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EURASIP Journal on Wireless Communications and Networking

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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