WO2017012409A1 - Method and apparatus for locating rfid label - Google Patents
Method and apparatus for locating rfid label Download PDFInfo
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- WO2017012409A1 WO2017012409A1 PCT/CN2016/083178 CN2016083178W WO2017012409A1 WO 2017012409 A1 WO2017012409 A1 WO 2017012409A1 CN 2016083178 W CN2016083178 W CN 2016083178W WO 2017012409 A1 WO2017012409 A1 WO 2017012409A1
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- tag
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- label
- positioning
- rssi value
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
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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
- G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
- G01S5/02—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations using radio waves
- G01S5/0257—Hybrid positioning
Definitions
- This document relates to, but is not limited to, the field of tag identification technology, and in particular, to an RFID tag positioning method and apparatus.
- Positioning systems are receiving more and more attention due to the requirements of positioning product targets in the fields of product manufacturing and sales, tracking and distribution of goods, and network wiring management.
- common indoor positioning systems include cellular wireless positioning, wireless local area network positioning, infrared positioning, and ultrasonic positioning. With the increasing requirements for product positioning accuracy, the traditional positioning technology can no longer meet the requirements.
- RFID Radio Frequency Identification
- RFID technology is a non-contact automatic identification technology realized by radio frequency communication. Compared with other technologies, RFID technology has the advantages of non-contact, non-line-of-sight, high positioning accuracy, and no blind spots. RFID technology can also read a large amount of information from the target while positioning the object, realizing "one thing and one code", so RFID technology can quickly realize label positioning and data information exchange, which can reduce manpower and material resources and greatly improve recognition. And positioning efficiency. Positioning algorithm is the key to RFID positioning technology. Currently, RFID positioning technology is mainly divided into positioning algorithm of ranging technology and algorithm without ranging technology.
- Positioning algorithms based on ranging technology include TOA (time-of-arrival), TDOA (Time difference of Arrival) positioning, direction measurement positioning (AOA), and RSSI (Received Signal Strength Indication). Indicating) positioning; positioning algorithms based on no distance measurement technology include DV-HOP positioning algorithm, APIT positioning algorithm, and convex programming algorithm.
- Passive RFID positioning in the related art employs a two-dimensional positioning method based on signal strength.
- the positioning technique is based on the theory of one-dimensional positioning, by placing four reference tags (r1/r2/r3/r4) and two remote read/write heads A and B indoors, through two sets of RSSI.
- the approximate polynomial of the value and the distance can estimate the approximate position of the label P to be positioned, thereby realizing the two-dimensional positioning of the label.
- due to the multipath effect of the signal there is an error in the received RSSI signal.
- the method achieves low positioning accuracy and large error, so the positioning method and device can only be applied to the positioning label distribution distance. Larger, less accurate positioning requirements, and under the condition of dense label distribution, the positioning accuracy of the positioning method can not distinguish the position of the label, and can not meet the application requirements.
- Embodiments of the present invention provide an RFID tag positioning method and apparatus, which can accurately locate and identify a tag under a label-intensive distribution condition.
- a radio frequency identification RFID tag positioning method includes:
- the received signal strength indication RSSI value of the to-be-located tag and the reference tag is collected by four or more read/write heads, and four or more sets of the RSSI values of the to-be-positioned tag and the reference tag are obtained.
- the label area is arranged with one or more of the to-be-positioned labels, and a plurality of the reference labels;
- the positioning information of the to-be-located tag is calculated according to the RSSI value of the four or more sets of the to-be-located tag and the reference tag, and combined with the two-dimensional positioning algorithm and the triangle centroid localization algorithm.
- the RSSI values of the to-be-located tag and the reference tag are collected by four or more read/write heads, and the RSSI values of the four or more sets of the to-be-located tag and the reference tag are obtained. :
- each of the read/write heads interacts with each of the reference tags to obtain an RSSI value fed back by each of the reference tags according to the ID information of each tag collected, and each of the read/write heads and the The RSSI value of the tag to be located is obtained, and the RSSI value of the tag to be located and the reference tag of the four or more groups are obtained.
- the label to be located is collected by four or more read/write heads and Refer to the RSSI value of the label to obtain four or more sets of the RSSI values of the to-be-positioned label and the reference label.
- the four or more read/write heads are evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon;
- the tag to be positioned is placed in an inner region of the polygon formed by the read/write head.
- the number of the to-be-positioned tags is multiple, and the plurality of to-be-positioned tags are randomly distributed inside the polygonal area formed by the read/write head.
- the determining, according to the RSSI value of the to-be-located tag and the reference tag, of the four or more groups, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm, calculating the positioning information of the to-be-located tag includes:
- the RSSI value of the four or more sets of the reference tags is brought into a preset approximate polynomial, and the function relationship polynomial is estimated, and the function relationship polynomial is the distance between the tag and the head. a polynomial of the correspondence between the AND and RSSI values;
- the preliminary positioning information of the to-be-positioned tag is corrected according to a triangle centroid localization algorithm, and final positioning information of the to-be-located tag is obtained.
- a radio frequency identification RFID tag positioning device comprises a head module, a monitoring management module and a plurality of reference labels, wherein:
- the head module includes four or more read/write heads, and is disposed in the label area, and collects a received signal strength indication RSSI value of the to-be-positioned tag and the reference tag, and obtains four or more sets of the to-be-determined
- the RSSI value of the bit label and the reference label is fed back to the monitoring management module, and the label area is arranged with one or more of the to-be-positioned label and the plurality of reference labels;
- the monitoring management module is configured to calculate the positioning information of the to-be-located tag according to the RSSI value of the to-be-located tag and the reference tag of the four or more groups, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
- the read/write head module collects the RSSI value of the to-be-located tag and the reference tag in the label area, and obtains four or more sets of the RSSI values of the to-be-located tag and the reference tag, including:
- the head module adopts a point-to-multipoint manner, and collects ID ID information of each tag through the four or more read/write heads, and performs ID information collected by each of the read/write heads.
- the tag includes the to-be-positioned tag and the reference tag; and according to the ID information of each tag collected.
- the read/write heads interact with each of the reference tags to obtain an RSSI value that is fed back by each of the reference tags, and each of the read/write heads interacts with the tag to be located to obtain the tag feedback of the to-be-positioned tag.
- the RSSI value of the four or more sets of RSSI values of the tag to be located and the reference tag are obtained.
- the device further includes: a configuration module, configured to evenly distribute the four or more read/write heads in the label area to form a polygon, and each of the read/write heads is corresponding to the Each vertex of the polygon; each of the reference labels is respectively disposed on a polygon frame formed by the head; and the label to be positioned is placed in an inner region of the polygon formed by the head.
- a configuration module configured to evenly distribute the four or more read/write heads in the label area to form a polygon, and each of the read/write heads is corresponding to the Each vertex of the polygon; each of the reference labels is respectively disposed on a polygon frame formed by the head; and the label to be positioned is placed in an inner region of the polygon formed by the head.
- the number of the to-be-positioned tags is multiple, and the plurality of to-be-positioned tags are randomly distributed inside the polygonal area formed by the read/write head.
- the to-be-positioned tag is a passive tag; the reference tag is evenly distributed on the polygon frame.
- the monitoring management module calculates the RSSI value of the to-be-located tag and the reference tag according to the four or more groups, and combines the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the to-be-located tag.
- Location information includes:
- the monitoring management module estimates, according to the two-dimensional positioning algorithm, the RSSI value of the four or more sets of the reference tags into a preset approximate polynomial, and estimates a function relationship polynomial, wherein the function relationship polynomial is a tag and a polynomial of the correspondence between the distance between the head and the RSSI value; bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating four or more groups of the to-be-positioned tags
- the preliminary positioning information is corrected according to the triangular centroid localization algorithm, and the final positioning information of the to-be-positioned label is obtained.
- An RFID tag positioning method and device in the tag area, collecting RSSI values of a tag to be located and a reference tag through at least four read/write heads, to obtain at least four groups to be located.
- the RSSI value of the label and the reference label is calculated according to the RSSI value of the at least four groups of the to-be-located label and the reference label, and combined with the two-dimensional positioning algorithm and the triangle centroid localization algorithm, the positioning information of the label to be located is calculated,
- the use of more than four heads combined with two-dimensional positioning algorithm and triangular centroid localization algorithm greatly reduces the positioning error of the label and improves the positioning accuracy of the label, which can be applied to the application scenario of dense label distribution.
- FIG. 1 is a schematic diagram of a two-dimensional positioning of a passive RFID tag in the related art
- FIG. 3 is a schematic flow chart of a method for positioning an RFID tag according to a first embodiment of the present invention
- FIG. 4 is a schematic diagram of a basic structure of an RFID tag positioning device according to a first embodiment of the present invention
- FIG. 5 is a schematic flowchart diagram of a method for positioning an RFID tag according to a second embodiment of the present invention.
- FIG. 6 is a schematic diagram of functional modules of an RFID tag positioning device according to a third embodiment of the present invention.
- FIG. 7 is a schematic diagram of functional modules of an RFID tag positioning device according to a fourth embodiment of the present invention.
- four or more read/write heads are used, and the distance between each adjacent two read/write heads and each reference label placed between the two read/write heads is known;
- Four or more sets of tag positioning information are estimated, and the final tag position is obtained by the triangle centroid positioning method, which can greatly improve the positioning accuracy of the tag, and can be applied to the application scenario of dense tag distribution.
- the positioning accuracy of the positioning method can not distinguish the position of the label and can not meet the application requirements.
- the embodiment of the invention provides a solution, which adopts more than four heads combined with a two-dimensional positioning algorithm and a triangle centroid localization algorithm, which can greatly improve the positioning accuracy of the label, and can be applied to an application scenario of dense label distribution.
- a solution which adopts more than four heads combined with a two-dimensional positioning algorithm and a triangle centroid localization algorithm, which can greatly improve the positioning accuracy of the label, and can be applied to an application scenario of dense label distribution.
- a solution which adopts more than four heads combined with a two-dimensional positioning algorithm and a triangle centroid localization algorithm, which can greatly improve the positioning accuracy of the label, and can be applied to an application scenario of dense label distribution.
- dense label distribution for example, but not limited to applications in logistics, smart identification cards, intelligent optical distribution networks, and the like.
- the values of a X0 , a X1 , a X2 , a X3 , and b Y0 , b Y1 , b Y2 , and b Y3 in the polynomial can be calculated by bringing the four sets of signal RSSI values fed back by the labels r1 to r4.
- the optimum RSSI value read by the head is between 0 and 256. Substituting the read signal strength RSSI value Sp of the to-be-positioned tag P into the above polynomial, the position (r X , r Y ) of the tag can be obtained.
- the reader/writer A/B/C After the reader/writer A/B/C receives the tag feedback signal RSSI, it records the three coordinate positions D1, D2, and D3 of the tag in the set location ⁇ (x1, y1), (x2, y2), (x3, y3). ) ⁇ .
- centroid D of the triangle formed by D1, D2, and D3 is the final coordinate position of the label.
- the positioning method can reduce the error of the position of the label position by the theory of statistical probability, and greatly improve the positioning accuracy.
- a first embodiment of the present invention provides an RFID tag positioning method, including the steps. S101 ⁇ S102:
- Step S101 Collect, in the label area, the RSSI value of the to-be-located tag and the reference tag by using at least four heads, and obtain RSSI values of at least four groups of the to-be-positioned tag and the reference tag, where the tag area is disposed with at least one Determining the positioning tag and the plurality of reference tags;
- This embodiment is exemplified by four read/write heads.
- four sets of label distance information are estimated, and then the approximate triangular centroid positioning method is adopted to reduce the positioning error and obtain accurate label position.
- the distance between any two adjacent read/write heads and each reference label placed between the two read/write heads is known.
- the positioning apparatus involved in the positioning method includes: a read/write head module composed of four read/write heads, reference tags (R1 to R16), and a monitoring management module (or system). Position the label P to be treated.
- the reference labels are respectively arranged on a rectangular frame formed by four read/write heads, and the four vertex positions of the rectangle are respectively placed on the read/write heads A, B, C, and D, and the to-be-positioned label P is placed at any position inside the rectangle. If there are more than four heads, each head is evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon; each reference label is separately placed by reading and writing.
- the polygon frame formed by the head; the label to be positioned is placed in an inner region of the polygon formed by the head.
- the tags to be located may be a single tag or multiple, and are randomly distributed inside the polygonal area formed by the read/write head; but may be, but not limited to, uniformly distributed into an N ⁇ M type tag array; N and M are positive integers.
- Each of the read/write heads is configured to identify the identity (ID) information of the tag, and in addition, the read/write head is further configured to measure the distance between the tag and each of the read/write heads.
- the tag to be located is set to identify the target to be located.
- the to-be-positioned label may be a passive label; the to-be-positioned label may be uniformly and randomly distributed inside the rectangle, and the reference label is evenly placed on the rectangular side line.
- the to-be-positioned label and the reference label may be placed in other manners, which are not limited herein.
- the label area of this embodiment is formed by the above architecture.
- the RSSI values of the tag to be located and the reference tag are collected through four read/write heads to obtain The RSSI values of the four sets of tags to be located and the reference tags.
- the step S101 includes:
- the ID information of each tag is collected by the at least four read/write heads, and the ID information collected by each read/write head is verified to determine each of the read/write heads collected.
- the ID information of the labels is the same; the label includes the to-be-located label and the reference label; and each of the read/write heads interacts with each reference label according to the collected ID information of each label to obtain each Referring to the RSSI value of the tag feedback, the RSSI value of the tag to be located is obtained by interacting with the tag to be located, and the RSSI value of at least four groups of the tag to be located and the reference tag is obtained.
- the collecting process of the positioning device shown in FIG. 4 includes the following steps 401-406:
- the head A is opened, and the ID information of all the labels (including the label to be positioned and the reference label) is read into the head A. Read and close head A after reading. Then, the heads B, C, and D are sequentially turned on to execute the same process as described above.
- step 402. Compare the ID information of all the tags read by the heads A, B, C, and D. If the ID information read by all the heads is completely consistent, skip to the process of step 403; if the ID information is inconsistent, Skip to the flow of step 401, that is, re-read.
- the ID of the reference tag R1 is selected, and the ID query command is issued by the read/write head A.
- the reference tag R1 matches the self ID, and if the IDs match, the feedback information is transmitted to the read/write head A. If they are inconsistent, they will be ignored.
- the head A acquires the RSSI value of the reference tag R1 according to the signal fed back by the tag, and uploads the result to the monitoring management module.
- the head A obtains the feedback signals of the labels R1 to R4 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels, and uploading all the measurement results to the monitoring management module.
- step 403 start the positioning process of the head B, and the head B respectively
- the feedback signals of the labels R1 to R4 and R5 to R8 are obtained, thereby obtaining the RSSI values of the labels.
- the positioning process of the head C is started, and the head C obtains the feedback signals of the labels R5 to R8 and R9 to R12, respectively, thereby obtaining the RSSI values of the labels.
- the positioning process of the head D is started, and the head D obtains the feedback signals of the labels R9 to R12 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels. All measurement results are uploaded to the monitoring management module.
- the ID of the tag P to be located is selected, and the ID query command is sent by the head A.
- the tag is compared with the self ID. If the IDs are consistent, the feedback information is transmitted. If they are inconsistent, they will be ignored.
- the head A acquires the RSSI value of the tag P to be located according to the signal fed back by the tag, and uploads the result to the monitoring management module.
- the read/write heads B, C, and D respectively obtain the RSSI values fed back by the tag P to be located, and upload the result to the monitoring management module.
- Step S102 Calculate positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
- step S102 includes:
- the RSSI value of the at least four sets of reference tags is brought into a preset approximate polynomial, and the function relationship polynomial is estimated, the function relationship polynomial is the distance between the tag and the read/write head, and the RSSI value is a polynomial of correspondence between;
- the processing procedure of the monitoring management module in the apparatus shown in FIG. 4 is as follows:
- the monitoring management module can estimate the four approximate coordinate positions D1 (dx1, dy1), D2 (dx2, dy2), D3 (dx3, dy3) of the tag to be located according to the two-dimensional positioning method shown in FIG. ), D4 (dx4, dy4).
- the monitoring management module can form four triangles according to the triangle centroid positioning method, coordinate positions (D1, D2, D3), (D1, D2, D4), (D2, D3, D4), (D1, D3, D4).
- the center of the four triangles positions the four label positions. Then, according to the magnitude of the error value, the one with the largest position error of the centroid is excluded, and the remaining three centroid positions can form a triangle, and the centroid of the triangle is the precise label position of the label to be positioned.
- Performing the above steps for different tags to be located can complete the positioning and identification of all tags to be located.
- the solution of the embodiment increases the number of reading and writing heads, estimates two at least four sets of label distance information through the two-dimensional positioning method, and reduces the positioning error by approximating the triangular centroid positioning method.
- Accurate label position greatly improves the positioning accuracy of the label and can be applied to dense label distribution scenes.
- a second embodiment of the present invention provides an RFID tag positioning method, which is based on the first embodiment shown in FIG. 3, except that in the above step S101: collecting at least four read/write heads in the tag area.
- the RSSI value of the to-be-located tag and the reference tag further includes: at least four sets of the RSSI values of the to-be-located tag and the reference tag:
- each head corresponding to each vertex of the polygon; each reference label is respectively disposed on a polygon frame formed by the head;
- the tag to be positioned is placed in an inner region of the polygon formed by the head.
- the reference labels are respectively arranged on a rectangular frame composed of four read/write heads, and the four vertex positions of the rectangle are respectively placed on the readers A, B, C, and D.
- the tag P to be positioned can be placed anywhere inside the rectangle.
- the RSSI value of the to-be-located tag and the reference tag is collected by the at least four read/write heads in the label area, and the RSSI values of the at least four sets of the to-be-located tag and the reference tag are obtained, according to the at least four groups. Determining the RSSI value of the positioning tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the positioning information of the tag to be located, by using four or more read/write heads combined with a two-dimensional positioning algorithm and Triangle centroid localization algorithm, greatly reducing the standard The positioning error of the sign improves the positioning accuracy of the tag, and can be applied to an application scenario of dense tag distribution.
- the third embodiment of the present invention provides an RFID tag positioning apparatus, including a head module 201, a monitoring management module 202, and a plurality of reference tags 203, wherein:
- the read/write head module 201 includes at least four read/write heads, and is configured to collect RSSI values of the to-be-located tags and the reference tags in the tag area, to obtain RSSI values of at least four groups of the to-be-positioned tags and reference tags. Feedback to the monitoring management module 202, the label area is arranged with at least one of the to-be-positioned label and the plurality of reference labels;
- the monitoring management module 202 is configured to calculate the positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
- the distance between any two adjacent read/write heads and each reference label placed between the two read/write heads is known.
- the read/write head module 201 collects the RSSI value of the to-be-located label and the reference label in the label area, and obtains RSSI values of the at least four groups of the to-be-located label and the reference label, including:
- the head module 201 adopts a point-to-multipoint method, collects ID information of each tag through at least four heads, and checks ID information collected by each head to determine each read.
- the ID information of each label collected by the write header corresponds to the same; the label includes the to-be-positioned label and the reference label; and each read/write head and each reference label are used according to the ID information of each collected label.
- Interacting obtaining an RSSI value that is fed back by each reference tag, and interacting with the tag to be located by each read/write head to obtain an RSSI value fed back by the tag to be located, and obtaining at least four sets of the to-be-positioned tag and the reference tag. RSSI value.
- the monitoring management module 202 calculates the positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
- the monitoring management module 202 brings the RSSI value of the at least four sets of reference tags into a preset approximate polynomial according to a two-dimensional positioning algorithm, and estimates a function relationship polynomial, and the function relationship is multi-function a polynomial of the correspondence between the tag and the head and the RSSI value; the RSSI value of the tag to be located is brought into the function relationship polynomial, and at least four groups of the tag to be located are calculated.
- the preliminary positioning information is corrected according to the triangular centroid localization algorithm, and the final positioning information of the to-be-located label is obtained.
- This embodiment is exemplified by four read/write heads.
- four sets of tag distance information are estimated, and then the approximate triangle centroid localization algorithm is used to reduce the positioning error and obtain accurate label position.
- the positioning device involved in the example includes: a head module composed of four read/write heads, reference tags (R1 to R16), and a monitoring management module (or system) for positioning the tag P. Positioning.
- the reference labels are respectively arranged on a rectangular frame formed by four read/write heads, and the four vertex positions of the rectangle are respectively placed on the read/write heads A, B, C, and D, and the to-be-positioned label P is placed at any position inside the rectangle. If there are more than four heads, each head is evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon; each reference label is separately placed by reading and writing.
- the polygon frame formed by the head; the label to be positioned is placed in an inner region of the polygon formed by the head.
- the tags to be located may be a single tag or multiple, and are randomly distributed inside the polygonal area formed by the read/write head; but may be, but not limited to, uniformly distributed into an N ⁇ M type tag array; N and M are positive integers.
- Each of the read/write heads is configured to identify the identity (ID) information of the tag, and in addition, the read/write head is further configured to measure the distance between the tag and each of the read/write heads.
- the tag to be located is set to identify the target to be located.
- the to-be-positioned label may be a passive label; the to-be-positioned label may be uniformly and randomly distributed inside the rectangle, and the reference label is evenly placed on the rectangular side line.
- the to-be-positioned label and the reference label may be placed in other manners, which are not limited herein.
- the label area of this embodiment is formed by the above architecture.
- the RSSI values of the to-be-located tag and the reference tag are collected by four read/write heads, and the RSSI values of the four sets of the tag to be located and the reference tag are obtained.
- the read/write head module adopts a point-to-multipoint manner, and collects ID information of each tag through each read/write head, and collects ID information of each read/write head. Performing a check to determine that the ID information of each tag collected by each read/write head corresponds to the same; according to the ID information of each tag collected, each read/write head interacts with each reference tag to obtain each reference.
- the RSSI value of the tag feedback is obtained by interacting with the tag to be located by each of the read/write heads, and the RSSI value of the tag to be located is obtained, and the RSSI values of the four sets of the tag to be located and the reference tag are obtained.
- the acquisition process of the apparatus shown in FIG. 4 includes the following steps 401-406:
- the head A is opened, and the ID information of all the labels (including the label to be positioned and the reference label) is read into the head A. Read and close head A after reading. Then, the heads B, C, and D are sequentially turned on to execute the same process as described above.
- step 402. Compare the ID information of all the tags read by the heads A, B, C, and D. If the ID information read by all the heads is completely consistent, skip to the process of step 403; if the ID information is inconsistent, Skip to the flow of step 401, that is, re-read.
- the ID of the reference tag R1 is selected, and the ID query command is issued by the read/write head A.
- the reference tag R1 matches the self ID, and if the IDs match, the feedback information is transmitted to the read/write head A. If they are inconsistent, they will be ignored.
- the head A acquires the RSSI value of the reference tag R1 according to the signal fed back by the tag, and uploads the result to the monitoring management module.
- the head A obtains the feedback signals of the labels R1 to R4 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels, and uploading all the measurement results to the monitoring management module.
- step 403 the positioning process of the read/write head B is started, and the read/write head B obtains the feedback signals of the labels R1 R4 and R5 to R8 respectively, thereby obtaining the RSSI values of the labels.
- the positioning process of the head C is started, and the head C obtains the feedback signals of the labels R5 to R8 and R9 to R12, respectively, thereby obtaining the RSSI values of the labels.
- the positioning process of the head D is started, and the head D obtains the feedback signals of the labels R9 to R12 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels. All measurement results are uploaded to the monitoring management module.
- the ID of the tag P to be located is selected, and the ID query command is sent by the head A.
- the tag is compared with the self ID. If the IDs are consistent, the feedback information is transmitted. If they are inconsistent, they will be ignored.
- the head A acquires the RSSI value of the tag P to be located according to the signal fed back by the tag, and uploads the result to the monitoring management module.
- the read/write heads B, C, and D respectively obtain the RSSI values fed back by the tag P to be located, and upload the result to the monitoring management module.
- the monitoring management module in the device shown in FIG. 4 calculates the to-be-located tag P according to the RSSI value of the four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm. Location information.
- the process is as follows: according to the two-dimensional positioning algorithm, the RSSI values of the four sets of reference tags are brought into a preset approximate polynomial, and the function relationship polynomial is estimated, the function relationship polynomial is the distance between the tag and the head, and the RSSI value. a polynomial of correspondence between;
- the preliminary positioning information of the to-be-positioned tag is corrected according to a triangle centroid localization algorithm, and final positioning information of the to-be-located tag is obtained.
- the processing process of the monitoring management module is as follows:
- the monitoring management module can estimate the four approximate coordinate positions D1 (dx1, dy1), D2 (dx2, dy2), D3 (dx3, dy3) of the tag to be located according to the two-dimensional positioning method shown in FIG. ), D4 (dx4, dy4).
- the monitoring management module can form four triangles according to the triangle centroid positioning method, coordinate positions (D1, D2, D3), (D1, D2, D4), (D2, D3, D4), (D1, D3, D4).
- the center of the four triangles positions the four label positions. Then, according to the magnitude of the error value, the one with the largest position error of the centroid is excluded, and the remaining three centroid positions can form a triangle, and the centroid of the triangle is the precise label position of the label to be positioned.
- the solution of the embodiment increases the number of reading and writing heads, estimates two at least four sets of label distance information through the two-dimensional positioning method, and reduces the positioning error by approximating the triangular centroid positioning method.
- Accurate label position greatly improves the positioning accuracy of the label and can be applied to dense label distribution scenes.
- a fourth embodiment of the present invention provides an RFID tag positioning apparatus, which is based on the third embodiment shown in FIG.
- the configuration module 200 is configured to uniformly distribute the at least four heads in the label area to form a polygon, each head corresponding to each vertex of the polygon; and each reference label is respectively placed by the reading The polygon frame formed by the write head; the label to be positioned is placed in an inner region of the polygon formed by the head.
- the reference labels are respectively arranged on a rectangular frame composed of four read/write heads, and the four vertex positions of the rectangle are respectively placed on the readers A, B, C, and D.
- the tag P to be positioned can be placed anywhere inside the rectangle.
- the RSSI value of the to-be-located tag and the reference tag is collected by the at least four read/write heads in the label area, and the RSSI values of the at least four sets of the to-be-located tag and the reference tag are obtained, according to the at least four groups. Determining the RSSI value of the positioning tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the positioning information of the tag to be located, by using four or more read/write heads combined with a two-dimensional positioning algorithm and The triangle centroid localization algorithm greatly reduces the positioning error of the tag and improves the positioning accuracy of the tag, and can be applied to the application scenario of dense tag distribution.
- An RFID tag positioning method and apparatus in the tag area, collecting RSSI values of a tag to be located and a reference tag by using at least four heads, and obtaining RSSI values of at least four groups of tags to be located and reference tags Calculating the to-be-positioned flag according to the RSSI value of the at least four groups of the to-be-positioned tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm
- the positioning information of the sign because of the use of more than four heads combined with the two-dimensional positioning algorithm and the triangle centroid positioning algorithm, greatly reduces the positioning error of the tag, improves the positioning accuracy of the tag, and can be applied to dense tag distribution. Application scenario.
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Abstract
A method and apparatus for locating an RFID label. The method comprises: collecting RSSI values of a to-be-located label and reference labels by using at least four read-write heads in a label region, to obtain at least four groups of RSSI values of the to-be-located label and the reference labels, wherein at least one to-be-located label and multiple reference labels are arranged in the label region (S101); and calculating to obtain location information of the to-be-located label by using a two-dimensional location algorithm and a triangle and centroid location algorithm according to the at least four groups of RSSI values of the to-be-located label and the reference labels (S102).
Description
本文涉及但不限于标签识别技术领域,尤其涉及一种RFID标签定位方法和装置。This document relates to, but is not limited to, the field of tag identification technology, and in particular, to an RFID tag positioning method and apparatus.
由于商品制造销售、货物的跟踪和分配、网络配线管理等领域有定位产品目标的要求,定位***越来越多的受到关注。目前常见的室内定位***有蜂窝无线定位、无线局域网定位、红外线定位和超声波定位。随着对产品定位精度的要求越来越高,传统的定位技术已经不能满足要求。Positioning systems are receiving more and more attention due to the requirements of positioning product targets in the fields of product manufacturing and sales, tracking and distribution of goods, and network wiring management. At present, common indoor positioning systems include cellular wireless positioning, wireless local area network positioning, infrared positioning, and ultrasonic positioning. With the increasing requirements for product positioning accuracy, the traditional positioning technology can no longer meet the requirements.
RFID(Radio Frequency Identification,射频识别)技术,是一种利用射频通信实现的非接触自动识别技术。与其它技术相比,RFID技术具有非接触、非视距、定位精度高、无定位盲区等优点。RFID技术在定位物体的同时还能从目标读取大量的信息,真正实现“一物一码”,所以使用RFID技术可以快速的实现标签定位以及数据信息交换,能减少人力、物力并大大提高识别和定位效率。定位算法是RFID定位技术的关键,当前RFID的定位技术主要分为测距技术的定位算法和无需测距技术的算法。基于测距技术的定位算法包括TOA(time-of-arrival,到达时间)定位、TDOA(Time difference of Arrival,到达时间差)定位、方向测量定位(AOA)以及RSSI(Received Signal Strength Indication,接收信号强度指示)定位;基于无需测距技术的定位算法包括DV-HOP定位算法、APIT定位算法、凸规划算法。RFID (Radio Frequency Identification) technology is a non-contact automatic identification technology realized by radio frequency communication. Compared with other technologies, RFID technology has the advantages of non-contact, non-line-of-sight, high positioning accuracy, and no blind spots. RFID technology can also read a large amount of information from the target while positioning the object, realizing "one thing and one code", so RFID technology can quickly realize label positioning and data information exchange, which can reduce manpower and material resources and greatly improve recognition. And positioning efficiency. Positioning algorithm is the key to RFID positioning technology. Currently, RFID positioning technology is mainly divided into positioning algorithm of ranging technology and algorithm without ranging technology. Positioning algorithms based on ranging technology include TOA (time-of-arrival), TDOA (Time difference of Arrival) positioning, direction measurement positioning (AOA), and RSSI (Received Signal Strength Indication). Indicating) positioning; positioning algorithms based on no distance measurement technology include DV-HOP positioning algorithm, APIT positioning algorithm, and convex programming algorithm.
相关技术中的无源RFID定位采用基于信号强度的二维定位方法。参照图1,该定位技术在一维定位的理论基础上,通过在室内摆放4个参考标签(r1/r2/r3/r4)及两个远距读写头A和B,通过两组RSSI值与距离(图1中的rX,rY)的近似多项式,可以估算出待定位标签P大概的位置,从而实现对标签的二维定位。但是,由于信号的多径效应,接收的RSSI信号存在误差,在没有统计误差概率的情况下,该方法实现的定位精度低,误差大,因此该定位方法和装置只能应用于定位标签分布距离较大,精度定位要求低的场景,而
在标签分布密集的条件下,采用该定位方法的定位精度就没法区分标签的位置,满足不了应用要求。Passive RFID positioning in the related art employs a two-dimensional positioning method based on signal strength. Referring to Figure 1, the positioning technique is based on the theory of one-dimensional positioning, by placing four reference tags (r1/r2/r3/r4) and two remote read/write heads A and B indoors, through two sets of RSSI. The approximate polynomial of the value and the distance (r X , r Y in Fig. 1) can estimate the approximate position of the label P to be positioned, thereby realizing the two-dimensional positioning of the label. However, due to the multipath effect of the signal, there is an error in the received RSSI signal. In the absence of statistical error probability, the method achieves low positioning accuracy and large error, so the positioning method and device can only be applied to the positioning label distribution distance. Larger, less accurate positioning requirements, and under the condition of dense label distribution, the positioning accuracy of the positioning method can not distinguish the position of the label, and can not meet the application requirements.
发明内容Summary of the invention
以下是对本文详细描述的主题的概述。本概述并非是为了限制权利要求的保护范围。The following is an overview of the topics detailed in this document. This Summary is not intended to limit the scope of the claims.
本发明实施例提供一种RFID标签定位方法和装置,可以实现在标签密集型分布条件下,对标签进行精确定位和识别。Embodiments of the present invention provide an RFID tag positioning method and apparatus, which can accurately locate and identify a tag under a label-intensive distribution condition.
本发明实施例采用如下技术方案。The embodiments of the present invention adopt the following technical solutions.
一种射频识别RFID标签定位方法,包括:A radio frequency identification RFID tag positioning method includes:
在标签区,通过四个或四个以上读写头采集待定位标签和参考标签的接收信号强度指示RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值,所述标签区布置有一个或多个所述待定位标签,和多个所述参考标签;In the label area, the received signal strength indication RSSI value of the to-be-located tag and the reference tag is collected by four or more read/write heads, and four or more sets of the RSSI values of the to-be-positioned tag and the reference tag are obtained. The label area is arranged with one or more of the to-be-positioned labels, and a plurality of the reference labels;
根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。The positioning information of the to-be-located tag is calculated according to the RSSI value of the four or more sets of the to-be-located tag and the reference tag, and combined with the two-dimensional positioning algorithm and the triangle centroid localization algorithm.
可选地,所述在标签区,通过四个或四个以上读写头采集待定位标签和参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值包括:Optionally, in the label area, the RSSI values of the to-be-located tag and the reference tag are collected by four or more read/write heads, and the RSSI values of the four or more sets of the to-be-located tag and the reference tag are obtained. :
采用点到多点的方式,通过所述四个或四个以上读写头采集每个标签的身份ID信息,并对每一所述读写头采集的ID信息进行校验,以确定每一所述读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;Collecting the ID information of each tag through the four or more read/write heads in a point-to-multipoint manner, and verifying the ID information collected by each of the read/write heads to determine each The ID information of each tag collected by the read/write head corresponds to the same; the label includes the to-be-positioned tag and the reference tag;
根据采集到的每个标签的ID信息,通过每个所述读写头与每一所述参考标签交互,得到每个所述参考标签反馈的RSSI值,通过每个所述读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值。And each of the read/write heads interacts with each of the reference tags to obtain an RSSI value fed back by each of the reference tags according to the ID information of each tag collected, and each of the read/write heads and the The RSSI value of the tag to be located is obtained, and the RSSI value of the tag to be located and the reference tag of the four or more groups are obtained.
可选地,所述在标签区,通过四个或四个以上读写头采集待定位标签和
参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值前还包括:Optionally, in the label area, the label to be located is collected by four or more read/write heads and
Refer to the RSSI value of the label to obtain four or more sets of the RSSI values of the to-be-positioned label and the reference label.
在所述标签区,将所述四个或四个以上读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个个顶点;In the label area, the four or more read/write heads are evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon;
将每个所述参考标签分别安置在由所述读写头构成的多边形边框上;Separating each of the reference labels on a polygonal frame formed by the read/write head;
将所述待定位标签放置在由所述读写头构成的多边形内部区域。The tag to be positioned is placed in an inner region of the polygon formed by the read/write head.
可选地,所述待定位标签为多个,多个所述待定位标签在读写头构成的多边形区域内部随机分布。Optionally, the number of the to-be-positioned tags is multiple, and the plurality of to-be-positioned tags are randomly distributed inside the polygonal area formed by the read/write head.
可选地,所述根据四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息包括:Optionally, the determining, according to the RSSI value of the to-be-located tag and the reference tag, of the four or more groups, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm, calculating the positioning information of the to-be-located tag includes:
根据二维定位算法,将所述四组或四组以上所述参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与读写头的距离,和RSSI值之间的对应关系的多项式;According to the two-dimensional positioning algorithm, the RSSI value of the four or more sets of the reference tags is brought into a preset approximate polynomial, and the function relationship polynomial is estimated, and the function relationship polynomial is the distance between the tag and the head. a polynomial of the correspondence between the AND and RSSI values;
将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到四组或四组以上所述待定位标签的初步定位信息;And bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating preliminary positioning information of the four or more groups of the to-be-positioned tags;
根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。The preliminary positioning information of the to-be-positioned tag is corrected according to a triangle centroid localization algorithm, and final positioning information of the to-be-located tag is obtained.
一种射频识别RFID标签定位装置,包括读写头模块、监控管理模块以及多个参考标签,其中:A radio frequency identification RFID tag positioning device comprises a head module, a monitoring management module and a plurality of reference labels, wherein:
所述读写头模块包括四个或四个以上读写头,设置成在标签区,采集待定位标签和所述参考标签的接收信号强度指示RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值,反馈给所述监控管理模块,所述标签区布置有一个或多个所述待定位标签和所述多个参考标签;The head module includes four or more read/write heads, and is disposed in the label area, and collects a received signal strength indication RSSI value of the to-be-positioned tag and the reference tag, and obtains four or more sets of the to-be-determined The RSSI value of the bit label and the reference label is fed back to the monitoring management module, and the label area is arranged with one or more of the to-be-positioned label and the plurality of reference labels;
监控管理模块,设置成根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。
The monitoring management module is configured to calculate the positioning information of the to-be-located tag according to the RSSI value of the to-be-located tag and the reference tag of the four or more groups, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
可选地,所述读写头模块在标签区,采集待定位标签和所述参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值包括:Optionally, the read/write head module collects the RSSI value of the to-be-located tag and the reference tag in the label area, and obtains four or more sets of the RSSI values of the to-be-located tag and the reference tag, including:
所述读写头模块采用点到多点的方式,通过所述四个或四个以上读写头采集每个标签的身份ID信息,并对每一所述读写头采集的ID信息进行校验,以确定每一所述读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;根据采集到的每个标签的ID信息,通过每个所述读写头与每一所述参考标签交互,得到每个所述参考标签反馈的RSSI值,通过每个所述读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值。The head module adopts a point-to-multipoint manner, and collects ID ID information of each tag through the four or more read/write heads, and performs ID information collected by each of the read/write heads. To determine that the ID information of each tag collected by each of the read/write heads is the same; the tag includes the to-be-positioned tag and the reference tag; and according to the ID information of each tag collected, The read/write heads interact with each of the reference tags to obtain an RSSI value that is fed back by each of the reference tags, and each of the read/write heads interacts with the tag to be located to obtain the tag feedback of the to-be-positioned tag. The RSSI value of the four or more sets of RSSI values of the tag to be located and the reference tag are obtained.
可选地,所述装置还包括:配置模块,设置成在所述标签区将所述四个或四个以上读写头均匀分布围合形成多边形,每个所述读写头对应位于所述多边形的每个顶点;将每个所述参考标签分别安置在由所述读写头构成的多边形边框上;将所述待定位标签放置在由所述读写头构成的多边形内部区域。Optionally, the device further includes: a configuration module, configured to evenly distribute the four or more read/write heads in the label area to form a polygon, and each of the read/write heads is corresponding to the Each vertex of the polygon; each of the reference labels is respectively disposed on a polygon frame formed by the head; and the label to be positioned is placed in an inner region of the polygon formed by the head.
可选地,所述待定位标签为多个,多个所述待定位标签在读写头构成的多边形区域内部随机分布。Optionally, the number of the to-be-positioned tags is multiple, and the plurality of to-be-positioned tags are randomly distributed inside the polygonal area formed by the read/write head.
可选地,所述待定位标签为无源标签;所述参考标签在所述多边形边框上均匀分布。Optionally, the to-be-positioned tag is a passive tag; the reference tag is evenly distributed on the polygon frame.
可选地,所述监控管理模块根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息包括:Optionally, the monitoring management module calculates the RSSI value of the to-be-located tag and the reference tag according to the four or more groups, and combines the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the to-be-located tag. Location information includes:
所述监控管理模块根据二维定位算法,将所述四组或四组以上所述参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与所述读写头的距离,和RSSI值之间的对应关系的多项式;将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到四组或四组以上所述待定位标签的初步定位信息;根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。And the monitoring management module estimates, according to the two-dimensional positioning algorithm, the RSSI value of the four or more sets of the reference tags into a preset approximate polynomial, and estimates a function relationship polynomial, wherein the function relationship polynomial is a tag and a polynomial of the correspondence between the distance between the head and the RSSI value; bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating four or more groups of the to-be-positioned tags The preliminary positioning information is corrected according to the triangular centroid localization algorithm, and the final positioning information of the to-be-positioned label is obtained.
本发明实施例提出的一种RFID标签定位方法和装置,在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组待定位
标签和参考标签的RSSI值,根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息,由于采用四个以上的读写头并结合二维定位算法和三角质心定位算法,极大的降低了标签的定位误差,提高了标签的定位精度,可适用于密集型标签分布的应用场景。An RFID tag positioning method and device according to an embodiment of the present invention, in the tag area, collecting RSSI values of a tag to be located and a reference tag through at least four read/write heads, to obtain at least four groups to be located.
The RSSI value of the label and the reference label is calculated according to the RSSI value of the at least four groups of the to-be-located label and the reference label, and combined with the two-dimensional positioning algorithm and the triangle centroid localization algorithm, the positioning information of the label to be located is calculated, The use of more than four heads combined with two-dimensional positioning algorithm and triangular centroid localization algorithm greatly reduces the positioning error of the label and improves the positioning accuracy of the label, which can be applied to the application scenario of dense label distribution.
在阅读并理解了附图和详细描述后,可以明白其它方面。Other aspects will be apparent upon reading and understanding the drawings and detailed description.
附图概述BRIEF abstract
图1为相关技术中的无源RFID标签二维定位简图;1 is a schematic diagram of a two-dimensional positioning of a passive RFID tag in the related art;
图2为相关技术中的近似三角质心定位的基本结构图;2 is a basic structural diagram of approximate triangular centroid positioning in the related art;
图3为本发明第一实施例的RFID标签定位方法的流程示意图;3 is a schematic flow chart of a method for positioning an RFID tag according to a first embodiment of the present invention;
图4为本发明第一实施例涉及的RFID标签定位装置的基本架构示意图;4 is a schematic diagram of a basic structure of an RFID tag positioning device according to a first embodiment of the present invention;
图5为本发明第二实施例的RFID标签定位方法的流程示意图;FIG. 5 is a schematic flowchart diagram of a method for positioning an RFID tag according to a second embodiment of the present invention; FIG.
图6为本发明第三实施例的RFID标签定位装置的功能模块示意图;6 is a schematic diagram of functional modules of an RFID tag positioning device according to a third embodiment of the present invention;
图7为本发明第四实施例的RFID标签定位装置的功能模块示意图。FIG. 7 is a schematic diagram of functional modules of an RFID tag positioning device according to a fourth embodiment of the present invention.
本发明实施例采用四个以上的读写头,相邻的任意两个读写头与这两个读写头之间放置的每个参考标签的距离均是已知的;通过二维定位方法,估算出四组以上的标签定位信息,再通过三角质心定位的方法,获得最终的标签位置,可以极大地提高标签的定位精度,并可适用于密集型标签分布的应用场景。In the embodiment of the present invention, four or more read/write heads are used, and the distance between each adjacent two read/write heads and each reference label placed between the two read/write heads is known; Four or more sets of tag positioning information are estimated, and the final tag position is obtained by the triangle centroid positioning method, which can greatly improve the positioning accuracy of the tag, and can be applied to the application scenario of dense tag distribution.
由于相关技术的RFID标签定位方法中,因信号的多径效应,接收的RSSI信号存在误差,在没有统计误差概率的情况下,该方法实现的定位精度低,误差大,因此该定位方法和装置只能应用于定位标签分布距离较大,精度定位要求低的场景,而在标签分布密集的条件下,采用该定位方法的定位精度就没法区分标签的位置,满足不了应用要求。
Due to the multipath effect of the signal in the related art RFID tag positioning method, there is an error in the received RSSI signal. In the absence of a statistical error probability, the positioning accuracy achieved by the method is low and the error is large, so the positioning method and device are It can only be applied to scenes with large distribution distance and low precision positioning requirements. Under the condition of dense label distribution, the positioning accuracy of the positioning method can not distinguish the position of the label and can not meet the application requirements.
本发明实施例提供一种解决方案,采用四个以上的读写头并结合二维定位算法和三角质心定位算法,可以极大地提高标签的定位精度,并可适用于密集型标签分布的应用场景,比如但不限于应用在物流、智能识别卡、智能光分配网络等。The embodiment of the invention provides a solution, which adopts more than four heads combined with a two-dimensional positioning algorithm and a triangle centroid localization algorithm, which can greatly improve the positioning accuracy of the label, and can be applied to an application scenario of dense label distribution. For example, but not limited to applications in logistics, smart identification cards, intelligent optical distribution networks, and the like.
首先介绍一下二维定位算法和三角质心定位算法。First introduce the two-dimensional positioning algorithm and the triangle centroid localization algorithm.
对于二维定位算法,参见图1所示的二维定位架构图,4个电子标签r1~r4摆放在读写头(或读写器)A和B的中间连线上。根据无线信号传播的经验模型和理论模型,待定位标签P与读写头(A,B)的距离(rX,rY),与读写头(A,B)检测到的待定位标签P的RSSI值(SX,SY)的关系可以由如下多项式表示:For the two-dimensional positioning algorithm, referring to the two-dimensional positioning architecture diagram shown in FIG. 1, four electronic tags r1 to r4 are placed on the middle line of the head (or reader/writer) A and B. According to the empirical model and theoretical model of wireless signal propagation, the distance between the tag P to be read and written (A, B) (r X , r Y ), and the tag to be located detected by the head (A, B) The relationship of the RSSI values (S X , S Y ) can be expressed by the following polynomial:
rX≈aX0+aX1S1
XN+aX2S2
XN+aX3S3
XN+errr X ≈a X0 +a X1 S 1 XN +a X2 S 2 XN +a X3 S 3 XN +err
SXN=SX/Smax
S XN =S X /S max
rY≈bY0+bY1S1
YN+bY2S2
YN+bY3S3
YN+errr Y ≈b Y0 +b Y1 S 1 YN +b Y2 S 2 YN +b Y3 S 3 YN +err
SYN=SY/Smax
S YN =S Y /S max
通过带入标签r1~r4反馈的四组信号RSSI值,可算出多项式中aX0、aX1、aX2、aX3和bY0、bY1、bY2、bY3的值。The values of a X0 , a X1 , a X2 , a X3 , and b Y0 , b Y1 , b Y2 , and b Y3 in the polynomial can be calculated by bringing the four sets of signal RSSI values fed back by the labels r1 to r4.
另外,读写头读取的最佳RSSI值介于0~256的整数值。将读取的待定位标签P的信号强度RSSI值Sp代入到上述多项式中,可获得标签的位置(rX,rY)。In addition, the optimum RSSI value read by the head is between 0 and 256. Substituting the read signal strength RSSI value Sp of the to-be-positioned tag P into the above polynomial, the position (r X , r Y ) of the tag can be obtained.
对于三角质心定位算法,参见图2所示的近似三角质心定位图。For the triangular centroid localization algorithm, see the approximate triangular centroid map shown in Figure 2.
读写器A/B/C接收到标签反馈信号RSSI后,分别将标签的三个坐标位置D1、D2、D3记录在集合location{(x1,y1),(x2,y2),(x3,y3)}。After the reader/writer A/B/C receives the tag feedback signal RSSI, it records the three coordinate positions D1, D2, and D3 of the tag in the set location {(x1, y1), (x2, y2), (x3, y3). )}.
D1、D2、D3构成的三角形的质心D即标签的最终坐标位置。The centroid D of the triangle formed by D1, D2, and D3 is the final coordinate position of the label.
该定位方式通过统计概率的理论,可以降低标签位置落点的误差,极大的提高定位精度。The positioning method can reduce the error of the position of the label position by the theory of statistical probability, and greatly improve the positioning accuracy.
参照图3,本发明第一实施例提供一种RFID标签定位方法,包括步骤
S101~S102:Referring to FIG. 3, a first embodiment of the present invention provides an RFID tag positioning method, including the steps.
S101~S102:
步骤S101,在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值,所述标签区布置有至少一个所述待定位标签和多个参考标签;Step S101: Collect, in the label area, the RSSI value of the to-be-located tag and the reference tag by using at least four heads, and obtain RSSI values of at least four groups of the to-be-positioned tag and the reference tag, where the tag area is disposed with at least one Determining the positioning tag and the plurality of reference tags;
本实施例以四个读写头进行举例。通过二维定位方法,估算出四组标签距离信息,再通过近似三角质心定位的方法,降低定位误差,获得精准的标签位置。本实施例中,相邻的任意两个读写头与这两个读写头之间放置的每个参考标签的距离均是已知的。This embodiment is exemplified by four read/write heads. Through the two-dimensional positioning method, four sets of label distance information are estimated, and then the approximate triangular centroid positioning method is adopted to reduce the positioning error and obtain accurate label position. In this embodiment, the distance between any two adjacent read/write heads and each reference label placed between the two read/write heads is known.
可选地,如图4所示,该定位方法涉及的定位装置包括:四个读写头构成的读写头模块、参考标签(R1~R16)、和监控管理模块(或称***),用于对待定位标签P进行定位。Optionally, as shown in FIG. 4, the positioning apparatus involved in the positioning method includes: a read/write head module composed of four read/write heads, reference tags (R1 to R16), and a monitoring management module (or system). Position the label P to be treated.
参考标签分别安置在由四个读写头构成的矩形边框上,矩形的四个顶点位置分别安放读写头A、B、C、D,待定位标签P放置在矩形内部任意位置。若为四个以上的读写头,则将每个读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个顶点;将每个参考标签分别安置在由读写头构成的多边形边框上;将所述待定位标签放置在由读写头构成的多边形内部区域。The reference labels are respectively arranged on a rectangular frame formed by four read/write heads, and the four vertex positions of the rectangle are respectively placed on the read/write heads A, B, C, and D, and the to-be-positioned label P is placed at any position inside the rectangle. If there are more than four heads, each head is evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon; each reference label is separately placed by reading and writing. The polygon frame formed by the head; the label to be positioned is placed in an inner region of the polygon formed by the head.
待定位标签可以是单个标签,也可以是多个,在读写头构成的多边形区域内部随机分布;可以但不限于均匀分布成N×M型标签阵列;N和M为正整数。The tags to be located may be a single tag or multiple, and are randomly distributed inside the polygonal area formed by the read/write head; but may be, but not limited to, uniformly distributed into an N×M type tag array; N and M are positive integers.
其中,每个读写头设置成识别标签的身份(ID)信息,此外,该读写头还设置成测量标签与每个读写头之间的距离。Each of the read/write heads is configured to identify the identity (ID) information of the tag, and in addition, the read/write head is further configured to measure the distance between the tag and each of the read/write heads.
待定位标签设置成标识待定位的目标。The tag to be located is set to identify the target to be located.
可选地,待定位标签可以是无源标签;待定位标签可以在矩形内部均匀随机分布,参考标签均匀放置在矩形边线上。当然,在其他可选方案中,待定位标签和参考标签还可以采用其他方式放置,在此不作限定。Optionally, the to-be-positioned label may be a passive label; the to-be-positioned label may be uniformly and randomly distributed inside the rectangle, and the reference label is evenly placed on the rectangular side line. Of course, in other alternatives, the to-be-positioned label and the reference label may be placed in other manners, which are not limited herein.
由上述架构形成本实施例的标签区。The label area of this embodiment is formed by the above architecture.
在标签区,通过四个读写头采集待定位标签和参考标签的RSSI值,得到
四组待定位标签和参考标签的RSSI值。In the tag area, the RSSI values of the tag to be located and the reference tag are collected through four read/write heads to obtain
The RSSI values of the four sets of tags to be located and the reference tags.
可选地,作为一种实施方式,所述步骤S101包括:Optionally, as an implementation manner, the step S101 includes:
采用点到多点的方式,通过所述至少四个读写头采集每个标签的ID信息,并对每一读写头采集的ID信息进行校验,以确定每一读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;根据采集到的每个标签的ID信息,通过每个读写头与每一参考标签交互,得到每个参考标签反馈的RSSI值,通过每个读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值。In a point-to-multipoint manner, the ID information of each tag is collected by the at least four read/write heads, and the ID information collected by each read/write head is verified to determine each of the read/write heads collected. The ID information of the labels is the same; the label includes the to-be-located label and the reference label; and each of the read/write heads interacts with each reference label according to the collected ID information of each label to obtain each Referring to the RSSI value of the tag feedback, the RSSI value of the tag to be located is obtained by interacting with the tag to be located, and the RSSI value of at least four groups of the tag to be located and the reference tag is obtained.
其中,一个所述读写头和参考标签交互时,可以只和本读写头通讯范围内的每一参考标签进行交互。Wherein, when one of the read/write heads interacts with the reference tag, it can only interact with each reference tag in the communication range of the read/write head.
可选地,图4所示的定位装置的采集过程包括如下步骤401~406:Optionally, the collecting process of the positioning device shown in FIG. 4 includes the following steps 401-406:
401、启动P2MP,(point to multiple point,点到多点)的ID阅读流程。401. Start P2MP, (point to multiple point, ID reading process).
首先打开读写头A,将所有标签(包括所述待定位标签和所述参考标签)的ID信息阅读进读写头A。阅读完毕关闭读写头A。然后依次开启读写头B、C、D执行上述同样的流程。First, the head A is opened, and the ID information of all the labels (including the label to be positioned and the reference label) is read into the head A. Read and close head A after reading. Then, the heads B, C, and D are sequentially turned on to execute the same process as described above.
402、比较读写头A、B、C、D阅读的所有标签的ID信息,如果所有读写头读取的ID信息对应完全一致,则跳到步骤403的流程;如果有ID信息不一致,则跳到步骤401的流程,即重新读取。402. Compare the ID information of all the tags read by the heads A, B, C, and D. If the ID information read by all the heads is completely consistent, skip to the process of step 403; if the ID information is inconsistent, Skip to the flow of step 401, that is, re-read.
403、启动参考标签定位流程。403. Start a reference label positioning process.
首先选定参考标签R1的ID,由读写头A发出ID询问命令,参考标签R1收到命令后,与自身ID进行匹配对比,如果ID一致,则发射反馈信息给读写头A。如果不一致,则不予理睬。读写头A根据标签反馈的信号获取参考标签R1的RSSI值,并将结果上传给监控管理模块。First, the ID of the reference tag R1 is selected, and the ID query command is issued by the read/write head A. After receiving the command, the reference tag R1 matches the self ID, and if the IDs match, the feedback information is transmitted to the read/write head A. If they are inconsistent, they will be ignored. The head A acquires the RSSI value of the reference tag R1 according to the signal fed back by the tag, and uploads the result to the monitoring management module.
按照上述的流程,读写头A依次分别获得标签R1~R4和R13~R16的反馈信号,从而获取这些标签的RSSI值,并将所有测量结果上传给监控管理模块。According to the above process, the head A obtains the feedback signals of the labels R1 to R4 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels, and uploading all the measurement results to the monitoring management module.
404、按照步骤403的流程,启动读写头B的定位流程,读写头B分别
获得标签R1~R4和R5~R8的反馈信号,从而获取这些标签的RSSI值。启动读写头C的定位流程,读写头C分别获得标签R5~R8和R9~R12的反馈信号,从而获取这些标签的RSSI值。启动读写头D的定位流程,读写头D分别获得标签R9~R12和R13~R16的反馈信号,从而获取这些标签的RSSI值。所有测量结果上传给监控管理模块。404. According to the process of step 403, start the positioning process of the head B, and the head B respectively
The feedback signals of the labels R1 to R4 and R5 to R8 are obtained, thereby obtaining the RSSI values of the labels. The positioning process of the head C is started, and the head C obtains the feedback signals of the labels R5 to R8 and R9 to R12, respectively, thereby obtaining the RSSI values of the labels. The positioning process of the head D is started, and the head D obtains the feedback signals of the labels R9 to R12 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels. All measurement results are uploaded to the monitoring management module.
405、启动待定位标签定位流程。405. Start a label positioning process to be located.
首先选定待定位标签P的ID,由读写头A发出ID询问命令,待定位标签收到命令后,与自身ID进行匹配对比,如果ID一致,则发射反馈信息。如果不一致,则不予理睬。读写头A根据标签反馈的信号获取所述待定位标签P的RSSI值,并将结果上传给监控管理模块。First, the ID of the tag P to be located is selected, and the ID query command is sent by the head A. After the tag is received, the tag is compared with the self ID. If the IDs are consistent, the feedback information is transmitted. If they are inconsistent, they will be ignored. The head A acquires the RSSI value of the tag P to be located according to the signal fed back by the tag, and uploads the result to the monitoring management module.
406、按照405的流程,读写头B、C、D分别获得待定位标签P反馈的RSSI值,并将结果上传给监控管理模块。406. According to the process of 405, the read/write heads B, C, and D respectively obtain the RSSI values fed back by the tag P to be located, and upload the result to the monitoring management module.
通过上述过程得到四组待定位标签和参考标签的RSSI值。Through the above process, the RSSI values of the four sets of tags to be located and the reference tags are obtained.
步骤S102,根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。Step S102: Calculate positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
可选地,所述步骤S102包括:Optionally, the step S102 includes:
根据二维定位算法,将所述至少四组参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与读写头的距离,和RSSI值之间的对应关系的多项式;And according to the two-dimensional positioning algorithm, the RSSI value of the at least four sets of reference tags is brought into a preset approximate polynomial, and the function relationship polynomial is estimated, the function relationship polynomial is the distance between the tag and the read/write head, and the RSSI value is a polynomial of correspondence between;
将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到至少四组待定位标签的初步定位信息;And bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating preliminary positioning information of at least four groups of tags to be located;
,根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。And correcting the preliminary positioning information of the to-be-located tag according to the triangle centroid positioning algorithm, to obtain final positioning information of the tag to be located.
可选地,图4所示的装置中的所述监控管理模块的处理过程如下:Optionally, the processing procedure of the monitoring management module in the apparatus shown in FIG. 4 is as follows:
监控管理模块根据上传的结果,按照图1所示的二维定位方法,可以估算出待定位标签的四个大概坐标位置D1(dx1,dy1)、D2(dx2,dy2)、D3(dx3,dy3)、D4(dx4,dy4)。
According to the uploaded result, the monitoring management module can estimate the four approximate coordinate positions D1 (dx1, dy1), D2 (dx2, dy2), D3 (dx3, dy3) of the tag to be located according to the two-dimensional positioning method shown in FIG. ), D4 (dx4, dy4).
监控管理模块根据三角质心定位方法,坐标位置(D1、D2、D3)、(D1、D2、D4)、(D2、D3、D4)、(D1、D3、D4)可以构成四个三角形。四个三角形的质心可以定位出四个标签位置。再根据误差值的大小,排除掉质心位置误差最大的一个,剩下的三个质心位置又可以构成一个三角形,该三角形的质心即为待定位标签精确的标签位置。The monitoring management module can form four triangles according to the triangle centroid positioning method, coordinate positions (D1, D2, D3), (D1, D2, D4), (D2, D3, D4), (D1, D3, D4). The center of the four triangles positions the four label positions. Then, according to the magnitude of the error value, the one with the largest position error of the centroid is excluded, and the remaining three centroid positions can form a triangle, and the centroid of the triangle is the precise label position of the label to be positioned.
对于不同的待定位标签分别执行上述步骤,就可以完成对所有待定位标签的定位和识别。Performing the above steps for different tags to be located can complete the positioning and identification of all tags to be located.
本实施例的方案在二维定位方法的基础上,增加读写头的数量,通过二维定位方法,估算出至少四组标签距离信息,再通过近似三角质心定位的方法,降低定位误差,获得精准的标签位置,极大地提高了标签的定位精度,可以适用于密集型标签分布场景。Based on the two-dimensional positioning method, the solution of the embodiment increases the number of reading and writing heads, estimates two at least four sets of label distance information through the two-dimensional positioning method, and reduces the positioning error by approximating the triangular centroid positioning method. Accurate label position greatly improves the positioning accuracy of the label and can be applied to dense label distribution scenes.
参照图5,本发明第二实施例提供一种RFID标签定位方法,基于上述图3所示的第一实施例,区别在于,在上述步骤S101:在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值之前还包括:Referring to FIG. 5, a second embodiment of the present invention provides an RFID tag positioning method, which is based on the first embodiment shown in FIG. 3, except that in the above step S101: collecting at least four read/write heads in the tag area. The RSSI value of the to-be-located tag and the reference tag further includes: at least four sets of the RSSI values of the to-be-located tag and the reference tag:
步骤S100,在所述标签区,Step S100, in the label area,
将所述至少四个读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个顶点;将每个参考标签分别安置在由读写头构成的多边形边框上;将所述待定位标签放置在由读写头构成的多边形内部区域。And uniformly arranging the at least four heads to form a polygon, each head corresponding to each vertex of the polygon; each reference label is respectively disposed on a polygon frame formed by the head; The tag to be positioned is placed in an inner region of the polygon formed by the head.
以图4所示的四个读写头为例,参考标签分别安置在由四个读写头构成的矩形边框上,矩形的四个顶点位置分别安放读写器A、B、C、D,待定位标签P可以放置在矩形内部任意位置。Taking the four read/write heads shown in FIG. 4 as an example, the reference labels are respectively arranged on a rectangular frame composed of four read/write heads, and the four vertex positions of the rectangle are respectively placed on the readers A, B, C, and D. The tag P to be positioned can be placed anywhere inside the rectangle.
本实施例通过上述方案,在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组待定位标签和参考标签的RSSI值,根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息,由于采用四个以上的读写头并结合二维定位算法和三角质心定位算法,极大的降低了标
签的定位误差,提高了标签的定位精度,可适用于密集型标签分布的应用场景。In this embodiment, the RSSI value of the to-be-located tag and the reference tag is collected by the at least four read/write heads in the label area, and the RSSI values of the at least four sets of the to-be-located tag and the reference tag are obtained, according to the at least four groups. Determining the RSSI value of the positioning tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the positioning information of the tag to be located, by using four or more read/write heads combined with a two-dimensional positioning algorithm and Triangle centroid localization algorithm, greatly reducing the standard
The positioning error of the sign improves the positioning accuracy of the tag, and can be applied to an application scenario of dense tag distribution.
如图6所示,本发明第三实施例提出一种RFID标签定位装置,包括读写头模块201、监控管理模块202以及多个参考标签203,其中:As shown in FIG. 6, the third embodiment of the present invention provides an RFID tag positioning apparatus, including a head module 201, a monitoring management module 202, and a plurality of reference tags 203, wherein:
所述读写头模块201包括至少四个读写头,设置成在标签区,采集待定位标签和所述参考标签的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值,反馈给所述监控管理模块202,所述标签区布置有至少一个所述待定位标签和所述多个参考标签;The read/write head module 201 includes at least four read/write heads, and is configured to collect RSSI values of the to-be-located tags and the reference tags in the tag area, to obtain RSSI values of at least four groups of the to-be-positioned tags and reference tags. Feedback to the monitoring management module 202, the label area is arranged with at least one of the to-be-positioned label and the plurality of reference labels;
监控管理模块202,设置成根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。The monitoring management module 202 is configured to calculate the positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
本实施例中,相邻的任意两个读写头与这两个读写头之间放置的每个参考标签的距离均是已知的。In this embodiment, the distance between any two adjacent read/write heads and each reference label placed between the two read/write heads is known.
可选地,所述读写头模块201在标签区,采集待定位标签和所述参考标签的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值包括:Optionally, the read/write head module 201 collects the RSSI value of the to-be-located label and the reference label in the label area, and obtains RSSI values of the at least four groups of the to-be-located label and the reference label, including:
所述读写头模块201采用点到多点的方式,通过至少四个读写头采集每个标签的ID信息,并对每一读写头采集的ID信息进行校验,以确定每一读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;根据采集到的每个标签的ID信息,通过每个读写头与每一参考标签交互,得到每个参考标签反馈的RSSI值,通过每个读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到至少四组所述待定位标签和参考标签的RSSI值。The head module 201 adopts a point-to-multipoint method, collects ID information of each tag through at least four heads, and checks ID information collected by each head to determine each read. The ID information of each label collected by the write header corresponds to the same; the label includes the to-be-positioned label and the reference label; and each read/write head and each reference label are used according to the ID information of each collected label. Interacting, obtaining an RSSI value that is fed back by each reference tag, and interacting with the tag to be located by each read/write head to obtain an RSSI value fed back by the tag to be located, and obtaining at least four sets of the to-be-positioned tag and the reference tag. RSSI value.
所述监控管理模块202根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息包括:The monitoring management module 202 calculates the positioning information of the to-be-located tag according to the RSSI value of the at least four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
所述监控管理模块202根据二维定位算法,将所述至少四组参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多
项式为标签与读写头距离,和RSSI值之间的对应关系的多项式;将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到至少四组所述待定位标签的初步定位信息;根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。The monitoring management module 202 brings the RSSI value of the at least four sets of reference tags into a preset approximate polynomial according to a two-dimensional positioning algorithm, and estimates a function relationship polynomial, and the function relationship is multi-function
a polynomial of the correspondence between the tag and the head and the RSSI value; the RSSI value of the tag to be located is brought into the function relationship polynomial, and at least four groups of the tag to be located are calculated. The preliminary positioning information is corrected according to the triangular centroid localization algorithm, and the final positioning information of the to-be-located label is obtained.
本实施例以四个读写头进行举例。通过二维定位算法,估算出四组标签距离信息,再通过近似三角质心定位算法,降低定位误差,获得精准的标签位置。This embodiment is exemplified by four read/write heads. Through the two-dimensional positioning algorithm, four sets of tag distance information are estimated, and then the approximate triangle centroid localization algorithm is used to reduce the positioning error and obtain accurate label position.
如图4所示,该例子涉及的定位装置包括:四个读写头构成的读写头模块、参考标签(R1~R16)、和监控管理模块(或称***),用于对待定位标签P进行定位。As shown in FIG. 4, the positioning device involved in the example includes: a head module composed of four read/write heads, reference tags (R1 to R16), and a monitoring management module (or system) for positioning the tag P. Positioning.
参考标签分别安置在由四个读写头构成的矩形边框上,矩形的四个顶点位置分别安放读写头A、B、C、D,待定位标签P放置在矩形内部任意位置。若为四个以上的读写头,则将每个读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个顶点;将每个参考标签分别安置在由读写头构成的多边形边框上;将所述待定位标签放置在由读写头构成的多边形内部区域。The reference labels are respectively arranged on a rectangular frame formed by four read/write heads, and the four vertex positions of the rectangle are respectively placed on the read/write heads A, B, C, and D, and the to-be-positioned label P is placed at any position inside the rectangle. If there are more than four heads, each head is evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon; each reference label is separately placed by reading and writing. The polygon frame formed by the head; the label to be positioned is placed in an inner region of the polygon formed by the head.
待定位标签可以是单个标签,也可以是多个,在读写头构成的多边形区域内部随机分布;可以但不限于均匀分布成N×M型标签阵列;N和M为正整数。The tags to be located may be a single tag or multiple, and are randomly distributed inside the polygonal area formed by the read/write head; but may be, but not limited to, uniformly distributed into an N×M type tag array; N and M are positive integers.
其中,每个读写头设置成识别标签的身份(ID)信息,此外,该读写头还设置成测量标签与每个读写头之间的距离。Each of the read/write heads is configured to identify the identity (ID) information of the tag, and in addition, the read/write head is further configured to measure the distance between the tag and each of the read/write heads.
待定位标签设置成标识待定位的目标。The tag to be located is set to identify the target to be located.
可选地,待定位标签可以是无源标签;待定位标签可以在矩形内部均匀随机分布,参考标签均匀放置在矩形边线上。当然,在其他可选方案中,待定位标签和参考标签还可以采用其他方式放置,在此不作限定。Optionally, the to-be-positioned label may be a passive label; the to-be-positioned label may be uniformly and randomly distributed inside the rectangle, and the reference label is evenly placed on the rectangular side line. Of course, in other alternatives, the to-be-positioned label and the reference label may be placed in other manners, which are not limited herein.
由上述架构形成本实施例的标签区。The label area of this embodiment is formed by the above architecture.
在标签区,通过四个读写头采集待定位标签和参考标签的RSSI值,得到四组待定位标签和参考标签的RSSI值。
In the label area, the RSSI values of the to-be-located tag and the reference tag are collected by four read/write heads, and the RSSI values of the four sets of the tag to be located and the reference tag are obtained.
可选地地,作为一种实施方式,所述读写头模块采用点到多点的方式,通过每个读写头采集每个标签的ID信息,并对每一读写头采集的ID信息进行校验,以确定每一读写头采集的每个标签的ID信息对应相同;根据采集到的每个标签的ID信息,通过每个读写头与每一参考标签交互,得到每个参考标签反馈的RSSI值,通过每个读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到四组所述待定位标签和参考标签的RSSI值。Optionally, as an implementation manner, the read/write head module adopts a point-to-multipoint manner, and collects ID information of each tag through each read/write head, and collects ID information of each read/write head. Performing a check to determine that the ID information of each tag collected by each read/write head corresponds to the same; according to the ID information of each tag collected, each read/write head interacts with each reference tag to obtain each reference. The RSSI value of the tag feedback is obtained by interacting with the tag to be located by each of the read/write heads, and the RSSI value of the tag to be located is obtained, and the RSSI values of the four sets of the tag to be located and the reference tag are obtained.
图4所示的装置的采集过程包括如下步骤401~406:The acquisition process of the apparatus shown in FIG. 4 includes the following steps 401-406:
401、启动点到多点的ID阅读流程。401. Start the point-to-multipoint ID reading process.
首先打开读写头A,将所有标签(包括所述待定位标签和所述参考标签)的ID信息阅读进读写头A。阅读完毕关闭读写头A。然后依次开启读写头B、C、D执行上述同样的流程。First, the head A is opened, and the ID information of all the labels (including the label to be positioned and the reference label) is read into the head A. Read and close head A after reading. Then, the heads B, C, and D are sequentially turned on to execute the same process as described above.
402、比较读写头A、B、C、D阅读的所有标签的ID信息,如果所有读写头读取的ID信息对应完全一致,则跳到步骤403的流程;如果有ID信息不一致,则跳到步骤401的流程,即重新读取。402. Compare the ID information of all the tags read by the heads A, B, C, and D. If the ID information read by all the heads is completely consistent, skip to the process of step 403; if the ID information is inconsistent, Skip to the flow of step 401, that is, re-read.
403、启动参考标签定位流程。403. Start a reference label positioning process.
首先选定参考标签R1的ID,由读写头A发出ID询问命令,参考标签R1收到命令后,与自身ID进行匹配对比,如果ID一致,则发射反馈信息给读写头A。如果不一致,则不予理睬。读写头A根据标签反馈的信号获取参考标签R1的RSSI值,并将结果上传给监控管理模块。First, the ID of the reference tag R1 is selected, and the ID query command is issued by the read/write head A. After receiving the command, the reference tag R1 matches the self ID, and if the IDs match, the feedback information is transmitted to the read/write head A. If they are inconsistent, they will be ignored. The head A acquires the RSSI value of the reference tag R1 according to the signal fed back by the tag, and uploads the result to the monitoring management module.
按照上述的流程,读写头A依次分别获得标签R1~R4和R13~R16的反馈信号,从而获取这些标签的RSSI值,并将所有测量结果上传给监控管理模块。According to the above process, the head A obtains the feedback signals of the labels R1 to R4 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels, and uploading all the measurement results to the monitoring management module.
404、按照步骤403的流程,启动读写头B的定位流程,读写头B分别获得标签R1~R4和R5~R8的反馈信号,从而获取这些标签的RSSI值。启动读写头C的定位流程,读写头C分别获得标签R5~R8和R9~R12的反馈信号,从而获取这些标签的RSSI值。启动读写头D的定位流程,读写头D分别获得标签R9~R12和R13~R16的反馈信号,从而获取这些标签的RSSI值。所有测量结果上传给监控管理模块。
404. According to the process of step 403, the positioning process of the read/write head B is started, and the read/write head B obtains the feedback signals of the labels R1 R4 and R5 to R8 respectively, thereby obtaining the RSSI values of the labels. The positioning process of the head C is started, and the head C obtains the feedback signals of the labels R5 to R8 and R9 to R12, respectively, thereby obtaining the RSSI values of the labels. The positioning process of the head D is started, and the head D obtains the feedback signals of the labels R9 to R12 and R13 to R16, respectively, thereby obtaining the RSSI values of the labels. All measurement results are uploaded to the monitoring management module.
405、启动待定位标签定位流程。405. Start a label positioning process to be located.
首先选定待定位标签P的ID,由读写头A发出ID询问命令,待定位标签收到命令后,与自身ID进行匹配对比,如果ID一致,则发射反馈信息。如果不一致,则不予理睬。读写头A根据标签反馈的信号获取所述待定位标签P的RSSI值,并将结果上传给监控管理模块。First, the ID of the tag P to be located is selected, and the ID query command is sent by the head A. After the tag is received, the tag is compared with the self ID. If the IDs are consistent, the feedback information is transmitted. If they are inconsistent, they will be ignored. The head A acquires the RSSI value of the tag P to be located according to the signal fed back by the tag, and uploads the result to the monitoring management module.
406、按照405的流程,读写头B、C、D分别获得待定位标签P反馈的RSSI值,并将结果上传给监控管理模块。406. According to the process of 405, the read/write heads B, C, and D respectively obtain the RSSI values fed back by the tag P to be located, and upload the result to the monitoring management module.
通过上述过程得到四组待定位标签和参考标签的RSSI值。Through the above process, the RSSI values of the four sets of tags to be located and the reference tags are obtained.
之后,图4所示的装置中的监控管理模块根据所述四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签P的定位信息。Then, the monitoring management module in the device shown in FIG. 4 calculates the to-be-located tag P according to the RSSI value of the four groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm. Location information.
过程如下:根据二维定位算法,将所述四组参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与读写头距离,和RSSI值之间的对应关系的多项式;The process is as follows: according to the two-dimensional positioning algorithm, the RSSI values of the four sets of reference tags are brought into a preset approximate polynomial, and the function relationship polynomial is estimated, the function relationship polynomial is the distance between the tag and the head, and the RSSI value. a polynomial of correspondence between;
将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到四组待定位标签的初步定位信息;And bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating preliminary positioning information of four groups of tags to be located;
根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。The preliminary positioning information of the to-be-positioned tag is corrected according to a triangle centroid localization algorithm, and final positioning information of the to-be-located tag is obtained.
可选地,图4所示的装置中,监控管理模块的处理过程如下:Optionally, in the apparatus shown in FIG. 4, the processing process of the monitoring management module is as follows:
监控管理模块根据上传的结果,按照图1所示的二维定位方法,可以估算出待定位标签的四个大概坐标位置D1(dx1,dy1)、D2(dx2,dy2)、D3(dx3,dy3)、D4(dx4,dy4)。According to the uploaded result, the monitoring management module can estimate the four approximate coordinate positions D1 (dx1, dy1), D2 (dx2, dy2), D3 (dx3, dy3) of the tag to be located according to the two-dimensional positioning method shown in FIG. ), D4 (dx4, dy4).
监控管理模块根据三角质心定位方法,坐标位置(D1、D2、D3)、(D1、D2、D4)、(D2、D3、D4)、(D1、D3、D4)可以构成四个三角形。四个三角形的质心可以定位出四个标签位置。再根据误差值的大小,排除掉质心位置误差最大的一个,剩下的三个质心位置又可以构成一个三角形,该三角形的质心即为待定位标签精确的标签位置。The monitoring management module can form four triangles according to the triangle centroid positioning method, coordinate positions (D1, D2, D3), (D1, D2, D4), (D2, D3, D4), (D1, D3, D4). The center of the four triangles positions the four label positions. Then, according to the magnitude of the error value, the one with the largest position error of the centroid is excluded, and the remaining three centroid positions can form a triangle, and the centroid of the triangle is the precise label position of the label to be positioned.
对于不同的待定位标签分别执行上述步骤,就可以完成对所有待定位标
签的定位和识别。Performing the above steps for different tags to be located, you can complete all the targets to be located.
Signing and identification.
本实施例的方案在二维定位方法的基础上,增加读写头的数量,通过二维定位方法,估算出至少四组标签距离信息,再通过近似三角质心定位的方法,降低定位误差,获得精准的标签位置,极大地提高了标签的定位精度,可以适用于密集型标签分布场景。Based on the two-dimensional positioning method, the solution of the embodiment increases the number of reading and writing heads, estimates two at least four sets of label distance information through the two-dimensional positioning method, and reduces the positioning error by approximating the triangular centroid positioning method. Accurate label position greatly improves the positioning accuracy of the label and can be applied to dense label distribution scenes.
如图7所示,本发明第四实施例提出一种RFID标签定位装置,基于上述图6所示的第三实施例,区别在于,该装置还包括:As shown in FIG. 7, a fourth embodiment of the present invention provides an RFID tag positioning apparatus, which is based on the third embodiment shown in FIG.
配置模块200,设置成在标签区将所述至少四个读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个顶点;将每个参考标签分别安置在由读写头构成的多边形边框上;将所述待定位标签放置在由读写头构成的多边形内部区域。The configuration module 200 is configured to uniformly distribute the at least four heads in the label area to form a polygon, each head corresponding to each vertex of the polygon; and each reference label is respectively placed by the reading The polygon frame formed by the write head; the label to be positioned is placed in an inner region of the polygon formed by the head.
以图4所示的四个读写头为例,参考标签分别安置在由四个读写头构成的矩形边框上,矩形的四个顶点位置分别安放读写器A、B、C、D,待定位标签P可以放置在矩形内部任意位置。Taking the four read/write heads shown in FIG. 4 as an example, the reference labels are respectively arranged on a rectangular frame composed of four read/write heads, and the four vertex positions of the rectangle are respectively placed on the readers A, B, C, and D. The tag P to be positioned can be placed anywhere inside the rectangle.
本实施例通过上述方案,在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组待定位标签和参考标签的RSSI值,根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息,由于采用四个以上的读写头并结合二维定位算法和三角质心定位算法,极大的降低了标签的定位误差,提高了标签的定位精度,可适用于密集型标签分布的应用场景。In this embodiment, the RSSI value of the to-be-located tag and the reference tag is collected by the at least four read/write heads in the label area, and the RSSI values of the at least four sets of the to-be-located tag and the reference tag are obtained, according to the at least four groups. Determining the RSSI value of the positioning tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm to calculate the positioning information of the tag to be located, by using four or more read/write heads combined with a two-dimensional positioning algorithm and The triangle centroid localization algorithm greatly reduces the positioning error of the tag and improves the positioning accuracy of the tag, and can be applied to the application scenario of dense tag distribution.
本发明实施例提出的一种RFID标签定位方法和装置,在标签区,通过至少四个读写头采集待定位标签和参考标签的RSSI值,得到至少四组待定位标签和参考标签的RSSI值,根据所述至少四组所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标
签的定位信息,由于采用四个以上的读写头并结合二维定位算法和三角质心定位算法,极大的降低了标签的定位误差,提高了标签的定位精度,可适用于密集型标签分布的应用场景。
An RFID tag positioning method and apparatus according to an embodiment of the present invention, in the tag area, collecting RSSI values of a tag to be located and a reference tag by using at least four heads, and obtaining RSSI values of at least four groups of tags to be located and reference tags Calculating the to-be-positioned flag according to the RSSI value of the at least four groups of the to-be-positioned tag and the reference tag, and combining the two-dimensional positioning algorithm and the triangle centroid localization algorithm
The positioning information of the sign, because of the use of more than four heads combined with the two-dimensional positioning algorithm and the triangle centroid positioning algorithm, greatly reduces the positioning error of the tag, improves the positioning accuracy of the tag, and can be applied to dense tag distribution. Application scenario.
Claims (11)
- 一种射频识别RFID标签定位方法,包括:A radio frequency identification RFID tag positioning method includes:在标签区,通过四个或四个以上读写头采集待定位标签和参考标签的接收信号强度指示RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值,所述标签区布置有一个或多个所述待定位标签,和多个所述参考标签;In the label area, the received signal strength indication RSSI value of the to-be-located tag and the reference tag is collected by four or more read/write heads, and four or more sets of the RSSI values of the to-be-positioned tag and the reference tag are obtained. The label area is arranged with one or more of the to-be-positioned labels, and a plurality of the reference labels;根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。The positioning information of the to-be-located tag is calculated according to the RSSI value of the four or more sets of the to-be-located tag and the reference tag, and combined with the two-dimensional positioning algorithm and the triangle centroid localization algorithm.
- 根据权利要求1所述的方法,其中,所述在标签区,通过四个或四个以上读写头采集待定位标签和参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值包括:The method according to claim 1, wherein in the tag area, the RSSI values of the tag to be located and the reference tag are collected by four or more read/write heads to obtain four or more sets of the tags to be located. And the RSSI values of the reference tags include:采用点到多点的方式,通过所述四个或四个以上读写头采集每个标签的身份ID信息,并对每一所述读写头采集的ID信息进行校验,以确定每一所述读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;Collecting the ID information of each tag through the four or more read/write heads in a point-to-multipoint manner, and verifying the ID information collected by each of the read/write heads to determine each The ID information of each tag collected by the read/write head corresponds to the same; the label includes the to-be-positioned tag and the reference tag;根据采集到的每个标签的ID信息,通过每个所述读写头与每一所述参考标签交互,得到每个所述参考标签反馈的RSSI值,通过每个所述读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值。And each of the read/write heads interacts with each of the reference tags to obtain an RSSI value fed back by each of the reference tags according to the ID information of each tag collected, and each of the read/write heads and the The RSSI value of the tag to be located is obtained, and the RSSI value of the tag to be located and the reference tag of the four or more groups are obtained.
- 根据权利要求1所述的方法,其中,所述在标签区,通过四个或四个以上读写头采集待定位标签和参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值前还包括:The method according to claim 1, wherein in the tag area, the RSSI values of the tag to be located and the reference tag are collected by four or more read/write heads to obtain four or more sets of the tags to be located. And the RSSI value of the reference label also includes:在所述标签区,将所述四个或四个以上读写头均匀分布围合形成多边形,每个读写头对应位于所述多边形的每个个顶点;In the label area, the four or more read/write heads are evenly distributed to form a polygon, and each head corresponds to each vertex of the polygon;将每个所述参考标签分别安置在由所述读写头构成的多边形边框上;Separating each of the reference labels on a polygonal frame formed by the read/write head;将所述待定位标签放置在由所述读写头构成的多边形内部区域。The tag to be positioned is placed in an inner region of the polygon formed by the read/write head.
- 根据权利要求3所述的方法,其中,所述待定位标签为多个,多个所 述待定位标签在读写头构成的多边形区域内部随机分布。The method according to claim 3, wherein the plurality of tags to be located are multiple The positioning tag is randomly distributed inside the polygon area formed by the head.
- 根据权利要求1~4中任一项所述的方法,其中,所述根据四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息包括:The method according to any one of claims 1 to 4, wherein the RSSI value according to the four or more sets of the to-be-positioned tag and the reference tag is combined with a two-dimensional positioning algorithm and a triangular centroid localization algorithm, Calculating the positioning information of the to-be-located tag includes:根据二维定位算法,将所述四组或四组以上所述参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与读写头的距离,和RSSI值之间的对应关系的多项式;According to the two-dimensional positioning algorithm, the RSSI value of the four or more sets of the reference tags is brought into a preset approximate polynomial, and the function relationship polynomial is estimated, and the function relationship polynomial is the distance between the tag and the head. a polynomial of the correspondence between the AND and RSSI values;将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到四组或四组以上所述待定位标签的初步定位信息;And bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating preliminary positioning information of the four or more groups of the to-be-positioned tags;根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。The preliminary positioning information of the to-be-positioned tag is corrected according to a triangle centroid localization algorithm, and final positioning information of the to-be-located tag is obtained.
- 一种射频识别RFID标签定位装置,包括读写头模块、监控管理模块以及多个参考标签,其中:A radio frequency identification RFID tag positioning device comprises a head module, a monitoring management module and a plurality of reference labels, wherein:所述读写头模块包括四个或四个以上读写头,设置成在标签区,采集待定位标签和所述参考标签的接收信号强度指示RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值,反馈给所述监控管理模块,所述标签区布置有一个或多个所述待定位标签和所述多个参考标签;The head module includes four or more read/write heads, and is disposed in the label area, and collects a received signal strength indication RSSI value of the to-be-positioned tag and the reference tag, and obtains four or more sets of the to-be-determined The RSSI value of the bit label and the reference label is fed back to the monitoring management module, and the label area is arranged with one or more of the to-be-positioned label and the plurality of reference labels;监控管理模块,设置成根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息。The monitoring management module is configured to calculate the positioning information of the to-be-located tag according to the RSSI value of the to-be-located tag and the reference tag of the four or more groups, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.
- 根据权利要求6所述的装置,其中,The apparatus according to claim 6, wherein所述读写头模块在标签区,采集待定位标签和所述参考标签的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值包括:The read/write head module collects the RSSI value of the to-be-located tag and the reference tag in the label area, and obtains four or more sets of the RSSI values of the to-be-located tag and the reference tag, including:所述读写头模块采用点到多点的方式,通过所述四个或四个以上读写头采集每个标签的身份ID信息,并对每一所述读写头采集的ID信息进行校验,以确定每一所述读写头采集的每个标签的ID信息对应相同;所述标签包括所述待定位标签和所述参考标签;根据采集到的每个标签的ID信息,通过每个所述读写头与每一所述参考标签交互,得到每个所述参考标签反馈的RSSI 值,通过每个所述读写头与所述待定位标签交互,得到所述待定位标签反馈的RSSI值,得到四组或四组以上所述待定位标签和参考标签的RSSI值。The head module adopts a point-to-multipoint manner, and collects ID ID information of each tag through the four or more read/write heads, and performs ID information collected by each of the read/write heads. To determine that the ID information of each tag collected by each of the read/write heads is the same; the tag includes the to-be-positioned tag and the reference tag; and according to the ID information of each tag collected, The read/write head interacts with each of the reference tags to obtain an RSSI fed back by each of the reference tags And the RSSI value of the to-be-positioned tag is obtained by the interaction between the read/write head and the to-be-located tag, and the RSSI value of the four or more sets of the to-be-located tag and the reference tag is obtained.
- 根据权利要求6所述的装置,还包括:The apparatus of claim 6 further comprising:配置模块,设置成在所述标签区将所述四个或四个以上读写头均匀分布围合形成多边形,每个所述读写头对应位于所述多边形的每个顶点;将每个所述参考标签分别安置在由所述读写头构成的多边形边框上;将所述待定位标签放置在由所述读写头构成的多边形内部区域。a configuration module, configured to evenly distribute the four or more read/write heads in the label area to form a polygon, each of the read/write heads corresponding to each vertex of the polygon; The reference labels are respectively disposed on the polygonal frame formed by the read/write head; and the label to be positioned is placed in the inner region of the polygon formed by the read/write head.
- 根据权利要求8所述的装置,其中,所述待定位标签为多个,多个所述待定位标签在读写头构成的多边形区域内部随机分布。The apparatus according to claim 8, wherein the plurality of tags to be located are plural, and the plurality of tags to be located are randomly distributed inside a polygonal area formed by the head.
- 根据权利要求9所述的装置,其中,The apparatus according to claim 9, wherein所述待定位标签为无源标签;所述参考标签在所述多边形边框上均匀分布。The tag to be located is a passive tag; the reference tag is evenly distributed on the polygonal frame.
- 根据权利要求6~10中任一项所述的装置,其中,The apparatus according to any one of claims 6 to 10, wherein所述监控管理模块根据所述四组或四组以上所述待定位标签和参考标签的RSSI值,并结合二维定位算法和三角质心定位算法,计算得到所述待定位标签的定位信息包括:The monitoring management module calculates the positioning information of the to-be-located tag according to the RSSI value of the four or more groups of the to-be-located tag and the reference tag, and the two-dimensional positioning algorithm and the triangle centroid positioning algorithm.所述监控管理模块根据二维定位算法,将所述四组或四组以上所述参考标签的RSSI值带入预设的近似多项式中,估算出函数关系多项式,所述函数关系多项式为标签与所述读写头的距离,和RSSI值之间的对应关系的多项式;将所述待定位标签的RSSI值带入所述函数关系多项式中,计算得到四组或四组以上所述待定位标签的初步定位信息;根据三角质心定位算法对所述待定位标签的初步定位信息进行修正,得到所述待定位标签的最终定位信息。 And the monitoring management module estimates, according to the two-dimensional positioning algorithm, the RSSI value of the four or more sets of the reference tags into a preset approximate polynomial, and estimates a function relationship polynomial, wherein the function relationship polynomial is a tag and a polynomial of the correspondence between the distance between the head and the RSSI value; bringing the RSSI value of the tag to be located into the function relationship polynomial, and calculating four or more groups of the to-be-positioned tags The preliminary positioning information is corrected according to the triangular centroid localization algorithm, and the final positioning information of the to-be-positioned label is obtained.
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