摘要
为采用几何法进行室内移动机器人定位,提出了基于有源射频识别(RFID)信号强度测距方法。分析了无线信号传播的特点和无线信号强度指示(RSSI)测距的原理,建立对数-常态分布传播损耗模型。采用有源RFID的HR-6020C读写器和WS-HT06电子标签构建实验系统,其中读写器作为基站固定于一点,电子标签作为移动节点时刻发送信号,通过实验得到距离与RSSI值关系曲线,利用有源RFID系统对理论模型中的参考点信号强度和比例因子进行标定,并分析了测距精度。影响测距精度的因素主要包括标签的位置、数量和实验环境等。根据确定的传播损耗理论模型进行了测距实验,结果表明,在3m范围内测距最大偏差为41.68cm,这为基于RFID的室内场馆移动机器人定位提供了依据,可以满足机器人的定位精度要求。
In order to use a geometric method to locate the indoor mobile robot, this paper proposes a method of active RFID signal strength for ranging. Based o11 the characteristics of wireless signal propagation and the principle of Received Signal Strength Indication （RSSI） ranging, a logarithm-normal distribution propagation loss model is established. An experiment system is built by using HR- 6020C reader and WS-HT06 tags, with the reader fixed as the base station, and the tags sending the signal continuously as the mobile agents. The relationship between distance d and the RSSI value is obtained through the experiment. The signal strength of a reference point .and the scale factor are determined in calibration. Ranging precision factors are analyzed through the active RFID system. The influencing faetors include the position, number of tags and the experiment environment. The test results show that the maximum deviation in the 3 m range is 41.68 cm, which can meet the positioning precision requirements for indoor mobile robots.
出处
《科技导报》
CAS
CSCD
北大核心
2009年第15期76-79,共4页
Science & Technology Review
基金
中国高技术研究发展计划(863计划)项目(2007AA04Z255)
关键词
有源射频识别
无线信号强度指示测距
定位精度
active RFID
received signal strength indication ranging
positioning precision
