CN118317255A - RFID-based object space position tracking system and method - Google Patents
RFID-based object space position tracking system and method Download PDFInfo
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/029—Location-based management or tracking services
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- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/02—Services making use of location information
- H04W4/021—Services related to particular areas, e.g. point of interest [POI] services, venue services or geofences
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- H—ELECTRICITY
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- H04W4/00—Services specially adapted for wireless communication networks; Facilities therefor
- H04W4/80—Services using short range communication, e.g. near-field communication [NFC], radio-frequency identification [RFID] or low energy communication
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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Abstract
The application relates to an article space position tracking system and method based on RFID, which relates to the field of article positioning technology, wherein the method comprises the steps of obtaining equipment reading signals and signal intensity values; determining a required positioning target according to the equipment reading signal; establishing a detection interval and determining a signal change value according to signal intensity values of a front end point and a rear end point of a device reading signal in the detection interval; determining a signal change value with the largest value and the second largest value according to the ordering rule, defining a standard signal, and acquiring the actual position of the standard signal; determining a theoretical position of a standard signal according to a signal intensity value of the standard signal, and determining a theoretical position of a positioning signal according to a signal intensity value of a required positioning target; and determining a position offset value according to the actual position of the standard signal and the theoretical position of the standard signal, and correcting the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined. The application has the effect of effectively tracking and positioning the position of the article in space.
Description
Technical Field
The application relates to the field of article positioning technology, in particular to an article space position tracking system and method based on RFID.
Background
Along with the development of wireless positioning technology, the research on the positioning technology is changed from outdoor to indoor, and the passive UHF RFID positioning technology can quickly identify and sense targets in a complex indoor environment and has the advantages of low cost, easy deployment, high reliability, readability and the like, so that the passive UHF RFID positioning technology is one of the most popular technologies in indoor positioning.
In the related art, when an article is positioned, an RFID reader-writer is used for reading signals of an RFID chip, and the position of the chip is determined by receiving the strength of the signals, so that the article is positioned.
In view of the above-mentioned related art, the inventors consider that in the process of measuring and acquiring the received signal strength, since the signal is a wireless signal, the signal is easily affected by the external environment, and the overall signal may be poor, and at this time, there is room for improvement because the overall effect of positioning the object in space is poor.
Disclosure of Invention
In order to effectively track and position an article in space, the application provides an article space position tracking system and method based on RFID.
In a first aspect, the present application provides a method for tracking a spatial position of an article based on RFID, which adopts the following technical scheme:
an RFID-based item spatial location tracking method, comprising:
Acquiring device reading signals and corresponding signal intensity values of all reading and writing devices in a preset identification area;
Determining a required positioning target according to the equipment reading signal when the equipment reading signal has the equipment reading signal which is not in the preset fixed signal set;
a detection interval with the current time point as a rear end point and the width as a preset unit duration is established on a preset time axis, and difference value calculation is carried out according to signal intensity values of the front end point and the rear end point of the signal reading detection interval of equipment in the fixed signal set so as to determine a signal change value;
Determining a signal variation value with the largest value and a second largest value according to a preset ordering rule, defining corresponding signals in a fixed signal set as standard signals, and acquiring the actual positions of the standard signals;
Calculating according to the signal intensity value obtained by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculating according to the signal intensity value obtained by the demand positioning target at the current time point to determine the theoretical position of the positioning signal;
And calculating according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and correcting the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined.
By adopting the technical scheme, when the object entering the identification area is subjected to position location tracking, the object location precision condition is determined through the change condition of the known fixed position signals, so that the location condition can be effectively corrected, and the position of the object in space can be effectively tracked and located.
Optionally, after the standard signal is determined, the method for tracking the spatial position of the article based on the RFID further comprises:
performing difference calculation according to two signal variation values of the standard signal to determine a variation difference value;
judging whether the variation difference is larger than a preset reference difference or not;
if the variation difference is not greater than the reference difference, maintaining the defined standard signal;
And if the variation difference is larger than the reference difference, canceling the standard signal with smaller signal variation value in the two standard signals.
By adopting the technical scheme, when the difference of the change difference values of the two signals is larger, the target object is closer to the signal with larger change difference value, and the other standard signal is canceled at the moment so that the object positioning and tracking are more accurate.
Optionally, the step of calculating according to the actual position of the standard signal and the theoretical position of the standard signal to determine the position offset value includes:
pointing to the actual position of the standard signal according to the theoretical position of the standard signal to determine an offset direction, and determining an offset distance according to the theoretical position of the standard signal and the actual position of the standard signal;
counting according to the standard signals to determine the standard number of the signals;
judging whether the standard number of the signals is one;
If the standard number of the signals is one, determining a position offset value according to the offset direction and the offset distance of the unique standard signals;
if the standard number of the signals is not one, determining an offset vector according to the offset direction and the offset distance of each standard signal, and combining the two offset vectors to determine a position offset value.
By adopting the technical scheme, more effective position offset values can be determined for article positioning correction.
Optionally, after the offset vector is determined, the method for tracking the spatial position of the article based on the RFID further comprises:
connecting the theoretical positions of the two standard signals to form a theoretical line segment, and determining the whole length of the line segment according to the theoretical line segment;
Carrying out vertical projection on the theoretical position of the positioning signal on the theoretical line segment to determine a signal projection point;
determining the distance between the projection points according to the distance between the signal projection points and the theoretical position of the standard signal;
and calculating according to the distance between the projection points and the whole length of the line segment to determine the influence duty ratio, and correcting and updating the offset vector according to the influence duty ratio.
By adopting the technical scheme, the offset vector can be updated so that the position offset value determined later is more accurate.
Optionally, after the signal change value is determined, the method for tracking the spatial position of the article based on the RFID further comprises:
Judging whether at least three signals with the same and maximum signal change values exist or not;
If at least three signals with the same and the maximum signal variation values exist, determining signal separation distances according to the standard signal actual positions and the positioning signal theoretical positions of the signals;
determining the signal interval distance with the smallest value and the second smallest value in the signal interval distances according to the ordering rule, and determining the signal corresponding to the signal interval distance as a standard signal;
if at least three signals with the same and the largest signal variation values do not exist, judging whether at least two signals with the same and the second largest signal variation values exist or not;
if at least two signals with the same signal change value and the second largest signal do not exist, normal standard signal determination is performed;
if at least two signals with the same signal change value and the second largest signal exist, the corresponding signal is defined as an alternative signal, the signal with the largest signal change value is defined as a feasible signal, and the alternative distance is determined according to each alternative signal and the feasible signal;
and determining the candidate distance with the smallest value according to the sorting rule, and determining the candidate signal corresponding to the candidate distance and the feasible signal as standard signals.
By adopting the technical scheme, when a plurality of signals meeting the requirements exist, the signals can be analyzed to determine the more proper standard signals for use.
Optionally, after the alternative distance-to-separation determination, the RFID-based item spatial location tracking method further includes:
judging whether at least two alternative signals with the smallest alternative distance and the same alternative distance exist or not;
if at least two alternative signals with the smallest alternative distance and the same alternative signal do not exist, determining the unique alternative signal as a standard signal;
If at least two alternative signals with the smallest alternative distance and the same alternative distance exist, a current time point is taken as a rear end point on a time axis to establish a fixed interval with the width being the preset fixed duration;
Screening is carried out in a fixed interval according to the theoretical position of the positioning signal so as to define a standard signal corresponding to the theoretical position of the positioning signal as a binding signal;
counting in the binding signals according to the current alternative signals to determine binding times;
And determining the binding times with the largest numerical value according to the ordering rule, so as to determine the alternative signal corresponding to the binding times as the standard signal.
By adopting the technical scheme, when a plurality of alternative signals meeting the requirements exist, the more suitable alternative signals can be determined to be used according to the specific binding condition of the signals under the historical condition.
In a second aspect, the present application provides an RFID-based spatial location tracking system for an article, which adopts the following technical scheme:
an RFID-based item spatial location tracking system, comprising:
the acquisition module is used for acquiring equipment reading signals of all the read-write equipment in the preset identification area and corresponding signal intensity values;
the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
The judging module is connected with the acquisition module and the processing module and is used for judging information;
When the judging module judges that the equipment reading signal has the equipment reading signal which is not in the preset fixed signal set, the processing module determines a required positioning target according to the equipment reading signal;
The processing module establishes a detection interval with a current time point as a rear end point and a width as a preset unit duration on a preset time axis, and performs difference value calculation according to signal intensity values of a front end point and a rear end point of a device reading signal in the fixed signal set in the detection interval to determine a signal change value;
The processing module determines a signal change value with the largest numerical value and the second largest numerical value according to a preset ordering rule, defines corresponding signals in the fixed signal set as standard signals, and enables the acquisition module to acquire the actual positions of the standard signals;
The processing module calculates according to the signal intensity value obtained by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculates according to the signal intensity value obtained by the demand positioning target at the current time point to determine the theoretical position of the positioning signal;
The processing module calculates according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and corrects the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined.
By adopting the technical scheme, when the object entering the identification area is subjected to position location tracking, the processing module determines the object location precision condition through the change condition of the known fixed position signal, so that the location condition can be effectively corrected, and the position of the object in space can be effectively tracked and located.
In summary, the present application includes at least one of the following beneficial technical effects:
when the object is positioned and tracked, the positioning condition of the position of the current target object is determined according to the signal change condition of the signal at the known fixed position, so that the object positioning condition can be corrected to realize effective tracking and positioning of the object;
The position of the article can be accurately determined according to the influence condition of the article on the surrounding fixed signals, so that the article positioning can be corrected by determining a more accurate position offset value.
Drawings
FIG. 1 is a flow chart of a method of tracking the spatial position of an item based on RFID.
Fig. 2 is a flow chart of a standard signal determination method.
Fig. 3 is a flowchart of a position offset value determination method.
Fig. 4 is a flowchart of an offset vector update method.
Fig. 5 is a flow chart of a standard signal screening method.
Fig. 6 is a flow chart of an alternative signal screening method.
FIG. 7 is a block flow diagram of a method for tracking the spatial position of an item based on RFID.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to fig. 1 to 7 and the embodiments. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
Embodiments of the application are described in further detail below with reference to the drawings.
The embodiment of the application discloses an article space position tracking method based on RFID, which is characterized in that when an article enters an identification area to need to perform position positioning tracking, a signal of an RFID chip on the article is read, a theoretical position is determined according to the signal condition, and then the position of the current article is corrected according to the position deviation condition of surrounding fixed signals, so that the article is positioned more accurately, and the effective positioning tracking of the article is realized.
Referring to fig. 1, the method flow of the RFID-based item spatial location tracking method includes the steps of:
Step S100: and acquiring device reading signals and corresponding signal intensity values of all the read-write devices in the preset identification area.
The identification area is an area where the position of the article is required to be positioned, the read-write equipment is an RFID reader which is arranged in the identification area and can read an RFID chip in the identification area, the equipment read signal is an RFID signal read by the read-write equipment, and the signal intensity value is the signal intensity value of each equipment read signal.
Step S101: determining a desired positioning target according to the device reading signal when the device reading signal has the device reading signal which is not in the preset fixed signal set.
The fixed signal set is a set of signals of an RFID chip which is installed in advance and can be read by the read-write equipment, and the corresponding RFID signal collecting position is fixed, namely the position of the installed tag which can be read by the read-write equipment is fixed; when the equipment reading signal has the equipment reading signal which is not in the fixed signal set, the position where the external object enters the reading and writing equipment is indicated, and the object is required to be positioned according to the reading and writing equipment; the object to be positioned, i.e. the object to be positioned and tracked, can be determined according to the read signal of the read device.
Step S102: and establishing a detection interval taking the current time point as a rear end point and the width as a preset unit duration on a preset time axis, and performing difference value calculation according to signal intensity values of the front end point and the rear end point of the signal reading detection interval of equipment in the fixed signal set to determine a signal change value.
The time axis is a coordinate axis formed by combining time points, the unit time length is a fixed value time length which is set by a worker and can record the instantaneous change situation of the data, and the detection interval is established to acquire the change situation of the data and analyze the change situation of the data subsequently; the signal change value is a signal strength change value which occurs in a unit time when the signal in the fixed signal set is read by the read-write equipment of the required positioning target, and the value is an absolute value.
Step S103: determining a signal variation value with the largest value and a second largest value according to a preset ordering rule, defining a signal corresponding to the fixed signal set as a standard signal, and acquiring the actual position of the standard signal.
The sequencing rule is a method which is set by staff and can sequence the values, such as an bubbling method, and the signal change value with the largest value and the second largest value can be determined through the sequencing rule, namely, after a target to be positioned enters an area, the influence on signals corresponding to the two signal change values is the largest, namely, the target to be positioned is positioned between the two signals, and at the moment, standard signals are defined to distinguish different signals, so that the analysis of subsequent steps is facilitated; the actual position of the standard signal is the actual fixed position of the standard signal in space, and the standard signal can be searched and obtained in a corresponding database according to each signal.
Step S104: and calculating according to the signal intensity value acquired by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculating according to the signal intensity value acquired by the demand positioning target at the current time point to determine the theoretical position of the positioning signal.
The theoretical position of the standard signal is the position where the standard signal obtained by carrying out position conversion according to the signal intensity value determined by the standard signal at the current time point is in the theoretical situation, and the calculation method of the signal intensity value and the position is a routine technical means of the person skilled in the art and is not described in detail; the theoretical position of the positioning signal is the position where the target is expected to be in under the theoretical situation, which is determined by the required positioning target according to the acquired signal intensity value.
Step S105: and calculating according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and correcting the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined.
The position deviation value is a position deviation value between the actual position and the theoretical position of the standard signals, a specific calculation method is described below, and the theoretical position of the positioning signal is corrected according to the position deviation values determined by the two standard signals, so that the position of the target to be determined can be obtained, and the position of the target to be determined at the moment can be more accurate to represent the position point of the actual position of the target to be positioned, so that tracking of the object on the spatial position is effectively realized.
Referring to fig. 2, after the standard signal is determined, the method for tracking the spatial position of the article based on the RFID further comprises:
step S200: and carrying out difference calculation according to the two signal variation values of the standard signal to determine a variation difference value.
The variation difference is the difference of the signal variation values of the two standard signals, which is determined as an absolute value.
Step S201: and judging whether the variation difference value is larger than a preset reference difference value.
The reference difference value is the minimum change difference value which is set by a worker and needs to be met when the signal change values of the two standard signals are determined to have larger difference, and the purpose of judgment is to know whether the influences on the two standard signals are the same.
Step S2011: if the variation difference is not greater than the reference difference, the defined standard signal is maintained.
When the variation difference is not greater than the reference difference, it is indicated that the two standard signals are affected by the desired positioning target by a small difference, and the determined standard signals are maintained for subsequent calculation.
Step S2012: and if the variation difference is larger than the reference difference, canceling the standard signal with smaller signal variation value in the two standard signals.
When the variation difference is larger than the reference difference, the influence of one of the standard signals is obviously larger than the influence of the other standard signal, namely, the required positioning target is closer to the standard signal with larger signal variation value, and the reference meaning of the variation data brought by the standard signal with smaller signal variation value is limited at the moment, so that the corresponding standard signal is cancelled to enable the subsequent calculation to be more accurate.
Referring to fig. 3, the step of calculating to determine the position offset value according to the standard signal actual position and the standard signal theoretical position includes:
Step S300: the standard signal theoretical position of the standard signal is pointed to the standard signal actual position to determine the offset direction according to the standard signal theoretical position, and the offset distance is determined according to the standard signal theoretical position and the standard signal actual position.
The offset direction is the direction pointing to the actual position of the standard signal by taking the theoretical position of the standard signal as the starting point, and the offset distance is the linear interval distance between the theoretical position of the standard signal and the actual position of the standard signal.
Step S301: counting is performed according to the standard signals to determine the standard number of signals.
The standard number of signals is the total number of standard signals determined.
Step S302: and judging whether the standard number of the signals is one.
The purpose of the determination is to know whether there is only one standard signal.
Step S3021: if the standard number of the signals is one, determining a position offset value according to the offset direction and the offset distance of the unique standard signal.
When the standard number of the signals is one, the standard signal is canceled, that is, the positions of the required positioning target and the current standard signal are close, and the position deviation conditions of the required positioning target and the current standard signal are about the same, so that the corresponding position deviation value is determined according to the deviation direction and the deviation distance of the standard signal for correcting the position of the required positioning target.
Step S3022: if the standard number of the signals is not one, determining an offset vector according to the offset direction and the offset distance of each standard signal, and combining the two offset vectors to determine a position offset value.
When the standard number of the signals is not one, two standard signals exist, namely, the influence caused by the two standard signals needs to be referred to at the moment; in this case, an offset vector having a direction and a length can be obtained from the offset direction and the offset distance of each standard signal, and the two offset vectors are combined to determine a new vector having a direction and a length, that is, a position offset value, by a parallelogram calculation method.
Referring to fig. 4, after the offset vector is determined, the RFID-based item space position tracking method further includes:
Step S400: and connecting the theoretical positions of the two standard signals to form a theoretical line segment, and determining the whole length of the line segment according to the theoretical line segment.
After the offset vectors are determined, since the influence caused by the signals corresponding to each offset vector is different, further analysis is required to improve the accuracy of the position offset value determined later; the theoretical line segment is a line segment taking two standard signal theoretical positions as endpoints, and the whole length of the line segment is the length value of the theoretical line segment.
Step S401: and vertically projecting the theoretical position of the positioning signal on the theoretical line segment to determine a signal projection point.
The signal projection point is a projection point obtained by locating a signal theory position on a theory line segment and performing vertical projection.
Step S402: and determining the separation distance of the projection points according to the distance between the signal projection points and the theoretical position of the standard signal.
The distance between projection points is the linear distance between the signal projection point and the theoretical position of the standard signal.
Step S403: and calculating according to the distance between the projection points and the whole length of the line segment to determine the influence duty ratio, and correcting and updating the offset vector according to the influence duty ratio.
The larger the value is, the smaller the distance between the projection points is, namely the closer the corresponding target is to the corresponding standard signal, and at the moment, correction and update of the offset vector can be realized according to the value of the influence duty ratio multiplied by the length value of the original offset vector, so that the position offset value obtained by the subsequent calculation according to the offset vector is more accurate.
Referring to fig. 5, after the signal change value is determined, the method for tracking the spatial position of the article based on the RFID further includes:
step S500: and judging whether at least three signals with the same and maximum signal change values exist.
The purpose of the determination is to know whether there are a plurality of signals that can be used as standard signals.
Step S5001: if at least three signals with the same and the maximum signal variation values exist, determining the signal separation distance according to the standard signal actual position and the positioning signal theoretical position of each signal.
When at least three signals with the same and the largest signal variation value exist, the condition that a plurality of signals meeting the requirements exist is indicated, and further screening is needed; the signal separation distance is the distance value between the determined signal which can meet the requirement and the theoretical position of the target required to be positioned.
Step S501: and determining the signal separation distance with the smallest value and the second smallest value in the signal separation distances according to the ordering rule, and determining the signal corresponding to the signal separation distance as a standard signal.
The signal distance with the smallest value and the second smallest value can be determined through the sorting rule, namely, the corresponding signal is closer to the actual position of the object at the moment, and the signal is defined as a standard signal for subsequent analysis and processing.
Step S5002: if at least three signals with the same and the largest signal variation value do not exist, judging whether at least two signals with the same and the second largest signal variation value exist.
When at least three signals with the same and maximum signal variation values do not exist, the method indicates that at most only two signals meeting the requirements exist, when only two signals exist, the signals are determined to be the only standard signals, the subsequent step processing is not needed, and when only the only maximum signal exists, the other standard signal is further determined; the purpose of the determination is to know whether there are multiple signals that can become the second standard signal.
Step S50021: and if at least two signals with the same signal change value and the second largest signal does not exist, normal standard signal determination is performed.
When at least two signals with the same signal change value and the second largest signal do not exist, only the signal meeting the requirement is indicated, and the standard signal determination is normally carried out at the moment.
Step S50022: if at least two signals with the same signal change value and the second largest signal change value exist, the corresponding signal is defined as an alternative signal, the signal with the largest signal change value is defined as a feasible signal, and the alternative distance is determined according to each alternative signal and the feasible signal.
When at least two signals with the same signal change value and the second largest signal exist, a plurality of signals meeting the requirements are indicated to exist, and at the moment, alternative signals and feasible signals are defined to identify and distinguish different signals, so that the subsequent further screening is facilitated; the alternative distance is the distance value between the label corresponding to the alternative signal and the label corresponding to the feasible signal.
Step S502: and determining the candidate distance with the smallest value according to the sorting rule, and determining the candidate signal corresponding to the candidate distance and the feasible signal as standard signals.
The candidate distance with the smallest value can be determined through the sorting rule, namely, the label of the corresponding candidate signal under the candidate distance is closest to the label of the feasible signal, the probability that the target to be positioned is required to be positioned is larger, and the corresponding candidate signal is determined to be the standard signal.
Referring to fig. 6, after the alternative stand-off distance determination, the RFID-based item spatial location tracking method further includes:
step S600: it is determined whether there are at least two candidate signals that are the smallest and identical in distance apart.
The purpose of the determination is to know whether there are multiple alternative signals that meet the distance requirement.
Step S6001: if there are no at least two candidate signals that are the smallest and identical in distance apart, the unique candidate signal is determined to be the standard signal.
When at least two alternative signals with the minimum separation distance and the same alternative signal do not exist, only one alternative signal meeting the requirement is indicated, and the standard signal determination is normally carried out.
Step S6002: if at least two alternative signals with the smallest alternative distance and the same alternative distance exist, the current time point is taken as a rear end point on a time axis to establish a fixed interval with the width being the preset fixed duration.
When at least two alternative signals with the smallest alternative distance and the same alternative signal exist, a plurality of alternative signals meeting the requirements are indicated to exist, and then further screening is needed; the fixed time length is the time length which is set by the staff and can collect the historical data, the time length is the fixed value time length which is set by the staff according to the actual situation, and a fixed interval is established so as to collect and acquire the data.
Step S601: and screening according to the theoretical position of the positioning signal in the fixed interval so as to define the standard signal corresponding to the theoretical position of the positioning signal as a binding signal.
Binding signals are standard signals corresponding to the theoretical positions of the determined positioning signals in the fixed interval.
Step S602: counting in the binding signal according to the current alternative signal to determine the binding times.
The binding times are the total times when the current alternative signal is determined to be a standard signal in the fixed interval under the theoretical position of the positioning signal.
Step S603: and determining the binding times with the largest numerical value according to the ordering rule, so as to determine the alternative signal corresponding to the binding times as the standard signal.
The binding times with the largest numerical value can be determined through the ordering rule, namely, the suitability value of the candidate signal corresponding to the binding times and the current article position is higher, and the candidate signal is determined to be a standard signal at the moment so as to facilitate the analysis of the subsequent steps.
Referring to fig. 7, based on the same inventive concept, an embodiment of the present invention provides an RFID-based item space position tracking system, including:
the acquisition module is used for acquiring equipment reading signals of all the read-write equipment in the preset identification area and corresponding signal intensity values;
the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
The judging module is connected with the acquisition module and the processing module and is used for judging information;
When the judging module judges that the equipment reading signal has the equipment reading signal which is not in the preset fixed signal set, the processing module determines a required positioning target according to the equipment reading signal;
The processing module establishes a detection interval with a current time point as a rear end point and a width as a preset unit duration on a preset time axis, and performs difference value calculation according to signal intensity values of a front end point and a rear end point of a device reading signal in the fixed signal set in the detection interval to determine a signal change value;
The processing module determines a signal change value with the largest numerical value and the second largest numerical value according to a preset ordering rule, defines corresponding signals in the fixed signal set as standard signals, and enables the acquisition module to acquire the actual positions of the standard signals;
The processing module calculates according to the signal intensity value obtained by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculates according to the signal intensity value obtained by the demand positioning target at the current time point to determine the theoretical position of the positioning signal;
the processing module calculates according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and corrects the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined;
the standard signal determining module is used for analyzing and determining the condition of the standard signal;
The position offset value determining module is used for calculating and determining the position offset value;
the offset vector updating module is used for updating the offset vector according to the specific position condition of the article;
the standard signal screening module is used for screening a plurality of signals meeting the requirements to determine two standard signals meeting the requirements;
And the alternative signal screening module is used for screening a plurality of alternative signals meeting the requirements to determine the most suitable standard signals.
It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules to perform all or part of the functions described above. The specific working processes of the above-described systems, devices and units may refer to the corresponding processes in the foregoing method embodiments, which are not described herein.
Claims (7)
1. An RFID-based item spatial location tracking method, comprising:
Acquiring device reading signals and corresponding signal intensity values of all reading and writing devices in a preset identification area;
Determining a required positioning target according to the equipment reading signal when the equipment reading signal has the equipment reading signal which is not in the preset fixed signal set;
a detection interval with the current time point as a rear end point and the width as a preset unit duration is established on a preset time axis, and difference value calculation is carried out according to signal intensity values of the front end point and the rear end point of the signal reading detection interval of equipment in the fixed signal set so as to determine a signal change value;
Determining a signal variation value with the largest value and a second largest value according to a preset ordering rule, defining corresponding signals in a fixed signal set as standard signals, and acquiring the actual positions of the standard signals;
Calculating according to the signal intensity value obtained by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculating according to the signal intensity value obtained by the demand positioning target at the current time point to determine the theoretical position of the positioning signal;
And calculating according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and correcting the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined.
2. The method of claim 1, wherein after the standard signal is determined, the method further comprises:
performing difference calculation according to two signal variation values of the standard signal to determine a variation difference value;
judging whether the variation difference is larger than a preset reference difference or not;
if the variation difference is not greater than the reference difference, maintaining the defined standard signal;
And if the variation difference is larger than the reference difference, canceling the standard signal with smaller signal variation value in the two standard signals.
3. The RFID-based item space position tracking method of claim 2, wherein the step of calculating to determine the position offset value based on the standard signal actual position and the standard signal theoretical position comprises:
pointing to the actual position of the standard signal according to the theoretical position of the standard signal to determine an offset direction, and determining an offset distance according to the theoretical position of the standard signal and the actual position of the standard signal;
counting according to the standard signals to determine the standard number of the signals;
judging whether the standard number of the signals is one;
If the standard number of the signals is one, determining a position offset value according to the offset direction and the offset distance of the unique standard signals;
if the standard number of the signals is not one, determining an offset vector according to the offset direction and the offset distance of each standard signal, and combining the two offset vectors to determine a position offset value.
4. The RFID-based item space position tracking method of claim 3, wherein after the offset vector is determined, the RFID-based item space position tracking method further comprises:
connecting the theoretical positions of the two standard signals to form a theoretical line segment, and determining the whole length of the line segment according to the theoretical line segment;
Carrying out vertical projection on the theoretical position of the positioning signal on the theoretical line segment to determine a signal projection point;
determining the distance between the projection points according to the distance between the signal projection points and the theoretical position of the standard signal;
and calculating according to the distance between the projection points and the whole length of the line segment to determine the influence duty ratio, and correcting and updating the offset vector according to the influence duty ratio.
5. The method of claim 1, wherein after determining the signal change value, the method further comprises:
Judging whether at least three signals with the same and maximum signal change values exist or not;
If at least three signals with the same and the maximum signal variation values exist, determining signal separation distances according to the standard signal actual positions and the positioning signal theoretical positions of the signals;
determining the signal interval distance with the smallest value and the second smallest value in the signal interval distances according to the ordering rule, and determining the signal corresponding to the signal interval distance as a standard signal;
if at least three signals with the same and the largest signal variation values do not exist, judging whether at least two signals with the same and the second largest signal variation values exist or not;
if at least two signals with the same signal change value and the second largest signal do not exist, normal standard signal determination is performed;
if at least two signals with the same signal change value and the second largest signal exist, the corresponding signal is defined as an alternative signal, the signal with the largest signal change value is defined as a feasible signal, and the alternative distance is determined according to each alternative signal and the feasible signal;
and determining the candidate distance with the smallest value according to the sorting rule, and determining the candidate signal corresponding to the candidate distance and the feasible signal as standard signals.
6. The RFID-based item space position tracking method of claim 5, wherein after the alternate standoff is determined, the RFID-based item space position tracking method further comprises:
judging whether at least two alternative signals with the smallest alternative distance and the same alternative distance exist or not;
if at least two alternative signals with the smallest alternative distance and the same alternative signal do not exist, determining the unique alternative signal as a standard signal;
If at least two alternative signals with the smallest alternative distance and the same alternative distance exist, a current time point is taken as a rear end point on a time axis to establish a fixed interval with the width being the preset fixed duration;
Screening is carried out in a fixed interval according to the theoretical position of the positioning signal so as to define a standard signal corresponding to the theoretical position of the positioning signal as a binding signal;
counting in the binding signals according to the current alternative signals to determine binding times;
And determining the binding times with the largest numerical value according to the ordering rule, so as to determine the alternative signal corresponding to the binding times as the standard signal.
7. An RFID-based item spatial location tracking system, comprising:
the acquisition module is used for acquiring equipment reading signals of all the read-write equipment in the preset identification area and corresponding signal intensity values;
the processing module is connected with the acquisition module and the judging module and is used for storing and processing information;
The judging module is connected with the acquisition module and the processing module and is used for judging information;
When the judging module judges that the equipment reading signal has the equipment reading signal which is not in the preset fixed signal set, the processing module determines a required positioning target according to the equipment reading signal;
The processing module establishes a detection interval with a current time point as a rear end point and a width as a preset unit duration on a preset time axis, and performs difference value calculation according to signal intensity values of a front end point and a rear end point of a device reading signal in the fixed signal set in the detection interval to determine a signal change value;
The processing module determines a signal change value with the largest numerical value and the second largest numerical value according to a preset ordering rule, defines corresponding signals in the fixed signal set as standard signals, and enables the acquisition module to acquire the actual positions of the standard signals;
The processing module calculates according to the signal intensity value obtained by the standard signal at the current time point to determine the theoretical position of the standard signal, and calculates according to the signal intensity value obtained by the demand positioning target at the current time point to determine the theoretical position of the positioning signal;
The processing module calculates according to the actual position of the standard signal and the theoretical position of the standard signal to determine a position offset value, and corrects the theoretical position of the positioning signal according to the position offset value to determine the position of the target to be determined.
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