基于RFID虚拟标签的室内定位算法研究
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摘要
现阶段,随着移动通信以及室内无线技术的快速发展,室内定位技术也成为了人们探索和研究的热门课题之一。基于室内无线技术的室内定位系统具有很好的商业价值和工业前景,但是如红外线、超声波、GPS等典型的室内定位技术,现在已经无法满足高精度,低成本的要求,而射频识别(RFID)技术有成本低,非视距,非接触,定位性能好等特点,使它能在室内定位领域中成为了佼佼者。虽然现阶段已存在不少经典的基于RFID的室内定位系统或者算法,但是由于室内环境的复杂性,射频信号之间的多径干扰等使得对高抗干扰性,高定位精度的室内定位算法提出了新的要求。
本课题首先对用于室内定位的关键技术进行概述,然后对经典室内定位算法进行了分析,如Fang算法、LANDMARC算法、VIRE算法,介绍了它们各自的优缺点。在上述的基础上,从Reference Tag的布局,Virtual Reference Tag插值法和“最邻近”Tag的权值定义法三个方面进行了探索和改进。第一,从概率和几何上,分析了矩形Tag布局的缺点,提出了三角形Tag布局,在减少Tag的数量的同时定位算法的精度提高了3.4%；第二,结合室内环境的多变性和二维牛顿插值法,提出了新的Virtual Reference Tag插值函数。相比于线性插值法和拉格朗日插值法,平均定位精度提高27.4%和9.8%,并且增加了定位系统的稳定性；最后,根据无线信道的传播模型,提出了基于“距离—损耗”公式的权值定义法,分析仿真结果定位精度有2.1%的提高。
综上所述,通过仿真结果证明,本文在基于RFID室内定位算法三个方面的改进使系统的定位精度和稳定性比LANDMARC算法和VIRE算法有了显著的提高。
At this stage, with the rapid development of mobile communication and indoor wireless technology, indoor positioning technology has also become one of the hot topics for people to explore and research. Indoor positioning system based on indoor wireless technology has good commercial value and industrial prospects, but typical indoor positioning technologies such as infrared, ultrasonic, GPS, now unable to meet the requirements of high-precision, and radio frequency identification (RFID) have advantage of low-cost, non-line-of-sight, non-contact positioning performance, so that it can become a leader in the field of indoor positioning. Although in recent years there are many classic RTTD-based indoor positioning system or algorithm, but due to the complexity of the indoor environment, multipath interference between the RF signals makes indoor positioning algorithm for high noise immunity and high positioning accuracy the new requirements.
At first, we give an overview of the key technologies for indoor positioning, and do analysis of the classic indoor positioning algorithm, Fang algorithm, LANDMARC algorithm, VIRE algorithm, and introduce their respective advantages and disadvantages. On the basis of the above, we explore and improved from three aspects on the layout of the Reference Tag, Virtual Reference Tag interpolation and the nearest Tag weights defined law. Firstly, we analyse the shortcomings of rectangular Tag layout through probability and geometry, put forward a triangle Tag layout, and the accuracy of the positioning algorithms improve3.4%with reducing the number of Tag. Secondly, combined with the variability of the indoor environment and two-dimensional Newton interpolation method we proposed a new the Virtual Reference Tag interpolation function. The average positioning accuracy increased by27.4%and9.8%compared to the linear interpolation and Lagrange interpolation method, and it also increases the stability of the positioning system. Finally, according to the radio channel propagation model, according to the analysis of simulation, the formula weights defined method based on the distance-lossa curve results2.1%increase on positioning accuracy.
In summary, the system's positioning accuracy and stability has been significantly improved through the improvement based on the three aspects of the RFID indoor positioning algorithm in this paper than LANDMARC algorithm and VIRE algorithm through simulation results proved.
本课题首先对用于室内定位的关键技术进行概述,然后对经典室内定位算法进行了分析,如Fang算法、LANDMARC算法、VIRE算法,介绍了它们各自的优缺点。在上述的基础上,从Reference Tag的布局,Virtual Reference Tag插值法和“最邻近”Tag的权值定义法三个方面进行了探索和改进。第一,从概率和几何上,分析了矩形Tag布局的缺点,提出了三角形Tag布局,在减少Tag的数量的同时定位算法的精度提高了3.4%；第二,结合室内环境的多变性和二维牛顿插值法,提出了新的Virtual Reference Tag插值函数。相比于线性插值法和拉格朗日插值法,平均定位精度提高27.4%和9.8%,并且增加了定位系统的稳定性；最后,根据无线信道的传播模型,提出了基于“距离—损耗”公式的权值定义法,分析仿真结果定位精度有2.1%的提高。
综上所述,通过仿真结果证明,本文在基于RFID室内定位算法三个方面的改进使系统的定位精度和稳定性比LANDMARC算法和VIRE算法有了显著的提高。
At this stage, with the rapid development of mobile communication and indoor wireless technology, indoor positioning technology has also become one of the hot topics for people to explore and research. Indoor positioning system based on indoor wireless technology has good commercial value and industrial prospects, but typical indoor positioning technologies such as infrared, ultrasonic, GPS, now unable to meet the requirements of high-precision, and radio frequency identification (RFID) have advantage of low-cost, non-line-of-sight, non-contact positioning performance, so that it can become a leader in the field of indoor positioning. Although in recent years there are many classic RTTD-based indoor positioning system or algorithm, but due to the complexity of the indoor environment, multipath interference between the RF signals makes indoor positioning algorithm for high noise immunity and high positioning accuracy the new requirements.
At first, we give an overview of the key technologies for indoor positioning, and do analysis of the classic indoor positioning algorithm, Fang algorithm, LANDMARC algorithm, VIRE algorithm, and introduce their respective advantages and disadvantages. On the basis of the above, we explore and improved from three aspects on the layout of the Reference Tag, Virtual Reference Tag interpolation and the nearest Tag weights defined law. Firstly, we analyse the shortcomings of rectangular Tag layout through probability and geometry, put forward a triangle Tag layout, and the accuracy of the positioning algorithms improve3.4%with reducing the number of Tag. Secondly, combined with the variability of the indoor environment and two-dimensional Newton interpolation method we proposed a new the Virtual Reference Tag interpolation function. The average positioning accuracy increased by27.4%and9.8%compared to the linear interpolation and Lagrange interpolation method, and it also increases the stability of the positioning system. Finally, according to the radio channel propagation model, according to the analysis of simulation, the formula weights defined method based on the distance-lossa curve results2.1%increase on positioning accuracy.
In summary, the system's positioning accuracy and stability has been significantly improved through the improvement based on the three aspects of the RFID indoor positioning algorithm in this paper than LANDMARC algorithm and VIRE algorithm through simulation results proved.
引文
[1]T. Man. X. C. Lu and Q. Lan, Pattern Recognition Based Kalman Filter for Indoor Localization Using TDOA Algorithm. Applied Mathematical Modeling, Vol.34, No.10,2893-2900,2010.
[2]K. Enda and R. Kohno, Iterative Difference Compensation Algorithm to Mitigate NLOS Influence for Positioning, International Symposium on Information Theory and Its Applications,1-6,2008.
[3]Khan M. A., Antiwal V.K., Location Estimation Technique using Extended 3-D LANDMARC Algorithm for Passive RFID Tag. Proceedings of the Advance Computing Conference,2009(IACC 2009) on 6-7 March 2009:249-253.
[4]R. Kronberger, T. Knie, R. Leonardi, U. Dettmar, M. Cremer and S. Azzouzi, UHF RFID Localization System Based on A Phased Array Antenna, in 2011 IEEE International Symposium on Antennas and Propagation,525-528,2011.
[5]S. Azzouzi, M. Cremer, U. Dettmar, R. Kronberger and T. Knie, New Measurement Results for The Localization of UHF RFID Transponders Using An Angle of Arrival (AOA) Approach, in 2011 IEEE International Conference on RFID,91-97,2011.
[6]朱娟,周尚伟,马启平.基于RFID的室内定位算法[M].微计算机信息,2009,25(8)：160-162.
[7]Ni, L. M., Yunhao Liu, Yiu Cho Lau, Patil A.P., LANDMARC:Indoor location sensing using active RFID Pervasive Computing and Communications. Proceedings of the First IEEE International Conference on 23-26 March 2003: 407-415.
[8]J. R. Zhou, H. J. Zhang and L. F. Mo, Two-dimension Localization of Passive RFID Tags Using AOA Estimation, in 2011 IEEE Instrumentation and Measurement Technology Conference,1-5,2011.
[9]AbhishekPatil, Munson J., Wood D., Cole A. BlueBot:Asset tracking via robotic location crawling. Proceedings of International Conference on 2005:117-126.
[10]M. Bouet and G. Pujolle. A range-free 3-D localization method RFID tags based Oil virtual landmarks. In Proceedings of PIMRC,2008.
[11]M. Bouet and G. pujolle. L-VIRT:A 3-D Range-Free Localization Method for RFID Tags Based on Virtual Landmarks and Mobile Readers. Consumer Communications and Networking Conference,2009.6th IEEE.
[12]Y. Wang, X. D. Hu, Indoor Localization Algorithm Based on RFID, Journal of Zhejiang Sci-Tech University, Vol.26, No.2,228-231,2009.
[13]S. W. Jeon, M. Y. Choi, G. H. Kim and B. H. Hong, Localization of Pallets Based on Passive RFID Tags, in 2010 Seventh International Conference on Information Technology:New Generations,834-839,2010.
[14]Z. Zou, T. Deng, Q. Zou, M. D. Sarmiento, F. Jonsson and L. R. Zheng, Energy Detection Receiver with TOA Estimation Enabling Positioning in Passive UWB-RFID System, in Proceedings of the 2010 IEEE International Conference on Ultra-Wideband,1-4,2010.
[15]N. Sah, N. R. Prakash, A. Kumar and D. Kumar, Optimizing The Path-loss of Wireless Indoor Propagation Models Using CSP Algorithms, in 2010 International Conference on Computer and Network Technology,324-328,2010.
[16]W. D. Wang, Y. H. Zhang, W. Yao and S. F. Wang, The Propagation Model of RFID Systems in ETC, in IEEE International Conference on Communications Technology and Applications,54-57,2009.
[17]B. J. Zhang, A TOA/AOA Location Algorithm Based on Adaptive Genetic Algorithm in NLOS Environment, Journal of Xi'an University of Post and Telecommunications, Vol.14, No.3,25-28,2009.
[18]M. A. Khan and V. K. Antiwal, Location Estimation Technique Using Extended 3-D LANDMARC Algorithm for Passive RFID Tag, in The 2009 IEEE International Advance Computing Conference,249-253,2009.
[19]Y. H. Huang, Z. Y. Liu and G. J. Ling, An Improved Bayesian-based RFID Indoor Location Algorithm, in The 2008 International Conference on Computer Science and Software Engineering,511-514,2008.
[20]W. F. Li, J. Wu and D. Wang, A Novel Indoor Positioning Method Based on Key Reference RFID Tags, in IEEE Youth Conference on Information, Computing and Telecommunication,42-45,2009.
[21]Y. Z. WANG, L. H. MAO, H. LIU and J. H. Xiao, Research and Application of RFID Location Algorithm Based on Reference Tags, Journal on Communications, Vol.31, No.2,86-92,2010.
[22]Y. J. Huang, C. Y. Chen, B. W. Hong, T. C. Kuo and H. H. Yu, Fuzzy Neural Network Based RFID Indoor Location Sensing Technique, in The 2010 International Joint Conference on Neural Networks,1-5,2010.
[23]Y. Y. Zhao, Y. H. Liu and L. M. Ni, VIRE:Active RFID-based Localization Using Virtual Reference Elimination, in 2007 International Conference on Parallel Processing,56-63,2007.
[24]T. C. Yang, L. Jin and J. Cheng, An Improvement CHAN Algorithm Based on TOA Position, Acta Electronica Sinica, Vol.37, No.4,819-822,2009.
[25]M Ayoub Khan and Videep Kumar Antiwal, "Location Estimation Technique using Extended 3-D LANDMARC Algorithm for Passive RFID Tag," 2009 IEEE International Advance Computing Conference (IACC 2009), Patiala, India, March 2009.
[26]Abdelmoula Bekkali, Horacio Sanson and Mitsuji Matsumoto, "RFID Indoor Positioning Based on Probabilistic RFID Map and Kalman Filtering," Third IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, White Plains, NY, October 2007.
[27]A. N. Bishop, B. Fidan, K. Do □ancay, B. Anderson and P. N. Pathirana, Exploiting Geometry for Improved Hybrid AOA/TDOA-based Localization, Signal Processing, Vol.88, No.7,1775-1791,2008.
[28]K. L. Sue and Y. M. Lo, BLOCS:A Smart Book-locating System Based on RFID in Libraries, in 2007 International Conference on Service Systems and Service Management,1-6,2007.
[29]Bao Xu, Wang Gang. Random sampling Algorithm in RFID Indoor Location System. Electronic Design, Test and Applications,2006. DELTA 2006. Third IEEE International workshop on. Jan.2006.
[30]C.-D. Wann and Y.-J. Yeh. A hybrid TDOA/AOA positioning technique for indoor UWB systems, in Proceeding of the 2005 International Symposium on Communications, Kaohsiung, Taiwan, Nov.2005.
[31]A. Smith, H. Balakrishnan, M. Goraczko, and N. Priyantha. Tracking Moving Devices with the Cricket Location System. Proc. Second Int'l Conf. Mobile Systems, Applications, and Services, pp.190-202, June 2005.
[32]Sung-Tsun Shih, Kunta Hsieh, Pei-Yuan Chen. An Improvement Approach of Indoor Location Sensing Using Active RFID. icicic, pp.453-456, First International Conference on Innovative Computing, Information and Control-Volume Ⅱ (ICICIC06),2006.
[33]陈慧,周子牟,孙敏.一种利用有源RFID标签的室内定位机制[J],广东通信技术,2007.
[34]Koide S. and Kato M., "3-D human navigation system considering various transition preferences". Proceedings of 2005 IEEE International Conference on Systems, Man and Cybernetics, vol.1, pp.859-864, Oct.10-12,2005.
[35]吴世贤.支援RFID定位之3D虚拟导览系统[D].真理大学数理科学研究所硕士班硕士论文,2008.
[36]K.L. Sue, C.H. Tsai, and M.H. Lin, FLEXOR: A Flexible Localization Scheme Based on RFID, In I. Chong, and K. Kawahara (Eds.), International Conference on Information Networking (ICOIN 2006), LNCS 3961, pp.306-316,2006.
[37]X. Liu, M.D. Corner, and P. Shenoy, Ferret: RFID Localization for Pervasive Multimedia, In P. Dourish, and A. Friday (Eds.), International Conference of Ubiquitous Computing (Ubicomp 2006). LNCS 4206, pp.422-440,2006.
[38]B. Xu and W Gang, "Random Sampling Algorithm in RFID Indoor Location System," IEEE International Workshop on Electronic Design, Test and Applications (DELTA'06),2006.
[39]Zang Li, Chao-Hsien Chu, and Wen Yao, SIP-RLTS:An RFID Location Tracking System Based on SIP,2008 IEEE International Conference on RFID The Venetian, Las Vegas, Nevada, USA April 16-17,2008.
[40]J. McGenough. Wireless location positioning based on signal propagation data. Digital Earth Systems Inc., Aug.2002.
[41]Patrick S, "RFID for dummies", published by Wiley Publishing, Inc, Indianapolis, pp 22-32,2005.
[42]孙瑜,射频识别(RFID)室内定位算法研究(硕士学位论文),西南交通大学,2008.
[43]田野,射频识别定位技术研究(硕士学位论文),贵州大学,2008.
[44]徐凤燕,室内无线定位算法研究(硕士学位论文),复旦大学,2008.
[45]D. Moore, J. Leonard, D. Rus et al, Robust distributed network localization with noisy range measurements[C], in Proceedings of the Second International Conference on Embedded Networked Sensor Systems,2004.
[46]Patwari N, O'Dea R J, Wang Yan-wei. Relative location in wireless networks[C]. Vehicular Technology Conference, VTC 2001,2001(2):1149-1153.
[47]J. Ma, Q. Chen, D. Zhang. An Empirical Study of Radio Signal Strength in Sensor Networks[C]. Technical Report, Dept. of Computer Science and Engineering, Hong Kong University of Science and Technology, March 25, 2006.
[48]G. Y. Jin, X. Y. Lu, M. S. An Indoor LocalizationMechanism Using Active RFID Tag[C], in Proceedings of the IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing,2006.
[49]R. Want. An Introduction to RFID Technology[J]. IEEE Pervasive Computing, 2006,5(1):25-33.
[51]Lionel M N, Liu Yun Hao, Lau Y C et al. LANDMARC:Indoor location sensing using active RFID[J]. WirelessNetworks,2004,10(6):701-710.
[52]Zhao Jun, Li Hongbin, Wang Zhi. An Active Queue Management Algorithm Based on Single Neuron Adaptive PI Controller [J]. Information and Control, 2008,37(4):465-471.
[53]史道济,张玉环.应用数理统计[M].天津：天津大学出版社,2008.130-134
[2]K. Enda and R. Kohno, Iterative Difference Compensation Algorithm to Mitigate NLOS Influence for Positioning, International Symposium on Information Theory and Its Applications,1-6,2008.
[3]Khan M. A., Antiwal V.K., Location Estimation Technique using Extended 3-D LANDMARC Algorithm for Passive RFID Tag. Proceedings of the Advance Computing Conference,2009(IACC 2009) on 6-7 March 2009:249-253.
[4]R. Kronberger, T. Knie, R. Leonardi, U. Dettmar, M. Cremer and S. Azzouzi, UHF RFID Localization System Based on A Phased Array Antenna, in 2011 IEEE International Symposium on Antennas and Propagation,525-528,2011.
[5]S. Azzouzi, M. Cremer, U. Dettmar, R. Kronberger and T. Knie, New Measurement Results for The Localization of UHF RFID Transponders Using An Angle of Arrival (AOA) Approach, in 2011 IEEE International Conference on RFID,91-97,2011.
[6]朱娟,周尚伟,马启平.基于RFID的室内定位算法[M].微计算机信息,2009,25(8)：160-162.
[7]Ni, L. M., Yunhao Liu, Yiu Cho Lau, Patil A.P., LANDMARC:Indoor location sensing using active RFID Pervasive Computing and Communications. Proceedings of the First IEEE International Conference on 23-26 March 2003: 407-415.
[8]J. R. Zhou, H. J. Zhang and L. F. Mo, Two-dimension Localization of Passive RFID Tags Using AOA Estimation, in 2011 IEEE Instrumentation and Measurement Technology Conference,1-5,2011.
[9]AbhishekPatil, Munson J., Wood D., Cole A. BlueBot:Asset tracking via robotic location crawling. Proceedings of International Conference on 2005:117-126.
[10]M. Bouet and G. Pujolle. A range-free 3-D localization method RFID tags based Oil virtual landmarks. In Proceedings of PIMRC,2008.
[11]M. Bouet and G. pujolle. L-VIRT:A 3-D Range-Free Localization Method for RFID Tags Based on Virtual Landmarks and Mobile Readers. Consumer Communications and Networking Conference,2009.6th IEEE.
[12]Y. Wang, X. D. Hu, Indoor Localization Algorithm Based on RFID, Journal of Zhejiang Sci-Tech University, Vol.26, No.2,228-231,2009.
[13]S. W. Jeon, M. Y. Choi, G. H. Kim and B. H. Hong, Localization of Pallets Based on Passive RFID Tags, in 2010 Seventh International Conference on Information Technology:New Generations,834-839,2010.
[14]Z. Zou, T. Deng, Q. Zou, M. D. Sarmiento, F. Jonsson and L. R. Zheng, Energy Detection Receiver with TOA Estimation Enabling Positioning in Passive UWB-RFID System, in Proceedings of the 2010 IEEE International Conference on Ultra-Wideband,1-4,2010.
[15]N. Sah, N. R. Prakash, A. Kumar and D. Kumar, Optimizing The Path-loss of Wireless Indoor Propagation Models Using CSP Algorithms, in 2010 International Conference on Computer and Network Technology,324-328,2010.
[16]W. D. Wang, Y. H. Zhang, W. Yao and S. F. Wang, The Propagation Model of RFID Systems in ETC, in IEEE International Conference on Communications Technology and Applications,54-57,2009.
[17]B. J. Zhang, A TOA/AOA Location Algorithm Based on Adaptive Genetic Algorithm in NLOS Environment, Journal of Xi'an University of Post and Telecommunications, Vol.14, No.3,25-28,2009.
[18]M. A. Khan and V. K. Antiwal, Location Estimation Technique Using Extended 3-D LANDMARC Algorithm for Passive RFID Tag, in The 2009 IEEE International Advance Computing Conference,249-253,2009.
[19]Y. H. Huang, Z. Y. Liu and G. J. Ling, An Improved Bayesian-based RFID Indoor Location Algorithm, in The 2008 International Conference on Computer Science and Software Engineering,511-514,2008.
[20]W. F. Li, J. Wu and D. Wang, A Novel Indoor Positioning Method Based on Key Reference RFID Tags, in IEEE Youth Conference on Information, Computing and Telecommunication,42-45,2009.
[21]Y. Z. WANG, L. H. MAO, H. LIU and J. H. Xiao, Research and Application of RFID Location Algorithm Based on Reference Tags, Journal on Communications, Vol.31, No.2,86-92,2010.
[22]Y. J. Huang, C. Y. Chen, B. W. Hong, T. C. Kuo and H. H. Yu, Fuzzy Neural Network Based RFID Indoor Location Sensing Technique, in The 2010 International Joint Conference on Neural Networks,1-5,2010.
[23]Y. Y. Zhao, Y. H. Liu and L. M. Ni, VIRE:Active RFID-based Localization Using Virtual Reference Elimination, in 2007 International Conference on Parallel Processing,56-63,2007.
[24]T. C. Yang, L. Jin and J. Cheng, An Improvement CHAN Algorithm Based on TOA Position, Acta Electronica Sinica, Vol.37, No.4,819-822,2009.
[25]M Ayoub Khan and Videep Kumar Antiwal, "Location Estimation Technique using Extended 3-D LANDMARC Algorithm for Passive RFID Tag," 2009 IEEE International Advance Computing Conference (IACC 2009), Patiala, India, March 2009.
[26]Abdelmoula Bekkali, Horacio Sanson and Mitsuji Matsumoto, "RFID Indoor Positioning Based on Probabilistic RFID Map and Kalman Filtering," Third IEEE International Conference on Wireless and Mobile Computing, Networking and Communications, White Plains, NY, October 2007.
[27]A. N. Bishop, B. Fidan, K. Do □ancay, B. Anderson and P. N. Pathirana, Exploiting Geometry for Improved Hybrid AOA/TDOA-based Localization, Signal Processing, Vol.88, No.7,1775-1791,2008.
[28]K. L. Sue and Y. M. Lo, BLOCS:A Smart Book-locating System Based on RFID in Libraries, in 2007 International Conference on Service Systems and Service Management,1-6,2007.
[29]Bao Xu, Wang Gang. Random sampling Algorithm in RFID Indoor Location System. Electronic Design, Test and Applications,2006. DELTA 2006. Third IEEE International workshop on. Jan.2006.
[30]C.-D. Wann and Y.-J. Yeh. A hybrid TDOA/AOA positioning technique for indoor UWB systems, in Proceeding of the 2005 International Symposium on Communications, Kaohsiung, Taiwan, Nov.2005.
[31]A. Smith, H. Balakrishnan, M. Goraczko, and N. Priyantha. Tracking Moving Devices with the Cricket Location System. Proc. Second Int'l Conf. Mobile Systems, Applications, and Services, pp.190-202, June 2005.
[32]Sung-Tsun Shih, Kunta Hsieh, Pei-Yuan Chen. An Improvement Approach of Indoor Location Sensing Using Active RFID. icicic, pp.453-456, First International Conference on Innovative Computing, Information and Control-Volume Ⅱ (ICICIC06),2006.
[33]陈慧,周子牟,孙敏.一种利用有源RFID标签的室内定位机制[J],广东通信技术,2007.
[34]Koide S. and Kato M., "3-D human navigation system considering various transition preferences". Proceedings of 2005 IEEE International Conference on Systems, Man and Cybernetics, vol.1, pp.859-864, Oct.10-12,2005.
[35]吴世贤.支援RFID定位之3D虚拟导览系统[D].真理大学数理科学研究所硕士班硕士论文,2008.
[36]K.L. Sue, C.H. Tsai, and M.H. Lin, FLEXOR: A Flexible Localization Scheme Based on RFID, In I. Chong, and K. Kawahara (Eds.), International Conference on Information Networking (ICOIN 2006), LNCS 3961, pp.306-316,2006.
[37]X. Liu, M.D. Corner, and P. Shenoy, Ferret: RFID Localization for Pervasive Multimedia, In P. Dourish, and A. Friday (Eds.), International Conference of Ubiquitous Computing (Ubicomp 2006). LNCS 4206, pp.422-440,2006.
[38]B. Xu and W Gang, "Random Sampling Algorithm in RFID Indoor Location System," IEEE International Workshop on Electronic Design, Test and Applications (DELTA'06),2006.
[39]Zang Li, Chao-Hsien Chu, and Wen Yao, SIP-RLTS:An RFID Location Tracking System Based on SIP,2008 IEEE International Conference on RFID The Venetian, Las Vegas, Nevada, USA April 16-17,2008.
[40]J. McGenough. Wireless location positioning based on signal propagation data. Digital Earth Systems Inc., Aug.2002.
[41]Patrick S, "RFID for dummies", published by Wiley Publishing, Inc, Indianapolis, pp 22-32,2005.
[42]孙瑜,射频识别(RFID)室内定位算法研究(硕士学位论文),西南交通大学,2008.
[43]田野,射频识别定位技术研究(硕士学位论文),贵州大学,2008.
[44]徐凤燕,室内无线定位算法研究(硕士学位论文),复旦大学,2008.
[45]D. Moore, J. Leonard, D. Rus et al, Robust distributed network localization with noisy range measurements[C], in Proceedings of the Second International Conference on Embedded Networked Sensor Systems,2004.
[46]Patwari N, O'Dea R J, Wang Yan-wei. Relative location in wireless networks[C]. Vehicular Technology Conference, VTC 2001,2001(2):1149-1153.
[47]J. Ma, Q. Chen, D. Zhang. An Empirical Study of Radio Signal Strength in Sensor Networks[C]. Technical Report, Dept. of Computer Science and Engineering, Hong Kong University of Science and Technology, March 25, 2006.
[48]G. Y. Jin, X. Y. Lu, M. S. An Indoor LocalizationMechanism Using Active RFID Tag[C], in Proceedings of the IEEE International Conference on Sensor Networks, Ubiquitous, and Trustworthy Computing,2006.
[49]R. Want. An Introduction to RFID Technology[J]. IEEE Pervasive Computing, 2006,5(1):25-33.
[51]Lionel M N, Liu Yun Hao, Lau Y C et al. LANDMARC:Indoor location sensing using active RFID[J]. WirelessNetworks,2004,10(6):701-710.
[52]Zhao Jun, Li Hongbin, Wang Zhi. An Active Queue Management Algorithm Based on Single Neuron Adaptive PI Controller [J]. Information and Control, 2008,37(4):465-471.
[53]史道济,张玉环.应用数理统计[M].天津：天津大学出版社,2008.130-134