Fig. 9From: Ensemble learning particle swarm optimization for real-time UWB indoor localization2D indoor localization modeling and optimization. After the initial measurement, for every target, we first establish the search space based on the corresponding measured target; then, we optimize the measured target by our proposed ELPSO algorithm to achieve the optimal localization, which is represented by the red pentagonal stars. The specific location coordinates are listed in Table 4Back to article page