{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2026,5,4]],"date-time":"2026-05-04T18:38:05Z","timestamp":1777919885528,"version":"3.51.4"},"reference-count":44,"publisher":"MDPI AG","issue":"9","license":[{"start":{"date-parts":[[2021,5,10]],"date-time":"2021-05-10T00:00:00Z","timestamp":1620604800000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>State-of-the-art radio frequency identification (RFID)-based indoor autonomous vehicles localization methods are mostly based on received signal strength indicator (RSSI) measurements. However, the accuracy of these methods is not high enough for real-world scenarios. To overcome this problem, a novel dual-frequency phase difference of arrival (PDOA) ranging-based indoor autonomous vehicle localization and tracking scheme was developed. Firstly, the method gets the distance between the RFID reader and the tag by dual-frequency PDOA ranging. Then, a maximum likelihood estimation and semi-definite programming (SDP)-based localization algorithm is utilized to calculate the position of the autonomous vehicles, which can mitigate the multipath ranging error and obtain a more accurate positioning result. Finally, vehicle traveling information and the position achieved by RFID localization are fused with a Kalman filter (KF). The proposed method can work in a low-density tag deployment environment. Simulation experiment results showed that the proposed vehicle localization and tracking method achieves centimeter-level mean tracking accuracy.<\/jats:p>","DOI":"10.3390\/s21093286","type":"journal-article","created":{"date-parts":[[2021,5,10]],"date-time":"2021-05-10T10:49:51Z","timestamp":1620643791000},"page":"3286","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":21,"title":["Localization and Tracking of an Indoor Autonomous Vehicle Based on the Phase Difference of Passive UHF RFID Signals"],"prefix":"10.3390","volume":"21","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-1281-8945","authenticated-orcid":false,"given":"Yunlei","family":"Zhang","sequence":"first","affiliation":[{"name":"School of Microelectronics, Tianjin University, Tianjin 300072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3932-9228","authenticated-orcid":false,"given":"Xiaolin","family":"Gong","sequence":"additional","affiliation":[{"name":"School of Microelectronics, Tianjin University, Tianjin 300072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-8221-0129","authenticated-orcid":false,"given":"Kaihua","family":"Liu","sequence":"additional","affiliation":[{"name":"School of Microelectronics, Tianjin University, Tianjin 300072, China"}]},{"ORCID":"https:\/\/orcid.org\/0000-0001-9046-1094","authenticated-orcid":false,"given":"Shuai","family":"Zhang","sequence":"additional","affiliation":[{"name":"School of Microelectronics, Tianjin University, Tianjin 300072, China"}]}],"member":"1968","published-online":{"date-parts":[[2021,5,10]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"231","DOI":"10.1002\/(SICI)1097-4563(199704)14:4<231::AID-ROB2>3.0.CO;2-R","article-title":"Mobile Robot Positioning: Sensors and Techniques","volume":"14","author":"Borenstein","year":"1997","journal-title":"J. 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