A method for detecting the moving direction of RFID tags based on power storage detection

Abstract

The present invention discloses a method for detecting the moving direction of RFID tags based on power warehouse detection, and relates to the field of data processing technology. It includes deploying a multi-antenna array in a warehouse environment; receiving real-time RFID signals, and monitoring the signal strength data and angle differences received by each antenna; identifying the reflection effect caused by facilities or goods, marking interference signals, and filtering and optimizing the interference; dynamically predicting the moving direction of the RFID tag based on the optimized signal; outputting the detection results, updating the system log, and ensuring the complete recording of the direction detection information. The present invention effectively reduces the influence of environmental reflection effects on RFID tag direction detection by optimizing the signal processing method, and provides a storage RFID tag moving direction detection solution with higher accuracy and strong reliability.

Description

Technical Field

[0001] The present invention relates to the technical field of data processing, and in particular to a method for detecting the moving direction of an RFID tag based on electric power storage detection. Background Art

[0002] With the development of the Internet of Things (IoT) and automation technology, item tracking and monitoring in warehouse management systems have become a vital part of modern logistics management. In this context, radio frequency identification (RFID) technology has been widely used in warehouse environments, especially in warehouse management, asset tracking and item positioning.

[0003] Although RFID technology has been widely used, and multi-antenna arrays and signal processing algorithms can optimize positioning accuracy to a certain extent, the existing technology still has some shortcomings. First, most of the existing RFID positioning systems still rely on simple signal strength (RSSI) or time difference of arrival (TDOA) to infer the position and movement direction of RFID tags, but these methods are prone to large errors in environments with strong multipath interference, affecting system accuracy. Especially in a warehousing environment, diverse factors such as goods and equipment can cause strong signal reflections, resulting in multipath effects, and traditional interference signal filtering technology often cannot effectively deal with this problem. Summary of the invention

[0004] In view of the problems existing in the above background technology, the present invention is proposed.

[0005] Therefore, the problem to be solved by the present invention is how to improve the ability to identify and filter multipath reflection signals in complex environments, and on this basis more accurately infer the real-time moving direction of the RFID tag.

[0006] In order to solve the above technical problems, the present invention provides the following technical solutions:

[0007] In the first aspect, an embodiment of the present invention provides a method for detecting the moving direction of RFID tags based on power warehouse detection, which includes deploying a multi-antenna array in a warehouse environment; receiving real-time RFID signals and monitoring the signal strength data and angle differences received by each antenna; identifying reflection effects caused by facilities or goods, marking interference signals, and filtering and optimizing the interference; dynamically predicting the moving direction of RFID tags based on optimized signals; outputting detection results, updating system logs, and ensuring complete recording of direction detection information.

[0008] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the deployment of the multi-antenna array includes: determining the stacking position and structure of each main cargo in the storage environment, setting multiple layout points, and marking each layout point as a reference point; calculating the optimal antenna spacing D according to the distance between the reference points and the antenna characteristics, and the calculation process is as follows: calculating the signal coverage radius according to the antenna's transmission power P and gain G:

[0009] ,

[0010] in, is the environmental loss constant; the value of the antenna spacing D should be within the range of the signal coverage radius r:

[0011] ,

[0012] in, To adjust the coefficient; arrange antenna units at each reference point and adjust the azimuth angle α of each antenna; test the signal reception strength of each antenna unit after arrangement, locate the low signal strength area according to the change of signal strength data value, and readjust the azimuth angle α of the antenna in the low signal strength area; after confirming the signal blind area, add additional antenna units and adjust the α angle of the new antenna to cover the attenuation area.

[0013] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the calculation process of the angle difference is as follows: Calculate the signal arrival time difference :

[0014] ,

[0015] According to the signal arrival time difference , calculate the corresponding angle difference :

[0016] ,

[0017] ,

[0018] in, is the arrival time of the signal received by the ith antenna, is the arrival time of the signal received by the jth antenna, is the distance between the ith antenna and the jth antenna, c is the speed of light constant, is the path length between the i-th antenna and the j-th antenna.

[0019] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the identification of the reflection effect caused by facilities or goods includes the following steps: analyzing the changes in the signal arrival timestamp T and the signal strength data RSSI, and identifying the reflection path and the interference source position in combination with the position coordinates and direction angles of each antenna; the direct path length of the signal from the RFID tag to the antenna is:

[0020] ,

[0021] The length of the reflection path is expressed as:

[0022] ,

[0023] in, is the direct path length of the signal from the RFID tag to the antenna, is the signal path length including reflections, is the RFID tag location coordinate, are the coordinates of the inferred reflection point, is the coordinate position of the antenna; by calculating the path increment To mark the multipath reflection signal: path increment The calculation of is as follows:

[0024] ,

[0025] in, is the path increment; if the path increment Greater than the preset threshold , then the signal is considered to be a reflected signal and marked as an interference signal; otherwise, the signal is considered to be a direct path signal and not a reflected signal.

[0026] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the filtering and optimization of interference includes: using a filtering algorithm to remove the reflected signal to form a filtered signal set S'.

[0027] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the dynamic prediction of the moving direction of the RFID tag includes the following steps: making a preliminary judgment on the moving direction of the RFID tag based on the signal set S'; performing trajectory smoothing processing on the preliminarily judged moving direction, integrating the continuous position changes of multiple frame signals, correcting the direction deviation caused by environmental noise or interference, and obtaining a stable movement direction.

[0028] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection described in the present invention, the preliminary judgment of the moving direction of the RFID tag includes: combining the signal path lengths of different antennas Determine the relative position coordinate changes of RFID tags , :

[0029] ,

[0030] ,

[0031] ,

[0032] in, , are the relative position changes in the horizontal and vertical directions, is the path length of the signal received by antenna 1 and antenna 2, is the path length of the signal received by antenna 1 and antenna 3, is the movement direction angle of the tag relative to the reference coordinate system.

[0033] As a preferred solution of the method for detecting the moving direction of RFID tags based on power storage detection according to the present invention, obtaining the stable moving direction includes the following steps:

[0034] To smooth the trajectory:

[0035] ,

[0036] ,

[0037] ,

[0038] in, and is the horizontal and vertical position change after smoothing, n is the number of frames used for smoothing, k is the summation index, It is the stable motion direction after trajectory smoothing.

[0039] In a second aspect, an embodiment of the present invention provides a computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein: when the computer program instructions are executed by the processor, the steps of the method for detecting the moving direction of RFID tags based on power storage detection as described in the first aspect of the present invention are implemented.

[0040] In a third aspect, an embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program instructions are executed by a processor, the steps of the method for detecting the moving direction of RFID tags based on power storage detection as described in the first aspect of the present invention are implemented.

[0041] The beneficial effects of the present invention are as follows: the present invention effectively reduces the influence of environmental reflection effects on RFID tag direction detection by optimizing the signal processing method, thereby providing a more accurate and reliable storage RFID tag movement direction detection solution. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0043] Figure 1 The figure is the overall flow chart of the method for detecting the moving direction of RFID tags based on power storage detection.

[0044] Figure 2 It is a structural schematic diagram of a computer device based on a method for detecting the moving direction of RFID tags in power storage. DETAILED DESCRIPTION

[0045] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the specific implementation methods of the present invention are described in detail below in conjunction with the accompanying drawings.

[0046] In the following description, many specific details are set forth to facilitate a full understanding of the present invention, but the present invention may also be implemented in other ways different from those described herein, and those skilled in the art may make similar generalizations without violating the connotation of the present invention. Therefore, the present invention is not limited to the specific embodiments disclosed below.

[0047] Secondly, the term "one embodiment" or "embodiment" as used herein refers to a specific feature, structure, or characteristic that may be included in at least one implementation of the present invention. The term "in one embodiment" that appears in different places in this specification does not necessarily refer to the same embodiment, nor does it refer to a separate or selective embodiment that is mutually exclusive with other embodiments.

[0048] Example 1

[0049] Reference Figure 1~Figure 2 , which is the first embodiment of the present invention, and provides a method for detecting the moving direction of an RFID tag based on power storage detection, comprising:

[0050] S1: Deploy multi-antenna arrays in warehouse environments to ensure maximum coverage and signal strength.

[0051] S1.1: Determine the main cargo stacking locations and structures within the storage environment, set up multiple layout points, and mark each layout point as a reference point.

[0052] S1.2: Calculate the optimal antenna spacing D based on the distance between the reference points and the antenna characteristics. The calculation process is as follows:

[0053] First, calculate the signal coverage radius based on the antenna's transmit power P and gain G:

[0054] ,

[0055] in, is the environmental loss constant;

[0056] To ensure that there are no blind spots between antennas and minimize signal overlap, the recommended value of the antenna spacing D should be within the signal coverage radius r:

[0057] ,

[0058] in, To adjust the coefficient, ensure maximum signal coverage; ensure that there are no blind spots between each antenna and avoid excessive signal overlap.

[0059] S1.3: Arrange antenna units at each reference point and adjust the direction angle α of each antenna to optimize the signal coverage range, wherein the direction angle α is preliminarily determined based on confirmation by professionals.

[0060] S1.4: Test the signal receiving strength of each antenna unit after deployment, determine the signal attenuation area through the received signal strength data RSSI, and adjust the antenna angle α or add additional antenna units to optimize coverage.

[0061] Specifically, each antenna unit is arranged to record the real-time received signal strength data RSSI, and to construct a signal strength distribution diagram, and to locate the low signal strength area according to the change of the signal strength data RSSI value.

[0062] In areas of low signal strength, the antenna's directional angle α is readjusted to maximize the signal strength in the target area; and after confirming the signal blind spot, additional antenna units are added and the α angle of the new antenna units is adjusted to cover the attenuation area to form the final multi-antenna array.

[0063] It should be noted that each antenna unit includes an independent antenna.

[0064] S1.5: Record the final position coordinates of each antenna and direction angle α, and use them as reference parameters for initial signal reception.

[0065] S2: Perform real-time RFID signal reception and monitor the signal strength data and angle difference received by each antenna to capture preliminary movement information of the RFID tag.

[0066] S2.1: Each antenna synchronously receives the signal transmitted by the RFID tag and marks the received raw signal data as a signal set S.

[0067] S2.2: Extract the signal strength data RSSI and signal arrival timestamp T in the signal set S to capture the power level and arrival time of the signal when it is received to form a data set.

[0068] S2.3: Calculate the angle difference of the signal received by each antenna based on the data set of each antenna, where the angle difference is used to analyze the preliminary directional characteristics of the movement of the RFID tag. The specific calculation process is as follows:

[0069] Calculate the signal arrival time difference :

[0070] ,

[0071] According to the signal arrival time difference , calculate the corresponding angle difference :

[0072] ,

[0073] ,

[0074] in, is the arrival time of the signal received by the ith antenna, is the arrival time of the signal received by the jth antenna, is the distance between the ith antenna and the jth antenna, c is the speed of light constant, is the path length between the i-th antenna and the j-th antenna.

[0075] It should be noted that the angle difference between the antennas It indicates the difference in the path of the signal reaching each antenna when the RFID tag is in different positions. This is used to determine the initial movement direction of the RFID tag.

[0076] S2.4: Continuously monitor the changes in the real-time signal strength data RSSI and angle difference received by each antenna, dynamically update the change trends of the signal strength data RSSI and angle difference values, and record these change data as real-time monitoring data sets during the movement of the RFID tag.

[0077] S3: Identify reflection effects caused by facilities or cargo, mark interference signals, and filter out interference to ensure signal clarity and stability.

[0078] S3.1: Analyze the changes in the signal arrival timestamp T and the signal strength data RSSI according to the real-time monitoring data set in step S2, and identify possible reflection paths and interference source locations in combination with the final position coordinates and direction angles of each antenna.

[0079] Specifically, the signal arrival timestamp T and the corresponding signal strength data RSSI received by each antenna are collected;

[0080] Plot signal strength data RSSI over time to identify significant attenuation or changes;

[0081] Use the coordinates of each antenna The possible signal path and reflection direction are determined by the signal direction angle, and the location of the reflection source is inferred based on the physical environment (such as shelves, metal walls, etc.).

[0082] Furthermore, the direct path length of the signal from the RFID tag to the antenna is:

[0083] ,

[0084] Assuming that the signal is reflected by some reflection sources (such as shelves or metal walls), the propagation path of the signal will change, forming a reflection path. The direction angle of the antenna affects the propagation path of the reflected signal. Therefore, the length of the reflection path can be expressed as:

[0085] ,

[0086] in, is the direct path length of the signal from the RFID tag to the antenna, is the signal path length including reflections, is the RFID tag location coordinate, including the additional delay of the reflection path, is the coordinate of the inferred reflection point, indicating the reflection source of the signal.

[0087] S3.2: By calculating the path increment To mark the reflected signal, forming an interference mark set , used to mark the reflection signal.

[0088] It should be noted that in a multipath propagation environment, in addition to the direct path, RFID signals will also be reflected by reflective surfaces (such as walls, metal shelves, etc.), thus forming multiple signal paths. In order to identify and mark these reflected signals, the path increment can be calculated to determine whether there is multipath reflection and classify it as an interference signal.

[0089] Among them, the path increment The calculation of is as follows:

[0090] ,

[0091] in, is the path increment, which is used to identify the characteristics of the reflected signal; if the path increment Greater than the preset threshold , then the signal is considered to be a reflection signal and marked as an interference signal; otherwise, the signal is considered to be a direct path signal and not a reflection signal; for each identified reflection signal, it is added to the interference mark set.

[0092] S3.3: Based on the interference tag set , use a filtering algorithm (such as Kalman filtering or adaptive filtering) to remove the reflected signal, retain the main signal path, and form a filtered signal set S'.

[0093] The filter can process real-time signal data and remove interference signals to enhance signal stability and clarity.

[0094] S3.4: Recalculate the angle difference of each antenna for the filtered signal set S' , re-extract signal strength data And calculate the stability index to ensure the accuracy of the data after signal processing.

[0095] The stability index is calculated as follows:

[0096] ,

[0097] in, is the number of data points of the signal set S'; After filtering The average value of Below the preset threshold and the angle difference If the stability index is higher than the preset threshold, the signal is considered unstable and the signal set S' is refiltered until the signal is clear and stable.

[0098] S4: Dynamically predict the movement direction of the RFID tag based on the optimized signal.

[0099] S4.1: Determine the moving direction of the RFID tag according to the final signal set S' output in step S3.

[0100] Specifically, the signal path lengths of different antennas are combined Determine the relative position coordinate changes of RFID tags , , preliminarily infer the moving direction, the formula can be expressed as:

[0101] ,

[0102] ,

[0103] ,

[0104] in, , are the relative position changes in the horizontal and vertical directions, is the path length of the signal received by antenna 1 and antenna 2, is the path length of the signal received by antenna 1 and antenna 3, is the moving direction angle of the tag relative to the reference coordinate system. The lateral displacement of the tag on the plane is calculated by the path difference and the predetermined antenna spacing, combined with the time difference of signal arrival and the path length.

[0105] S4.2: Perform trajectory smoothing on the initially determined moving direction, integrate the continuous position changes of multiple frame signals, correct the direction deviation caused by environmental noise or interference, and obtain a stable moving direction.

[0106] Specifically, use sliding average or Kalman filtering to smooth the trajectory:

[0107] ,

[0108] ,

[0109] ,

[0110] in, and is the horizontal and vertical position change after smoothing, n is the number of frames used for smoothing, k is the summation index, It is the stable motion direction after trajectory smoothing.

[0111] After processing multiple frames of data It is the movement direction after multiple position updates, removal of noise and short-term interference. Through smoothing, the movement direction can more stably represent the actual movement trend of the tag in the storage environment and avoid directional deviation caused by environmental interference and reflection effects.

[0112] S5: Generate and output the detection results, update the system log, and ensure the complete record of the direction detection information.

[0113] The moving direction after trajectory smoothing is recorded and output as the final direction output result of warehouse detection, and stored in the system log for subsequent analysis.

[0114] This embodiment also provides a computer device, which is suitable for the case of a method for detecting the moving direction of an RFID tag based on power storage detection, and includes a memory and a processor; the memory is used to store computer executable instructions, and the processor is used to execute computer executable instructions to implement the method for detecting the moving direction of an RFID tag based on power storage detection as proposed in the above embodiment.

[0115] The computer device may be a terminal, and the computer device includes a processor, a memory, a communication interface, a display screen and an input device connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The communication interface of the computer device is used to communicate with an external terminal in a wired or wireless manner, and the wireless manner can be achieved through WIFI, an operator network, NFC (near field communication) or other technologies. The display screen of the computer device may be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer device may be a touch layer covered on the display screen, or a key, trackball or touchpad provided on the housing of the computer device, or an external keyboard, touchpad or mouse, etc.

[0116] This embodiment also provides a storage medium having a computer program stored thereon, which, when executed by a processor, implements the method for detecting the moving direction of an RFID tag based on power storage detection as proposed in the above embodiment.

[0117] In summary, the present invention effectively reduces the influence of environmental noise and reflection effects on RFID tag direction detection by optimizing the signal processing method, thereby providing a more accurate and reliable storage RFID tag movement direction detection solution.

[0118] Example 2

[0119] Referring to Table 1 and Table 2, which is the second embodiment of the present invention, this embodiment provides a method for detecting the moving direction of RFID tags based on power storage detection. In order to verify the beneficial effects of the present invention, scientific demonstration is carried out through simulation experiments.

[0120] The experiment was conducted in a standardized warehouse environment with multiple shelves and metal structures, and there were many interference signals.

[0121] First, a multi-antenna array was deployed. Each antenna unit was placed at a predetermined reference point to cover the entire storage area. The interval D between the reference points was calculated based on the environmental loss constant and antenna gain parameters to ensure that there were no blind spots.

[0122] In the experiment, each antenna unit adjusted the directional angle α, and located and resolved the low signal strength area by recording and adjusting the signal reception strength RSSI. After the adjustment was completed, a multi-antenna array was formed, and the position and angle of each antenna was recorded.

[0123] Each antenna receives the signal transmitted by the RFID tag, extracts the RSSI and timestamp T data set, calculates the time difference, and infers the angle difference to identify the preliminary movement direction of the RFID tag.

[0124] To ensure data accuracy, Kalman filtering is used to remove reflected interference signals, mark interference signals and perform filtering optimization.

[0125] Finally, the signal arrival time difference and path increment are combined to predict the movement direction of the RFID tag, and the trajectory is smoothed using the sliding average method to generate the final detection result. Some experimental data are as follows:

[0126] Table 1 Original signal dataset S

[0127] Parameters\Test objects Antenna 1-RSSI (dBm) Antenna 2-RSSI (dBm) Antenna 3-RSSI (dBm) Timestamp - T1 (ms) Timestamp - T2 (ms) Timestamp - T3 (ms) Sample 1 -50 -52 -55 100 102 104 Sample 2 -48 -51 -54 105 107 110 Sample 3 -47 -50 -53 115 118 120 Sample 4 -49 -53 -56 130 132 135 Sample 5 -51 -54 -57 140 143 145 Sample 6 -52 -55 -58 150 153 155

[0128] Table 2 Signal set S' after filtering

[0129] Parameters\Test objects Antenna 1-RSSI' (dBm) Antenna 2-RSSI' (dBm) Antenna 3-RSSI' (dBm) Timestamp - T1' (ms) Timestamp - T2' (ms) Timestamp - T3' (ms) Sample 1 -49 -51 -54 101 103 105 Sample 2 -47 -50 -53 106 108 111 Sample 3 -46 -49 -52 116 119 121 Sample 4 -48 -52 -55 131 133 136 Sample 5 -50 -53 -56 141 144 146 Sample 6 -51 -54 -57 151 154 156

[0130] It can be seen from the experimental data Tables 1 and 2 that after the filtering algorithm is processed, the RSSI value and timestamp T of the signal received by each antenna unit are improved. For example, the RSSI received by antenna 1 of sample 1 is improved from -50 dBm to -49 dBm, and the stability of the timestamp is also enhanced, which indicates that the signal path is more of a direct path rather than a reflected path.

[0131] In the analysis of RSSI values ​​and timestamps, the processed data showed reduced signal fluctuations, indicating that the stability of RFID signals has been significantly improved through interference optimization and filtering algorithms.

[0132] It can be inferred that the designed detection method effectively reduces multipath reflection and noise interference in the actual environment, and realizes the accurate detection of the moving direction of the RFID tag.

[0133] Compared with the existing technology, the present invention significantly reduces the signal distortion and direction deviation problems caused by environmental factors, improves the accuracy and stability of the detection results, and optimizes the antenna angle and position layout, combined with real-time data processing and interference filtering technology, so that the system can achieve efficient and stable RFID movement direction detection in complex warehousing environments.

[0134] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present invention may be modified or replaced by equivalents without departing from the spirit and scope of the technical solutions of the present invention, which should all be included in the scope of the claims of the present invention.

Claims

1. A method for detecting the moving direction of RFID tags based on power storage detection, characterized in that: include, Deployment of multi-antenna arrays in warehouse environments; Receive RFID signals in real time and monitor the signal strength data and angle differences received by each antenna; Identify reflection effects caused by facilities or cargo, mark interfering signals, and optimize interference filtering; Dynamically predict the movement direction of the RFID tag based on the optimized signal; Output the test results and update the system log to ensure the complete record of direction detection information; The deployment of the multi-antenna array includes: Determine the main cargo stacking locations and structures within the storage environment, set up multiple layout points, and mark each layout point as a reference point; According to the distance between the reference points and the antenna characteristics, the optimal antenna spacing D is calculated, and the calculation process is as follows: According to the antenna's transmission power P and gain G, calculate the signal coverage radius: in, is the environmental loss constant; The value of the antenna spacing D should be within the range of the signal coverage radius r: in, is the adjustment coefficient; Arrange antenna units at each reference point and adjust the direction angle α of each antenna; After testing the signal receiving strength of each antenna unit, locate the low signal strength area according to the change of the signal strength data value, and readjust the antenna direction angle α in the low signal strength area; After confirming the signal blind area, add additional antenna units and adjust the α angle of the new antenna to cover the attenuation area; The calculation process of the angle difference is as follows: Calculate the signal arrival time difference : According to the signal arrival time difference , calculate the corresponding angle difference : in, is the arrival time of the signal received by the ith antenna, is the arrival time of the signal received by the jth antenna, is the distance between the ith antenna and the jth antenna, c is the speed of light constant, is the path length between the i-th antenna and the j-th antenna.

2. The method for detecting the moving direction of RFID tags based on power storage detection according to claim 1, characterized in that: The identification of reflection effects caused by facilities or goods comprises the following steps: Analyze the changes in the signal arrival timestamp T and the signal strength data RSSI, and identify the reflection path and interference source location by combining the position coordinates and direction angles of each antenna; The direct path length of the signal from the RFID tag to the antenna is: The length of the reflection path is expressed as: in, is the direct path length of the signal from the RFID tag to the antenna, is the signal path length including reflections, is the RFID tag location coordinate, are the coordinates of the inferred reflection point, is the coordinate position of the antenna; By calculating the path increment To mark the multipath reflection signal: Path Increment The calculation of is as follows: in, is the path increment; If the path increment Greater than the preset threshold , then the signal is considered to be a reflected signal and marked as an interference signal; otherwise, the signal is considered to be a direct path signal and not a reflected signal.

3. The method for detecting the moving direction of an RFID tag based on power storage detection as claimed in claim 2, characterized in that: The filtering and optimization of interference includes: The reflected signal is removed using a filtering algorithm to form a filtered signal set S'.

4. The method for detecting the moving direction of an RFID tag based on power storage detection as claimed in claim 3, characterized in that: The dynamic prediction of the moving direction of the RFID tag comprises the following steps: Performing a preliminary determination of the moving direction of the RFID tag according to the signal set S'; The trajectory of the initially determined moving direction is smoothed, the continuous position changes of multiple frame signals are integrated, the direction deviation caused by environmental noise or interference is corrected, and a stable moving direction is obtained.

5. The method for detecting the moving direction of RFID tags based on power storage detection according to claim 4, characterized in that: The preliminary determination of the moving direction of the RFID tag includes: Signal path lengths combined with different antennas Determine the relative position coordinate changes of RFID tags , : in, , are the relative position changes in the horizontal and vertical directions, is the path length of the signal received by antenna 1 and antenna 2, is the path length of the signal received by antenna 1 and antenna 3, is the movement direction angle of the tag relative to the reference coordinate system.

6. The method for detecting the moving direction of an RFID tag based on power storage detection as claimed in claim 5, characterized in that: Obtaining the stable motion direction comprises the following steps: To smooth the trajectory: in, and is the horizontal and vertical position change after smoothing, n is the number of frames used for smoothing, k is the summation index, is the stable motion direction after trajectory smoothing, is the moment after smoothing The change in the lateral position change, is the moment after smoothing The change in the longitudinal position of .

Images