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

Table 4

Statistical test results of four algorithms.

	-axis				-axis
Taylor	0.4048	0.0001	1.0374	0.0147	0.2566	0.0393	1.8534	0.0520
EKF	0.3591	0.0083	0.7435	0.0098	0.2809	0.0261	1.0917	0.0273
PF	0.3214	0.0463	0.5723	0.0087	0.2376	0	0.4850	0.0109
IF-PF	0.2050	0.0559	0.3229	0.0033	0.1525	0	0.3333	0.0048