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

Figure 3

Comparison of the particle distribution of PF, FPF, and IF-PF algorithm. (a) Particle distribution of a position calculation in PF algorithm. (b) Particle distribution of a position calculation in firefly particle filter (FPF) algorithm. (c) Particle distribution of a position calculation in IF-PF algorithm.

(a)

(b)

(c)