CN111366895B - a positioning system - Google Patents

Abstract

The embodiment of the invention provides a positioning system, which comprises 4 RFID readers, a plurality of real RFID reference tags, a plurality of virtual reference tags, a tag module to be detected and a three-dimensional positioning module: 4 RFID readers form a rectangle on the XY plane of the target three-dimensional space; the target three-dimensional space comprises at least one three-dimensional rectangular subspace, at least one surface of the three-dimensional rectangular subspace is parallel to the XY plane of the three-dimensional space, and at least one surface of the three-dimensional rectangular subspace is parallel to the XZ plane of the three-dimensional space; setting a real RFID reference label at each vertex of the three-dimensional rectangular subspace; the target object to be positioned is positioned in the three-dimensional subspace, and an RFID label is arranged on the target object to be positioned; a plurality of virtual reference labels are arranged in the three-dimensional rectangular subspace. The embodiment of the invention solves the technical problem that the three-dimensional coordinate information of the target object cannot be acquired in the prior art based on RFID positioning.

Description

a positioning system

technical field

Embodiments of the present invention relate to the technical field of positioning, and in particular, to a positioning system.

Background technique

Positioning means that the communication system obtains the geographic location information (such as latitude and longitude coordinates) of the target object through a specific technology, provides it to the mobile user, the communication system or a third-party positioning client, and uses the support of certain electronic map information for the target. The location of an object to display or utilize.

As the data center grows and the number of equipment in the computer room increases, due to business requirements, the related equipment in the computer room changes very frequently. In order to ensure the efficiency of daily maintenance work and the accuracy of resource management, it is necessary to locate the location of equipment in the computer room in real time. For the positioning method of the equipment in the computer room, the radio frequency identification technology RFID (Radio Frequency Identification) is mainly used for positioning. The positioning system is mainly composed of electronic tags and readers, which constitute the signal transmitting and receiving modules of the positioning system. The prior art solution can only realize the positioning of the equipment to be positioned on a two-dimensional plane, but a cabinet can place more than a dozen devices, and only knowing the two-dimensional position of the equipment cannot immediately find out which equipment is in the cabinet. When the location of the equipment in the equipment room changes, especially the specific location of the equipment in the cabinet, it cannot be updated in time. Therefore, when there is a problem with the equipment, the maintenance personnel cannot quickly locate the specific location, which brings great inconvenience to the maintenance work. challenge.

SUMMARY OF THE INVENTION

The embodiment of the present invention provides a positioning system to solve the defect that the existing RFID-based positioning technology cannot obtain the three-dimensional coordinate information of the target object.

According to a first aspect of the embodiments of the present invention, a positioning system is provided, including four RFID readers, multiple real RFID reference tags, multiple virtual reference tags, a tag module to be tested, and a three-dimensional positioning module:

4 RFID readers form a rectangle on the XY plane of the target three-dimensional space;

The target three-dimensional space includes at least one three-dimensional rectangular subspace, at least one surface of the three-dimensional rectangular subspace is parallel to the XY plane of the three-dimensional space, and at least one surface of the three-dimensional rectangular subspace is parallel to the XZ plane of the three-dimensional space; each vertex of the three-dimensional rectangular subspace is set A real RFID reference label; the target object to be located is located in the three-dimensional subspace, and an RFID label is set on the RFID label of the target object to be located;

A plurality of virtual reference labels are set inside the three-dimensional rectangular subspace;

The tag module to be tested is used to obtain the RSSI value indicating the received signal strength of the RFID tag of the target object to be located based on each RFID reader;

The three-dimensional positioning module is used to obtain the pre-acquired three-dimensional coordinate information and RSSI value of each real RFID reference tag, the pre-obtained three-dimensional coordinate information and RSSI value of each virtual reference tag, and the RSSI value of the RFID tag of the target object to be located. The three-dimensional coordinate information of the RFID tag of the target object to be located.

Further, it also includes:

The real reference tag module is used to obtain the RSSI value of each real RFID reference tag based on each RFID reader.

Further, it also includes:

The virtual reference tag module is used to obtain the RSSI value of each virtual reference tag based on the RSSI value of each real RFID reference tag, the signal transmission loss model, the three-dimensional coordinate information of each real RFID reference tag and the three-dimensional coordinate information of each virtual reference tag.

Further, a virtual reference label module for:

Based on the three-dimensional coordinate information of each real RFID reference tag and the three-dimensional coordinate information of each RFID reader, the distance _djm between each real RFID reference tag and each RFID reader is calculated; based on the three-dimensional coordinate information of each virtual reference tag and each RFID reader; The three-dimensional coordinate information of the RFID reader, calculates the distance d _im between each virtual reference tag and each RFID reader; wherein, j is the serial number of each real RFID reference tag, i is the serial number of each virtual RFID reference tag, and m is the number of each virtual RFID reference tag. The number of each RFID reader;

The RSSI value R _im of each virtual reference tag is calculated based on d _im , d _jm and the RSSI value R _jm of each real RFID reference tag.

Further, a virtual reference label module is used to calculate R _im based on:

Further, the 3D positioning module is used for:

Based on the RSSI value of the RFID tag of the target object to be located and the RSSI value of each reference tag, calculate the degree of association between the RFID tag of the target object to be located and each reference tag; reference labels, n≥2; wherein, each real RFID reference label and each virtual RFID reference label are reference labels;

Set respective weighting factors for the n reference tags, and obtain the three-dimensional coordinate information of the RFID tag of the target object to be positioned based on the respective weighting factors and the respective three-dimensional coordinate information of the n reference tags.

Further, the three-dimensional positioning module is used to calculate the degree of association E _lq between the RFID tag of the target object to be located and each reference tag based on the following formula:

l is the RFID tag of the target object to be located, and q is the number of the reference tag; the smaller the value of E _lq , the closer the reference tag q is to the RFID tag of the target object to be located;

Get the n reference labels with the smallest E _lq value.

Further, the three-dimensional positioning module is used to calculate the respective weight factors W _i of the n reference labels, where i is the number of the n reference labels:

Further, the three-dimensional positioning module is used to obtain the three-dimensional coordinate information (x, y, z) of the RFID tag of the target object to be located based on the respective three-dimensional coordinate information of Wi and _n reference tags:

Further, the three-dimensional positioning module is used to obtain the three-dimensional coordinate information of each real RFID reference tag and each virtual reference tag in advance.

An embodiment of the present invention provides a positioning system, which uses a three-dimensional stereo positioning device to obtain three-dimensional position data of a target object to be positioned, so as to obtain three-dimensional coordinate information of the target object to be positioned. The embodiments of the present invention solve the technical problem that the three-dimensional coordinate information of the target object cannot be obtained in the prior art based on RFID positioning.

Description of drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the accompanying drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description These are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can also be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic structural diagram of an embodiment of a positioning system of the present invention;

2 is a schematic structural diagram of another embodiment of the positioning system of the present invention;

FIG. 3 is a schematic structural diagram of another embodiment of the positioning system of the present invention.

Detailed ways

In order to make the purposes, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments These are some embodiments of the present invention, but not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

In the field of positioning technology, for example, for the positioning method of equipment in the computer room, the radio frequency identification technology RFID (Radio Frequency Identification) is mainly used for positioning at present. The positioning system is mainly composed of electronic tags and readers, which constitute the signal transmitting and receiving modules of the positioning system. The prior art solution can only realize the positioning of the equipment to be positioned on a two-dimensional plane, but a cabinet can place more than a dozen devices, and only knowing the two-dimensional position of the equipment cannot immediately find out which equipment is in the cabinet. When the location of the equipment in the equipment room changes, especially the specific location of the equipment in the cabinet, it cannot be updated in time. Therefore, when there is a problem with the equipment, the maintenance personnel cannot quickly locate the specific location, which brings great inconvenience to the maintenance work. challenge.

As shown in FIG. 1, a specific embodiment of the present invention shows a positioning system, including:

It includes 4 RFID readers A01, multiple real RFID reference tags A02, multiple virtual reference tags A03, a tag module A04 to be tested and a three-dimensional positioning module A05:

Four RFID readers A01 form a rectangle on the XY plane of the target three-dimensional space;

The target three-dimensional space includes at least one three-dimensional rectangular subspace, at least one surface of the three-dimensional rectangular subspace is parallel to the XY plane of the three-dimensional space, and at least one surface of the three-dimensional rectangular subspace is parallel to the XZ plane of the three-dimensional space; each vertex of the three-dimensional rectangular subspace is set A real RFID reference tag A02; the RFID tag A08 of the target object to be located is located in the three-dimensional subspace, and the RFID tag of the target object to be located is provided with an RFID tag;

A plurality of virtual reference labels A03 are arranged inside the three-dimensional rectangular subspace;

The tag module A04 to be tested is used to obtain the RSSI value of the received signal strength indication of the RFID tag A08 of the target object to be located based on each RFID reader A01;

The three-dimensional positioning module A05 is used for the pre-obtained three-dimensional coordinate information and RSSI value of each real RFID reference tag A02, the pre-obtained three-dimensional coordinate information and RSSI value of each virtual reference tag A03, and the RSSI of the RFID tag of the target object to be located. value to obtain the three-dimensional coordinate information of the RFID tag of the target object to be located.

Among them, the positioning system of the specific embodiment of the invention, considering the low cost of real RFID tags, without adding an RFID reader, constructs a three-dimensional three-dimensional positioning space by placing multiple sets of real RFID reference tags on the cut surface as needed. . In a certain area, an RFID reader is used to perform three-dimensional positioning of the RFID tag of the target object to be located, the three-dimensional position information of the real RFID reference tag and the virtual reference tag and the RSSI value of the received signal strength indicator are collected in advance, and the positioning module is used to calculate the RFID target object to be located. 3D position information of the label.

Pre-collect the three-dimensional position information and RSSI value of the real RFID reference tag and virtual reference tag in the space. Through the positioning device, a two-dimensional coordinate (x, y) can be obtained in the XY plane, and a two-dimensional coordinate (x, y) can be obtained in the YZ plane at the same time. Coordinates (y, z), and finally obtain the three-dimensional position (x, y, z) of the cabinet where the device is located.

On the basis of any of the above-mentioned specific embodiments of the present invention, as shown in FIG. 2 , a positioning system is provided, further comprising: a real reference tag module A06 for obtaining the real RFID reference tag A02 based on each RFID reader A01 RSSI value.

In the specific embodiment of the invention, for example, each subspace in the real RFID reference tag module is composed of 8 real RFID reference tags to form a three-dimensional rectangular space, a two-dimensional plane has 4 real RFID reference tags, and the number K is used to identify the inner space of the plane. real label. Collect the three-dimensional coordinate information of each real RFID reference tag in the XY plane and in the YZ plane in advance, and use the RFID reader to obtain the RSSI value of the real reference tag.

On the basis of any of the above-mentioned specific embodiments of the present invention, as shown in FIG. 3 , a positioning system is provided, further comprising: a virtual reference tag module A07 for RSSI value, signal transmission loss based on the RSSI value of each real RFID reference tag A02 The model, the three-dimensional coordinate information of each real RFID reference tag A02 and the three-dimensional coordinate information of each virtual reference tag A03 are used to obtain the RSSI value of each virtual reference tag A03.

In a specific embodiment of the invention, the virtual reference tag module adds virtual reference tags as needed in the sub-area composed of real RFID tags, collects the coordinate information of the virtual reference tags in the XY plane and in the YZ plane in advance, and uses the real RFID reference tags. The RSSI value, the signal transmission loss model and the three-dimensional coordinate information of the virtual reference tag are used to calculate the RSSI value of the virtual reference tag.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system is provided, and a virtual reference label module is used for:

Based on the three-dimensional coordinate information of each real RFID reference tag and the three-dimensional coordinate information of each RFID reader, the distance _djm between each real RFID reference tag and each RFID reader is calculated; based on the three-dimensional coordinate information of each virtual reference tag and each RFID reader; The three-dimensional coordinate information of the RFID reader, calculates the distance d _im between each virtual reference tag and each RFID reader; wherein, j is the serial number of each real RFID reference tag, i is the serial number of each virtual RFID reference tag, and m is the number of each virtual RFID reference tag. The number of each RFID reader;

The RSSI value R _im of each virtual reference tag is calculated based on d _im , d _jm and the RSSI value R _jm of each real RFID reference tag.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system is provided, and a virtual reference label module is used to calculate R _im based on the following formula:

In the XY plane, the four RFID readers respectively detect the signal strength of the real RFID reference tag on the XY plane as R _jm . The signal intensity R _im corresponding to the virtual reference label in the sub-region can be obtained from the above formula. Since there are 4 RFID readers, R _jm and R _im sorted by size, there will be 4 sets of reference tag RSSI values. Then, 4 sets of RSSI values of the reference labels on the YZ plane can also be obtained.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system and a three-dimensional positioning module are provided for:

Based on the RSSI value of the RFID tag of the target object to be located and the RSSI value of each reference tag, calculate the degree of association between the RFID tag of the target object to be located and each reference tag; reference labels, n≥2; wherein, each real RFID reference label and each virtual RFID reference label are reference labels;

Set respective weighting factors for the n reference tags, and obtain the three-dimensional coordinate information of the RFID tag of the target object to be positioned based on the respective weighting factors and the respective three-dimensional coordinate information of the n reference tags.

The three-dimensional positioning module uses the pre-acquired real RFID reference tag and virtual reference tag RSSI value and the position coordinates in the XY plane and YZ plane, as well as the RSSI value of the tag to be measured as input parameters, and calculates the RFID tag of the object to be located through this module. In the position coordinates of the XY plane and the YZ plane, the three-dimensional coordinates of the RFID tag of the object to be positioned are obtained.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system is provided, and a three-dimensional positioning module is used to calculate the degree of association E _lq between the RFID tag of the target object to be positioned and each reference tag based on the following formula:

l is the RFID tag of the target object to be located, and q is the number of the reference tag; the smaller the value of E _lq , the closer the reference tag q is to the RFID tag of the target object to be located;

Get the n reference labels with the smallest E _lq value.

In the embodiment of the present invention, an association degree E is set to represent the Euclidean distance between the RFID tag l of the target object to be located and the reference tag q on each RFID reader. The correlation degree E represents the positional relationship between the tags. If the correlation degree E is smaller, it indicates that the reference tag is closer to the distance to the tag to be determined. On the contrary, if the E is larger, the reference tag is farther away from the RFID tag of the target object to be located.

For a certain target object RFID tag l to be located, use the above formula to calculate the degree of association between it and all reference tags. For example, if the 8 smallest E values are selected, then the corresponding 8 reference tags are also selected one after another. These 8 adjacent reference tags form a three-dimensional structure and form a fuzzy map, and 4 RFID readers will form 4 fuzzy maps. map. Match the 4 fuzzy maps to find the same points to determine the final fuzzy map, and the nearest reference label can also be selected.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system is provided, and a three-dimensional positioning module is used to calculate the respective weighting factors W _i of n reference labels, wherein i is the serial number of the n reference labels:

The smaller the E value is, the larger the corresponding weighting factor value is; on the contrary, the larger the E value is, the smaller the corresponding weighting factor value is.

On the basis of any of the above-mentioned specific embodiments of the present invention, a positioning system is provided for obtaining the three-dimensional coordinate information (x, y) of the RFID tag of the target object to be located based on the respective three-dimensional coordinate information of W _i and n reference tags ,z):

Based on any of the above-mentioned specific embodiments of the present invention, a positioning system and a three-dimensional positioning module are provided, which are used to obtain the three-dimensional coordinate information of each real RFID reference tag and each virtual reference tag in advance.

The device embodiments described above are only illustrative, wherein the units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in One place, or it can be distributed over multiple network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution in this embodiment. Those of ordinary skill in the art can understand and implement it without creative effort.

From the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and certainly can also be implemented by hardware. Based on this understanding, the above-mentioned technical solutions can be embodied in the form of software products in essence or the parts that make contributions to the prior art, and the computer software products can be stored in computer-readable storage media, such as ROM/RAM, magnetic A disc, an optical disc, etc., includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to perform the methods described in various embodiments or some parts of the embodiments.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, but not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that it can still be The technical solutions described in the foregoing embodiments are modified, or some technical features thereof are equivalently replaced; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims (6)

1. A positioning system is characterized by comprising 4 RFID readers, a plurality of real RFID reference tags, a plurality of virtual reference tags, a tag module to be detected, a three-dimensional positioning module, a real reference tag module and a virtual reference tag module:

4 RFID readers form a rectangle on the XY plane of the target three-dimensional space;

the target three-dimensional space comprises at least one three-dimensional rectangular subspace, at least one surface of the three-dimensional rectangular subspace is parallel to the XY plane of the three-dimensional space, and at least one surface of the three-dimensional rectangular subspace is parallel to the XZ plane of the three-dimensional space; setting a real RFID reference label at each vertex of the three-dimensional rectangular subspace; the target object to be positioned is positioned in the three-dimensional subspace, and an RFID label is arranged on the target object to be positioned;

a plurality of virtual reference labels are arranged in the three-dimensional rectangular subspace;

the tag module to be detected is used for acquiring the received signal strength indication RSSI value of the RFID tag of the target object to be positioned based on each RFID reader;

the three-dimensional positioning module is used for acquiring three-dimensional coordinate information of the RFID tag of the target object to be positioned based on the three-dimensional coordinate information and the RSSI value of each real RFID reference tag which are acquired in advance, the three-dimensional coordinate information and the RSSI value of each virtual reference tag which are acquired in advance and the RSSI value of the RFID tag of the target object to be positioned;

The real reference tag module is used for acquiring the RSSI value of each real RFID reference tag based on each RFID reader;

the virtual reference tag module is used for acquiring the RSSI value of each virtual reference tag based on the RSSI value of each real RFID reference tag, the signal transmission loss model, the three-dimensional coordinate information of each real RFID reference tag and the three-dimensional coordinate information of each virtual reference tag;

the virtual reference tag module is further configured to:

calculating the distance d between each real RFID reference label and each RFID reader based on the three-dimensional coordinate information of each real RFID reference label and the three-dimensional coordinate information of each RFID reader_jm(ii) a Calculating the distance d between each virtual reference label and each RFID reader based on the three-dimensional coordinate information of each virtual reference label and the three-dimensional coordinate information of each RFID reader_im(ii) a Wherein j is the number of each real RFID reference tag, i is the number of each virtual RFID reference tag, and m is the number of each RFID reader;

based on d_im、d_jmAnd RSSI value R of each real RFID reference label_jmCalculating RSSI value R of each virtual reference label_im；

The virtual reference tag module is further configured to calculate R based on the following formula_im：

2. The system of claim 1, wherein the three-dimensional positioning module is configured to:

Calculating the association degree of the RFID tag of the target object to be positioned and each reference tag based on the RSSI value of the RFID tag of the target object to be positioned and the RSSI value of each reference tag; acquiring n reference tags which are nearest to the RFID tag of the target object to be positioned based on the association degree, wherein n is more than or equal to 2; wherein each real RFID reference label and each virtual RFID reference label are reference labels;

setting respective weight factors for the n reference tags, and obtaining the three-dimensional coordinate information of the RFID tag of the target object to be positioned based on the respective weight factors and the respective three-dimensional coordinate information of the n reference tags.

3. The system of claim 2, wherein the three-dimensional positioning module is configured to calculate the degree of association E between the RFID tag of the target object to be positioned and each reference tag based on the following formula_lq：

l is an RFID label of a target object to be positioned, and q is the number of a reference label; e_lqThe smaller the value is, the closer the reference tag q is to the target object RFID tag to be positioned;

obtaining E_lqThe smallest value of n reference tags.

4. The system of claim 3, wherein the three-dimensional localization module is configured to calculate a weighting factor W for each of the n reference tags_iWhere i is the number of n reference tags:

5. The system of claim 4, wherein the three-dimensional positioning module is configured to be based on W_iAnd three-dimensional coordinate information (x) of each of the n reference tags_i,y_i) And acquiring three-dimensional coordinate information (x, y, z) of the RFID label of the target object to be positioned:

6. the system of claim 1, wherein the three-dimensional positioning module is configured to obtain three-dimensional coordinate information of each real RFID reference tag and each virtual reference tag in advance.

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