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

Table 5

Comparison of estimation accuracy.

Particle number	-axis error (m)		-axis error (m)
	PF	IF-PF	PF	IF-PF
250	0.7817	0.2336	0.4995	0.2218
350	0.3103	0.2107	0.3103	0.1604
450	0.3090	0.2050	0.2431	0.1525