Method and apparatus for localization and mapping based on RFID

An apparatus for localization and mapping based on Radio Frequency Identification (RFID), wherein the apparatus is applicable for real-time mapping of an area to be localized in which two or more RFID tags are arranged, each RFID tag is correspondingly arranged at a specific position of the area to be localized, and information of each said RFID tag comprises unique coding information used for distinguishing an absolute position thereof, the apparatus for localization and mapping is a mobile electronic device and the mobile electronic device comprises:

• a RFID tag information reading unit, configured to read information of the RFID tag;
• a coordinate system constructing and recording unit, configured to take a location of a first RFID tag as a coordinate origin of a coordinate system when information of the first RFID tag is obtained by the RFID tag information reading unit in the mobile electronic device which is moving along a certain trajectory for a first time, and record the information of the first RFID tag and coordinate values thereof;
• an encoder, configured to record a moving distance and a moving direction of the mobile electronic device relative to a starting point in real time when the mobile electronic device traverses the area to be localized with the coordinate origin as the starting point;
• an obstacle detecting unit, configured to detect obstacle;
• a first calculating unit, configured to calculate coordinate values of a location of each said obstacle based on a moving direction and a moving distance of the mobile electronic device relative to the starting point recorded by the encoder when the mobile electronic device detects the obstacle, and send the calculated coordinate values to the coordinate system constructing and recording unit;
• and
• a map constructing unit, configured to construct a map according to the information of the RFID tags and coordinate values thereof and the coordinate values of the location of each said obstacle recorded by the coordinate system constructing and recording unit;
• wherein the apparatus further comprises:
• a second calculating unit, configured to calculate coordinate values of location of other RFID tag except the first RFID tag each time the mobile electronic device obtains information of the other RFID tag based on a moving direction and a moving distance of the mobile electronic device relative to the starting point during the traversal, and send the information of the other RFID tag and corresponding coordinate values to the coordinate system constructing and recording unit;
• wherein the information of each said RFID tag further comprises area coding information used for distinguishing an accessible area/a no-entry area, and a RFID tag with the area coding information of the no-entry area limits a specific area behind a boundary where the RFID tag is localized as the no-entry area, the apparatus further comprises:
• an area identifying unit, configured to identify the area coding information in information of the RFID tag as the accessible area or as the no-entry area when the mobile electronic device obtains the information of each said RFID tag;
• and
• an avoiding strategy unit, configured to enable the mobile electronic device to continue to move on to avoid the no-entry area according to a preset avoiding strategy if the area coding information is identified as the no-entry area by the area identifying unit.