CN113079459B - Ultrahigh frequency RFID system indoor positioning method based on probability estimation - Google Patents
Ultrahigh frequency RFID system indoor positioning method based on probability estimation Download PDFInfo
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Abstract
The invention relates to the technical field of communication, in particular to an ultrahigh frequency RFID system indoor positioning method based on probability estimation; setting a reference coordinate point for energy classification training, establishing a probability query table, and calculating a positioning coordinate according to a label to be detected and a comprehensive probability; the invention utilizes a positioning system constructed by an ultrahigh frequency RFID technology, based on a passive electronic tag and a novel method based on probability estimation to realize indoor area positioning; the method has high accuracy and positioning real-time performance.
Description
Technical Field
The invention relates to the technical field of communication, in particular to an ultrahigh frequency RFID system indoor positioning method based on probability estimation.
Background
Indoor positioning methods can be classified by technical category into wireless technology-based, measurement sensor-based, and visual positioning-based methods; the indoor positioning technology based on vision has high precision and low price, and particularly when the deep learning theory is applied to image processing, the positioning error can reach less than 1m; however, it must frequently use an image pickup apparatus to obtain image information, and the inconvenience in use makes it difficult to apply this method to reality.
The wireless communication technology has the advantages of convenience in installation, mature technology, small size and the like, indoor positioning based on the RFID technology is representative of the wireless communication technology, the cost is low, and equipment is easy to deploy;
the RFID system generally comprises a reader-writer, an electronic tag and application software, and the power supply mode of the electronic tag can be divided into three major types, namely active, passive and semi-active; the RFID technology is one of hot research technologies of current indoor positioning, and the indoor positioning based on the RFID technology is more based on active tags, namely, an electronic tag needs a power supply to supply power, and a battery needs to be frequently replaced; such systems suffer from two major drawbacks, namely higher system cost and shorter system life cycle.
Disclosure of Invention
The invention aims to provide an ultrahigh frequency RFID system indoor positioning method based on probability estimation, which has high accuracy and real-time performance.
In order to solve the technical problems, the technical scheme of the invention is as follows: an ultrahigh frequency RFID system indoor positioning method based on probability estimation comprises the following steps:
step 1: and (3) energy classification training:
step 1.1: setting a plurality of reference coordinate points forming a plane lattice in an indoor positioning area; four readers-writers are arranged at four corners of the positioning area;
step 1.2: placing the label on each reference coordinate point, respectively measuring the signal strength value (RSSI value) of each reference point for M times by four readers and classifying to form an energy classification table; the measured RSSI values are divided into four stages, L, according to signal strength 1 、 L 2 、L 3 、L 4 ，L 1 >L 2 >L 3 >L 4 ，L i Indicates that the measured RSSI value is greater than L j Wherein i<j；
And 2, step: establishing a probability lookup table:
for any reader-writer RD n The reference coordinate points obtained from the energy classification table are classified into L i But actually measured is L j Probability of (W) nij Establishing a probability lookup table;
and step 3: calculating location coordinates
Placing the label at any position in the positioning area to form a label to be detected, measuring the RSSI value of the label to be detected for M times, grading, and selecting L according to the grading 1 And L 2 Two read-write devices RD with most measurement times i And RD j And respectively selecting L of their probability lookup tables 1 And L 2 Two columns form various coordinate combinations, when any combination has the same coordinate point (x, y), the probability values in the corresponding probability lookup table are extracted and multiplied, and the probability value to be detected is calculatedComprehensive probability W of measuring label coordinate pk Selecting a comprehensive probability W pk The top N sets, the final location coordinates are calculated according to:
wherein (x) e ,y e ) Indicating the positioning coordinates of the label to be detected and the comprehensive probability W of the coordinates of the label to be detected pk 。
According to the scheme, the tag is a passive electronic tag.
According to the scheme, in the step 1 and the step 3, the value of M is 5-7 times.
According to the scheme, in the step 3, the value of N is 3.
According to the scheme, the reference coordinate points in the positioning area are set to be 36, specifically, 6 × 6 plane lattices.
According to the scheme, the interval between the adjacent reference coordinate points is 60cm.
The invention has the following beneficial effects: the invention utilizes a positioning system constructed by an ultrahigh frequency RFID technology, based on a passive electronic tag and a novel method based on probability estimation to realize indoor area positioning; because the electronic tag is passive, the ultra-long life cycle is ensured, and the trouble for replacing the battery is not needed; compared with other implementation methods, the indoor positioning implemented by the method has the advantages that after the previous training is completed, no algorithm consuming very much time (consuming calculation period) is used for real-time positioning, so that the real-time performance of positioning is very high; meanwhile, the method has high positioning precision and high accuracy; the cost is low, and the equipment is easy to deploy.
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FIG. 1 is a schematic illustration of a method according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a positioning area structure according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a positioning system of the present embodiment;
fig. 4 is a schematic diagram of 16 combinations formed by two rows of 4 energy levels in step 3 in this embodiment.
Reference numerals: 1. a reference coordinate point; 2. a reader/writer.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1 to 4, the present invention is an ultrahigh frequency RFID system indoor positioning method based on probability estimation, comprising the steps of:
step 1: and (3) energy classification training:
step 1.1: setting a plurality of reference coordinate points forming a plane lattice in an indoor positioning area; four readers-writers are arranged at four corners of the positioning area; referring to fig. 2, 36 reference coordinate points in the positioning region are set as a 6 × 6 planar lattice; the interval between adjacent reference coordinate points is 60cm;
step 1.2: the label is placed on each reference coordinate point by four readers/writers (RD) 1 -RD 4 ) Respectively measuring the signal strength value (RSSI value) of each reference point for M times and classifying to form an energy classification table; according to the RSSI values measured by four readers and according to the signal strength, dividing the RSSI values into four stages, wherein the four stages are respectively L 1 、L 2 、L 3 、L 4 ，L 1 >L 2 >L 3 >L 4 ，L i Indicates that the measured RSSI value is greater than L j Wherein i<j; fig. 3 shows a positioning system provided in the positioning method of the present invention, in which a reader/writer provided in a positioning area is connected to an upper computer through an ethernet, and the upper computer is used for data processing and positioning analysis.
As shown in Table 1, any one of the readers RD n Measuring each point 7 times, if a certain coordinate point measures L in 7 times 1 At most, it is classified into L 1 In one row, if measured L in 7 times 2 At most, it is classified into L 2 In one row, and so on.
TABLE 1 reader/writer RD n Energy classification table of measured RSSI value
The following table 2 is an energy classification table measured by four readers in this implementation:
TABLE 2 energy grading Table measured by four reader-writers
| RD 1 | Coordinate point |
| L 1 | (0,0)(0,1)(1,0)(1,1)(1,2)(2,1)(2,2) |
| L 2 | (0,2)(0,3)(2,0)(3,1) |
| L 3 | (0,4)(1,3)(1,4)(2,3)(3,0)(3,2)(4,0)(4,1) |
| L 4 | (0,5)(1,5)(2,4)(2,5)(3,3)(3,4)(3,5)(4,2)(4,3)(4,4)(4,5)(5,0)(5,1)(5,2)(5,3)(5,4)(5,5) |
| RD 2 | Coordinate point |
| L 1 | (2,2)(3,1)(3,3)(4,1)(4,2)(5,0)(5,2) |
| L 2 | (2,0)(2,1)(3,0)(4,0)(4,3)(5,1) |
| L 3 | (1,1)(3,2)(5,3) |
| L 4 | (0,0)(0,1)(0,2)(0,3)(0,4)(0,5)(1,0)(1,2)(1,3)(1,4)(1,5)(2,3)(2,4)(2,5)(3,4)(3,5)(4,4)(4,5)(5,4)(5,5) |
| RD 3 | Coordinate point |
| L 1 | (3,4)(4,2)(4,3)(4,5)(5,3)(5,4)(5,5) |
| L 2 | (2,4)(3,3)(4,4) |
| L 3 | (1,5)(2,3)(2,5)(3,2)(3,5)(5,1)(5,2) |
| L 4 | (0,0)(0,1)(0,2)(0,3)(0,4)(0,5)(1,0)(1,1)(1,2)(1,3)(1,4)(2,0)(2,1)(2,2)(3,0)(3,1)(4,0)(4,1)(5,0) |
| RD 4 | Coordinate point |
| L 1 | (0,4)(0,5)(1,4)(1,5)(2,4) |
| L 2 | (0,2)(1,3)(2,5) |
| L 3 | (0,3)(1,2)(2,2)(2,3)(3,3)(3,4)(3,5)(4,4)(5,4) |
| L 4 | (0,0)(0,1)(1,0)(1,1)(2,0)(2,1)(3,0)(3,1)(3,2)(4,0)(4,1)(4,2)(4,3)(4,5)(5,0)(5,1)(5,2)(5,3)(5,5) |
In this embodiment, the tag is a passive electronic tag.
Step 2: according to the result of energy classification training, establishing a probability lookup table:
as shown in Table 3, for any one of the readers/writers RD n The reference coordinate points obtained from the energy classification table are classified into L i But actually measured is L j Probability of (W) nij Establishing a probability lookup table;
TABLE 3 probability lookup table
In Table 2, it is assumed that only two coordinate points (2, 1) and (2, 2) are classified into L 1 The preparation method comprises the following steps of (1) performing; wherein the coordinate point (2, 1) is measured as L 1 Total 5 times, L 2 2 times in total; the coordinate point (2, 2) is measured as L 1 7 times in total; then W is n11 ＝12/14，W n12 =2/14, where 14= total number of measurements (7 + 7), 12= is classified to L 1 Is medium and measured to be L 1 Number of times (W) n11 2= is classified into L 1 But measured is L 2 Number of times (W) n12 A molecule of (a); that is, the denominator is the total number of measurements and the numerator is measured into different classifications (L) 1 ,L 2 ,L 3 ,L 4 ) The number of times.
In this embodiment, a probability lookup table is established according to the energy classification tables measured by the four readers, and refer to table 4.
Table 4 probability lookup table built by four readers
And 3, step 3: calculating location coordinates
Placing the label at any position in the positioning area to form a label to be detected, measuring the RSSI value of the label to be detected for M times and grading, wherein M times is 5 times in the embodiment; selecting L according to rank 1 And L 2 Two read-write devices RD with most measurement times i And RD j And respectively selecting L of their probability lookup tables 1 And L 2 Calculating positioning coordinates by two columns; as shown in FIG. 4, assume that reader/writer RD i L of 2 And RD j L of 1 Two rows are selected, and the two rows have 16 combinations of 4 energy levels; combining with the table 2, when any one of the coordinate points (x, y) is combined with the same coordinate point, extracting and multiplying the probability values in the corresponding probability query table, and calculating the comprehensive probability W of the coordinates of the label to be detected pk Selecting the comprehensive probability W pk The top 3 sets, the final location coordinates are calculated according to:
wherein (x) e ,y e ) Indicating the location coordinates of the tag to be detected, the integrated probability W of the coordinates of the tag to be detected pk 。
In this embodiment, it is assumed that the tag to be detected is located at coordinates (2.00, 1.17); according to the measured energy grading, RD 1 L of 1 And RD 2 L of 2 Selected as a calculation basis, and the RD in the probability lookup table 4 is looked up 1 And RD 2 As can be seen from the table (A), there are 6 combinations in total, and the first combination is RD 1 (L 1 ,L 1 ) And RD 2 (L 1 ,L 2 ) RD of query energy ranking table 1 L of 1 Line and RD 2 L of 1 Line, discoveryHave the same coordinate points (2, 2). Multiplying the two values in the probability table to obtain the comprehensive probability of 0.792x0.233=0.185, and so on; the results are shown in table 5 below.
TABLE 5 comprehensive probability results Table
| Table unit | Same coordinate | Integrated probability |
| RD 1 (L 1 ,L 1 )∩RD 2 (L 1 ,L 2 ) | (2,2) | 0.792x0.233＝0.185 |
| RD 1 (L 1 ,L 1 )∩RD 2 (L 2 ,L 2 ) | (2,1) | 0.792x0.458＝0.363 |
| RD 1 (L 1 ,L 1 )∩RD 2 (L 3 ,L 2 ) | (1,1) | 0.792x0.056＝0.0444 |
| RD 1 (L 2 ,L 1 )∩RD 2 (L 1 ,L 2 ) | (3,1) | 0.375x0.233＝0.0874 |
| RD 1 (L 2 ,L 1 )∩RD 2 (L 2 ,L 2 ) | (2,0) | 0.375x0.458＝0.172 |
| RD 1 (L 2 ,L 1 )∩RD 2 (L 3 ,L 2 ) | (N/A) | 0.375x0.056＝0.021 |
In the concrete application of the formula in the embodiment, (2, 1) (2, 2) (2, 0) is three groups with the highest comprehensive probability, and the conclusion can be obtained by substituting the formula.
Three groups with the highest probability are selected and substituted into a formula to obtain the positioning coordinate of
Assuming that the label to be detected is located at coordinates (2.00, 1.17); the actual measured label coordinate is (2.00, 1.02); the vertical coordinate error is 0.15, and the positioning error is 9cm because the distance between two reference coordinate points is 60cm and 60x0.15= 9cm.
According to the indoor positioning method, after the early training is finished, no algorithm consuming very much time (consuming calculation period) is used for real-time positioning, so that the positioning real-time performance is very high, and only about 1 second is needed for one-time real-time positioning; meanwhile, the method has high positioning precision, and the accuracy within 0.4m is as high as 93%.
The parts not involved in the present invention are the same as or implemented using the prior art.
The foregoing is a more detailed description of the present invention that is presented in conjunction with specific embodiments, and the practice of the invention is not to be considered limited to those descriptions. For those skilled in the art to which the invention pertains, numerous simple deductions or substitutions may be made without departing from the spirit of the invention, which shall be deemed to belong to the scope of the invention.
Claims (5)
1. An ultrahigh frequency RFID system indoor positioning method based on probability estimation is characterized in that: comprises the steps of
Step 1: and (3) energy classification training:
step 1.1: setting a plurality of reference coordinate points forming a plane lattice in an indoor positioning area; four readers-writers are arranged at four corners of the positioning area;
step 1.2: placing the label on each reference coordinate point, respectively measuring the signal strength value (RSSI value) of each reference point for M times by four readers and classifying to form an energy classification table; the measured RSSI values are divided into four stages, L, according to signal strength 1 、L 2 、L 3 、L 4 ，L 1 >L 2 >L 3 >L 4 ，L i Indicates that the measured RSSI value is greater than L j Wherein i<j；
Step 2: establishing a probability lookup table:
for any reader-writer RD n The reference coordinate points obtained from the energy classification table are classified into L i Is actually measured as L j Probability of (W) nij Establishing a probability lookup table;
and 3, step 3: calculating location coordinates
Placing the label at any position in the positioning area to form a label to be detected, measuring the RSSI value of the label to be detected M times and grading, and selecting L according to the grading 1 And L 2 Two read-write devices RD with most measurement times i And RD j And respectively selecting L of their probability lookup tables 1 And L 2 Two columns form various coordinate combinations, when any combination has the same coordinate point (x, y), the probability values in the corresponding probability lookup table are extracted and multiplied, and the comprehensive probability W of the coordinates of the label to be detected is calculated pk Selecting the comprehensive probability W pk The top N sets, the final location coordinates are calculated according to:
wherein (x) e ,y e ) Indicating the location coordinates of the tag to be detected, the integrated probability W of the coordinates of the tag to be detected pk ；
The label is a passive electronic label.
2. The ultrahigh frequency RFID system indoor positioning method based on probability estimation as claimed in claim 1, wherein: in the step 1 and the step 3, the value of M is 5-7 times.
3. The ultrahigh frequency RFID system indoor positioning method based on probability estimation as claimed in claim 1, wherein: in the step 3, the value of N is 3.
4. The ultrahigh frequency RFID system indoor positioning method based on probability estimation as claimed in claim 1, wherein: the reference coordinate points in the positioning area are set to be 36, specifically, 6 × 6 planar lattices.
5. The ultrahigh frequency RFID system indoor positioning method based on probability estimation as claimed in claim 1, wherein: the spacing between adjacent reference coordinate points is 60cm.
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| CN111667035A (en) * | 2020-05-19 | 2020-09-15 | 南京大学 | Article positioning method and device based on high-frequency RFID |
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| CN104853435A (en) * | 2015-05-26 | 2015-08-19 | 北京京东尚科信息技术有限公司 | Probability based indoor location method and device |
| CN106371059A (en) * | 2015-07-23 | 2017-02-01 | 中兴通讯股份有限公司 | RFID (Radio Frequency Identification) label positioning method and RFID label positioning device |
| CN111667035A (en) * | 2020-05-19 | 2020-09-15 | 南京大学 | Article positioning method and device based on high-frequency RFID |
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