TWI357504B

TWI357504B - Method for real-time positioning by radio frequenc

Info

Publication number: TWI357504B
Application number: TW96150730A
Authority: TW
Inventors: Chingchih Tsai; Zi Min Y; Ming Chieh Yeh; wang lin Liu
Original assignee: Prec Machinery Res & Dev Ct
Priority date: 2007-12-28
Filing date: 2007-12-28
Publication date: 2012-02-01
Also published as: TW200928417A

Description

九、發明說明：【發明所屬之技術領域】 Μ本發明侧於-種定位方法，制是侧複數個無線射頻 *織對一物件位置及移動方向進行即時偵測及定位的方法。【先前技術】統在有限空間内對-個可移動的物件進行定位的方法及系、’可以用來監控機器人在室内m的運触置及方向，也可以用來監控醫院内病人的位置與運動方向。台灣專利第1274176號揭露—種崎賴別元件執行即時 ίϋίϊ。*其特徵為在受監測者身上佩戴射頻標籤讀取器， ^^翁取器會魏特定無線電波給義賴；各射頻標在位置、位移、速度及加速度而達到即時^立出的又目皿的_所二，二:的 ID =以: 台灣專利第1266888號揭露一種定終端設備，用以供該移祕端設備獲用於移動同之使用絲。财法至少包服射訊以滿足不域’並針對各子區域分別定義—識:為複數子區式；於該移動終端設備進入該其中° 5^其=應之定位模之識別標示，以及尋找該翻標示對 1357504 該定位模式以獲取相應之定位服務資訊。其中該定位模式匹配定位技術及抵達時間差(Time Diffei>enee TDOA)雜技術之…該移祕端設備係藉由絲射頻識別技術(Radio Frequency Identification Device; RPJD)讀取各之識別標示。 °° 一該專利前案必須事先將應用區域畫分成複數個子區域然後再使該鑛終端讀取子區域的㈣訊號，顯適用性不符合-般化需求。【發明内容】有鑑於先前技術所揭露的定位方法及系統的適用性不 Ϊ缺Ϊ以本剌提供—鋪新的纽方法，細触先前技術本發主要目的係在提供—種即較位方法，其具有能夠在一個配置複數個射頻標箴的空間内，使一個具取讀取到不同射頻標籤的訊號後，即時地且精▲計异出該物件的位置座標及位移方向。根據本發明的目的與功效，該即時定位方法包含以下 =建立峨與距離崎性_曲線步驟，係在離線狀態 / 之複數標鐵與一讀取器之間的接收訊號強 ί二刀f以建立一接收訊號強度指標(RSSI)與距離的 =i線；（2)決定物件與賴麟_，係物件在配置強ΐίΓΐ間内，藉由該讀取器與不同標藏之間的接收訊號綠又僅的接收訊號強度指標(RSSI)與距離的特性關係曲驟’ ^該物件與不同標籤之間的距離；⑶決定物件位置步 H同標藏與讀取器間的距離以三角定位方法計算出位 -朽包含(4)決定移動方向㈣，係细該物件在相鄰一4置的座標配合數值分析以計算出該物件的移動方向。 ' θ 本發明所揭露的方法兩要將各標籤配置成特定的继，要事先晝分子區域，而且也不需佳，且使用峨接收強外1職’因此對空間的適用性較法’可以精確定位物件距轉性鱗配合三角定位方【實施方式】 m iVi^Ap^ 10 該物件，成之的空間内自由移動。度。、頁項取器24可以讀取相對各標籤12的訊號強 26 物件22更可以配設有一無缝發模組且該無線收發模組26能夠與一遠端 ^ 22 服〶，達成收發訊號的連線狀態。是以該物 m ^触舰遠職置離控；糾該遠端裝置30 可以對該物件22下達控制指令。半驟ΐί閱第3圖’在本發明所揭露的系統中執行即時定位的二&匕:·建立訊號與距離的特性關係曲線步驟S41、決定物 ”標籤距離步驟S43、決定物件位置步驟S45及決定移動方向步驟S47。建立訊號與距離的特性關係曲線步驟S41，係複數標籤被 $置在一 ^知的空間内且定有絕對座標。在離線狀態，每一標籤分別與讀取器產生一訊號強度及距離的關係數據。將該複數個數據配合一校正參數建立出一個接收訊號強度指標 (Received Signal Strength Indication, RSSI)與距離(Distance)的特性曲線。其中該RSSI-Distance特性曲線可以利用波導理論配合逼近法而獲得。 1357504 決定物件與標籤距離步驟S43係物件在配置複數標籤的 =内，藉由該讀取器與不同標籤之間的接收訊號強度，對應距軸雛難崎，獲得該對應==係=個標鐵相對-讀取器而言養值與相降I⑴ 讲；4是標籤與讀取器的距離；而分,n 其中< = 1,2,3... 為-個校正參數為··為糊校正參數，將上式⑴取㈣域崎數方程式 1〇31〇^^ ^ ι〇ύ , 或將其寫成矩陣方。程式:：。^ Η · [1、。略％1(綱；其中，到下=2=公尺的臟伽麵關係，可《得 i 一；叩，1 一，kj II) '、中參數α，办可經 ^dioRSSl^ i〇di〇Rssi2IX. Description of the invention: [Technical field to which the invention pertains] The present invention relates to a method for positioning, which is a method for instantaneously detecting and locating an object position and movement direction by a plurality of radio frequency radio waves. [Prior Art] The method and system for locating a movable object in a limited space can be used to monitor the movement and orientation of the robot in the room m, and can also be used to monitor the position of the patient in the hospital. Direction of movement. Taiwan Patent No. 1274176 discloses that the Kawasaki Lai component performs immediate ίϋίϊ. *It is characterized by wearing a radio frequency tag reader on the subject, ^^ Weng will send specific radio waves to Yilai; each radio frequency is in position, displacement, speed and acceleration to achieve instant and clear The ID of the dish is the same as that of the following: Taiwan Patent No. 1266888 discloses a terminal device for the mobile terminal device to be used for mobile use. The financial method at least covers the radio to satisfy the non-domain and is defined separately for each sub-area: a plurality of sub-regions; the mobile terminal device enters the identification mark of the positioning module, and Look for the flip indicator pair 1357504 for the location mode to get the corresponding location service information. The positioning mode matches the positioning technology and the arrival time difference (Time Diffei> enee TDOA). The mobile terminal device reads the identification marks by the Radio Frequency Identification Device (RPJD). °° A patent pre-existing case must divide the application area into a plurality of sub-areas in advance and then let the mine terminal read the (four) signals of the sub-areas, and the applicability does not meet the generalization requirements. SUMMARY OF THE INVENTION In view of the applicability of the positioning method and system disclosed in the prior art, there is no need to provide a new method, and the main purpose of the present invention is to provide a method The utility model has the capability of arranging a plurality of radio frequency tags in a space, so that after a signal read from a different radio frequency tag is received, the position coordinates and the displacement direction of the object are instantly and accurately determined. According to the object and effect of the present invention, the instant positioning method comprises the following steps: establishing a 峨 and a distance 崎 curve, which is in the offline state / the receiving signal between the complex target and the reader is strong Establish a receiving signal strength indicator (RSSI) and distance = i line; (2) determine the object and Lai Lin _, the object is in the configuration strong, between the reader and the different standard receiving signal The green relationship between the received signal strength index (RSSI) and the distance characteristic curve ^ ^ the distance between the object and the different labels; (3) determines the position of the object position step H and the distance between the label and the reader to the triangle positioning method Calculate the position-to-make (4) to determine the direction of movement (4), and to fine-tune the coordinates of the object in the adjacent 4 coordinates to calculate the moving direction of the object. ' θ The method disclosed in the present invention requires each tag to be configured as a specific relay, and the molecular region must be smashed in advance, and it is not necessary to use it, and the use of 峨 to receive a strong external job 'so the applicability to space is better than the law' Precisely positioning the object to rotate the scale to match the triangle positioning method [Embodiment] m iVi^Ap^ 10 The object is free to move within the space. degree. The page item picker 24 can read the signal intensity relative to each of the labels 12. The object 22 can be equipped with a seamless hair module and the wireless transceiver module 26 can be used with a remote device to achieve signal transmission. Connection status. Therefore, the object is remotely controlled; the remote device 30 can issue a control command to the object 22.半第图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图图And determining the moving direction step S47. Establishing a characteristic relationship curve between the signal and the distance, in step S41, the plural number label is placed in a known space and has an absolute coordinate. In the offline state, each label is generated separately from the reader. A relationship between the strength and the distance of the signal. The complex data is combined with a correction parameter to establish a characteristic curve of Received Signal Strength Indication (RSI) and Distance (Distance). The RSSI-Distance characteristic curve can be It is obtained by using the waveguide theory and the approximation method. 1357504 Determining the distance between the object and the label Step S43 is the object in the configuration of the complex label =, by the received signal strength between the reader and the different label, corresponding to the distance axis Obtain the corresponding == system=the standard iron relative-reader for the nutrient and phase drop I(1); 4 is the distance between the tag and the reader ; and sub, n where < = 1, 2, 3... is a correction parameter for ························································ , or write it as a matrix. Program::.^ Η · [1. Slightly %1 (class; where, to the next = 2 = metric dirty gamma relationship, can be "i one; 叩, 1 ,kj II) ', the middle parameter α, can be passed ^dioRSSl^ i〇di〇Rssi2

^ AX=B J〇di〇RSSIn. 由最小平方法求得 (2) 8 3 (3) χ = (ΑτΛ)~^Ατβ ^ Γαι lb\ 由以上寅算矣欠—1〇fl，η =卜因此將式⑶所計算的a』代入K n办’可以得到欠，n二個參數；再將& η二來數代入式(1)可以建立出每個標籤與讀取器的RSSI_Dist咖的關係。換言之’由RSSI值可以計算出讀取器與每一標籤之間的距離。該決定物件位置的步驟S43，係在標藏與讀取器相對作用的狀態下，該物件中的讀取器接收到的複數標籤訊號，根據每一標籤與讀取器之間的訊號強度配合使用該訊號接收強度指標與距寺性關係曲線，可以知道物件與標籤間的距離，再利用三角定位方法即可計算求出該物件的位置座標。請參閱第4圖，吾人取m個標籤12且使其座標分別為 Ti = {xlt ylt Zi ) ' T2 = (x2, y2l Ζ2 X = (xmi ym> ^ } 1 而距離=(^)〜’ Ϊ = ：L, 2, 3, .._,m ;轉換每個標籤12相對該物件22的RSSI值為相對的距離，則可以得到一聯立方程式如下： (xt - x)2 +(7,- y)2 + (Zi __ z)2 = d2 ,fe-^)2 + (y2-y)2 + (z2-z)2 = d22 i (4)^ AX=BJ〇di〇RSSIn. Calculated by the least squares method (2) 8 3 (3) χ = (ΑτΛ)~^Ατβ ^ Γαι lb\ From the above calculation 矣 — -1〇fl,η =卜Substituting a 』 calculated by equation (3) into K n can be used to obtain owed, n two parameters; then substituting & η into equation (1) can establish the relationship between each tag and the RSSI_Dist coffee of the reader. . In other words, the distance between the reader and each tag can be calculated from the RSSI value. The step S43 of determining the position of the object is a complex tag signal 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 reader. Using the signal to receive the intensity index and the distance curve from the temple, you can know the distance between the object and the label, and then use the triangulation method to calculate the position coordinates of the object. Please refer to Figure 4, we take m labels 12 and make their coordinates Ti = {xlt ylt Zi ) ' T2 = (x2, y2l Ζ 2 X = (xmi ym> ^ } 1 and distance = (^) ~ ' Ϊ = :L, 2, 3, .._,m ; Converting the RSSI value of each tag 12 relative to the object 22 by a relative distance, you can get a simultaneous equation as follows: (xt - x)2 +(7 , - y)2 + (Zi __ z)2 = d2 ,fe-^)2 + (y2-y)2 + (z2-z)2 = d22 i (4)

Mm - ^)2 + (ym - y)2 + (zTn - z)2 = dm2 將式(4)化簡’可得方程式px==q，其中： 2(x1-x2) 2(z1-z2)'Mm - ^)2 + (ym - y)2 + (zTn - z)2 = dm2 Reduce the equation (4) to obtain the equation px==q, where: 2(x1-x2) 2(z1-z2 )'

2(χι-χύ ^(y^-y.) 2(z1-z.); -2(X1 ~ ^m) 2(yt - ym) 2(Zl - z?n)2(χι-χύ ^(y^-y.) 2(z1-z.); -2(X1 ~ ^m) 2(yt - ym) 2(Zl - z?n)

# -右2 + (V - + W 一 + 、2) β - 42 + (V - x，) +i2) + (v、2) ‘2 - A2 + (a2 -、2). (y!2 - 〜2) + (丨、、2) 再由最小平方法解矩陣方程式得：, 中’X為讀取器的座標。其是以，本發明之定位系統運作時，利用知點的標籤峨強度於該雖曲、_係式目=上ί 2，然後配合三衫位法，β卩可決定出該物二 ;=:r精確地計算出該物件位在複數標鐵4ΐ: 段距:於向可以讓具有讀取器的物件移動一據建^ yi=哗化其杨為直線的斜率；C為截距。進一步取得物件移動過程中的多點座標並寫成矩陣形』丄叫5〇4# -右2 + (V - + W + +, 2) β - 42 + (V - x,) +i2) + (v, 2) '2 - A2 + (a2 -, 2). (y!2 - ~2) + (丨,, 2) Then solve the matrix equation by the least squares method: , where 'X is the coordinates of the reader. Therefore, when the positioning system of the present invention is operated, the intensity of the tag is used, and the intensity of the tag is ί, _系目=上ί 2, and then with the three-shirt method, β卩 can determine the object 2; :r accurately calculates that the object is in the complex standard 4ΐ: segment distance: the direction of the object can be moved by the object with a reader, and the slope of the line is C; C is the intercept. Further obtain the multi-point coordinates in the movement of the object and write it into a matrix shape. 丄叫5〇4

如下： '1 Χ{ 3V 1 χ2 ίΊ- y2 1 >η. LmJ • • 1As follows: '1 Χ{ 3V 1 χ2 ίΊ- y2 1 >η. LmJ • • 1

^CY=D 翻用最小平方絲求解得到斜率賴距如下：^CY=D Use the least squares solution to get the slope distance as follows:

[二]= Y = (CTQ-1cTD 而m= tcm0，其中0為物件移動盥反函數求得0 = tan-i(m)。一 X軸的夾角。再藉由是以由上所述可以計算出物件的移動方向。[2] = Y = (CTQ-1cTD and m = tcm0, where 0 is the object movement 盥 inverse function to get 0 = tan-i (m). The angle of an X-axis. Calculate the direction in which the object moves.

以上乃本發明之較佳實施例以及設計圖式，及设計圖式僅是舉例說明，並非，^歹範圍，凡以均等之技藝手段、或為下述「申之權Ϊ 所涵蓋之權利細*實施者，财讎本〖乂 ^ 人之權利細。 —而為申請【圖式簡單說明】第1圖係本發明之系統架構示意圖。第2圖係本發明之物件與遠端裝置的配置示意圖。第3圖係本發明之定位步驟方塊圖。第4圖係本發明決定物射立置之系統示意圖。The above is a preferred embodiment of the present invention and the design drawings, and the design drawings are only illustrative, and are not intended to be within the scope of the art, or the following claims.细 *Implementer, 雠雠人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人人3 is a block diagram of a positioning step of the present invention. Fig. 4 is a schematic diagram of a system for determining a projectile standing by the present invention.

1357504 【主要元件符號說明】 10定位系統 12標籤 22物件 24讀取器 26無線收發模組 30遠端裝置 S41建立訊號與距離的特性關係曲線步驟 S43決定物件與標籤距離步驟 S45決定物件位置步驟 S47及決定移動方向步驟1357504 [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 S47 And determining the direction of movement

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Claims

1357504 f、申請專利範圍： 1. 一種以無線射頻識別元件執行即時定位之方法，決疋一物件的位置與方向，其包含： ’、丁訊f與距離的特性關係曲線步驟’其係在離線狀態 ::細票籤與一讀取器之間的接收訊號強 “曲線一接收訊號強度指雜卿與距離的内距離步驟’係物件在配置複數標藏的空間 =藉由該讀取讀不同標籤之_接收峨強度，對库與距離的特性關係曲線，獲得“件角定===座i將不_與讀取器間的距離以三咖帛1項職找無祕_^件執行 =====梅崎嶋瓣小= 即時射麵別元件執行 j相鄰二位置的座標配合數值分析以計算二即申ΐ專利細第3項所述找無騎頻制元件執杆法最 131357504 f. Patent application scope: 1. A method for performing instantaneous positioning by radio frequency identification component, which determines the position and direction of an object, which includes: ', Dingxun f and distance characteristic curve step' is offline Status:: The received signal between the fine ticket and the reader is strong. "Curve-received signal strength refers to the internal distance of the binary and the distance step". The object is in the space where the complex number is configured = by reading the read The _ receiving 峨 intensity of the tag, the characteristic curve of the library and the distance, obtains the "piece angle === seat i will not _ the distance between the reader and the three cafés 1 job search without secret _ ^ =====Meiqi 嶋小 = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = = =