Particle Filter-Based SAR Approach and Trajectory Optimization for Real-Time 3D UHF-RFID Tag Localization

Gareis, Matthias; Fenske, Patrick; Carlowitz, Christian; Vossiek, Martin

doi:10.1109/rfid49298.2020.9244917

Cited by 13 publications

(7 citation statements)

References 19 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…T of the robot, and #» x t0:ti−1 is the phase measurement vector from the time t 0 to t i−1 [27]. The uncertainty of the predicted state vector is corrected in the update step, using the latest phase measurements p…”

Section: Bayes Filter Algorithmmentioning

confidence: 99%

A Cost-Efficient Hybrid UHF RFID and Odometry-Based Mobile Robot Self-Localization Technique With Centimeter Precision

Kammel

Koegel

Gareis

et al. 2022

IEEE J. Radio Freq. Identif.

Self Cite

View full text Add to dashboard Cite

This paper presents an indoor localization approach that determines the absolute position of a mobile robot platform with centimeter precision by fusing RFID localization results based on cost-effective, standard passive UHF RFID technology with the robot's odometry data. The mobile robot platform is equipped with a multistatic UHF RFID interrogation system, and several RFID tags are arbitrarily placed within the localization environment, serving as landmarks. The RFID localization concept is based on phase evaluations. To overcome the problem of ambiguous position estimations due to the 2πphase ambiguity of the RFID signal phase and mitigate the linearization problem of the nonlinear system, a novel algorithm based on an iterative multihypothesis Kalman filter is introduced. A realistic simulation setup is developed to validate the proposed filter algorithm. By tracking a UHF RFID-equipped mobile robot platform in a real-world office environment, the proposed approach is also practically tested in terms of real-time capability, everyday suitability, and multipath resistance. Given that centimeter precision is only achieved in environments with weak multipath propagation, the RFID localization results are fused with odometry data provided by the robot. This effectively compensates for offset and drift in the odometry sensor, achieving a root-mean-square localization error of 2.7 cm.

show abstract

Section: Bayes Filter Algorithmmentioning

confidence: 99%

A Cost-Efficient Hybrid UHF RFID and Odometry-Based Mobile Robot Self-Localization Technique With Centimeter Precision

Kammel

Koegel

Gareis

et al. 2022

IEEE J. Radio Freq. Identif.

Self Cite

View full text Add to dashboard Cite

show abstract

“…Besides, the proposed SDMA approach can also be applied on different tag distributions. Large angles of incidence deteriorate the distance resolution between reader and tag while having a minimal impact on the angular resolution [22]. Nevertheless, in the presented approach, the distance resolution is not mainly obtained from the aperture over the antenna array, but from the synthetic aperture.…”

Section: B Spatial Reflector Signal Reconstructionmentioning

confidence: 99%

SAW RFID Tag Spatial Division Multiple Access Based on 3D Reflector Response Localization Using a Wideband Holographic Approach

2022

Self Cite

View full text Add to dashboard Cite

Surface acoustic wave (SAW) radio-frequency identification (RFID) has high potential for industrial applications, where automated identification and localization of assets represent the backbone of process controlling and logistics. However, in situations where multiple tags are simultaneously interrogated, the response patterns corresponding to the hard-coded reflectors are prone to overlap, preventing their association with the corresponding tags and, hence, the correct tag decoding. Identification and localization of multiple SAW RFID tags are addressed in this work under this challenging effect, known as collision, with a multi-antenna mobile robot-based synthetic aperture approach. Using the estimation of the spatial probability density functions of the SAW tag reflectors over a given interrogation aperture, the received impulse responses can be resolved in three dimensions and clustered with respect to their estimated locations. The performance of the proposed approach to associate and localize the signals from multiple tags was evaluated theoretically and experimentally.

show abstract

“…Phase-based localization is divided into multiple schemes, which are extensively presented elsewhere [33][34][35][36]. These schemes generally rely on either multistatic stationary antennas and different carrier frequencies [30,37,38], or on a moving antenna with a known trajectory (e.g., the synthetic aperture radar technique) [39][40][41][42][43]. This paper focuses on a monostatic multi-antenna time-domain phase difference (TD-PD)-inspired scheme, as TD-PD has shown the best results for measuring relative displacements outdoors [18], with a precision of about 1 cm over long time periods for 1D displacement tracking.…”

Section: Introductionmentioning

confidence: 99%

2D Phase-Based RFID Localization for On-Site Landslide Monitoring

Charléty

Breton²,

Larose

et al. 2022

Remote Sensing

View full text Add to dashboard Cite

Passive radio-frequency identification (RFID) was recently used to monitor landslide displacement at a high spatio-temporal resolution but only measured 1D displacement. This study demonstrates the tracking of 2D displacements, using an array of antennas connected to an RFID interrogator. Ten tags were deployed on a landslide for 12 months and 2D relative localization was performed using a phase-of-arrival approach. A period of landslide activity was monitored through RFID and displacements were confirmed by reference measurements. The tags showed displacements of up to 1.2 m over the monitored period. The centimeter-scale accuracy of the technique was confirmed experimentally and theoretically for horizontal localization by developing a measurement model that included antenna and tag positions, as well as multipath interference. This study confirms that 2D landslide displacement tracking with RFID is feasible at relatively low instrumental and maintenance cost.

show abstract

Particle Filter-Based SAR Approach and Trajectory Optimization for Real-Time 3D UHF-RFID Tag Localization

Cited by 13 publications

References 19 publications

A Cost-Efficient Hybrid UHF RFID and Odometry-Based Mobile Robot Self-Localization Technique With Centimeter Precision

A Cost-Efficient Hybrid UHF RFID and Odometry-Based Mobile Robot Self-Localization Technique With Centimeter Precision

SAW RFID Tag Spatial Division Multiple Access Based on 3D Reflector Response Localization Using a Wideband Holographic Approach

2D Phase-Based RFID Localization for On-Site Landslide Monitoring

Contact Info

Product

Resources

About