RFID-based Single-station Single-antenna warehousing Robot Mobile Location System

To address the issue that small robots can only carry one antenna but require localization in warehouse scenarios, this paper proposes a novel single-station single-antenna localization scheme using radio frequency identification (RFID) technology. Specifically, we utilize the robot’s movement to simulate a linear array and combine it with the OMP algorithm to calculate the AoA. Then, we use the received signal strength indicator (RSSI) and signal propagation model to match and obtain the distance. Finally, we use the angle and distance to construct a localization model to achieve target localization. We conducted tests in a real-world scenario, and the experimental results show that the maximum error of the proposed localization scheme is 0.18 meters, demonstrating the effectiveness of the proposed algorithm.