An ISAR-SAR Based Method for Indoor Localization Using Passive UHF RFID System with Mobile Robotic Platform

Zheng Liu; Zhe Fu; Tongyun Li; Ian H. White; Richard V. Penty; Michael Crisp

doi:10.1109/JRFID.2021.3097803

An ISAR-SAR Based Method for Indoor Localization Using Passive UHF RFID System with Mobile Robotic Platform

Zheng Liu, Zhe Fu, Tongyun Li, Ian H. White, Richard V. Penty, Michael Crisp

Vice Chancellor's Office

University of Cambridge

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Abstract

A novel RFID inverse synthetic aperture radar (ISAR)-synthetic aperture radar (SAR) localization method is proposed and demonstrated which exploits reference tags with known locations to estimate the trajectory of a mobile platform and locate target tags with unknown locations. A system that integrates a mobile robot with an integrated RFID reader and antenna is used to obtain phase measurements of both reference and target tags when the robot is moving along its trajectory. The ISAR algorithm estimates the antenna trajectory and a novel ISAR-SAR loop then adjusts the estimated trajectory. The estimated trajectory is combined with phase measurements of the target tags to determine their location. The performance is compared to SAR using a LiDAR measured antenna trajectory. Similar localization accuracy (15 cm MAE) is achieved using LiDAR-SAR or ISAR-SAR method with a straight-line trajectory and higher accuracy (6 cm) is achieved using ISAR-SAR method than LiDAR-SAR method (8 cm) with an L-shape trajectory.

Original language	English
Pages (from-to)	407-416
Number of pages	10
Journal	IEEE Journal of Radio Frequency Identification
Volume	5
Issue number	4
Early online date	21 Jul 2021
DOIs	https://doi.org/10.1109/JRFID.2021.3097803
Publication status	Published - 1 Dec 2021

Bibliographical note

Funding Information:
This work was supported by the Beijing Institute of Aerospace Control Devices (BIACD) through the RFID System Optimization for Smart Manufacturing using Mobile rEader (ROME) Project.

Keywords

ISAR
localization
reference tags
RFID
SAR

ASJC Scopus subject areas

Computer Networks and Communications
Instrumentation

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Cite this

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title = "An ISAR-SAR Based Method for Indoor Localization Using Passive UHF RFID System with Mobile Robotic Platform",

abstract = "A novel RFID inverse synthetic aperture radar (ISAR)-synthetic aperture radar (SAR) localization method is proposed and demonstrated which exploits reference tags with known locations to estimate the trajectory of a mobile platform and locate target tags with unknown locations. A system that integrates a mobile robot with an integrated RFID reader and antenna is used to obtain phase measurements of both reference and target tags when the robot is moving along its trajectory. The ISAR algorithm estimates the antenna trajectory and a novel ISAR-SAR loop then adjusts the estimated trajectory. The estimated trajectory is combined with phase measurements of the target tags to determine their location. The performance is compared to SAR using a LiDAR measured antenna trajectory. Similar localization accuracy (15 cm MAE) is achieved using LiDAR-SAR or ISAR-SAR method with a straight-line trajectory and higher accuracy (6 cm) is achieved using ISAR-SAR method than LiDAR-SAR method (8 cm) with an L-shape trajectory. ",

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author = "Zheng Liu and Zhe Fu and Tongyun Li and White, {Ian H.} and Penty, {Richard V.} and Michael Crisp",

note = "Funding Information: This work was supported by the Beijing Institute of Aerospace Control Devices (BIACD) through the RFID System Optimization for Smart Manufacturing using Mobile rEader (ROME) Project. ",

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AU - Liu, Zheng

AU - Fu, Zhe

AU - Li, Tongyun

AU - White, Ian H.

AU - Penty, Richard V.

AU - Crisp, Michael

N1 - Funding Information: This work was supported by the Beijing Institute of Aerospace Control Devices (BIACD) through the RFID System Optimization for Smart Manufacturing using Mobile rEader (ROME) Project.

PY - 2021/12/1

Y1 - 2021/12/1

N2 - A novel RFID inverse synthetic aperture radar (ISAR)-synthetic aperture radar (SAR) localization method is proposed and demonstrated which exploits reference tags with known locations to estimate the trajectory of a mobile platform and locate target tags with unknown locations. A system that integrates a mobile robot with an integrated RFID reader and antenna is used to obtain phase measurements of both reference and target tags when the robot is moving along its trajectory. The ISAR algorithm estimates the antenna trajectory and a novel ISAR-SAR loop then adjusts the estimated trajectory. The estimated trajectory is combined with phase measurements of the target tags to determine their location. The performance is compared to SAR using a LiDAR measured antenna trajectory. Similar localization accuracy (15 cm MAE) is achieved using LiDAR-SAR or ISAR-SAR method with a straight-line trajectory and higher accuracy (6 cm) is achieved using ISAR-SAR method than LiDAR-SAR method (8 cm) with an L-shape trajectory.

AB - A novel RFID inverse synthetic aperture radar (ISAR)-synthetic aperture radar (SAR) localization method is proposed and demonstrated which exploits reference tags with known locations to estimate the trajectory of a mobile platform and locate target tags with unknown locations. A system that integrates a mobile robot with an integrated RFID reader and antenna is used to obtain phase measurements of both reference and target tags when the robot is moving along its trajectory. The ISAR algorithm estimates the antenna trajectory and a novel ISAR-SAR loop then adjusts the estimated trajectory. The estimated trajectory is combined with phase measurements of the target tags to determine their location. The performance is compared to SAR using a LiDAR measured antenna trajectory. Similar localization accuracy (15 cm MAE) is achieved using LiDAR-SAR or ISAR-SAR method with a straight-line trajectory and higher accuracy (6 cm) is achieved using ISAR-SAR method than LiDAR-SAR method (8 cm) with an L-shape trajectory.

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KW - SAR

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An ISAR-SAR Based Method for Indoor Localization Using Passive UHF RFID System with Mobile Robotic Platform

Abstract

Bibliographical note

Keywords

ASJC Scopus subject areas

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