The invention provides an RFID trajectory
tracking system based on least square speed
adaptation, and the method comprises the steps: firstly building a half-
wavelength observation distance expansion model, and effectively solving the problem of error
divergence caused by a conventional
phase unwrapping scheme; then, generating an initial position candidate set by using a triangular
centroid weighting
algorithm, performing
instantaneous speed estimation by using a least square
algorithm, and introducing a dynamic threshold-weight constraint mechanism to obtain a high-quality initial state set; thirdly, speed
estimation based on least square is fused in the EKF, speed data are updated through the least square method before each round of antenna scheduling is started, target tracking trajectories estimated based on different initial positions are obtained, and the problem that in the target tracking process, the speed suddenly changes or the
tracking error is large during steering is solved; and finally, dynamically deleting the tracking trajectory with the zero weight, and selecting the trajectory with the maximum
weight value as the final tracking trajectory of the target, thereby effectively reducing the calculation complexity of the
algorithm. The invention provides an RFID trajectory
tracking system which is convenient and simple to deploy, can realize trajectory tracking of a target tag, and is suitable for most indoor positioning scenes.