Multi-hypothesis UKF target tracking method for UHF-RFID system

Abstract

The invention provides a multi-hypothesis UKF target tracking method for UHF-RFID system. The method comprises the following steps: step 1) using the VIRE method to estimate the initial position of a mobile robot; determining the label area where the initial position of the robot is located; arranged particles in the area in a uniform manner, and through these particles, describing the initial state of the mobile robot; step 2) collecting the measurement information of each ultra high frequency antenna, generating the position estimation of the mobile robot as the observation input, then using the unscented Kalman filter method to forecast and update the states of the particles respectively, and calculating the weight of each particle; step 3) according to the weights of the particles, screening particles, and then re-sampling them; and step 5) integrating the screened particles to obtain the current state estimation of the mobile robot; and repeating to execute the step 1 to step 4 so as to realize the mobile robot tracking under the UHF-RFID environment. The method can achieve better positioning accuracy and converging speed.

Description

technical field [0001] The invention relates to the field of mobile robot positioning, in particular to a method for positioning a mobile robot in a UHF-RFID environment. Background technique [0002] Wireless positioning is a necessary means for military activities and guaranteeing the normal traffic safety of human beings. For China's rapid economic development, wireless positioning plays an increasingly important role in society, such as airport halls, exhibition halls, warehouses, supermarkets, libraries, underground parking lots, mines, aviation safety navigation and traffic control, and vehicle transportation. Wireless positioning is used in dispatching, positioning and measurement and control of space vehicles, search and rescue, mobile communications and other fields. Positioning refers to determining the position of an object in a certain reference coordinate system. Therefore, there is important application value. Commonly used wireless positioning technologies ...

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Problems solved by technology

[0004] In order to overcome the shortcomings of the existing methods, which are large in error and easy to diverge, and the dependence on the virtual signal strength value generated by interpolation is too strong, which leads to the problem of divergent positioning, the present invention provides a real-time positioning method that ensures adaptability to the environment and positioning Under the premise of stability, the UHF-RFID global positioning method based on multi-hypothesis UKF can effectively improve the positioning accuracy and robustness, and is more suitable for the positioning of mobile robots in complex indoor environments.

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