UWB Indoor Localization Algorithm Using Firefly of Multistage Optimization on Particle Filter

Algorithm 1

Pseudocode of IF-PF.

1. for =1: N

  Draw

2.  Assign the particle a weight, , according to Equation (3)

3. end for

4. for =1: M-1

5.  for =1: N

6.   Update , Update

7.  end for

8.  optimization based on Local search strategy

9.     Sort by weight and form groups in order

10.     the position of the for each group is adjusted such as Equation (11)

11.     Check the convergence.

12.     update weight

13.  optimization based on Global search strategy

14.    for =1: N

15.      Light intensity at is determined by (9)

16.      Cluster particles and find the current best one

17.      Move particle according to Equation (13)

18.      Evaluate new solutions and update light intensity

19.   end for

20   resample

21.  for =1: N

22.   Normalize weight according to the Equation (4)

23.  end for

24. end for