基于RFID无阻塞扫描控制的机器人室内定位设计

针对RFID移动机器人室内定位中的标签扫描问题,提出一种基于六边形分布模式的RFID无阻塞扫描控制方案,用于机器人的室内定位系统设计和误差检测;首先,将RFID标签根据六边形模式进行分布,减小位置估计的静态误差;然后,阅读器利用固定信道分配(FCA)方法给每个标签分配ID,使阅读范围内标签ID都不相同;最后,当阅读器读取信息时,发送查询请求给范围内的标签,标签根据自身ID决定应答时隙,避免冲突;实验结果表明,相比基于树的扫描控制方案,该文方案能够降低标签/阅读器的复杂度,同时具有较小的位置估计误差和扫描延迟,可帮助机器人实现精确定位.     

一种单阅读器移动RFID系统性能评估方法

中小型区域RFID标签的识别通常采用阅读器网路实现,因为只有多阅读器才能静态实现阅读器对所有待识别标签的全覆盖。但这种方法面临阅读器使用成本高,阅读器间碰撞,标签识别率低等问题。为改善上述问题,提出一种运用于中小型区域的单阅读器移动RFID系统性能评估方法,该方法以标签丢失率和全识别圈数作为性能指标,在单阅读器移动RFID系统中对已有的静态防碰撞算法的性能进行评估。实验通过判断当前时隙类型确定阅读器是否成功识别标签,每消耗1个时隙阅读器位置调整一次使得信号区及其区内标签重新确定,直至阅读器结束标签识别任务。仿真结果表明该方法能很好地对各种已有标签算法在中小型区域的RFID标签识别环境中的性能进行有效评估,同时提高RFID系统效率。     

基于随机Hash链的双向安全认证RFID协议

射频识别（RFID）技术在物联网领域得到广泛的运用,但是RFID系统在信息传输过程中容易被窃取和伪造,RFID系统已经暴露出严重的安全问题。针对目前主流的Hash链协议簇存在的假冒攻击问题,提出一种基于随机Hash链的双向安全认证协议。在双向认证过程中,阅读器通过识别随机数K的数值来验证响应报文的有效性,标签通过检测回传报文的标签属性检测阅读器的合法性,阅读器通过检测标签预置身份来防止标签被假冒,保障数据在系统中的真实性,可有效提高系统的前向安全、防伪造与防位置跟踪等安全特性。最后本文使用BAN逻辑对提出的双向安全认证协议进行安全验证,实验结果表明标签与阅读器之间具有可相互认证的安全性。     

轻量级移动RFID认证协议研究设计

为解决移动射频识别（Mobile RFID）系统中信息通过无线信道传输所引发的安全与隐私问题,提出一种基于伪随机函数的轻量级移动RFID认证协议,实现后台服务器、阅读器与标签之间的双向认证。该协议中的运算主要集中在后台服务器和阅读器,可以有效地控制标签成本。安全性分析表明,该协议可以有效抵抗位置追踪、假冒、重放和同步化等攻击,并通过GNY逻辑进行了安全性证明。      

井下安全定位的RFID模块研究与设计

提出一种解决RFID(Radio Frequency Identifioation)标签和阅读器的低功耗和防冲撞方法。针对井下安全定位综合系统的底层需求,基于低成本和低功耗考虑,设计了阅读器和标签的硬件电路,并在Code Vision AVR下,实现了阅读器和标签的C代码。软件采用改进的随机防冲撞ALOHA算法,利用信道复用技术,在为冲撞标签预留的时隙到达时重发信息,零漏读解决了RFID标签与阅读器通信冲撞问题。实验测试表明,该方法有效地解决了标签和阅读器的冲撞问题,同时,硬件功耗较低,可应用于井下安全定位和身份识别。     

多天线空分定位RFID阅读器的设计

RFID是近年来发展迅速的非接触式自动识别技术,为使基于RFID技术的智能管理系统具有定位识别的功能,本文提出了多天线空分定位RFID阅读器的设计方案,即采用阅读器与多个检测天线的分离式装置,使每个天线仅识别自己工作区域内的标签,天线的地址码与标签的数据共同构成传送的信息,从而使阅读器具有定位识别标签的功能。基于本文提出的RFID阅读器的智能战备药箱管理系统可以为战备药品提供安全、准确、实时的信息收集、处理和查询,该管理系统不仅可以提供定位识别,还可以节约系统的成本,具有广阔的应用前景。     

基于混合粒子群的RFID网络的优化部署*

在RFID网络系统中,贴有标签的物品可能随机地布置着,针对如何有效地放置阅读器,使得阅读器可以读取多个标签信息同时减小冲突的问题,建立了RFID网络系统的优化模型,提出了一种混合粒子群算法来优化部署阅读器的位置。实验结果表明,混合粒子群算法分别比传统的粒子群(PSO)和遗传算法(GA)在收敛速度和寻优能力上具有更好的性能,体现出混合粒子群算法的优越性。     

基于移动阅读器的RFID概率空间范围查询技术的研究

在智能交通运输系统和人员物品跟踪等基于位置服务的领域中,对于移动对象位置上的索引建立和查询处理已经成为比较热门的研究内容.文中主要研究利用一种新颖的RFID系统的框架结构,依靠位置相对固定的标签来定位携带移动式的阅读器监控对象,从而支持高效的移动范围查询.该结构能够缩小监控对象可能的位置区域,但还是存在位置的不确定性,所以文中提出了此场景下的移动对象位置查询的一种概率模型,给出了有效的定位方法,并在此基础之上讨论了基于虚拟网格划分的m<'2>ROvgP-MRQ优化算法和CU-grid索引结构.实验结果验证了此模型和方法的性能及有效性.     

多径环境下无源超高频RFID定位算法研究

随着物联网技术的发展,无源超高频无线射频识别(UHF RFID)定位技术的应用环境日益扩大。但在室内复杂多径的信道条件下,其定位精度往往由于多径干扰而大幅下降。为此,对多径环境下的无源RFID进行定位误差分析,并根据误差模型提出一种基于多维标度的RFID定位算法。利用阅读器获取参考标签和定位标签的相位差,通过相位差构建参考标签和定位标签之间的距离矩阵,并采用多维标度方法获取定位标签的位置信息。仿真结果表明,在存在较强直视路径的多径环境中,该算法仅使用少量的参考标签即可有效对抗多径干扰。     

基于RFID和无人机的畜牧定位系统

针对牲畜放养情况下出现的易走丢,难以定位和统计问题,设计实现了基于RFID和无人机的畜牧定位系统;系统主要由数据采集、数据处理和终端显示3个功能模块组成;通过给每个牲畜绑定一个有源RFID标签,结合装配有RFID阅读器和手机的无人机进行自动巡航,实现把RFID数据和扫描到RFID时所对应的经纬度数据经手机进行预处理,再使用移动数据网络发送到数据服务器;服务器端对数据进行进一步分析和处理后,将牲畜位置数据和统计数据在养殖户手机终端显示,方便养殖户进行牲畜查看和管理;最后通过实地实验,对获取到的数据进行结果分析,显示牲畜定位误差在系统估计误差范围之内,具有较高准确性;对比原有的修筑围栏等方式,本系统具有成本较低、使用方便、可行性高的优点。     

一种拓扑约束的RFID三维定位方法*

针对现有RFID三维定位算法在运算时间复杂度问题上,收集的信息量较大、对定位的效率影响比较大,满足不了较高的RFID实时定位系统要求,提出了一种拓扑约束的RFID三维定位算法,使用虚拟地标与拓扑约束相结合对标签进行定位。通过引入一种松约束减少读写错误的影响,同时增加定位的精度。仿真结果表明,算法在不增加移动读写器时,定位精度为间隔的20%左右;在增加移动式读写器情况下,静态读写器间隔6m时,其瞬时定位精度为读写器间隔的12%,最终的迭代运算收敛后可获得0.4 m内的定位精度,为读写器间隔的6%。与传统LANDMARC系统定位精度为读写器间隔的50%左右相比,算法精度可以提高六倍以上。     

Alleviating reader collision problem in mobile RFID networks

With the emergence of wireless RFID technologies, the problem of scheduling transmissions in dynamic RFID systems has been arousing attention. In recent year, it has also instigated researches to propose different heuristic algorithms for scheduling transactions between RFID readers and tags. In this paper, we present a two phase dynamic modulation (TPDM) technique, which consists of regional scheduling and hidden terminal scheduling phases, aims to efficiently perform communications between readers and tags in high density and mobile RFID networks. TPDM is a simple mechanism for coordinating simultaneous transmissions among multiple readers and hidden terminals. A significant improvement of this approach is that TPDM can prevent reader collisions by using a distributed self-scheduling scheme. An advantage of the proposed technique is that TPDM is adaptive in both static and dynamic RFID environments. To evaluate the performance of the proposed technique, we have implemented the TPDM scheme along with the Colorwave and Pulse protocols. The experimental results show that the TPDM scheduling techniques provide superior and stable performance in both static and dynamic circumstance, especially in mobile and high density RFID environments. The TPDM is shown to be effective in terms of throughput, system efficiency, and easy to implement.     

基于虚拟参考标签的RFID定位系统构建方法

针对现有RFID定位系统在位置服务单一、部署大量RFID设备相互间产生信号干扰而影响定位精度等方面的不足,利用经典信号传播模型在定位区域内构造虚拟参考标签空间,进而构建了一种基于虚拟参考标签空间的移动对象定位方法。实际测试表明,本系统具有较高的定位精度,可以有效克服部署大量参考标签及定位读写器引起的设备干扰问题,定位精度在中心区域达到0.31m~1. 65m,在外围区域误差为1. 48m~3.72m。     

Distributed environment representation and object localization system in intelligent space

A kind of new environment representation and object localization scheme is proposed in the paper aiming to accomplish the task of object operation more efficiently in intelligent space.First,a distributed environment representation method is put forward to reduce storage burden and improve the system’s stability.The layered topological maps are separately stored in different landmarks attached to the key positions of intelligent space,so that the robot can search the landmarks on which the map information can be read from the QR code,and then the environment map can be built autonomously.Map building is an important prerequisite for object search.An object search scheme based on RFID and vision technology is proposed.The RFID tags are attached to the target objects and reference objects in the indoor environment. A fixed RFID system is built to monitor the rough position(room and local area)of target and a mobile RFID system is constructed to detect the targets which are not in the covering range of the fixed system.The existing area of target is determined by the time sequence of reference tags and target tags,and the accurate position is obtained by onboard vision system at a short distance.The experiments demonstrate that the distributed environment representation proposed in the paper can fully meet the requirements of object localization,and the positioning scheme has high search efficiency,high localization accuracy and precision,and a strong anti-interference ability in the complex indoor environment.     

Dynamic Modeling of a Class of Continuum Manipulators in Fixed Orientation

A novel simultaneous localization and mapping (SLAM) technique based on independent particle filters for landmark mapping and localization for a mobile robot based on a high-frequency (HF)-band radio-frequency identification (RFID) system is proposed in this paper. SLAM is a technique for performing self-localization and map building simultaneously. FastSLAM is a standard landmark-based SLAM method. RFID is a robust identification system with ID tags and readers over wireless communication; further, it is rarely affected by obstacles in the robot area or by lighting conditions. Therefore, RFID is useful for self-localization and mapping for a mobile robot with a reasonable accuracy and sufficient robustness. In this study, multiple HF-band RFID readers are embedded in the bottom of an omnidirectional vehicle, and a large number of tags are installed on the floor. The HF-band RFID tags are used as the landmarks of the environment. We found that FastSLAM is not appropriate for this condition for two reasons. First, the tag detection of the HF-band RFID system does not follow the standard Gaussian distribution, which FastSLAM is supposed to have. Second, FastSLAM does not have a sufficient scalability, which causes its failure to handle a large number of landmarks. Therefore, we propose a novel SLAM method with two independent particle filters to solve these problems. The first particle filter is for self-localization based on Monte Carlo localization. The second particle filter is for landmark mapping. The particle filters are nonparametric so that it can handle the non-Gaussian distribution of the landmark detection. The separation of localization and landmark mapping reduces the computational cost significantly. The proposed method is evaluated in simulated and real environments. The experimental results show that the proposed method has more precise localization and mapping and a lower computational cost than FastSLAM.     

基于相位差测距的RFID室内定位系统设计

针对当前室内定位的广泛需求及传统室内定位技术的缺陷,设计了一种基于相位差测距的射频识别(RFID)室内定位系统.系统主要由RFID阅读器、电子标签、STM32模块组成,3个电子标签固定在特定位置作为信标节点,1个RFID阅读器作为移动节点发射与接收超高频信号,STM32模块根据测得的相位差计算相应的距离,并利用改进后的三边定位法,确定阅读器的位置.在实验室对进行了设计并测试,结果表明:该系统能很好地完成定位功能,定位精度达到厘米(cm)级,可满足众多领域的应用需求.     

Conformation of EPC Class 1 Generation 2 standards RFID system with mutual authentication and privacy protection

Radio frequency identification (RFID) technology has recently aroused great interest due to its convenience and economic efficiency. Through RFID become popular worldwide, it is susceptible to various attacks and security problems. Since RFID systems use wireless transmission, user privacy may be compromised by malicious people intercepting the information contained in the RFID tags. Many of the methods previously proposed to prevent such attacks do not adequately protect privacy or reduce database loading. In this paper, we propose a new authentication and encryption method that conforms to the EPC Class 1 Generation 2 standards to ensure RFID security between tags and readers. Our scheme not only reduces database loading, but also ensures user privacy. Finally, we survey our scheme from several security viewpoints, and prove its feasibility for use in several applications.     

基于支持向量回归机的RFID室内定位研究

基于接收信号强度的射频识别(RFID)定位是一种低成本、便于实现的室内定位方法,针对在RFID室内定位系统中使用参考标签法存在的小样本问题,提出一种基于支持向量回归机(SVR)的RFID室内定位算法。结合无源超高频RFID系统工作原理,在Matlab环境下,对比经典的LANDMARC方法,测试了基于支持向量回归机的定位算法性能,以及互耦效应、多径效应对该算法定位结果的影响。仿真结果表明,相较于LANDMARC方法,所提方法在不增加参考标签数量的情况下定位精度至少提高了25%。     

Indoor robot localization based on single RFID tag

With the mature of the RFID technology and the wide use of the Internet of Things technology, it is a new research hotspot that RFID technology was applied to robot localization and navigation. RFID tags have the characteristic of storing information, long reading distance and using conveniently. A novel robot localization method combining RFID with laser data is proposed in this paper. When the robot detects an RFID tag, RFID antenna angle probability model is determined based on the fuzzy reasoning algorithm. Then the Bayes rule is used to estimate the direction of the robot. Finally, the robot global localization is realized by fusion of the laser ranging data. The experimental results showed that the precision of the positioning based on single RFID tag is enhanced greatly by combining laser detecting data.     

一种利用历史数据构造虚拟标签的定位算法

在RFID定位算法中,利用接收信号强度统计模型进行直接定位的精确度不高,而利用实际参考标签定位存在信号易碰撞、外出部署不便等问题,因此提出一种基于虚拟标签的RFID定位算法VIREH以克服以上缺点.该算法利用历史数据构建虚拟参考标签,然后利用虚拟参考标签代替实际参考标签进行定位.依据VIREH算法,开发基于Android移动设备的RFID定位系统,在系统中使用VIREH算法进行定位,对定位误差进行了统计以测试算法性能.测试结果表明,VIREH算法的定位精度较直接定位有显著提高,较使用实际参考标签没有明显降低,有助于提高RFID定位精度.