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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