Phase-based UHF RFID tracking with nonlinear Kalman filtering and smoothing

S. Särkkä, Ville Viikari, Miika Huusko, Kaarle Jaakkola

    Research output: Contribution to journalArticleScientificpeer-review

    84 Citations (Scopus)


    In this paper, we present an UHF RFID location tracking system, which is based on measuring the phases of back scattered signals from RFID tag using multiple spatially distributed antennas at a single carrier frequency. The wavelength ambiguity of the phase measurements is resolved by using the extended Kalman filter (EKF) and the Rauch-Tung-Striebel (RTS) smoother, where the state includes the position, velocity and the phase offsets of antennas. The performance of the method is experimentally verified at 890 MHz using a commercially available RFID reader.
    Original languageEnglish
    Pages (from-to)904-910
    Number of pages7
    JournalIEEE Sensors Journal
    Issue number5
    Publication statusPublished - 2012
    MoE publication typeA1 Journal article-refereed


    • Extended Kalman filter
    • RFID
    • RTS smoother
    • tracking
    • transponders
    • wireless sensors


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