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

Table 1

Parameter of the UWB system.

Performance	Parameters
Line-of-sight ranging distance	30 m
Operating voltage	5 V
Positioning sampling rate	10 Hz
Out power (25°C)	-41.3 dBm/MHz
Ranging accuracy	5 cm
Clock frequency	125 MHz