Real-time 3D robotic arm tracking in indoor environment by RF nonlinear backscattering

Proceedings of the Eighth Wireless of the Students, by the Students, and for the Students Workshop. Workshop on Wireless of the Students, by the Students, for the Students (8th : 2016 : New York, N.Y.) Pub Date : 2016-10-03 DOI:10.1145/2987354.2987358

Xiaonan Hui, Yunfei Ma, E. Kan

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引用次数: 4

Abstract

We demonstrate accurate real-time 3D robotic arm tracking in indoor environment via broadband RF nonlinear backscattering from passive tags, which is immune to mild visual obstruction from clothes and interior walls as well as static magnetic field distortion from the metallic structures and motors. The marker tag on the robotic arm has nonlinear backscattering built on an open-source RFID platform in order to resolve the self-jamming and multi-path problems in conventional RFID system. The sparsely selected frequencies in a broad bandwidth and the antenna spatial diversity enable efficient and reliable phase-based 3D localization against the ghost images from multi-path interference. We utilized one Tx and four Rx antennas with five frequencies from 829MHz to 1080MHz. The measured 20 Hz sampling had centimeter-level accuracy against an estimated 3D ground truth and millimeter-level deviation in many repeated measurements.

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基于射频非线性后向散射的室内环境下三维机械臂实时跟踪

我们演示了通过无源标签的宽带射频非线性后向散射在室内环境中精确的实时3D机械臂跟踪，该标签不受衣服和内墙的轻度视觉障碍以及金属结构和电机的静态磁场畸变的影响。为了解决传统RFID系统的自干扰和多路径问题，在开源RFID平台上构建了机械臂上的标记标签非线性后向散射。宽频带中稀疏选择的频率和天线空间分集使得基于相位的3D定位能够有效可靠地对抗多径干扰产生的幽灵图像。我们使用了一个Tx和四个Rx天线，频率从829MHz到1080MHz。测量的20 Hz采样对估计的3D地面真实值具有厘米级精度，并且在许多重复测量中具有毫米级偏差。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings of the Eighth Wireless of the Students, by the Students, and for the Students Workshop. Workshop on Wireless of the Students, by the Students, for the Students (8th : 2016 : New York, N.Y.)

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