Three-dimensional indoor localisation system using radio frequency identification tags

Radio Frequency Identification (RFID) is an information exchange technology based on radio wave communication. It is also a possible solution to indoor localisation. Owing to multipath propagation and anisotropic interference in the indoor environment, theoretical propagation models are generally not sufficient for RFID-based localisation. In fact, the received radio frequency signal distribution may not even be monotonic and this makes range-based localisation algorithms less accurate. On the other hand, range-free localisation algorithms, such as k Nearest-Neighbour (kNN), require reference tags to be spread throughout the whole three-dimensional (3D) space which is frequently not practical. In this work, a hybrid real-time localisation algorithm that combines reference tags with Received Signal Strength Indicator (RSSI) ranging is introduced to improve RFID-based 3D localisation in indoor environments. The localisation algorithm is implemented in MATLAB and is synchronised with radio signal data in real-time. Results show that the proposed hybrid algorithm achieves an average 3D localisation error of 1.08 m which represents a significant improvement over algorithms that use only kNN or RSSI.