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Table 5 Performance of 3D 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,− 4.50,3.60) (− 4.8963,− 3.9034,2.7739) 1.195549 (− 4.5001,− 4.4999,3.6000) 1.36E−07
2 (− 4.50,− 3.50,3.40) (− 3.7988,− 3.2387,3.1449) 0.222615 (− 4.4997,− 3.4998,3.4010) 4.47E−07
3 (− 4.50,− 2.50,3.20) (− 5.4980,− 3.1084,4.1273) 10.21776 (− 4.4999,− 2.4997,3.2001) 4.79E−07
4 (− 4.50,− 1.50,3.00) (− 4.5462,− 0.8003,2.2173) 10.38149 (− 4.4999,− 1.5000,3.0001) 9.33E−07
5 (− 4.50,− 0.50,2.80) (− 4.2680,− 1.1158,3.4165) 14.95691 (− 4.4999,− 0.4999,2.7997) 2.81E−08
6 (− 4.50,0.50,2.60) (− 5.0689,0.0609,2.3528) 31.26613 (− 4.4995,0.4998,2.6004) 8.35E−07
7 (− 4.50,1.50,2.40) (− 4.4801,1.9412,3.0769) 36.41482 (− 4.4999,1.4999,2.3998) 1.02E−06
8 (− 4.50,2.50,2.20) (− 3.8865,2.6628,2.7892) 41.16078 (− 4.5004,2.4999,2.2002) 6.60E−07
9 (− 4.50,3.50,2.00) (− 4.4704,2.5495,1.8709) 64.44693 (− 4.5003,3.5000,1.9997) 3.14E−07
10 (− 4.50,4.50,1.80) (− 4.4249,5.4920,1.1801) 81.02231 (− 4.4992,4.5003,1.8004) 7.19E−08
11 (− 3.50,4.50,1.60) (− 4.3540,5.3446,1.2056) 79.2619 (− 3.4990,4.5001,1.6009) 3.73E−08
12 (− 2.50,4.50,1.40) (− 1.5197,5.4871,2.3420) 38.0984 (− 2.4999,4.4997,1.3999) 3.49E−07
13 (− 1.50,4.50,1.20) (− 1.8102,3.5861,0.7940) 40.8185 (− 1.5000,4.5004,1.2001) 6.35E−08
14 (− 0.50,4.50,1.00) (− 1.3398,4.7150,0.9666) 34.15083 (− 0.4997,4.5001,1.0001) 1.06E−07
15 (0.50,4.50,0.80) (0.9290,4.7708,− 0.1517) 13.73123 (0.4999,4.5010,0.8008) 1.54E−07
16 (1.50,4.50,0.60) (0.8956,5.4528,0.2310) 14.03577 (1.5003,4.4998,0.6007) 2.97E−07
17 (2.50,4.50,0.40) (2.1190,3.5713,1.0994) 7.02079 (2.5003,4.5007,0.4004) 2.14E−07
18 (3.50,4.50,0.20) (3.4177,5.3572,− 0.7132) 2.739887 (3.5000,4.4999,0.2004) 2.48E−07
19 (4.50,4.50,0.00) (3.5646,4.8827,0.0601) 1.024956 (4.5001,4.5003,0.0000) 4.13E−08
20 (4.50,3.50,0.20) (3.5194,4.2055,0.2805) 0.504606 (4.4999,3.5004,0.1998) 5.50E−07
21 (4.50,2.50,0.40) (5.1754,2.1557,1.0299) 7.673302 (4.5002,2.4997,0.3994) 2.57E−07
22 (4.50,1.50,0.60) (4.7668,2.1279,0.9010) 11.15713 (4.5005,1.5004,0.6002) 1.33E−07
23 (4.50,0.50,0.80) (5.3860,− 0.0327,0.5229) 24.2334 (4.4998,0.4998,0.8001) 5.92E−07
24 (4.50,− 0.50,1.00) (3.6574,− 0.8015,1.9427) 18.26336 (4.5001,− 0.5000,1.0011) 9.60E−07
25 (4.50,− 1.50,1.20) (4.3772,− 1.7886,0.9126) 34.70706 (4.5003,− 1.4994,1.2003) 4.18E−07
26 (4.50,− 2.50,1.40) (4.0502,− 1.8335,0.5315) 44.10311 (4.4997,− 2.5002,1.3995) 3.88E−07
27 (4.50,− 3.50,1.60) (4.7995,− 2.5315,1.2096) 69.97281 (4.4996,− 3.5003,1.6000) 2.74E−07
28 (4.50,− 4.50,1.80) (3.6330,− 3.5897,1.1721) 67.36877 (4.4997,− 4.5002,1.8001) 6.72E−07
29 (3.50,− 4.50,2.00) (3.4149,− 4.9324,1.7673) 62.88624 (3.4992,− 4.4994,1.9989) 7.84E−07
30 (2.50,− 4.50,2.20) (3.4877,− 5.2365,1.8627) 64.46026 (2.4996,− 4.4999,2.1998) 1.28E−07
31 (1.50,− 4.50,2.40) (1.9432,− 4.4983,2.8564) 41.72338 (1.4996,− 4.5004,2.4001) 3.70E−07
32 (0.50,− 4.50,2.60) (− 0.2560,− 4.0642,3.0258) 18.38233 (0.5002,− 4.5002,2.5993) 5.78E−07
33 (− 0.50,− 4.50,2.80) (− 0.7117,− 3.5567,2.5600) 15.29884 (− 0.4996,− 4.5003,2.8004) 1.17E−07
34 (− 1.50,− 4.50,3.00) (− 1.6642,− 4.2216,2.1823) 8.787994 (− 1.4999,−  4.4998,2.9990) 2.54E−08
35 (− 2.50,− 4.50,3.20) (− 2.7616,− 4.6484,3.3791) 3.076307 (− 2.4997,−  4.5002,3.2005) 1.58E−07
36 (− 3.50,− 4.50,3.40) (− 3.9609,− 5.4706,4.3427) 2.121412 (− 3.4999,− 4.5001,3.3997) 1.68E−07
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