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

Table 3

Position coordinates of the trajectory points.

Trajectory point	Coordinates ()
P1	(1.20, 6.00)
P2	(3.00, 6.00)
P3	(3.00, 3.00)
P4	(3.00, 1.20)
P5	(1.20, 1.20)
P6	(1.20, 3.00)