The narrow bandwidth of UHF RFID signals does not allow the direct measurement of the range between the reader and the tag. A Multi-Hypothesis Extended Kalman Filter is proposed in this paper to solve this issue, by fusing the phase measurements with the odometry readings of a mobile robot. While estimating the tag-reader distance, the proposed approach provides also an on-line estimation of the bearing of the tag. The knowledge of range and bearing is beneficial in positioning-based applications as in robotics, to develop algorithms for reaching and grasping a tagged object or to localize a robot using tags as anchors, or for solving a Simultaneous Localization and Mapping (SLAM) problem if positions of both tags and robot are unknown. A few steps are usually enough to obtain a univocal effective estimate of these quantities, as long as the robot is moving over a non-straight path. A comprehensive numerical analysis supports and assesses the theory.

Digiampaolo, E., Martinelli, F. (2020). Range and Bearing Estimation of an UHF-RFID Tag Using the Phase of the Backscattered Signal. IEEE JOURNAL OF RADIO FREQUENCY IDENTIFICATION, 4(4), 332-342 [10.1109/JRFID.2020.3016168].

Range and Bearing Estimation of an UHF-RFID Tag Using the Phase of the Backscattered Signal

Martinelli F.
2020-01-01

Abstract

The narrow bandwidth of UHF RFID signals does not allow the direct measurement of the range between the reader and the tag. A Multi-Hypothesis Extended Kalman Filter is proposed in this paper to solve this issue, by fusing the phase measurements with the odometry readings of a mobile robot. While estimating the tag-reader distance, the proposed approach provides also an on-line estimation of the bearing of the tag. The knowledge of range and bearing is beneficial in positioning-based applications as in robotics, to develop algorithms for reaching and grasping a tagged object or to localize a robot using tags as anchors, or for solving a Simultaneous Localization and Mapping (SLAM) problem if positions of both tags and robot are unknown. A few steps are usually enough to obtain a univocal effective estimate of these quantities, as long as the robot is moving over a non-straight path. A comprehensive numerical analysis supports and assesses the theory.
2020
Pubblicato
Rilevanza internazionale
Articolo
Esperti anonimi
Settore ING-INF/04 - AUTOMATICA
English
Radiofrequency identification
Phase measurement
Simultaneous localization and mapping
Estimation
Antenna measurements
Wheels
RFID localization
Kalman filtering
UHF-RFID
Digiampaolo, E., Martinelli, F. (2020). Range and Bearing Estimation of an UHF-RFID Tag Using the Phase of the Backscattered Signal. IEEE JOURNAL OF RADIO FREQUENCY IDENTIFICATION, 4(4), 332-342 [10.1109/JRFID.2020.3016168].
Digiampaolo, E; Martinelli, F
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/2108/282350
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