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CN101387699A - A Joint Positioning Method Based on RFID and GNSS - Google Patents

A Joint Positioning Method Based on RFID and GNSS Download PDF

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Publication number
CN101387699A
CN101387699A CNA2008102187036A CN200810218703A CN101387699A CN 101387699 A CN101387699 A CN 101387699A CN A2008102187036 A CNA2008102187036 A CN A2008102187036A CN 200810218703 A CN200810218703 A CN 200810218703A CN 101387699 A CN101387699 A CN 101387699A
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control center
reader
positioning
sends
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CN101387699B (en
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胡斌杰
魏纵横
胡诗玮
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South China University of Technology SCUT
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South China University of Technology SCUT
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Abstract

The invention discloses a combination positioning method based on RFID and GNSS, comprising: users send a location requirement to a control center, the control center obtains a user ID information and sends the user ID to a reader in a RFID network; the reader starts an initial scanning and refers to the result and a trigger awake judgment method to send a selected working mode to the control center, the reader in the trigger awake judgment method receives the user ID information sent from the control center, sends two requirements to a corresponding user label, and decides an initial location working mode according to the user label response result; the control center receives the result and sends commands, to activate the selected working mode, the indoor location adopts the RFID wireless network to realize location, and the outdoor location adopts GNSS navigation technique to realize location. The combination positioning method combines indoor and outdoor location techniques, to overcome environment limitation and realize indoor and outdoor seamless location.

Description

A kind of combined positioning-method based on RFID and GNSS
Technical field
The present invention relates to the communication technology and the GNSS global navigation satellite technology of RFID wireless network, particularly relate to a kind of combined positioning-method based on RFID and GNSS.
Background technology
Along with science and technology develops rapidly, the action positioning service more and more is subject to people's attention.Positioning service is from common business activity, and scientific research all has important use in every profession and trades such as the search and rescue of speedily carrying out rescue work.According to the reach of positioning system, mainly be divided into two kinds of outdoor location and indoor positioning.At present, outdoor location is based on GNSS, and the indoor positioning technology mainly comprises based on infrared ray, ultrasound wave, WLAN (wireless local area network) and radio-frequency (RF) identification:
1. based on ultrared localization method
The infrared ray localization method is to be positioning unit with the infrared transmitter, and the infra-red signal that utilizes mobile unit (as PDA) to receive carries out location determination.Short this two big major defect of straight line sighting distance and transmission range makes the poor effect of its indoor positioning.
2. based on hyperacoustic localization method
Adopt the ultrasound wave delay time signal to position.Its whole bearing accuracy is higher, can reach the location of centimetre-sized, but needs a large amount of bottom hardware facility investments, and cost is too high.
3. based on the localization method of WLAN (wireless local area network)
802.11 networks of employing standard position for the space, run on the 2.4G hyper band.The mode that test of employing experience and signal propagation model combine is easy to install, need seldom base station, can adopt identical bottom wireless network architecture, but system's resultnat accuracy is lower.
4. based on the localization method of A-GNSS
Adopt GNSS to position with reference to receiving network, this network becomes the GNSS supplementary after the raw information that obtains is handled, and sends to terminal GNSS receiving equipment, determines customer location.But A-GNSS has the intrinsic remarkable shortcoming that traditional GNSS receives, and satisfied location needs at least detects 4 satellites, therefore can't locate in the city of indoor or building dense.And the cost of building auxiliary network is also higher, and bearing accuracy only is 50 to 100 meters, can not satisfy the accuracy requirement of indoor positioning.
5. based on the localization method of radio-frequency (RF) identification
By making up the RFID wireless network, utilize wireless signal strength to increase the characteristic that decay with propagation distance, receive and the wireless signal strength of each label of comparison comes the position of target labels is judged with reader.The RFID technical characterstic is as follows: noncontact, non line of sight, prolong in short-term, high precision, transmission range is big and cost is low.
In addition, outdoor localization method and indoor orientation method because the inborn characteristics of technology can only act on certain geographic area, if environment and application change, then can not obtain good effect.As the GNSS technology, it must keep sight line can reach environment with satellite system, if in indoor environment since wireless signal can not be directly and subscriber equipment directly transmit, then can be ineffective.And indoor orientation method is because the difference of positioning accuracy request, as is applied to outdoor then unusual difficulty and costing dearly.
At present, in conjunction with outdoor and indoor positioning technology, overcoming environmental restraint, improve bearing accuracy, realize the indoor and outdoor seamless location, is the location technology main development tendency.
Summary of the invention
The objective of the invention is to overcome the shortcoming of prior art, combine the characteristics of radio-frequency (RF) identification indoor positioning technology and the outdoor location technology of GNSS, a kind of combined positioning-method based on RFID and GNSS is provided, realize the seamless positioning service of indoor and outdoor.
The present invention is achieved by the following technical solutions:
A kind of combined positioning-method based on RFID and GNSS comprises the steps:
(1) user sends Location Request to control center;
(2) control center obtains user ID information, and response user request, simultaneously user ID is issued the reader in the RFID network;
(3) reader begins preliminary sweep, and according to result and wake-up decision method selected mode of operation is issued control center; Described wake-up decision method comprises adjudicates two parts in initial judgement and the work:
Described initial judgement be reader after receiving the user ID information that control center sends, institute's respective user label is sent twice request, and according to the user tag response results, decision initial alignment mode of operation; If all receive the user tag response for twice, then select the indoor positioning pattern, wake the RFID wireless network up, whole network enters the indoor positioning duty, notify control center simultaneously, control center switches to the indoor positioning mode of operation with user interface, if once do not receive, then notifies control center to select outdoor station-keeping mode;
After judgement was selected mode of operation in the described work, reader continued this ID is scanned, if selected the indoor positioning mode of operation, replied in case scan double can not get, and then notified control center, switched to outdoor station-keeping mode; If selected outdoor location mode of operation, in a single day reader scans double obtaining replys, and then notifies control center, switches to the indoor positioning mode of operation;
(4) control center sends instruction after receiving the result, activates selected mode of operation, allows the user enter the interface of selected mode of operation simultaneously;
(5) indoor positioning adopts the RFID wireless network to position, and outdoor employing GNSS airmanship positions.
In the described step (5), RFID wireless network location comprises the steps:
A, reader send request to user tag;
B, according to the user tag whether situation and the wake-up decision method of acknowledgement command, the decision further work is if the user tag normal response then enters flow process c; If user tag is not replied, do not reach doublely again, then get back to flow process a; If user tag is not replied, reach doublely again, then trigger mode is switched, and wakes outdoor positioning system up;
C, reader are accepted user tag and are replied instruction, and its field intensity of detection record;
D, reader send request successively to other reference label in the scope;
E, reader receive other reference label acknowledgement commands and monitor field intensity;
F, reader send to processing enter with test data;
G, processing enter use location algorithm to calculate the position of tracking target node;
H, processing enter send to control center with the result;
I, control center are shown to the result on the electronic chart of user interface;
J, Returning process a;
To any one link of j, if reader is received the information that control center withdraws from about the user, interruption of work enters holding state at once at step a.
Realize as follows in the position that processing enter described in the step g uses location algorithm to calculate the tracking target node:
(1) processing enter is obtained the target labels signal intensity;
(2) signal strength data being carried out grid dividing handles;
(3) gridded data is carried out the threshold values Filtering Processing;
(4) select the highest data of occurrence frequency as final reference;
(5) calculate the pairing weights of final reference intensity level;
(6) weighted calculation ownership goal coordinate;
(7) user coordinates result of calculation is issued control center.
In the described step (5), GNSS airmanship location comprises the steps: that also the user receives at least 4 satellite-signals by receiver, data result is issued processing enter, processing enter is by handling the GNSS data, obtain customer position information, send to control center, control center is shown to this information on the electronic chart of user interface at last; If receiver is received the information that control center withdraws from about mode switch or user, interruption of work enters holding state at once.
Compared with prior art, the present invention has following advantage:
By the wake-up decision method, the indoor and outdoors positioning system is joined together, when reducing system power dissipation, make the more intelligent and hommization of system, thereby realize the co-located of indoor and outdoor.
At indoor employing noncontact, non line of sight, prolong in short-term, transmission range is big and cost is low RFID wireless network positions, and uses filtering algorithm, multi-group data average method, the bearing calibration of RF fingerprint simultaneously, guaranteed the high precision of indoor positioning.
Description of drawings
Fig. 1 is the annexation synoptic diagram that the present invention is based on the co-located device of RFID and GNSS.
Fig. 2 is the idiographic flow synoptic diagram that the present invention carries out model selection.
Fig. 3 is the wake-up decision method schematic flow sheet among the present invention.
Fig. 4 is that the RFID network among the present invention carries out indoor positioning workflow synoptic diagram.
Fig. 5 is the indoor positioning pattern location algorithm process flow diagram among the present invention.
Embodiment
The present invention is further detailed explanation below in conjunction with accompanying drawing.
As shown in Figure 1, be connected with control center 2 signals by wireless network, and send Location Request, receive positioning result and request is withdrawed from transmission based on wireless user 1 in the co-located device of RFID and GNSS.Control center 2 is connected with GNSS transceiver 5 signals with RFID reader 3 by wireless network, according to the wake-up court verdict of RFID reader 3, sends instruction and makes RFID reader 3 or GNSS transceiver 5 enter the life's work state.RFID reader 3 all is connected with processing enter 6 signals by wireless network with GNSS transceiver 5, and the data of test gained are sent to processing enter 6.Processing enter 6 sends to control center 2 by wireless network with positioning result, and control center 2 is shown to the result on user 1 the electronic chart of user interface again.
As shown in Figure 2, the combined positioning-method based on RFID and GNSS of application drawing 1 described device comprises the steps:
(1) user sends Location Request to control center.
(2) control center obtains user ID information, and response user request, simultaneously user ID is issued the reader in the RFID network.
(3) reader begins preliminary sweep, and according to result and wake-up decision method selected mode of operation is issued control center.
As shown in Figure 3, the wake-up decision method specifies as follows:
The wake-up decision method comprises adjudicates two parts in initial judgement and the work:
Initial judgement: reader 3 sends twice request to institute's respective user label 4 after receiving the user ID information that control center 2 sends, and according to user tag 4 response results, decision initial alignment mode of operation.If all receive the user tag response for twice, then select the indoor positioning pattern, reader 3 wakes the RFID wireless network up, whole network enters the indoor positioning duty, notify control center 2 simultaneously, control center 2 switches to the indoor positioning mode of operation with user interface, if once do not receive, outdoor station-keeping mode is selected by reader 3 notice control centers 2.
After judgement referred to selected mode of operation in the described work, reader 3 continued user tag 4 is scanned, if selected the indoor positioning mode of operation, replied in case scan double can not get, and then notified control center 2, switched to outdoor station-keeping mode.If selected outdoor location mode of operation, in a single day reader 3 scans user tag 4 double obtaining replys, and then notifies control center 2, switches to the indoor positioning mode of operation.
(4) control center 2 sends instruction after receiving the result, activates selected mode of operation, allows user 1 enter the interface of selected mode of operation simultaneously.
(5) RFID network or GNSS start working.
I, RFID network work flow process:
As shown in Figure 4, the workflow of RFID network is:
A, reader 3 send request to user tag 4.
B, according to the user tag 4 whether situation and the wake-up decision method of acknowledgement command, decision further work.If user tag 4 normal responses then enter flow process c; If user tag 4 is not replied, do not reach doublely again, then get back to flow process a; If user tag 4 is not replied, reach doublely again, then trigger mode is switched, and wakes outdoor positioning system up.
C, reader 3 are accepted user tag 4 and are replied instruction, and its field intensity of detection record.
D, reader 3 send request successively to other reference label 7 in the scope.
E, reader 3 receive other reference label 7 acknowledgement commands and monitor field intensity.
F, reader 3 send to processing enter 6 with test data.
G, processing enter 6 use location algorithm to calculate the position of tracking target node.
H, processing enter 6 send to control center 2 with the result.
I, control center 2 are shown to the result on the electronic chart of user interface.
J, Returning process a.
To any one link of j, if reader is received the information that control center withdraws from about the user, interruption of work enters holding state at once at a.
As shown in Figure 5, the concrete location algorithm flow process in flow process g is as follows:
Processing enter is obtained the target labels signal intensity, and store data structure is as follows: [Saj], Saj are j the signal strength values that reader records from a target labels.Processing enter reference label signal intensity and reference numeral information merge storage with its respective coordinates information and Measuring Time parameter, and the data structure of storage is as follows: [Sij, Xi, Yi], (Xi, Yi) be coordinate, Sij is j the signal strength values that the reader place records from i reference label.According to user's request, if the time allows, wish to obtain more high precision again, the optional mode of averaging of repeatedly measuring, the storage data layout is as follows: [Sijt1, Xi, Yi], [Sijt2, Xi, Yi], [Sijt3, Xi, Yi] ..., [Sijtn, Xi, Y], n=1,2,3, ... t1 wherein, t2, t3 ..., the time parameter when tn is the n time test, Sij=(Sijt1+Sijt2+...+Sijtn)/n then, n=1,2,3 ...
Sij is further handled, divides little grid: Snij=Sij+n*[S (i+1) j-Sij]/k, n＜=k, k=1,2,3,4 ... adjacent Sij and S (i+1) j are divided into k part (oneself is set), and Snij is a n value between two labels.Respective coordinates is also further divided, Xni=Xi+n*[X (i+1)-Xi]/k, Yni=Yi+n*[Y (i+1)-Yi]/k.Like this, just each 4 big dot grid is divided into the k*k dot grid.
Threshold threshold V being set being used for filtering, signal strength information and the echo signal intensity level of further dividing compared filtering | Saj-Snij| is greater than the Snij value of V.Again remaining Snij is constituted the one dimension matrix,, select the highest K of an occurrence frequency Sni, as final reference intensity value according to different j.Weights are by the decision of the density of final reference label, Wnij=nij/K, and wherein nij is the number of the reference intensity value adjacent with Snij, K is final reference intensity value sum.Guarantee the intensive more place of referenced strength like this, weights are big more.
Final derive obtain the ownership goal coordinate (X Y) is:
( X , Y ) = Σ n , i , j ω nij ( x nij , y nij )
In order to overcome noise effect, improve system accuracy, in Processing Algorithm, can also add the RF fingerprint and proofread and correct, as follows:
In advance all reference label are carried out signal strength detection, set up the RF fingerprint database.
Actual data that record and RF fingerprint database are compared,, just these data are proofreaied and correct, can select measured data and database data sum-average arithmetic or directly select database data to replace the mode of measured data if error surpasses the threshold values of setting.
II, GNSS workflow:
User 1 receives at least 4 satellite-signals by receiver 5, and data result is issued processing enter 6, and control center 6 handles the GNSS data by special algorithm, obtains customer position information, at last this information is shown on the electronic chart of user interface.
If receiver 5 is received the information that control center 2 withdraws from about mode switch or user, interruption of work enters holding state at once.

Claims (4)

1、一种基于RFID和GNSS的联合定位方法，其特征在于包括如下步骤：1, a kind of joint positioning method based on RFID and GNSS, it is characterized in that comprising the steps: (1)用户向控制中心发送定位请求；(1) The user sends a positioning request to the control center; (2)控制中心获取用户ID信息，并响应用户请求，同时将用户ID发给RFID网络中的阅读器；(2) The control center obtains the user ID information, responds to the user request, and sends the user ID to the reader in the RFID network at the same time; (3)阅读器开始初始扫描，并根据结果和触发唤醒判决方法把选定的工作模式发给控制中心；所述触发唤醒判决方法包括初始判决和工作中判决两部分：(3) The reader starts an initial scan, and sends the selected operating mode to the control center according to the result and the triggering wake-up judgment method; the trigger wake-up judgment method includes two parts of initial judgment and judgment during work: 所述初始判决是阅读器在收到控制中心发来的用户ID信息后，对所对应用户标签发送两次请求，并根据用户标签响应结果，决定初始定位工作模式；如果两次都收到用户标签响应，则选择室内定位模式，唤醒RFID无线网络，整个网络进入室内定位工作状态，同时通知控制中心，控制中心将用户界面切换到室内定位工作模式，如果有一次没有收到，则通知控制中心选择室外定位模式；The initial judgment is that the reader sends two requests to the corresponding user tag after receiving the user ID information sent by the control center, and determines the initial positioning work mode according to the response result of the user tag; If the tag responds, select the indoor positioning mode, wake up the RFID wireless network, the entire network enters the indoor positioning working state, and notify the control center at the same time, the control center switches the user interface to the indoor positioning working mode, if it is not received once, it will notify the control center Select outdoor positioning mode; 所述工作中判决是选定工作模式后，阅读器继续对该ID进行扫描，如果选定了室内定位工作模式，一旦扫描连续两次得不到回复，则通知控制中心，切换到室外定位模式；如果选定了室外定位工作模式，阅读器一旦扫描连续两次得到回复，则通知控制中心，切换到室内定位工作模式；The judgment in the work is that after the working mode is selected, the reader continues to scan the ID. If the indoor positioning working mode is selected, once the scanning does not get a reply twice in a row, the control center will be notified to switch to the outdoor positioning mode ; If the outdoor positioning mode is selected, the reader will notify the control center to switch to the indoor positioning mode once it scans twice and gets a reply; (4)控制中心收到结果后发送指令，激活选定的工作模式，同时让用户进入所选定工作模式的界面；(4) After receiving the result, the control center sends an instruction to activate the selected working mode, and at the same time allows the user to enter the interface of the selected working mode; (5)室内定位采用RFID无线网络进行定位，室外采用GNSS导航技术进行定位。(5) RFID wireless network is used for indoor positioning, and GNSS navigation technology is used for outdoor positioning. 2、根据权利要求1所述基于RFID和GNSS的联合定位方法，其特征在于：采用RFID无线网络进行定位包括如下步骤：2, according to the described joint positioning method based on RFID and GNSS of claim 1, it is characterized in that: adopting RFID wireless network to locate comprises the following steps: a、阅读器发送请求给用户标签；a. The reader sends a request to the user tag; b、根据用户标签是否应答命令的情况和触发唤醒判决方法，决定下一步工作，如果用户标签正常应答，则进入流程c；如果用户标签没有应答，又未达连续两次，则回到流程a；如果用户标签没有应答，又达连续两次，则触发模式切换，唤醒室外定位系统；b. According to whether the user tag responds to the command and triggers the wake-up judgment method, determine the next step. If the user tag responds normally, enter process c; if the user tag does not respond, and has not reached two consecutive times, then return to process a ; If the user tag does not respond for two consecutive times, trigger mode switching and wake up the outdoor positioning system; c、阅读器接受用户标签应答指令，并检测记录其场强；c. The reader accepts user tag response instructions, and detects and records its field strength; d、阅读器依次发送请求给范围内的其他参考标签；d. The reader sequentially sends requests to other reference tags within the range; e、阅读器接收其他参考标签应答命令并监测场强；e. The reader receives other reference tag response commands and monitors the field strength; f、阅读器将测试数据发送给处理中心；f. The reader sends the test data to the processing center; g、处理中心使用定位算法计算出跟踪目标节点的位置；g. The processing center uses the positioning algorithm to calculate the position of the tracking target node; h、处理中心将结果发送给控制中心；h. The processing center sends the result to the control center; i、控制中心将结果显示到用户界面的电子地图上；i. The control center displays the results on the electronic map of the user interface; j、返回流程a；j. Return to process a; 在步骤a到j任意一个环节，如果阅读器收到控制中心关于用户退出的信息，即刻中断工作，进入待机状态。In any link from steps a to j, if the reader receives the information about the user's exit from the control center, it immediately interrupts the work and enters the standby state. 3、根据权利要求2所述基于RFID和GNSS的联合定位方法，其特征在于：所述处理中心使用定位算法计算出跟踪目标节点的位置通过如下步骤实现：3. The joint positioning method based on RFID and GNSS according to claim 2, characterized in that: the processing center uses a positioning algorithm to calculate the position of the tracking target node through the following steps: (1)处理中心获取目标标签信号强度；(1) The processing center acquires the signal strength of the target tag; (2)对信号强度数据进行网格划分处理；(2) performing grid division processing on the signal strength data; (3)对已网格化数据进行阀值滤波处理；(3) Threshold filtering is performed on the gridded data; (4)选出出现频度最高的数据作为最终参考；(4) Select the data with the highest frequency of occurrence as the final reference; (5)计算最终参考强度值所对应的权值；(5) Calculate the weight corresponding to the final reference strength value; (6)加权计算用户目标坐标；(6) weighted calculation of user target coordinates; (7)将用户坐标计算结果发给控制中心。(7) Send the user coordinate calculation result to the control center. 4、根据权利要求1所述基于RFID和GNSS的联合定位方法，其特征在于：采用GNSS导航技术进行定位包括如下步骤：用户通过接收器接收至少4个卫星信号，把数据结果发给处理中心，处理中心通过对GNSS数据进行处理，获得用户位置信息，发送给控制中心，控制中心最后把该信息显示到用户界面的电子地图上；如果接收器收到控制中心关于模式切换或者用户退出的信息，即刻中断工作，进入待机状态。4. The joint positioning method based on RFID and GNSS according to claim 1 is characterized in that: adopting GNSS navigation technology to perform positioning comprises the following steps: the user receives at least 4 satellite signals through the receiver, and sends the data result to the processing center, The processing center obtains user location information by processing the GNSS data, and sends it to the control center, and the control center finally displays the information on the electronic map of the user interface; if the receiver receives information from the control center about mode switching or user exit, Immediately interrupt work and enter standby mode.
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