squares method: χ=(ρΓρ)卞? ^ 中 ' χ is the coordinates of the reader. The position of the knowing point is the riding scale, which is located on the absolute coordinate e, and the corresponding relationship is found in the line relationship _ the invention can determine the position of the object. Therefore the position within 4 spaces. Accurately calculate that the object position is set in the multi-label, and the two segments with the ratcheting object movement 1 are generated. And one; the value = the time line 7 is , i + C, where the hunger is the slope of the line; c is the intercept. Step-by-step to get the multi-point coordinates in the moving process of the object and write it in matrix form 200928417 as follows:

Present CYtD

_ Use the minimum wire to find the scale of the nucleus as follows: Β = γ = (^) ^ 3⁄4 ^ TmlTta ^ x ° 疋 to calculate the direction of movement of the object from the above. Ο 钱 ® I 杂 杂 I I I I I I 圆 圆 圆 疋 疋 ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' ' Example 4 is a schematic diagram of the system architecture of the present invention. Figure 2 is a schematic view showing the configuration of the article and the distal device of the present invention. Figure 3 is a block diagram of the positioning steps of the present invention. Figure 4 is a schematic diagram of the system for determining the position of an object of the present invention. 11 200928417 [Description of main component symbols] 10 positioning system 12 tag 22 object 24 reader 26 wireless transceiver module 30 remote device S41 establishes a characteristic relationship curve of the signal and distance step S43 determines the object and tag distance step S45 determines the object position step 〇S47 and the decision to move direction ❹ 12

Claims (1)

200928417 X. Patent application scope: 1. A method for performing real-time positioning by radio frequency identification component, which is used to determine the position and direction of an object, which includes: establishing a characteristic curve relationship between signal and distance, which is offline In the state, the received signal strength between the complex tag and the reader under the known coordinates is matched with the numerical analysis to establish a characteristic curve of the received signal strength index (11881) and the distance; determining the distance between the object and the tag The object is obtained in the space 配置 of the complex label by the received signal strength between the reader and the different label, corresponding to the characteristic curve of the received signal strength index (RSSI) and the distance, and the object is obtained. The distance between the different labels; the object position step 'calculates the position coordinates by the triangular clamp method for the distance between the different labels and the reader. According to the radio frequency identification component implementation method described in the first item of instant profit H, the (10) age-old position subcontracting_minimum square instant 3 is defined, which is described by the wireless shooting component, and the two-position 仏 instant The three items described in the radio frequency identification component are executed using a linear function, the number of the most sudden '= 13