RFID-based robot indoor locating method

An indoor positioning and robot technology, applied in the field of RFID-based indoor positioning of robots, can solve the problems of improving positioning accuracy, large errors, and difficulty, and achieve the effect of improving accuracy and precision

Active Publication Date: 2018-01-09
HEBEI UNIV OF TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

For short-to-medium distance positioning applications, the resulting errors are large and it is difficult to improve positioning accuracy through error compensation

Method used

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  • RFID-based robot indoor locating method
  • RFID-based robot indoor locating method
  • RFID-based robot indoor locating method

Examples

Experimental program
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Effect test

Embodiment 1

[0093] The RFID-based indoor positioning method for robots in this embodiment is changed from calculating the time value of RSSI to calculating the mean value of RSSI, and using the fireworks algorithm to optimize the maximum likelihood positioning method for positioning calculation. The specific steps are as follows:

[0094] The first step is to install and initialize the RFID system: select a 3m×3m indoor positioning area, adopt a cross-distribution strategy to lay electronic tags 3 at intervals of 0.6 meters on the ground of the room to be positioned, a total of 33, and install readers and antennas on the robot , the reader is connected to the host computer; the positioning area in the room to be positioned is used to establish a logical coordinate system, and the position coordinates of each electronic tag under the logical coordinate system are stored in the memory of the electronic tag;

[0095] The second step is to read the average RSSI value of the electronic tag and ...

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Abstract

The invention relates to an RFID-based robot indoor locating method. The RFID-based robot indoor locating method is characterized in that secondary development is performed on a signal acquisition system of an original RFID reader-writer, so that position coordinates and RSSI average values, corresponding to electronic tags, can be read, and accordingly, the technical defect that a conventional reader-writer can only read the basic information and signal instant intensity indicated values of the electronic tags is avoided. During design of the ground laying mode of the electronic tags, the strategy that the electronic tags are distributed in a crossed manner is adopted, that is, a longitudinal electronic tag is placed every equal distance in an experimental environment, a transverse electronic tag is placed in the middle of every four longitudinal electronic tags, and accordingly, the problem that the electronic tags are directional for receiving signals of the reader-writer is solved.The conventional fireworks algorithm is utilized for robot position calculation, and through analysis of experimental results, the improvement ensures that the accuracy of positioning by use of a maximum likelihood estimation locating method is greatly improved.

Description

technical field [0001] The technical scheme of the present invention relates to a method for indoor positioning of a robot, specifically an RFID-based indoor positioning method for a robot. Background technique [0002] In terms of indoor positioning research, with the rapid development of wireless communication technology, there are more and more mediums for wireless signals that can be used for indoor positioning. However, the indoor environment is complex, the shelter is unpredictable, and the signal propagation is easily affected, which also greatly increases the difficulty of positioning. Therefore, it is necessary to select a suitable signal medium according to different indoor positioning costs and requirements. [0003] Nowadays, signal media of commonly used positioning systems include ultrasound, wireless local area network (Wireless Local Area Networks, WLAN), infrared rays, ultra wide band (Ultra Wide Band, UWB) and RFID (radio frequency identification). Theref...

Claims

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Application Information

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IPC IPC(8): G01C21/20G06K7/00
Inventor 史进董瑶董永峰刘洪普张亚娟李炜于晟许鹏
Owner HEBEI UNIV OF TECH
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