AN RFID INDOOR LOCATION ALGORITHM BASED ON FUZZY NEURAL NETWORK MODEL. J. Sys. Sci. & Math. Scis. 34(12) (2014, 12),

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1 ½ ³ J. Sys. Sci. & Math. Scis. 34(12) (2014, 12), µ Ñ RFID Ô À (»Ì ÖÚ, Å À ºÓ Ê Â, Å ; Ä Õ Ì, Å ) Á (Ä Õ Ì, Å ) ÚÍ FNN RFID Ò ĐÓ IPS, ÒÇ Ú Í RFID Đ Ó Ù, Ù ½ ² Ë «, Á Å ÈÀ ß ÝÄ RSSI-DIST ÚË, µë Á ² Ó Ý., Đ Æ À BP Ã FNN ± ÚÃÓ Ã. ±Æ Ã «² Ã, ÚÍ Ú Æ BP «Þ, Ø ÚÍ Ù ÎÆ IPS. Þ ĐÓ IPS, RFID Ò, BP, ÚÍ. MR(2000) ²ÜÆ 03B52 AN RFID INDOOR LOCATION ALGORITHM BASED ON FUZZY NEURAL NETWORK MODEL CHEN Zengqiang GUO Feng (Tianjin Key Laboratory of Intelligent Robotics, College of Computer & Control Engineering, Nankai University, Tianjin ; College of Science, Civil Aviation University of China, Tianjin ) * Þ Û ( ), Å (14JCYBJC18700, 13JCYBJC17400) Í.»Æ: ,»Æ:

2 12 : ÚÍ Ú RFID ĐÓ Ù 1439 ZHANG Qing (College of Science, Civil Aviation University of China, Tianjin ) Abstract The fuzzy neural network (FNN) was applied to indoor Positioning System (IPS) base on RFID technology. A RFID indoor Location algorithm based on FNN is proposed, which uses the reference tag data as training samples for neural network and builds the mapping model of The e-tag received signal strength indicator and the distance between e-tag and Reader (RSSI-DIST). The least-squares solution is utilized to determine the position of target tag. Meanwhile, the performances in the modeling and positioning were compared between the traditional BP Neural Network and FNN. The Simulation and Hardware platform s result prove that FNN shows superior performance than BP and the method based on FNN is more suitable for the IPS. Keywords Indoor positioning system (IPS), RFID technology, BP neural network, fuzzy neural network. 1 Ã (Radio-Frequency Identification, RFID) Ñ Ì Å Ñ Ñ, Ç ¾ Â Ã, Ú, Ù Ï Å Đ [1 3]. À Ü Ç¾, Ü Ç¾, RFID Ñ Đ ØĐ Â, ¾ ÈÊ º. ß Ã, RFID Ñ Ò Ø [4 6], Ö Ö Ò Ñ [7, 8] Ñ Ì. Å ³Ç¾ RFID Â, Ì Đ Ò Ì Ö Ö Ò, Ù ± Ò Ç Þ Ù Ê, Ç Þ ³ [9 11]., À Ø Ò, Ç Â Ç ÏÈÊ, À ± Ù Ê Ð. ¹ µ Ï ÏÍĐÏÇ¾ Ä [12, 13], ±Â ³, Í Â Ï, Ð ½ µ., ¾¼ ¹µ Ð Ò Â [14, 15], Å ±Î ±. Ò ÂÇ À ÅÂ³ ³, Å± ÑÆ Ù Ì RFID Ò Ø, Ø ¼ ± Ê, À Ç Þ RSSI (Received Signal Strength Indication, RSSI) Ü Ã ß³ DIST Ù Ê, Ê Å À ±ÒÜ. ±Â Ï BP Â FNN ÙÂÒ Ø Â Ï. À, ÙÌ BP ³ÅÝ Ï, ³ Í Å Ò Â Đ. 2 Õ¹ «Ò º ÈÚ ¾ 1 ßÈ. Ç¾Ø ¼ ÏÒ, Ü Ï Ò,. ²±Ò º È ¾ : Ò Ì 3 6 Í, 25 ¼ Ò, Å 4 RFID RF Ç. ÂÅ

1440 34 ³ Þ Ù Ê [6] Ó RF Ç ÐÐÙÊ, Í Ç ¾ ( ) d P r (d) = P t PL(d 0 ) 10nlg + X σ, (2.

3 ³ Þ Ù Ê [6] Ó RF Ç ÐÐÙÊ, Í Ç ¾ ( ) d P r (d) = P t PL(d 0 ) 10nlg + X σ, (2.1) d 0 Â, P r (d) È ³ Ü Ã d ( dbm); P t Ü Ã ( dbm); PL(d 0 ) ³Þ ( dbm), d 0 ½ 1m, n ÐÐß. X σ Ð, Ì Ñ 0, «σ 2 Ò Ü Î ( dbm). Å ±Â, Þ Ù Ê µ : P t = 20dBm, d 0 = 1m, PL(d 0 ) = 30dBm, n = 4.5, X σ N(0, 0.4). Å Ò À ¾ 2 ß È. 1 Ó» ÉÛ (a) Ó

4 12 : ÚÍ Ú RFID ĐÓ Ù 1441 (b)» 2 Ó Æ Á 3 Đ Å FNN Ò RFID Õ¹±Ø Ê Å Đ ÙÇÃ. BP ÙÌ FNN Ù Ê. BP Ï ÙÂ ±«ÑĐ Å, FNN ÌÑÆÙÌ Å¹, È Å Ï Í¾ Å. FNN Â Ù Ì ÂÂÞ Ù Ì Ð, Å FNN Ç Ê Ï, Ê ÙÂ È ³ Å Ï, À Å ± Ò Ï «Ñ ÏÛ ÅË. Å ³Ò RFID Ò Ø Â, ÀÎ± Î RF Ç ÙÊÌÀ Ò. Ã FNN Ð RSSI-DIST Ù Â, ÑÆ FNN Ù Ê Ò Ø. 3.1 Ð Ð Ý ² ± Ù Ì ÎÙÊ, Ô ¾ 3 ß È Ù Ì. 3 ÚÍ Æ¼

5 : ± Î ± Î x i Ç, Ì x = [x 1, x 2,, x n ] T Ñ, N 1 = n. 2 : Â Þ È Ñ Â Þ, ÔØ± Î ± ÎÙÌ Å Â Þ µ j i µ A j i(x i ), i = 1, 2,, n; j = 1, 2,, m i, n Ì Î, m i Ì x i Ù Ì Î. ±ÂÂÞ Ò, µ j i = exp [ (x c ij) 2 ], Â, c ij Â σ ij È Â Þ ÂÆÂ Þ. N 2 = n i=1 m i. 3 : Ù Ì Î Ñ Ù Ì, Ì, Ô Ø Í Þ, Ð: α l = min{µ l1 1, µl2 2,, µln n } α l = µ l1 1 µl2 2 µln n, Â l 1 {1, 2,, m 1 },, l n {1, 2,, m n }, l = 1, 2,, m, m = n i=1 m i. N 3 = m. 4 : Ñ Ï 3, Ð N 4 = m, À Ñ Ï Ø α l = 5 : σ 2 ji α l ms=1 α s, l = 1, 2,, m. Î Ì Ñ Ï Ï Å, Ð y k = m l=1 ω klα l, k = 1, 2,, r. Ã Î Í Ç y = ωα. Â: y = [y k ] R r 1, ω = [ω kl ] R r m, α = [α l ] R k l. 3.2 ¼ Ö Ý ± Î Ù Ì Ì ±Ò, ß Ì Ì w Â Â Þ Â c ij Â σ ij, i = 1, 2,, n; j = 1, 2,, m i. Ñ Ù Ì ÅÁÌÑÆ 5, ß Ù Ù ½ BP Ø. Ü E = 1 r 2 k=1 (t k y k ) 2, Â t k, y k Â À Ø. º Ø E w ij, E c ij, E σ ij, Ê Ñ «Þ ÅØ Ñ w ij, c ij, σ ij. Ê Ñ Ø w ij (k + 1) = w ij (k) β E w ij, i = 1, 2,, r; j = 1, 2,, m, (3.2) c ij (k + 1) = c ij (k) β E c ij, i = 1, 2,, r; j = 1, 2,, m i, (3.3) σ ij (k + 1) = σ ij (k) β E σ ij, i = 1, 2,, r; j = 1, 2,, m i, (3.4) Â, β> 0 ¾. 3.3 Ó Ç Þ RSSI Â ÜÃ ß ³ DIST FNN Ê Â, «Ç, FNN À RSSI-DIST ÙÊ. Â n ÜÃ, (x 1, y 1 ), (x 2, y 2 ),, (x n, y n ), ²±Ø À Ù Ê, Ü Ã Ü Ç Þ RSSI 1, RSSI 2,, RSSI n, Ù Ü ÜÃ

6 12 : ÚÍ Ú RFID ĐÓ Ù 1443 ß ³ d 1, d 2,, d n, Ý Ü À Ø (x, y). (x 1 x) 2 + (y 1 y) 2 = d 2 1, (x 2 x) 2 + (y 2 y) 2 = d 2 2,. (x n x) 2 + (y n y) 2 = d 2 n. (3.5) Ñ «º Æ Ô Ä Ð ÊÑ «, Ê Ã ÍÇ AX = b, ±³º Ç Å AX b = 0, Ã ¼ Î X 0 Å AX b 2 À, Ð AX b 2 = min AX b 2. f(x) = AX b 2 2 = (AX b) T (AX b) = X T A T AX X T A T b b T AX + b T b, (3.6) X 0 AX b = 0 À, Đ Ì f(x) À, Å df dx X 0 = 0 df dx = 2AT AX 2A T b, A, b À ÂÀ Î, Ù «À X 0 = (A T A) 1 A T b, X 0 Ð Ü ¾Ô. 4 Ú 2 ¹ Ê ±, 4 Ü Ã, 25 ¼, Ñ º 100 RSSI-DIST Å ±, RSSI Â Đ DIST Ç Â Ç. Â BP FNN Î, BP» ¾ : 1, 9, 1, σ(x) = 1 1+e x, σ(x) = x, Í Ö Î Ø, ¾ η = 0.001, Õ ß α = FNN» ¾ : Î 9 ÂÞ, Ñ 1, 9, 9, Ô 9, 1. Æ w ij Ù σ ij 0 1 ß Ü, Â Þ ÂÆ c ij Ê Å min(rssi) Â max(rssi) ß Ïµ¹, ¾ β = Ù Ê Ê FNN Â 2 Â Þ ¾ 4 ß È. FNN Â BP Ê º ¾ 5 ß È, Å RSSI-DIST ÙÊ¾ 6 ß È. FNN Ê Å ², É Þ È, Þ ± Ê ß 2.43 Ô, Å É 1.8m. ÖÎ Ð, BP Å ². Þ ± Ê ß Ô, Å Ê º É 3.9m.

7 FNN ËË Ã ß (a) FNN (b) BP 5 Ë» Ï Ò Ü 200 Å Ü, ± RSSI-DIST Å Ù Ê Ï.

8 12 : ÚÍ Ú RFID ĐÓ Ù 1445 ÜÃ ß À³ BP FNN Å Ù Ê ³ ¾ 6 ß È. ÏÒ Ü 1000 ÏÒ Ü, ± BP Â FNN Ò Ø Ï, BP Â FNN Ò º Ô (Cumulative Distribution Function, CDF) ¾ 7 ß È. (a) FNN (b) BP 6 Á ĐÆ 7 Ó» CDF

1446 34 4.2 ÙÛ», Ê ±Â± ±, BP Â FNN Ï 1 ß È. ± ¾ 1 BP FNN ĐÆ Ë Ë (s) Ë» (m)» <0.3 (%) ËÓ» (m) «Ó» (m) BP 32.97 3.

184 ½ ¾ ÙÂ Ï, Û Ù BP FNN À Â Â RSSI-DIST ÙÊ, Ê ßÂ Êº Í, FNN Ï Ù Å BP ; ½ 6, Ê Å Î, º Ê, BP ¹ Ñ Ò Ë, FNN À ÅÂ³ ³,

2%; BP Ò ÊÒ º ÂÅ Ò º 1.001m Â 0.256m, FNN 0.766m Â 0.184m, BP 23% Â 30%. ½, FNN Ò Ï Å BP Ò Ø. 5 5.

9 ÙÛ», Ê ±Â± ±, BP Â FNN Ï 1 ß È. ± ¾ 1 BP FNN ĐÆ Ë Ë (s) Ë» (m)» <0.3 (%) ËÓ» (m) «Ó» (m) BP FNN ½ ¾ ÙÂ Ï, Û Ù BP FNN À Â Â RSSI-DIST ÙÊ, Ê ßÂ Êº Í, FNN Ï Ù Å BP ; ½ 6, Ê Å Î, º Ê, BP ¹ Ñ Ò Ë, FNN À ÅÂ³ ³, ¹ Ë, Ï Ì ² Ò Ï. ½ ¾ Ò Ï, 7 Â BP Â FNN Ò º CDF È, 1000 Ü Â, BP Ò Ø, 65.3% Ü Ò º À 0.3m, FNN Ò Ø, Ù É 87.2%; BP Ò ÊÒ º ÂÅ Ò º 1.001m Â 0.256m, FNN 0.766m Â 0.184m, BP 23% Â 30%. ½, FNN Ò Ï Å BP Ò Ø À Ê ¾ : Å Impinj ¹ Ó Ò Ç Speedway Revolution R420 Ê Ü Ã, Ê +32.5dBm, Ö Þ 82dBm; Laird ¹ Ó A9028L30NF Ê Ï Å, M Ç Â : µ Ë ¾Ñ H47+M4E Dry Inlay Ê Ö, Í MHz. (a) R420 ËÝÄ (b) A9028L30NF Ë (c) µ 8 Á

10 12 : ÚÍ Ú RFID ĐÓ Ù 1447 (a) Ó ÉÛ (b) ÁÙ» 9 ÁÙÓ ÉÛ ÏÒ 4, 16 Ø ¼, 9 ÏÒ ±, 9 À Ø Ò À È Ú. 5.2 Ó ÀØº 9(b), ÀØÒ ÂÇ È ±ÒÏ, ÀØ ± Ç Ê³ ÂÝ½ ±. Ê ± ÁÎ Å ÐÐÙÊ, ßÃ Å Đ ± Î, Ý ½ ±, Ù Ê Å Ï. Ã Å Ò Æ ± Î. Ý Ñ Ç Þ P r (d) Å µ Î σ Ò, µ, ± Î x Ð Þ Đ (x µ) 2 e 2σ 2, Â n n i=1 µ = xi i=1 (xi µ)2 (n 1), Ô ± Ò 3σ, f(x) = 1 σ 2π n, σ 2 = x i µ > 3σ À Ê, µ x i µ < 3σ ± Â ±., ÅÀ Â, Ñ ¼, Ù 4 m j=1 xj m Ê ±, «RSSI ± Î, Ü ± x = Â m Ì Ü.

11 (a) BP (b) FNN 10 BP Ã FNN Æ ÆĐÆ BP Â FNN Å À Â ÐÐÙÊ, Å ¾ 10 ß È. Ü ± Ò º ¾ 11 ß È. À Ø Ò Ï ¾ 2 ß È. 5.3 ßÛ» ĐÏ, ½ 10 Â Å Ù Ê, Đ BP Ù Ê, FNN Ù Ê È Ï ³ Í ½³ Î± ÀØº ÐÐ. Ô± 2 Ù 11 Â ±, ½À Â 9 ± Ò, Û 1 Ü Ò Â BP FNN, Â, FNN Å BP. BP Ò Ø Å º 0.601m, FNN Ò Ø Å Ò º 0.425m, BP 30% Æ, È Ï ÅÝ Ï. 11 Ý Ó» ĐÆ

12 12 : ÚÍ Ú RFID ĐÓ Ù 1449 Ý À Á BP Õ 1 (0.80, 0.80) 2 (0.40, 1.40) 3 (1.40, 1.40) 4 (0.30, 0.30) 5 (1.60, 0.20) 6 (0.20, 0.80) 7 (1.80, 0.90) 8 (0.90, 1.80) 9 (0.90, 0.20) (0.96, 0.84) (0.68, 1.01) (1.15, 0.99) (0.74, 0.79) (1.19, 0.55) (0.81, 0.85) (1.25, 0.63) (1.08, 1.08) (1.06, 0.90) 2 BP FNN Ó ĐÆ BP Ó» (m) FNN Õ (1.12, 0.69) (0.28, 1.23) (1.42, 1.09) (0.52, 0.57) (1.61, 0.40) (0.60, 0.75) (1.70, 0.42) (1.22, 1.36) (1.02, 0.77) FNN Ó» (m) BP «Ó» (m) FNN «Ó» (m) Å ± ÑÆ FNN Ù RFID Ò Ø. À Â, ±Â ½Ï BP FNN RFID ÙÙ Ò Â Â ; ÅÐ Ò ±, Ï FNN Ø IPS Â ÎÏ. ±ÂØ Ì ³Ç¾ Î RFID Ò Ø, Å ĐÒ ÐÅ ÖĐÒ. ÀØĐ Â, Đ Ù «Ç Ñ Ò Þ; Ö, Ù Ç ÄÒ ÄÒ Å Ö ËÂ. Ö, ¾Ä ÀÅÍ ÖÙÊÅ Î± Ö, Ì É ³. º ¾ [1] É, Ü¹. Ò ¹Æ Á. Ð É, 2013, 35(1): [2] Maxwell A, Lal S. Technological innovations in managing challenges of supply chain management. Universal Journal of Industrial and Business Management, 2013, 1(2):

13 [3], Õ¼. Ä Ø Ô. ÆÉ, 2013, 34(4): [4] Zhao Y Y, Liu Y H, Lionel M. Ni. VIRE: Active RFID-based localization using virtual reference elimination. International Conference on Parallel Processing (ICPP 2007), Xi an, [5] Bouet M, Pujolle G. L-VIRT: Range-free 3-D localization of RFID tags based on topological constraints. Computer Communications, 2009, 32(13 14): [6] Samers S, Zahi S N. A standalone RFID indoor positioning system using passive tags. IEEE Transactions on Industrial Electronics, 2011, 58(5): [7] Park S, Hashimoto S. Autonomous mobile robot navigation using passive RFID in indoor environment. IEEE Transactions on Industrial Electronics, 2009, 56(7): [8] Sangdo P, Hongchul L. Self-recognition of vehicle position using UHF passive RFID tags. IEEE Transactions on Industrial Electronics, 2013, 60(1): [9], ¹. È ³Ú ½Ç RFID ÉÁ ÛÌ. Õ Ì ( ), 2013, 43(S1): [10] Brchan J L, Zhao Z L, Wu J Q. A real-time RFID localization experiment using propagation models. IEEE International Conference on RFID. Orlando, FL, USA, 2012, [11] Ý, Ö,. ÓÈ Á ÉÁÑ Ï ³µÛÌ. À, 2012, 7(3): [12] Xiao Z, Ye S J, Zhong B, Sun C X. BP neural network with rough set for short term load forecasting. Expert Systems with Applications, 2009, 36(1): [13] «¼, Õ, Õ. Ï ¼ ÛÌ ²» ÐÄ. ÖÚ, 2013, 19(11): [14] Kuo R J, Chang J W. Intelligent RFID positioning system through immune-based feed-forward neural network. Journal of Intelligent Manufacturing, Published online: 12 September [15] Hong B W, Huang Y J, Chen C Y, Wu P C, Chen W C. Fuzzy neural network based RFID positioning and navigation method for mobile robots. Research Journal of Applied Sciences, Engineering and Technology, 2013, 6(7):

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