TrackT: Accurate tracking of RFID tags with mm-level accuracy using first-order taylor series approximation.

Radio Frequency Identification (RFID) technology is widely used to achieve indoor object tracking and positioning. Currently, many methods need to deploy a large number of reference tags beforehand and some are limited by antennas’ spacing. Further, the signal propagation along Non-Line of Sight introduces multipath effects which will challenge the accuracy of RFID localization system. In this work, we propose a method based on measured phase to track mobile RFID tags with millimeter level (mm-level) accuracy. We first partition the surveillance region into square grids at mm-level and suppose that there is a virtual tag as the same as the tracked one in each grid. On this basis, for the case where the tags move along a known track with constant speed, we only need to locate the tag's initial position. We leverage phase periodicity to obtain some candidates and then eliminate position ambiguity by double difference true phase. And for the case where the tag's moving track is unknown to the system, we adopt a first-order Taylor series expansion to calculate the relative displacements of the tracked tag and then locate the initial position as the same process as tracking the known trajectory. In our experiment, our solution can achieve a mean error distance of 0.26cm and 0.55cm for known and unknown movement tracks respectively.