Radio frequency identification (RFID) position calculation method, system and equipment based on Heron bilateral measurement and medium
The RFID positioning method using Heron bilateral measurement and boundary deployment marker mapping solves the problems of high computational complexity and high resource consumption in RFID indoor positioning technology, and realizes a positioning system that is efficient, accurate and cost-effective.
Patent Information
- Application Number
- CN202511189757.4
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-25
- Publication Date
- 2025-11-21
AI Technical Summary
Existing RFID indoor positioning technology suffers from high computational complexity, high resource consumption, significant ranging errors, and insufficient positioning stability. In particular, it is costly and inflexible to deploy in resource-constrained application scenarios.
By employing the Heron bilateral measurement method, combined with Heron's formula and a boundary deployment marker mapping strategy, location estimation and map matching are performed through distance measurement between the RFID reader and the active RFID tag, reducing computational complexity and improving positioning accuracy.
It significantly reduces computational complexity, improves the real-time performance and applicability of positioning systems, reduces positioning drift and error accumulation, lowers equipment deployment costs, and enhances positioning accuracy and system flexibility.
Smart Images
Figure CN120991870A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of location calculation technology, and in particular to an RFID location calculation method, system, device and medium based on Heron bilateral measurement. Background Technology
[0002] In RFID indoor positioning technology, traditional methods mainly rely on trilateration and multilateral measurement to locate target tags. However, these methods have the following major drawbacks, affecting the system's computational complexity, positioning accuracy, and reliability in practical applications.
[0003] Traditional trilateration and polygon surveying methods require solving multiple quadratic equations to calculate the target's coordinates. For example, trilateration requires solving three quadratic equations with two unknowns, while polygon surveying requires solving even more equations, drastically increasing computational complexity. This high computational burden not only increases processing time but also places higher demands on hardware resources, making it unsuitable for real-time positioning applications.
[0004] Traditional trilateration methods typically require at least three RFID readers, while polygonal methods require even more RFID tags and reference markers to ensure sufficient ranging redundancy. However, in resource-constrained real-world applications such as industrial automation and logistics tracking, deploying a large number of RFID devices increases costs and limits the system's deployment flexibility. Summary of the Invention
[0005] In view of the aforementioned existing problems, the present invention is proposed.
[0006] Therefore, in view of the problems of high computational complexity, large resource consumption, significant ranging error and insufficient positioning stability of existing RFID indoor positioning technology, this invention provides an RFID location calculation method, system, device and medium based on Heron bilateral measurement.
[0007] To solve the above-mentioned technical problems, the present invention provides the following technical solution:
[0008] In a first aspect, the present invention provides an RFID location calculation method based on Heron bilateral measurement, comprising:
[0009] The index information is drift-cleared to obtain the processed index information, and the distance between the RFID reader and the active RFID tag is calculated.
[0010] Based on the distance measurement results, the location is estimated using a wireless positioning algorithm;
[0011] After location estimation, the orientation of the target device is estimated using an integrated device;
[0012] Based on the detected locations of landmarks and the relative locations of target devices, an indoor map containing the locations of known landmarks is constructed;
[0013] Using the generated results, the estimated location of the target device is matched with the location of landmarks on the map.
[0014] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, the step of drift-clearing the index information to obtain processed index information and calculating the distance between the RFID reader and the active RFID tag includes:
[0015] The RFID reader in the RFID indoor positioning system reads and receives index information from active RFID tags;
[0016] Determine whether the index information needs to be filtered based on the judgment rules;
[0017] RFID readers are integrated with target devices as targets, and active RFID tags are deployed in the infrastructure as markers of known locations on indoor maps.
[0018] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, the step of performing location estimation based on the distance measurement results using a wireless positioning algorithm includes:
[0019] The geometric position of the target device relative to multiple RFID tags is obtained based on the geometric relationship measured by wireless signals, and the target position is calculated.
[0020] Based on the known tag location and the calculated distance, the location coordinates of the target device are estimated using a wireless positioning algorithm.
[0021] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, the step of estimating the orientation of the target device using an integrated device after location estimation includes:
[0022] The target device of the integrated device generates an indoor map based on the location coordinates of all detected landmarks during the map generation phase, and matches the estimated location coordinates of the target onto the indoor map during the map matching phase.
[0023] The integrated device's screen will display the target's location and direction on an indoor map.
[0024] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, the step of estimating the target device's location coordinates using a wireless positioning algorithm based on the known tag location and the calculated distance is expressed as follows:
[0025]
[0026] In the triangle [(x H1 ,y H1 ),(x,y),(x H2 ,y H2 )]
[0027]
[0028] In this triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]
[0029]
[0030] Where A represents the three vertices (x) H1 ,y H1 ),(x H2 ,y H2 The area of the triangular region formed by (x,y) and (x,y), where s represents the semi-perimeter of the triangular region, and b 12 The distance between two reference RFID tags is known a priori, i.e., (x H1 ,y H1 ) and (x H2 ,y H2 The distance between them is also the base of the triangular region.
[0031] The advantages of this preferred technical solution are as follows: By combining Heron's formula and bilateral measurement, efficient positioning can be achieved by solving only the ranging equations of a pair of RFID tags (markers). Compared with traditional trilateration and polygonal measurement methods, which require solving multiple systems of quadratic equations, this invention can significantly reduce computational complexity and improve the real-time performance and applicability of the positioning system.
[0032] Simultaneously, a boundary deployment marker mapping strategy is proposed, which involves deploying all active RFID tags along the indoor boundary to ensure that the target device's movement area does not exceed the preset range. Compared with traditional methods, this strategy can effectively reduce positioning drift and error accumulation, and improve positioning accuracy in complex environments.
[0033] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, wherein:
[0034] Three sides D H2 ,h 12 and b' 12 Forming a right triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]; where D Hi This represents the distance measurement between the target reader and the i-th reference RFID tag, obtained through measurements between the target reader and the reference RFID tag. (x, y) represents the coordinates of the target reader, while (x, y) represents the coordinates of the target reader. Hi ,y Hi ) represents the coordinates of the i-th reference RFID tag.
[0035] As a preferred embodiment of the RFID location calculation method based on Heron bilateral measurement described in this invention, the step of matching the estimated location of the target device with the location of markers in the map using the generated results includes:
[0036] Using the generated map and the results of location and orientation estimation, the estimated location of the target device is matched with the location of landmarks on the map;
[0037] By comparing the distance between the target location and the landmark, the exact location and direction of the target on the map can be determined.
[0038] Secondly, the present invention provides an RFID location calculation system based on Heron bilateral measurement, comprising:
[0039] The ranging module removes drift from the index information to obtain processed index information, and then calculates the distance between the RFID reader and the active RFID tag.
[0040] The location calculation module estimates the location based on the distance measurement results.
[0041] The target device estimation module estimates the orientation of the target device using an integrated device after the location is estimated.
[0042] The map generation module constructs an indoor map containing the known locations of landmarks based on the detected landmark locations and the relative positions of the target devices.
[0043] The matching module uses the generated results to match the estimated location of the target device with the location of landmarks on the map.
[0044] Thirdly, the present invention provides an electronic device, comprising:
[0045] Memory and processor;
[0046] The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of an RFID location calculation method based on Heron bilateral measurement.
[0047] Fourthly, the present invention provides a computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the RFID location calculation method based on Heron bilateral measurement.
[0048] Compared with the prior art, the beneficial effects of the present invention are as follows:
[0049] Firstly, Heron bilateral measurement is employed to reduce computational complexity. By introducing the Heron bilateral measurement method and combining Heron's formula with bilateral measurement, efficient positioning can be achieved by solving only the ranging equations for a pair of RFID tags (markers). Compared to traditional trilateration and multilateral measurement methods, which require solving multiple quadratic equations, this method significantly reduces computational complexity and improves the real-time performance and applicability of the positioning system.
[0050] Secondly, by combining boundary deployment marker mapping, positioning accuracy is improved. A boundary deployment marker mapping strategy is proposed, which involves deploying all active RFID tags along the indoor boundary to ensure that the movement area of the target device does not exceed the preset range. Compared with traditional methods, this strategy can effectively reduce positioning drift and error accumulation, and improve positioning accuracy in complex environments. Attached Figure Description
[0051] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the following description of the embodiments will be briefly introduced. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0052] Figure 1 This is a schematic diagram of the overall process of an RFID location calculation method based on Heron bilateral measurement according to an embodiment of the present invention.
[0053] Figure 2 This is an application scenario for RFID Heron bilateral positioning estimation as described in one embodiment of the present invention. Detailed Implementation
[0054] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the protection scope of the present invention.
[0055] Example 1, referring to Figure 1 As one embodiment of the present invention, an RFID location calculation method based on Heron bilateral measurement is provided, comprising:
[0056] S1: Drift removal is performed on the index information to obtain the processed index information, and the distance between the RFID reader and the active RFID tag is calculated; the index information is RSSI data used to represent the signal strength, and LQI is used to evaluate the signal quality.
[0057] S2: Based on the distance measurement results, position estimation is performed using a wireless positioning algorithm.
[0058] S3: After location estimation, use the integrated device to estimate the orientation of the target equipment.
[0059] S4: Based on the detected locations of landmarks and the relative positions of the target devices, construct an indoor map containing the locations of known landmarks.
[0060] S5: Using the generated results, match the estimated location of the target device with the location of landmarks on the map.
[0061] It should be noted that in step S1, distance is calculated by drift-clearing the exponential information and optimizing signal quality, which reduces errors and redundancy in subsequent calculations, significantly lowers computational complexity, and reduces reliance on high-performance hardware resources. This solves the problem of heavy computational burden and unsuitability for real-time positioning caused by solving multiple quadratic equations in traditional methods. In step S2, location estimation is performed directly based on the optimized distance, avoiding the rigid requirement of deploying a large number of readers in traditional trilateration / polylateration. Combined with the method of building a map using markers and performing location matching in steps S4 and S5, the number of RFID devices required is greatly reduced, costs are effectively controlled, deployment flexibility is improved, and the problems of high deployment cost and poor flexibility of traditional methods in resource-constrained scenarios are overcome.
[0062] Example 2, refer to Figure 1-2 As an embodiment of the present invention, based on the above embodiment, an RFID location calculation method based on Heron bilateral measurement is provided.
[0063] In this embodiment of the application, step S1, which involves drift clearing of the index information to obtain processed index information and calculating the distance between the RFID reader and the active RFID tag, includes steps A1-A3:
[0064] A1: The RFID reader of the RFID indoor positioning system reads and receives index information from active RFID tags.
[0065] A2: Determine whether the index information needs to be filtered based on the judgment rules.
[0066] A3: RFID readers are integrated with target devices as targets, and active RFID tags are deployed in the infrastructure as markers of known locations on indoor maps.
[0067] It should be noted that the specific implementation methods for steps A1-A3 are as follows:
[0068] Figure 1 A flowchart illustrating a general RFID indoor positioning process is presented. During the RSSI input phase, the RFID reader of the RFID indoor positioning system must read the Received Signal Strength Index (RSSI) and Link Quality Index (LQI) from the active RFID tag. If the LQI of some RSSI input data is too low, it must be filtered out. In this embodiment, the RFID reader is integrated with the target device as the target, while the active RFID tag is deployed in the infrastructure as a marker of a known location on an indoor map.
[0069] In this embodiment of the application, the judgment rule is to filter out invalid data with excessively low LQI by setting a threshold;
[0070] Furthermore, by performing drift removal on the RSSI data, invalid data with excessively low LQI is filtered out. This reduces inaccurate signals caused by signal attenuation or other external interference, ensuring that the received signal quality meets requirements and yielding reliable RSSI data.
[0071] Furthermore, based on the RSSI data after drift removal, the distance between the RFID reader and the active RFID tag is calculated. This distance is obtained by converting the RSSI with a known distance model (such as the path loss model). This step generates distance information between the target device and the tag, providing a basis for subsequent location estimation.
[0072] In an optional embodiment, the judgment rule can also be based on the correlation between RSSI and LQI, analyzing the correlation between RSSI and LQI values. When the signal strength (RSSI) is very low, the signal quality (LQI) may also be poor. If the RSSI is below a certain threshold, the data point is filtered out regardless of the LQI; if the LQI is below the threshold, the corresponding RSSI value is checked, and if the RSSI is also abnormally low or high (which may indicate signal instability or interference), it is filtered out.
[0073] In another optional embodiment, the judgment rule can also be based on data consistency. If there are multiple readers in the system or multiple tags of the same type can be read, the consistency of these redundant data can be compared. If the RSSI / LQI value of tag A read by a certain reader differs significantly from the values of tag A read by other readers, exceeding the preset normal range, then the data of that reader may be problematic, and filtering can be considered.
[0074] In this embodiment of the application, step S2, which involves estimating the location based on the distance measurement result using a wireless positioning algorithm, includes steps B1-B2:
[0075] B1: Obtain the geometric position of the target device relative to the RFID tag based on the geometric relationship measured by wireless signal, and calculate the target position.
[0076] It should be noted that, in the embodiments of this application, the geometric position of the target device relative to the RFID tag is obtained based on the geometric relationship measured by wireless signal, and the target position is calculated. The geometric position of the target device relative to multiple RFID tags is obtained through multiple measurements, and the target position is calculated.
[0077] Preferably, a triangle is constructed based on the ranging results between the target device and the two active RFID tags. The area of the triangle is calculated using the Heron formula, and the perpendicular distance between the target device and the line connecting the tags (i.e., the distance from the target device to the foot of the perpendicular from the line connecting the tags) is calculated by combining the known distance between the tags. Based on the known tag positions, the coordinates of the target device are determined by geometric transformation, thereby achieving two-point positioning.
[0078] In an optional embodiment, the geometric position of the target device relative to the RFID tag is obtained based on the geometric relationship measured by the wireless signal. The target position can be calculated by using the known positions of multiple RFID tags and measured distance information through a multilateral measurement algorithm.
[0079] In another alternative embodiment, the geometric position of the target device relative to the RFID tag is obtained based on the geometric relationship measured by the wireless signal. The target position can be calculated by using the position and velocity of the target device as state variables and combining the measured distance information with the extended Kalman filter algorithm.
[0080] B2: Based on the known tag location and the calculated distance, the location coordinates of the target device are estimated using a wireless positioning algorithm.
[0081] It should be noted that position estimation is performed based on the distance measurement results. This position estimation involves obtaining the geometric position of the target device relative to multiple RFID tags through multiple measurements, and then calculating the target position. This step estimates the target device's position coordinates using the known tag positions and the calculated distances.
[0082] It should be noted that the flowchart of the RFID indoor positioning system (e.g.) Figure 1 As shown in the diagram, distance measurement and position estimation are typically the most time-consuming and error-prone stages. The distance measurement stage is affected by RSSI drift, while the position estimation stage is constrained by distance measurement errors and the computational complexity of multilateral measurements.
[0083] In an optional embodiment, the wireless positioning algorithm is calculated as follows:
[0084] In traditional indoor positioning systems, active RFID tags are typically used for target objects, while RFID readers are deployed directly as markers with location information. Trilateration attempts to estimate the location of the target tag by solving three or more quadratic equations about two unknowns (as shown in Equation (1)).
[0085]
[0086] Among them, D Ti This represents the distance between the target tag and the i-th RFID reader used for trilateration, obtained through measurements between the target tag and the RFID reader. (x, y) represents the location coordinates of the target tag (target), while (x... Ti ,y Ti ) represents the location coordinates of the i-th RFID reader (marker).
[0087] In another optional embodiment, the wireless positioning algorithm is calculated as follows:
[0088] In multilateral measurements, target tag localization relies on reference markers with location information, which requires solving three or more quadratic equations about two unknowns (as shown in Equation (2)). In addition, the reference markers must be located beforehand using an RFID reader.
[0089]
[0090] Among them, D Mi This represents the distance between the target tag and the i-th reference marker, which is obtained through iterative measurements between the target tag, the reference marker, and the RFID reader. (x, y) represents the location coordinates of the target tag (target), while (x... Mi ,y Mi ) represents the location coordinates of the i-th reference RFID tag (marker).
[0091] It should be noted that both trilateration and multilateral surveying still waste a significant amount of redundant RFID reader and tag resources during the location estimation process. Furthermore, both methods neglect certain prior knowledge in indoor positioning, such as deployment topology and quality analysis of wireless sensor networks.
[0092] Preferably, in this embodiment of the application, to simplify the computational complexity of solving three or more quadratic equations with two or more unknowns (as shown in formula (1) or (2)), this embodiment proposes an RFID Heron bilateral measurement location estimation algorithm. This method uses only one portable RFID reader as the target device and utilizes a pair of active RFID tags for boundary deployment marker mapping, such as... Figure 2 As shown. The specific calculation method is as follows:
[0093] The proposed location estimation algorithm combines Heron's formula and bilateral measurements, relying on only a pair of active RFID tags (markers) to efficiently calculate the location information of the target reader (target), such as... Figure 2 As shown. The proposed boundary deployment marker mapping method arranges all active RFID tags as markers along the indoor map boundary (e.g., Figure 2 As shown), this method ensures that the target reader (target) does not appear outside the boundary of the indoor space. Therefore, this method only requires a pair of active RFID tags (markers) to perform bilateral measurements and Heron's formula calculations, without the need for traditional trilateration, and also avoids the computational complexity of solving three quadratic equations with two unknowns.
[0094] The principle of the RFID Heron bilateral measurement position estimation algorithm will be explained in detail in formulas (3)–(5).
[0095]
[0096] In this triangle [(x H1 ,y H1 ),(x,y),(x H2 ,y H2 )]
[0097]
[0098] In this triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]
[0099]
[0100] Where A represents the three vertices (x) H1 ,y H1 ),(x H2 ,y H2 b is the area of the triangular region formed by (x,y) and (x,y), where s represents the semi-perimeter of the triangular region. 12 The distance between two reference RFID tags is known a priori, i.e., (x H1 ,y H1 ) and (x H2 ,y H2 The distance between ) is also the base of the triangular region.
[0101] It is important to note that the three edges D H2 ,h 12 and b ' 12 It forms an important and meaningful right triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]. Among them, D Hi This represents the distance between the target reader and the i-th reference RFID tag, which can be directly obtained through measurements between the target reader and the reference RFID tag. (x, y) represents the coordinates of the target reader (target), while (x...y...) represents the distance between the target reader (target) and the reference RFID tag. Hi ,y Hi ) represents the coordinates of the i-th reference RFID tag (marker).
[0102] In this embodiment of the application, step S3, after location estimation, uses an integrated device to estimate the orientation of the target device, including steps C1-C2:
[0103] C1: The target device of the integrated device generates an indoor map based on the location coordinates of all detected landmarks during the map generation phase, and matches the estimated location coordinates of the target onto the indoor map during the map matching phase.
[0104] C2: The screen of the integrated device will display the target's location and direction on the indoor map.
[0105] It should be noted that, in the map matching stage of this application embodiment, the nearest neighbor matching method is used to calculate the Euclidean distance between the estimated coordinates (x,y) and the known physical feature boundaries (walls, corridor center lines, label deployment lines) in the indoor map, and the area with the smallest distance is selected for projection matching.
[0106] It should be noted that, in the embodiments of this application, the integrated device uses an integrated digital compass to estimate the orientation of the target device. Through orientation estimation, the system can determine the orientation of the target device relative to the map, providing directional information for accurate positioning and navigation.
[0107] The integrated device acquires the current magnetic field vector component (H) of the target device through an integrated triaxial magnetometer (digital compass). x H y ), and through the arctangent function θ=atan2(H y H x The heading angle of the calculated device relative to geographic north is used as a direction estimate for the target device in map display and navigation guidance.
[0108] In an alternative embodiment, the integrated device may be a portable terminal.
[0109] In another alternative embodiment, the integration device may be a fixed terminal.
[0110] In this embodiment of the application, step S4 involves constructing an indoor map containing the known locations of landmarks based on the detected locations of landmarks and the relative positions of the target devices.
[0111] Furthermore, based on the orientation and location information, the system begins to generate an indoor map. This step constructs an indoor map containing the known locations of landmarks based on the detected landmark locations and the relative positions of the target device. The accuracy of map generation directly affects the subsequent map matching and positioning accuracy.
[0112] In this embodiment of the application, step S5 uses the generated results to match the estimated location of the target device with the location of landmarks in the map.
[0113] Furthermore, using the generated map and the results of location and orientation estimation, the estimated location of the target device is matched with the locations of landmarks on the map. This step determines the exact location and orientation of the target on the map by comparing the distances between the target location and the landmarks. The accuracy of map matching is crucial for the final location determination.
[0114] In this embodiment, the matching step includes calculating the geometric distance error between the target device and each marker on the map, and combining this with the estimated angular error between the azimuth and the direction of the line connecting the markers to construct a matching cost function. The marker with the minimum cost is selected as the reference point, thereby achieving accurate matching between the target device's location and the map. This process provides high-precision support for final location determination. The specific implementation is as follows:
[0115] RFID location estimation Collection of landmarks in indoor maps Perform matching and determine its credibility, location attribution, and directional constraints.
[0116] For each landmark T in the map i Calculate its Euclidean distance from the estimated location by RFID, expressed as:
[0117]
[0118] And define the consistency error as follows:
[0119] e i =|d i -D i |
[0120] Define the position matching residual function as follows:
[0121]
[0122] Among them, w i Represented as a weight related to LQI or RSSI quality, reflecting the confidence level of the i-th label.
[0123] Given estimated direction angle A directional consistency index can be defined, which is connected to the label in the direction of the line. The error is expressed as:
[0124]
[0125] Construct a direction consistency penalty term, expressed as:
[0126]
[0127] Among them, v iThe confidence level of the direction constraint on that point (can be set as a constant or depend on the stability of the step direction).
[0128] Furthermore, if If the map extends beyond the map boundary, then projection is performed:
[0129]
[0130] The corrected position is:
[0131]
[0132] The above errors are integrated into a total matching cost function:
[0133]
[0134] Where α, β, and γ are hyperparameters used to adjust the importance of position error, orientation error, and boundary penalty; II is an indicator function: 1 if the point is outside the boundary, and 0 otherwise.
[0135] The ultimate goal is to select The smallest matching point is used as the final display coordinates of the target device.
[0136] It should be noted that the RSSI input data is converted into the geometric distance between the target (RFID reader) and the marker (RFID tag). After obtaining the correct measured distance, the target device with integrated RFID reader enters the position estimation stage and executes several position estimation methods to handle multiple distance measurements between the target (RFID reader) and the marker (RFID tag). Simultaneously, the target's orientation is evaluated by a digital compass during the orientation estimation stage. Subsequently, the target device with integrated RFID reader generates a known and suitable indoor map based on the position coordinates of all detected markers during the map generation stage, and matches the estimated position coordinates of the target onto the aforementioned indoor map during the map matching stage. Finally, the target device with integrated RFID reader displays the target's position and orientation on the indoor map on its screen.
[0137] Example 3 illustrates an RFID location calculation method based on Heron bilateral measurement. It should be noted that the technical solution of this RFID location calculation system based on Heron bilateral measurement belongs to the same concept as the RFID location calculation method based on Heron bilateral measurement described above. Details not described in detail in this example of the RFID location calculation system based on Heron bilateral measurement can be found in the description of the RFID location calculation method based on Heron bilateral measurement described above.
[0138] This embodiment also provides an RFID location calculation system based on Heron bilateral measurement, including:
[0139] The ranging module removes drift from the index information to obtain processed index information, and then calculates the distance between the RFID reader and the active RFID tag.
[0140] The location calculation module estimates the location based on the distance measurement results.
[0141] The target device estimation module estimates the orientation of the target device using an integrated device after the location is estimated.
[0142] The map generation module constructs an indoor map containing the known locations of landmarks based on the detected landmark locations and the relative positions of the target devices.
[0143] The matching module uses the generated results to match the estimated location of the target device with the location of landmarks on the map.
[0144] This embodiment also provides an electronic device applicable to an RFID location calculation based on Heron bilateral measurement, comprising: a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the RFID location calculation method based on Heron bilateral measurement as proposed in the above embodiment.
[0145] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements an RFID location calculation method based on Heron bilateral measurement as proposed in the above embodiments.
[0146] The storage medium proposed in this embodiment and the RFID location calculation method based on Heron bilateral measurement proposed in the above embodiment belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.
[0147] Based on the above description of the implementation methods, those skilled in the art will clearly understand that the present invention can be implemented using software and necessary general-purpose hardware, and of course, it can also be implemented using hardware. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as a computer floppy disk, read-only memory (ROM), random access memory (RAM), flash memory, hard disk, or optical disk, etc., including several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute the methods of the various embodiments of the present invention.
[0148] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.
Claims
1. An RFID location calculation method based on Heron bilateral measurement, characterized in that, include: The index information is drift-cleared to obtain the processed index information, and the distance between the RFID reader and the active RFID tag is calculated. Based on the distance measurement results, the location is estimated using a wireless positioning algorithm; After location estimation, the orientation of the target device is estimated using an integrated device; Based on the detected locations of landmarks and the relative locations of target devices, an indoor map containing the locations of known landmarks is constructed; Using the generated results, the estimated location of the target device is matched with the location of landmarks on the map.
2. The RFID location calculation method based on Heron bilateral measurement as described in claim 1, characterized in that, The process of drift-clearing the index information to obtain processed index information and calculating the distance between the RFID reader and the active RFID tag includes: The RFID reader in the RFID indoor positioning system reads and receives index information from active RFID tags; Determine whether the index information needs to be filtered based on the judgment rules; RFID readers are integrated with target devices as targets, and active RFID tags are deployed in the infrastructure as markers of known locations on indoor maps.
3. The RFID location calculation method based on Heron bilateral measurement as described in claim 2, characterized in that, The step of estimating the location based on the distance measurement results using a wireless positioning algorithm includes: The geometric position of the target device relative to multiple RFID tags is obtained based on the geometric relationship measured by wireless signals, and the target position is calculated. Based on the known tag location and the calculated distance, the location coordinates of the target device are estimated using a wireless positioning algorithm.
4. The RFID location calculation method based on Heron bilateral measurement as described in claim 3, characterized in that, The step of estimating the orientation of the target device using an integrated device after location estimation includes, The target device of the integrated device generates an indoor map based on the location coordinates of all detected landmarks during the map generation phase, and matches the estimated location coordinates of the target onto the indoor map during the map matching phase. The integrated device's screen will display the target's location and direction on an indoor map.
5. The RFID location calculation method based on Heron bilateral measurement as described in claim 4, characterized in that, The location coordinates of the target device are estimated using a wireless positioning algorithm based on the known tag location and the calculated distance, and are expressed as follows: In triangle [(x H1 ,y H1 ),(x,y),(x H2 ,y H2 )]middle; ∵ ∴ In triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]middle; ∵ ∴ Where A represents the three vertices (x) H1 ,y H1 ),(x H2 ,y H2 The area of the triangular region formed by (x,y) and (x,y), where s represents the semi-perimeter of the triangular region, and b 12 The distance between two reference RFID tags is known a priori.
6. The RFID location calculation method based on Heron bilateral measurement as described in claim 5, characterized in that, Three sides D H2 ,h 12 and b' 12 Forming a right triangle [(x H2 ,y),(x,y),(x H2 ,y H2 )]; where D Hi This represents the distance measurement between the target reader and the i-th reference RFID tag, obtained through measurement between the target reader and the reference RFID tag. (x,y) represents the coordinates of the target reader. Hi ,y Hi ) represents the coordinates of the i-th reference RFID tag.
7. The RFID location calculation method based on Heron bilateral measurement as described in claim 6, characterized in that, The step of matching the estimated location of the target device with the location of landmarks in the map using the generated results includes: Using the generated map and the results of location and orientation estimation, the estimated location of the target device is matched with the location of landmarks on the map; By comparing the distance between the target location and the landmark, the exact location and direction of the target on the map can be determined.
8. An RFID location calculation system based on Heron bilateral measurement, using the method described in any one of claims 1-7, characterized in that, include: The ranging module removes drift from the index information to obtain processed index information, and then calculates the distance between the RFID reader and the active RFID tag. The location calculation module estimates the location based on the distance measurement results. The target device estimation module estimates the orientation of the target device using an integrated device after the location is estimated. The map generation module constructs an indoor map containing the known locations of landmarks based on the detected landmark locations and the relative positions of the target devices. The matching module uses the generated results to match the estimated location of the target device with the location of landmarks on the map.
9. An electronic device, comprising: Memory and processor; The memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions, which, when executed by the processor, implement the steps of the RFID location calculation method based on Heron bilateral measurement as described in any one of claims 1 to 7.
10. A computer-readable storage medium storing computer-executable instructions that, when executed by a processor, implement the steps of the RFID location calculation method based on Heron bilateral measurement as described in any one of claims 1 to 7.