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The battery-free and low cost UHF passive tags can be attached on almost any objects, which are recognized as the best medium to achieve high precision ranging and positioning for large-scale objects. This paper proposes an indoor range measurement based on multifrequency phase difference of arrival (MF-PDoA) using UHF RFID passive tags and discusses the measurement principle, experiment implementation, and results evaluation in detail. After a theoretical overview of MF-PDoA range measurement principle, it introduces an experimental prototype under EPC C1G2 standard for range measurements. Both our prototype and a commercial off-the-shelf RFID reader have been used to verify the measurement method. We propose a Kalman filter and weighting method to process the measuring data. Experiment results indicate that, in a real environment, this method can effectively improve the ranging accuracy, which lays a foundation to extend the proposed measurement into two to three dimensions indoor object positioning. <\/jats:p>","DOI":"10.1155\/2015\/715307","type":"journal-article","created":{"date-parts":[[2015,11,1]],"date-time":"2015-11-01T21:02:04Z","timestamp":1446411724000},"page":"715307","update-policy":"https:\/\/doi.org\/10.1177\/sage-journals-update-policy","source":"Crossref","is-referenced-by-count":11,"title":["Multifrequency Phase Difference of Arrival Range Measurement: Principle, Implementation, and Evaluation"],"prefix":"10.1177","volume":"11","author":[{"given":"Lanxin","family":"Qiu","sequence":"first","affiliation":[{"name":"Department of Software, Beijing University of Technology, Beijing 100124, China"},{"name":"Beijing Engineering Technology Research Center for IoT Software and Systems, Beijing 100124, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Zhangqin","family":"Huang","sequence":"additional","affiliation":[{"name":"Department of Software, Beijing University of Technology, Beijing 100124, China"},{"name":"Beijing Engineering Technology Research Center for IoT Software and Systems, Beijing 100124, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shaohua","family":"Zhang","sequence":"additional","affiliation":[{"name":"Department of Software, Beijing University of Technology, Beijing 100124, China"},{"name":"Beijing Engineering Technology Research Center for IoT Software and Systems, Beijing 100124, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Cheng","family":"Jing","sequence":"additional","affiliation":[{"name":"Institute of Remote Sensing and Digital Earth, Chinese Academy of Sciences, Beijing 100094, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Hao","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Xidian University, Xi'an, Shaanxi 710071, China"}],"role":[{"vocabulary":"crossref","role":"author"}]},{"given":"Shuyao","family":"Li","sequence":"additional","affiliation":[{"name":"School of Electronic Engineering, Xidian University, Xi'an, Shaanxi 710071, China"}],"role":[{"vocabulary":"crossref","role":"author"}]}],"member":"179","published-online":{"date-parts":[[2015,11,1]]},"reference":[{"key":"B3-2015-715307","doi-asserted-by":"publisher","DOI":"10.1145\/2534169.2486029"},{"key":"B1-2015-715307","doi-asserted-by":"publisher","DOI":"10.1109\/ipsn.2014.6846747"},{"key":"B2-2015-715307","doi-asserted-by":"publisher","DOI":"10.1145\/2535771.2535790"},{"key":"B4-2015-715307","doi-asserted-by":"publisher","DOI":"10.1109\/wd.2008.4812905"},{"key":"B5-2015-715307","doi-asserted-by":"publisher","DOI":"10.1007\/978-1-4613-1971-9"},{"key":"B8-2015-715307","volume-title":"EPC Radio-Frequency Identication Protocols Class-1 Generation-2 UHF RFID Protocol for Communications at 860\u2009MHz\u2013960\u2009MHz, Ver. 2.2.0.0","author":"EPCglobal","year":"2013"},{"key":"B7-2015-715307","doi-asserted-by":"publisher","DOI":"10.1155\/2012\/865184"},{"key":"B24-2015-715307","doi-asserted-by":"publisher","DOI":"10.1109\/ISCAS.2006.1692717"},{"key":"B6-2015-715307","doi-asserted-by":"publisher","DOI":"10.1109\/PERCOM.2003.1192765"},{"key":"B10-2015-715307","volume-title":"Wireless Communications: Principles and Practice","author":"Rappaport T. 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