An antenna position calibration method for a mobile robot RFID positioning system
A technology for moving robots and antenna positions, applied in positioning, radio wave measurement systems, instruments, etc., can solve problems such as trouble, and achieve the effect of accurate position, simple method and easy implementation
Active Publication Date: 2022-03-15
HUAZHONG UNIV OF SCI & TECH
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In most cases, the method of measuring with a tape measure is not only troublesome, but also has certain measurement errors
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[0029] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not constitute a conflict with each other.
[0030] Such as figure 1 As shown, the flowchart of the antenna position calibration method of the mobile robot RFID positioning system provided by the present invention uses the phase information of the parameter tag read by the RFID antenna carried by the mobile robot to calibrate the position of the RFID antenna itself in the mobile robot coordinate system.
[0031] Such as figure 2 As show...
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The invention belongs to the technical field related to wireless positioning, and discloses a method for calibrating the antenna position of a mobile robot RFID positioning system, which includes the following steps: (1) obtaining the position coordinates of a reference tag; In this method, the RFID reader is used to read the corresponding periodic fuzzy phase information, and the odometer coordinate information of the mobile robot is collected, and the obtained periodic fuzzy phase is transformed into a continuous phase through the phase expansion equation, and the odometer coordinate is transformed into The information is transformed to obtain the position coordinates of the RFID antenna with the calibration parameters to be determined; (2) Substituting the continuous phase, the position coordinates of the reference tag and the position coordinates of the RFID antenna with the calibration parameters to be determined into the mathematical model of antenna position calibration, and then calculating the RFID The position calibration parameters of the antenna in the mobile robot coordinate system. The invention improves precision, reduces cost and has strong applicability.
Description
technical field [0001] The invention belongs to the technical field related to wireless positioning, and more specifically relates to an antenna position calibration method of a mobile robot RFID positioning system. Background technique [0002] RFID is a radio frequency identification technology. In the field of wireless communication, it can identify the target only through radio signals without establishing direct contact with the target, and can exchange data with the target. With its outstanding advantages such as unique ID identification, non-line-of-sight, and low cost, RFID technology is widely used in warehousing logistics, item management and tracking and other fields. In the field of indoor positioning of mobile robots, positioning schemes and algorithms related to RFID have gradually attracted the attention of researchers, and have great research potential and application value. [0003] Applying RFID technology to mobile robot positioning schemes, due to the hi...
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IPC IPC(8): G01S5/06
CPCG01S5/06
Inventor 陶波黎真龙吴海兵尹周平
Owner HUAZHONG UNIV OF SCI & TECH