期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2016
期号：ICMEET
页码：129
出版社：S&S Publications
摘要：A global indoor localization system based on the radio frequency identification (RFID) technology. Areader, installed on the robot, measures the received signal strength indication (RSSI) and the phase shift of UHF-RFIDsignals coming from a set of passive tags deployed on the ceiling of the environment. The position of the tags in theenvironment is only roughly known at the beginning. Exploiting the complementary features of RSSI and phase-shiftinformation in RFID signals. a multi hypothesis extended and unscented Kalman filter is proposed to localize the robotand to simultaneously improve the initial estimate on the tag coordinates. The simulative and experimental results arereported to illustrate the effectiveness of the proposed approach. THE localization of mobile robots using radiofrequency identification (RFID) has received a considerable attention in the last few years see among many others. Inmany cases, the localization system is realized by installing a reader on the robot and by providing the environmentwith a certain number of tags placed in known position. In particular, when using passive tags, a list of appealingfeatures can be pointed out: tags are cheap, virtually maintenance free, and can be univocally identified by the reader,bypassing the well-known data association problem. RFID data used for localization vary from a binary information thetag detection to a more complete set of information, like received signal strength indication RSSI or phase shift of thesignal.
