Investigation of RFID tag motion estimation in real-world scenarios
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(7) Table of Contents ABSTRACT..................................................................................................................................... I ACKNOWLEDGEMENTS ............................................................................................................... III TABLE OF FIGURES ................................................................................................................... VIII LIST OF TABLES ........................................................................................................................ XIII LIST OF ABBREVIATIONS ............................................................................................................ XIV 1. PROBLEM STATEMENT .......................................................................................................... 1 1.1. INTRODUCTION ...................................................................................................................... 1 1.2. PROBLEM STATEMENT.............................................................................................................. 1 1.3 TITLE DEFINITIONS.................................................................................................................... 2 1.4 PUBLICATIONS AND SUBMISSIONS FOR PEER REVIEW......................................................................... 3 2. LITERATURE REVIEW.............................................................................................................. 4 2.1. INTRODUCTION ...................................................................................................................... 4 2.2 VISION FOR RFID .................................................................................................................... 4 2.3 BACKGROUND CONTEXT ............................................................................................................ 5 2.4 WORLD MARKET FOR RFID ........................................................................................................ 6 2.5 CHALLENGES WITH RFID ........................................................................................................... 7 2.6 LOCALIZATION MAPPING SYSTEMS.............................................................................................. 10 2.7 PASSIVE RFID TAGS ............................................................................................................... 12 Ϯ͘ϳ͘ϭ KDWKE Ed^K&W^^/s d'ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϮ Ϯ͘ϳ͘Ϯ ^/'E>Z ^WKE^ K&W^^/s d'ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϯ Ϯ͘ϳ͘ϯ ' EϮW^^/s d'^ ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϱ Ϯ͘ϳ͘ϰ /DWKZdE K& WEd/&KZhE/Yh / Ed/&/d/KEK&d'^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϱ 2.8 RFID READERS...................................................................................................................... 16 Ϯ͘ϴ͘ϭ KDWKE Ed^K&Z&/Z Z^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϲ Ϯ͘ϴ͘Ϯ dzW ^K&Ed EE^ ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϳ. . LY_3 D J H .
(8) Ϯ͘ϴ͘ϯ Ed EEZ/d/KEWdd ZEͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϵ Ϯ͘ϴ͘ϰ Z Z^ dd/E'^d,dZ /DWKZdEdE,Ktd, z/E&>h E Z ^h>d^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϮϬ 2.9 HOW READERS AND TAGS PRODUCE PHASE MEASUREMENTS ............................................................ 21 2.10 PREVIOUS WORK ON MOTION ESTIMATION OF RFID TAGS ............................................................. 23 Ϯ͘ϭϬ͘ϭ W,^ ^ ^Wd/>/ Ed/&/d/KE ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Ϯϯ Ϯ͘ϭϬ͘Ϯ Z /s ^/'E>^dZ E'd,Z&/Ͳ^ /EKKZ>Kd/KE^z^d Dͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Ϯϲ Ϯ͘ϭϬ͘ϯ /^dE ^d/Dd/KEd ,E/Yh h^/E'^/'E>WZKW'd/KE,Zd Z/^d/^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺ Ϯϵ Ϯ͘ϭϬ͘ϰ Z >d/D d'DKd/KE ^d/Dd/KE^ KEWKd ,E/Yh ^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϯϭ Ϯ͘ϭϬ͘ϱ /Z d/KE&/E/E'D d,Kh^ /EZKKdK</E'^z^d D ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϯϯ 2.11 DESCRIPTION OF SCENARIOS WHERE MOTION ESTIMATION IS IMPORTANT .......................................... 35 Ϯ͘ϭϭ͘ϭ W Z^KE>^^ d^ hZ/dzKEdZK> ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϯϱ Ϯ͘ϭϭ͘Ϯ ^hWW>z,/EDE' D Edͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϯϱ Ϯ͘ϭϭ͘ϯ W KW> dZ</E'ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϯϲ 2.12 KALMAN FILTER ................................................................................................................... 36 2.13 PHASE UNWRAPPING ............................................................................................................ 39 2.14 SOFTWARE LANGUAGE USED FOR PRODUCT DEVELOPMENT ............................................................ 41 2.15 IMPORTANT PROTOCOLS TO CONSIDER DURING DEVELOPMENT........................................................ 42 2.16 ANTENNA SETUP .................................................................................................................. 43 2.17 CONCLUSION ...................................................................................................................... 45 3 EXPERIMENTAL LEARNING AND INITIAL TESTING................................................................... 46 3.1 ANTENNA SETUP AND ITS INFLUENCE ON PHASE AND RSSI RESPONSE.................................................. 46 ϯ͘ϭ͘ϭ yW Z/D Ed>^ dhWϭ͗Ed EE^E'> dϵϬͲ 'Z ^/EZ >d/KEdKd, /Z d/KEK&d, d' DKs D Ed ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϱϮ. ϯ͘ϭ͘Ϯ yW Z/D Ed>^ dhWϮ͗Ed EE^E'> dϰϱͲ 'Z ^/EZ >d/KEdKd, /Z d/KEK&d, d' DKs D Ed ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϱϲ. ϯ͘ϭ͘ϯ yW Z/D Ed>^ dhWϯ͗Ed EE^E'> WZ>> >dKtZ^d, KEKD/E'/Z d/KEK&d, d' DKs D Ed͘ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϱϵ. ϯ͘ϭ͘ϰ yW Z/D Ed>^ dhWϰ͗Ed EEϭ&/E'dKtZ^d, /Z d/KEK&dZs >EEd EEϮ&/E' /Ed, KWWK^/d /Z d/KE ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϲϭ. ϯ͘ϭ͘ϱ ^hDDZzK& yW Z/D Ed^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϲϰ 3.2 ANTENNA SETUP DESIGN SUITABLE FOR REAL-WORLD APPLICATIONS AND MOTION ESTIMATION ................ 65 3.3 CHALLENGES POSED BY PHASE WRAPPING IN PRACTICE .................................................................... 66 3.4 CONCLUSION ........................................................................................................................ 67 . Y_3 D J H .
(9) 4 DESIGN ................................................................................................................................ 68 4.1 READER SETTINGS AND EQUIPMENT CHOSEN FOR MEASUREMENTS ..................................................... 68 4.2 PHASE UNWRAPPING ALGORITHM DESIGN.................................................................................... 69 4.3 VELOCITY AND DIRECTION ESTIMATION ALGORITHM ....................................................................... 72 4.4 PHASE BASED KALMAN FILTER FOR VELOCITY ESTIMATION ............................................................... 75 4.5 RSSI BASED DISTANCE ESTIMATION ALGORITHM ............................................................................ 79 4.6 KALMAN FILTER FOR DISTANCE ESTIMATION ................................................................................. 80 4.7 PHASE AND RSSI KALMAN FILTER FOR VELOCITY AND DISTANCE ESTIMATION ....................................... 83 4.8 CONCLUSION ........................................................................................................................ 86 5 IMPLEMENTATION AND TESTING .......................................................................................... 87 5.1 SOFTWARE FLOW ................................................................................................................... 87 5.2 TEST 1: INFLUENCE OF TAG SPEED ON VELOCITY ESTIMATION ACCURACY .............................................. 90 5.3 TEST 2: INFLUENCE OF THE NUMBER OF TAGS ON VELOCITY ESTIMATION ACCURACY ............................... 93 5.4 TEST 3: RSSI AND PHASE FUSION KALMAN FILTER IMPACT ON ESTIMATION ACCURACY ........................... 95 5.5 TEST 4: INFLUENCE OF NON-IDEAL VARIABLES ON THE ACCURACY OF MOTION ESTIMATION TECHNIQUES ..... 98 ϱ͘ϱ͘ϭ /E&>h E K&^dZzd'^KEDKd/KE ^d/Dd/KEd ,E/Yh ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϵϴ ϱ͘ϱ͘Ϯ /E&>h E K&Z &> d/KE^KEDKd/KE ^d/Dd/KEd ,E/Yh ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϬϬ ϱ͘ϱ͘ϯ /E&>h E K&/EKKZ Es/ZKED Edt/d,^dZzd'^EZ &> d/KE^KE ^d/Dd/KEd ,E/Yh E Kd, ZWW>/d/KE^K&DKd/KE ^d/Dd/KEWZD d Z^ ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϬϮ. 5.6 CONCLUSION ...................................................................................................................... 103 6 RESULTS AND DISCUSSION.................................................................................................. 104 6.1 INFLUENCE OF TAG SPEED ON VELOCITY ESTIMATION ACCURACY ...................................................... 104 6.2 INFLUENCE OF THE NUMBER OF TAGS ON VELOCITY ESTIMATION ACCURACY ........................................ 112 6.3 RSSI AND PHASE FUSION, KALMAN FILTER IMPACT ON ESTIMATION ACCURACY ................................... 118 6.4 INFLUENCE OF NON-IDEAL VARIABLES ON THE ACCURACY OF MOTION ESTIMATION TECHNIQUES .............. 130 ϲ͘ϰ͘ϭ /E&>h E K&^dZzd'^KEDKd/KE ^d/Dd/KEd ,E/Yh Z ^h>d^ ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϯϬ ϲ͘ϰ͘Ϯ /E&>h E K&Z &> d/KE^KEDKd/KE ^d/Dd/KEd ,E/Yh Z ^h>d^ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϯϱ ϲ͘ϰ͘ϯ /E&>h E K&/EKKZ Es/ZKED Edt/d,^dZzd'^KE ^d/Dd/KEd ,E/Yh Z ^h>d^ ͺͺͺͺͺͺ ϭϯϵ 6.5 CONCLUSION ...................................................................................................................... 143. . YL_3 D J H .
(10) 7 CONCLUDING REMARKS ..................................................................................................... 145 7.1 RESEARCH QUESTIONS ANSWERED ........................................................................................... 145 ϳ͘ϭ͘ϭ /^Z&/d'DKd/KE ^d/Dd/KE/EZ >ͲtKZ>^ EZ/K^WK^^/> ͍ ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϰϱ ϳ͘ϭ͘Ϯ ,KthZd Z d, DKd/KE ^d/Dd/KEd ,E/Yh ^&KZ/&& Z Ed^ EZ/K^͍ͺͺͺͺͺͺͺͺͺͺ ϭϰϱ ϳ͘ϭ͘ϯ t,d&dKZ^t/>>/E&>h E d, hZzK&DKd/KE ^d/Dd/KEEZ d, Z Eztz^dK /DWZKs d, ^dEZ ^d/Dd/KE͍ͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺͺ ϭϰϲ. 7.2 PRACTICAL VERIFICATION OF TECHNIQUE ................................................................................... 147 7.3 SUMMARY ......................................................................................................................... 147 7.4 FUTURE RESEARCH ............................................................................................................... 149 7.5 CONCLUSION ...................................................................................................................... 149 BIBLIOGRAPHY......................................................................................................................... 150 APPENDIX A: PUBLICATIONS AND SUBMISSIONS FOR PEER REVIEW .......................................... 155 APPENDIX B: SUPPORTING FIGURES ......................................................................................... 157 . . YLL_3 D J H .
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