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The subject of the paper is the range–based indoor positioning method, based on the ZigBee physical layer. Some computational problems are also investigated. A proposition for overcoming these problems is presented involving an experiment on the convergence of the computational process. In order to investigate the details of computational process an experiment was planned and carried out. A case study was performed on the basis of this experiment. The behavior of the Least Squares objective function was investigated on the basis of its graphic representation. The graphic representation was formed for both linearized and non-linearized versions of this function. Different methods of minimizing this function were tested. The analysis of the results allowed the best method to be selected for assuring the convergence of the computational process to correct solution.

Analysis of Range Based Indoor Positioning Techniques for Personal Communication Networks