CN104199023A - RFID indoor positioning system based on depth perception and operating method thereof - Google Patents
RFID indoor positioning system based on depth perception and operating method thereof Download PDFInfo
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/74—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems
- G01S13/75—Systems using reradiation of radio waves, e.g. secondary radar systems; Analogous systems using transponders powered from received waves, e.g. using passive transponders, or using passive reflectors
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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
- G06K7/0008—General problems related to the reading of electronic memory record carriers, independent of its reading method, e.g. power transfer
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Abstract
The invention discloses a RFID indoor positioning system based on the depth perception and an operating method thereof. The system comprises a RFID reader, RFID external antennas and passive RFID tags. RFID external antenna arrays and reference tag arrays are arranged in the space properly, the reference tags carried by a target object are positioned through a power hopping and feedback correction mechanism, and the position of the target object can be estimated. The method is characterized in that on the basis of the depth perception, aiming to the features of the passive RFID tags, deep data are sensed through two varieties of multi-dimensional and deep systems, and an accurate and real-time indoor positioning mechanism is provided. In the spatial dimension, the system performance is improved through layer-crossed perception and parameter optimization; in the time dimension, the system corrects the accuracy of next positioning by collecting feedback data in an adaptive manner.
Description
Technical field
The present invention relates to a kind of indoor accurate positioning system, specifically a kind of based on passive radio frequency identification technique, and carry out depth perception information for the characteristic of passive radio frequency identification technique, and obtain the information of various dimensions, profound level, integrated application is in position fixing process.
Background technology
Along with the fast development of " Internet of Things ", a series of Internet of Things core technologies that the REID of take is representative have obtained development rapidly, and contactless, quick, efficient identification technology based on REID attract wide attention.Meanwhile, due to the key status of position-based service in following wisdom life, it is more and more important that indoor locating system becomes.Existing location technology comprises that the indoor technology such as WiFi, iBeacon are all to position based on this benchmark of signal intensity (RSSI), this single, simple perception channel is all uncertainties in shielding harness inside and environment effectively, promote the performance of location.In fact, for the characteristic of passive radio frequency identification technique, obtain the information of various dimensions, profound level, deeply excavate the inherent law feature of a plurality of dimension indexs, will contribute to promote positioning precision.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of indoor locating system and method for work thereof based on depth perception, it can be in real time, accurately required localizing objects is positioned, this localization method is by the depth information perception to passive label, promote positioning precision, reach the object of accurate indoor positioning.
For achieving the above object, a kind of indoor locating system based on depth perception of the present invention, it comprises:
Radio-frequency identification reader: be deployed in indoor environment, gather in real time the information of RFID tag in read range by external RFID antenna array, comprise tag recognition code, tag reflection signal energy value;
RFID antenna array: be deployed in indoor environment edge, from different angles, the RFID tag in read range scanned; Each antenna can send instruction based on reader and carry out parameter adjusting, by different through-put powers, carries out tag scan work; Accurately gather the reflected signal energy value of RFID tag simultaneously, and as position reference;
RFID tag: be widely deployed in indoor environment, be divided into target labels and reference label, wherein target labels is arranged on article, reference label is arranged in fixed position, this kind of label is passive radio-frequency identification labeled to antenna transmission power sensitive, and the energy by backscattering RFID antenna communicates.
Described indoor locating system also comprises user feedback module, and this module connects other behavior identification equipments
,after target labels being positioned by radio-frequency identification reader and RFID antenna array, when practical operation positioning result, according to other behavior identification equipments, further accurate locator data is fed back to radio-frequency identification reader.
The parameter that described reader can transmit to radio-frequency (RF) identification aerial array is modulated, and on provide interface to facilitate algorithm design to call.
Described RFID antenna array building form is complementary, in order to the angle from different, label in read range is scanned.
The method of work of the indoor locating system based on depth perception of the present invention, it comprises the following steps:
1) radio-frequency identification reader gathers the information of read range interior label in real time by RFID antenna array, comprises tag recognition code, tag reflection signal energy intensity level;
2) when needs are accurately located the position of certain target labels, the emissive power of radio-frequency (RF) identification aerial array is carried out to power saltus step, until make target labels read situation in critical section, now the nearest reference label of distance objective label can reach critical section simultaneously, reference label far away in un-activation district, zone of transition or San Ge state area, saturation region; Read the position in critical section reference label, can accurately determine the position of target labels.
Above-mentioned steps 2) process of accurately determining the position of target labels in is: according to the saltus step power of RFID antenna array, filter out reference label and the multi-dimensional signal strength information thereof in critical section, utilize the known location of reference label, take and target labels between signal intensity Euclidean distance be weights, weighted calculation goes out the position of target labels, usings this positioning result as the profound cognitive method of label information based on power saltus step;
In order to improve positioning precision, can also increase step 3): utilize step 2) location subsequent operation, by other behavior identification equipments, automatically identify these operational motions, thereby obtain the actual position of target object, and with step 2) positioning result compare, obtain historical feedback information and charge to historical data base, in upper once position fixing process, the multi-dimensional signal strength information of target labels and historical feedback information are compared, obtain the historical feedback information nearest with the signal intensity Euclidean distance of target labels, and with these information and corresponding regional location thereof, positioning result is adjusted, with weighting scheme, obtain final positioning result, positioning result as the various dimensions bearing calibration based on automatic feedback information, thereby further promote positioning precision.
The present invention is based on being widely used of REID, consider the importance of indoor accurate positioning system, utilize the sensitivity characteristic of wireless radio frequency identification mark to signal transmission, in real time, accurately required localizing objects is positioned.This system is based on reference label array scanning, the profound data of cross-layer perception, and optimization system parameter, promotes positioning precision.By obtaining the feedback information of user to positioning result, positioning result is calibrated simultaneously, further improved positioning precision.
Accompanying drawing explanation
Fig. 1 system architecture diagram
The passive radio-frequency identification labeled performance plot that reads of Fig. 2,
Fig. 3 is used different capacity to distinguish reference label,
Fig. 4 system flowchart,
The basic scene graph of Fig. 5 system.
Embodiment
The present invention is mainly comprised of following part at hardware components, as Fig. 1:
Radio-frequency identification reader: its function comprises: 1) gather in real time the information of read range interior label, comprise tag recognition code, tag reflection signal energy intensity level etc.; 2) reader adopts the mode of external antenna, and single reader can external a plurality of antennas, form aerial array; 3) parameter that can be to antenna transmission signal, comprises emitted energy etc., carries out certain modulation, and on provide interface to facilitate algorithm design to call.
RFID antenna array: the external antenna of above-mentioned reader forms aerial array according to ad hoc fashion.Its function comprises: 1) aerial array building form is complementary, can to the label in read range, scan from different angles; 2) each antenna can send instruction based on reader and carries out parameter adjusting, can carry out tag scan work by different through-put powers; 3) can accurately gather the reflected signal energy value of label, and as position reference.
RFID tag: passive radio-frequency identification labeled, can be widely used in indoor environment, its feature comprises: 1) with low cost, can dispose in a large number.By attachment labels, will the location of target object be converted to the location to label; 2) volume is small, as scraps of paper shape; 3), without power supply, the energy by backscattering RFID antenna communicates, to antenna transmission power sensitive.
Reference label array: the reference label array forming based on above-mentioned RFID tag, each label in array has fixing position, and is recorded in system.
User feedback module: after positioning by the said equipment and system, user feeds back when practical operation positioning result.Feedback information can derive from user and manually arrange or self-adaptation identification equipment, as infrared ray etc.
Core of the present invention is label information obtain manner and the localization method thereof based on depth perception.The method comprises two parts: the profound cognitive method of label information based on power saltus step, by the different power of adaptive use, promotes reference label discrimination.Various dimensions bearing calibration based on automatic feedback information, by log history locator data, proofreaies and correct positioning result.By optimization, dispose radio frequency identification equipment, two kinds of depth perception methods of Integrated using obtain more careful signal intensity samples and field feedback promotes positioning precision, and a kind of accurately real-time indoor locating system and method for work thereof is provided.
Be embodied in:
1) the profound cognitive method of the label information based on power saltus step
As shown in Figure 2, in passive radio-frequency identification labeled actual reading model, label reads situation and is divided into un-activation district, zone of transition, critical section, saturation region.By allowing target labels in critical section, thereby obtain stable signal intensity, and reach the discrimination with reference label maximum.Now, the nearest reference label of distance objective label can reach critical section simultaneously, far away in three other state areas.Wireless radio frequency identification mark according to the height of obtained reader energy often in different cog regions, and mutually close label often in identical cog region.And this method is exactly this characteristic that makes full use of wireless radio frequency identification mark, by changing the emissive power of reader, make target labels in critical section, can distinguish and the target labels reference label in critical section equally, and utilize the signal strength information of these reference label and known positional information, by weighting, just can estimate the physical location of target labels, see Fig. 3.
2) the various dimensions bearing calibration based on automatic feedback information
As shown in Figure 5, in real system application, we can dispose the signal strength information that a plurality of antennas obtain multidimensional, with this, target labels are positioned.Therefore each location all can stay the vector of next multidimensional as the location fingerprint of target, and in actual applications, the subsequent operation of location must be to operations such as target object move, takes.By utilizing some technology, such as infrared ray, behavior recognition technology etc., identifies these actions automatically, thereby obtains the actual position of target object, and compares with positioning result, charges to historical data base.In upper once position fixing process, based on historical data, positioning result is proofreaied and correct, reach the object of the larger positioning error of elimination, thereby further promote positioning precision.Various dimensions bearing calibration based on automatic feedback information is exactly that positioning result each time and historical feedback information are compared, utilize information close in historical feedback information and corresponding feedback areas position to revise positioning result, utilize the finger print information of time dimension to result again weighting evaluation.By this kind of method, can better distinguish the reference label nearest with target labels, thereby promote positioning precision.
Indoor locating system based on depth perception, its innovation is also the above-mentioned two kinds of methods of Integrated using.In system practical work process, first by method 1, carry out actual location, then by method 2, proofread and correct, finally draw positioning result, its workflow as shown in Figure 4:
1) by the saltus step of reader transmitted power is arranged, regulate transmitted power, make target labels in critical section, and with this power reading tag, obtain the signal intensity of target labels and reference label.
2) reference label in critical section filtering out according to saltus step power and multi-dimensional signal strength information thereof, utilize the known location of reference label, take and target labels between signal intensity Euclidean distance be weights, weighted calculation goes out the position of target labels, usings this positioning result as the profound cognitive method of label information based on power saltus step.
3) the multi-dimensional signal intensity finger print information of target labels and historical feedback finger print information are compared, obtain the historical feedback finger print information nearest with the signal intensity Euclidean distance of target labels, and with these fingerprints and corresponding regional location thereof, positioning result is adjusted, with weighting scheme, obtain final positioning result, as the positioning result of the various dimensions bearing calibration based on automatic feedback information.
4) according to other behavior recognition technologies (for example: infrared ray) obtain the actual area position of target, and as feedback information, deposit the multi-dimensional signal intensity fingerprint of target labels and actual area position in database, for calibrate follow-up positioning result later.
The concrete application approach of the present invention is a lot, and the above is only the preferred embodiment of the present invention, should be understood that; for those skilled in the art; under the premise without departing from the principles of the invention, can also make some improvement, these improvement also should be considered as protection scope of the present invention.
Claims (8)
1. the RFID indoor locating system based on depth perception, is characterized in that comprising:
Radio-frequency identification reader: be deployed in indoor environment, gather in real time the information of RFID tag in read range by external RFID antenna array, comprise tag recognition code, tag reflection signal energy value;
RFID antenna array: be deployed in indoor environment edge, from different angles, the RFID tag in read range scanned; Each antenna can send instruction based on reader and carry out parameter adjusting, by different through-put powers, carries out tag scan work; Accurately gather the reflected signal energy value of RFID tag simultaneously, and as position reference;
RFID tag: be widely deployed in indoor environment, be divided into target labels and reference label, wherein target labels is arranged on article, reference label is arranged in fixed position, this kind of label is passive radio-frequency identification labeled to antenna transmission power sensitive, and the energy by backscattering RFID antenna communicates.
2. a kind of indoor locating system based on depth perception according to claim 1, is characterized in that, described indoor locating system also comprises user feedback module, and this module connects other behavior identification equipments
,after target labels being positioned by radio-frequency identification reader and RFID antenna array, when practical operation positioning result, according to other behavior identification equipments, further accurate locator data is fed back to radio-frequency identification reader.
3. a kind of indoor locating system based on depth perception according to claim 1 and 2, is characterized in that, the parameter that described reader can transmit to radio-frequency (RF) identification aerial array is modulated, and on provide interface to facilitate algorithm design to call.
4. a kind of indoor locating system based on depth perception according to claim 1 and 2, is characterized in that, described RFID antenna array building form is complementary, in order to the angle from different, label in read range is scanned.
5. the method for work of the indoor locating system based on depth perception described in claim 1, is characterized in that comprising the following steps:
1) radio-frequency identification reader gathers the information of read range interior label in real time by RFID antenna array, comprises tag recognition code, tag reflection signal energy intensity level;
2) when needs are accurately located the position of certain target labels, the emissive power of radio-frequency (RF) identification aerial array is carried out to power saltus step, until make target labels read situation in critical section, now the nearest reference label of distance objective label can reach critical section simultaneously, reference label far away in un-activation district, zone of transition or San Ge state area, saturation region; Read the position in critical section reference label, can accurately determine the position of target labels.
6. the method for work of the indoor locating system based on depth perception according to claim 5, it is characterized in that step 2) in accurately determine that the process of the position of target labels is: according to the saltus step power of RFID antenna array, filter out reference label and the multi-dimensional signal strength information thereof in critical section, utilize the known location of reference label, take and target labels between signal intensity Euclidean distance be weights, weighted calculation goes out the position of target labels, usings this positioning result as the profound cognitive method of label information based on power saltus step.
7. the method for work of the indoor locating system based on depth perception according to claim 6, characterized by further comprising step 3): utilize step 2) location subsequent operation, by other behavior identification equipments, automatically identify these operational motions, thereby obtain the actual position of target object, and with step 2) positioning result compare, obtain historical feedback information and charge to historical data base, in upper once position fixing process, the multi-dimensional signal strength information of target labels and historical feedback information are compared, obtain the historical feedback information nearest with the signal intensity Euclidean distance of target labels, and with these information and corresponding regional location thereof, positioning result is adjusted, with weighting scheme, obtain final positioning result, positioning result as the various dimensions bearing calibration based on automatic feedback information, thereby further promote positioning precision.
8. the method for work of the indoor locating system based on depth perception according to claim 7, is characterized in that, described other behavior identification equipments comprise infrared equipment.
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Cited By (13)
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| CN107247260A (en) * | 2017-07-06 | 2017-10-13 | 合肥工业大学 | A kind of RFID localization methods based on adaptive depth confidence network |
| CN107861100A (en) * | 2017-11-10 | 2018-03-30 | 西京学院 | A kind of indoor orientation method based on three-dimensional wave beam |
| CN108604304A (en) * | 2016-01-20 | 2018-09-28 | 商汤集团有限公司 | For adapting the depth model indicated for object from source domain to the method and system of aiming field |
| CN108762278A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of positioning system and method suitable for track machine people |
| CN105424030B (en) * | 2015-11-24 | 2018-11-09 | 东南大学 | Fusion navigation device and method based on wireless fingerprint and MEMS sensor |
| CN108801244A (en) * | 2018-06-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of positioning system and method suitable for track machine people |
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| CN112788528A (en) * | 2021-01-14 | 2021-05-11 | 南京大学 | Two-dimensional jumping point correction method based on real-time track dynamic for indoor positioning |
| CN113465267A (en) * | 2020-06-23 | 2021-10-01 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, food material management method and medium |
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| CN108604304A (en) * | 2016-01-20 | 2018-09-28 | 商汤集团有限公司 | For adapting the depth model indicated for object from source domain to the method and system of aiming field |
| CN106793073A (en) * | 2016-12-12 | 2017-05-31 | 邑客得（上海）信息技术有限公司 | A kind of distributed real-time positioning system and its localization method based on radiofrequency signal |
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| CN107247260A (en) * | 2017-07-06 | 2017-10-13 | 合肥工业大学 | A kind of RFID localization methods based on adaptive depth confidence network |
| CN107861100A (en) * | 2017-11-10 | 2018-03-30 | 西京学院 | A kind of indoor orientation method based on three-dimensional wave beam |
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| CN108762278A (en) * | 2018-06-11 | 2018-11-06 | 浙江国自机器人技术有限公司 | A kind of positioning system and method suitable for track machine people |
| CN108801244A (en) * | 2018-06-11 | 2018-11-13 | 浙江国自机器人技术有限公司 | A kind of positioning system and method suitable for track machine people |
| CN111131998A (en) * | 2018-10-12 | 2020-05-08 | 闽南师范大学 | Indoor Wi-Fi positioning method |
| CN111131998B (en) * | 2018-10-12 | 2021-04-20 | 闽南师范大学 | Indoor Wi-Fi positioning method |
| CN111007939A (en) * | 2019-11-25 | 2020-04-14 | 华南理工大学 | Virtual reality system space positioning method based on depth perception |
| CN111007939B (en) * | 2019-11-25 | 2021-09-21 | 华南理工大学 | Virtual reality system space positioning method based on depth perception |
| CN113465267A (en) * | 2020-06-23 | 2021-10-01 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, food material management method and medium |
| CN113465267B (en) * | 2020-06-23 | 2022-07-15 | 青岛海信电子产业控股股份有限公司 | Intelligent refrigerator, food material management method and medium |
| CN112788528A (en) * | 2021-01-14 | 2021-05-11 | 南京大学 | Two-dimensional jumping point correction method based on real-time track dynamic for indoor positioning |
| CN113790761A (en) * | 2021-09-22 | 2021-12-14 | 腾讯科技（深圳）有限公司 | Driving end positioning method and device, computer equipment and storage medium |
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