Real time indoor tracking of tagged objects with a network of RFID readers

We propose a method for accurate real time indoor tracking of tagged objects in Ultra High Frequency (UHF) Radio Frequency Identification (RFID) systems. The method is based on aggregated binary measurements and a model that captures the uncertainty in the number of times that a tag is read while it is in the reading range of an RFID reader. The measurements represent numbers of readings of the tags in short time intervals. The implementation of the method is based on particle filtering and its performance is demonstrated by extensive computer simulations.