Method for rapidly tracking indoor target

Abstract

The invention relates to a method for rapidly tracking an indoor target. The method comprises the steps as follows: establishing a movement model according to actual movement characteristics of the target, and establishing an RFID (radio frequency identification) measurement model according to an RFID measurement mechanism; predicting movement characteristics of the target according to the established movement model to obtain a target state prediction value; computing a target state correction value by an extended kalman filter according to an original target measurement value and a target measurement prediction value, and then correcting the target state prediction value to obtain a target state estimation value; computing a target state covariance estimation value, and measuring an error between the target state estimation value and a target state true value; and simultaneously, updating self-adaptive parameters of a system in real time according to the target state estimation value, then realizing updating of the movement model, repeating the process, and predicting a target state prediction value of a next time point by the updated movement model. Therefore, the rapid tracking of the indoor target is realized, and the tracking accuracy is improved.

Description

technical field [0001] The invention relates to the field of target tracking, in particular to a method for realizing fast tracking of indoor targets. Background technique [0002] RFID (Radio frequency identification) is the main component of indoor positioning and tracking system. The RFID system consists of a radio frequency tag and a reader, and the radio frequency tag stores the identification information of the tag. When a target with a tag moves to the reader attachment, the reader can obtain the identification information of the tag, thereby identifying a target, and at the same time obtaining the distance information between the tag and the reader, so as to locate the target or track. At present, the target positioning patents of RFID systems mainly include an indoor positioning method based on active RFID (201110101432), an intelligent storage system for steel products based on radio frequency identification technology (201210093992), a station personnel position...

AI Technical Summary

Problems solved by technology

[0003] For moving targets, the above method has the following defects: 1. Because RFID can only obtain distance information with the reader, so in order to obtain accurate position data, it must rely on the distance information of a certain target obtained by multiple readers, using various The geometric relationship between the readers can get the position of the target, which adds complexity to the system calculation; 2. Assuming that the target is stationary and does not conform to the actual situation of the moving target, if the target is moving, the displacement, speed and The acceleration satisfies the basic constraint relationship of kinematics. Assuming that the target is stationary, the relationship is completely discarded, resulting in a reduction in the constraint relationship, which directly leads to inaccurate estimation of the trajectory of the moving target.

[0004] Obtaining real-time trajectories of targets is very commonly used in many tracking systems, such as pedestrian tracking in indoor venues, intelligent transportation and other fields. Therefore, the above invention is not suitable for RFID target tracking systems that need to obtain real-time trajectories of moving targets

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