Fig. 3From: Ensemble learning particle swarm optimization for real-time UWB indoor localizationSystem structure. The system consists of active tags, four base stations (A, B, C, and D), a router, a location server, and several display terminals. The tags send an ultra-wideband signal in a fixed time slot; each base station intercepts this signal, calling the ranging algorithm to get the distance between base stations and the tagsBack to article page