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Table 4 Performance of 2D indoor localization using ELPSO

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
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