From: Ensemble learning particle swarm optimization for real-time UWB indoor localization
Targets | Target position | Measured position | Measure error | Optimized position | Error after optimization |
---|---|---|---|---|---|
1 | (− 4.50, −  4.50) | (−5.0447, − 4.6286) | 0.55965 | (− 4.50, − 4.50) | 9.96174E−12 |
2 | (− 4.50, − 3.50) | (− 4.8778, − 2.6532) | 1.6172 | (− 4.50, − 3.50) | 2.92107E−11 |
3 | (− 4.50, − 2.50) | (− 4.6396, − 3.1304) | 2.23051 | (− 4.50, − 2.50) | 1.15305E−13 |
4 | (− 4.50, − 1.50) | (− 3.6902, − 0.5405) | 2.39119 | (− 4.50, − 1.50) | 7.77746E−12 |
5 | (− 4.50, − 0.50) | (− 4.6223, − 1.2778) | 4.19499 | (− 4.50, − 0.50) | 2.08048E−13 |
6 | (− 4.50, 0.50) | (− 4.9839, 0.3174) | 5.48691 | (− 4.50, 0.50) | 1.62034E−12 |
7 | (− 4.50, 1.50) | (− 4.3102, 1.0244) | 5.82964 | (− 4.50, 1.50) | 4.33788E−12 |
8 | (− 4.50, 2.50) | (− 4.2943, 2.9224) | 6.80743 | (− 4.50, 2.50) | 2.60556E−13 |
9 | (− 4.50, 3.50) | (− 5.0565, 2.7348) | 8.59065 | (− 4.50, 3.50) | 7.72499E−14 |
10 | (− 4.50, 4.50) | (− 4.9066, 4.1376) | 9.41363 | (− 4.50, 4.50) | 1.96826E−11 |
11 | (− 3.50,4.50) | (− 3.6517, 4.5157) | 8.15168 | (− 3.50,4.50) | 3.32919E−12 |
12 | (− 2.50, 4.50) | (− 3.3290, 4.0250) | 7.84337 | (− 2.50, 4.50) | 1.22653E−12 |
13 | (− 1.50, 4.50) | (− 0.8980, 3.5584) | 5.47947 | (− 1.50, 4.50) | 7.78704E−13 |
14 | (− 0.50, 4.50) | (0.3577, 4.9607) | 4.16783 | (− 0.50, 4.50) | 9.69029E−12 |
15 | (0.50, 4.50) | (0.4772, 4.6571) | 4.02585 | (0.50, 4.50) | 3.98315E−13 |
16 | (1.50, 4.50) | (0.9746, 4.4177) | 3.52639 | (1.50, 4.50) | 8.19715E−14 |
17 | (2.50, 4.50) | (3.4262, 4.5936) | 1.0779 | (2.50, 4.50) | 7.04791E−12 |
18 | (3.50, 4.50) | (3.5423, 3.9632) | 1.09791 | (3.50, 4.50) | 2.70726E−12 |
19 | (4.50, 4.50) | (4.4778, 4.7481) | 0.24911 | (4.50, 4.50) | 3.14245E−12 |
20 | (4.50, 3.50) | (4.8583, 3.2910) | 1.37425 | (4.50, 3.50) | 6.21847E−12 |
21 | (4.50, 2.50) | (4.2349, 3.4760) | 1.99055 | (4.50, 2.50) | 2.44775E−11 |
22 | (4.50, 1.50) | (3.5755, 2.2703) | 2.21383 | (4.50, 1.50) | 1.7763E−11 |
23 | (4.50, 0.50) | (5.3266, 1.0924) | 4.86279 | (4.50, 0.50) | 5.11463E−14 |
24 | (4.50, − 0.50) | (3.6974, − 0.9763) | 4.22436 | (4.50, − 0.50) | 3.14801E−13 |
25 | (4.50, − 1.50) | (4.1707, − 1.1405) | 5.68209 | (4.50, − 1.50) | 1.42503E−11 |
26 | (4.50, − 2.50) | (3.7731, − 2.0575) | 6.28869 | (4.50, − 2.50) | 3.71205E−12 |
27 | (4.50, − 3.50) | (3.7135, − 3.1925) | 7.22008 | (4.50, − 3.50) | 1.00981E−12 |
28 | (4.50, − 4.50) | (4.4883, − 3.9419) | 9.00566 | (4.50, − 4.50) | 6.37406E−12 |
29 | (3.50, − 4.50) | (3.9301, − 3.6926) | 8.46865 | (3.50, − 4.50) | 2.06266E−12 |
30 | (2.50, − 4.50) | (3.2818, − 4.8317) | 7.78891 | (2.50, − 4.50) | 1.27315E−12 |
31 | (1.50, − 4.50) | (1.8975, − 5.1044) | 6.42598 | (1.50, − 4.50) | 2.85797E−12 |
32 | (0.50, − 4.50) | (− 0.4389, − 4.0119) | 4.09031 | (0.50, − 4.50) | 3.02775E−12 |
33 | (− 0.50, − 4.50) | (− 0.500, − 4.5402) | 4.00025 | (− 0.50, − 4.50) | 1.20355E−13 |
34 | (− 1.50, − 4.50) | (− 0.6906, − 4.2803) | 3.81578 | (− 1.50, − 4.50) | 4.35941E−14 |
35 | (− 2.50, − 4.50) | (− 2.2647, − 3.7811) | 2.34809 | (− 2.50, − 4.50) | 1.13464E−12 |
36 | (− 3.50, − 4.50) | (− 2.8890, − 4.3466) | 1.61827 | (− 3.50, − 4.50) | 1.04629E−12 |