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. © 2017 IEEE.

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

E. Di Giampaolo;
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. © 2017 IEEE.
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Utilizza questo identificativo per citare o creare un link a questo documento: https://hdl.handle.net/11697/234261
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