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

With the increasing application potential of indoor personnel positioning, ultra-wideband (UWB) positioning technology has attracted more and more attentions of scholars. In practice, an indoor positioning process often involves multipath and Non-Line-Of-Sight (NLOS) problems, and a particle filtering (PF) algorithm has been widely used in the indoor positioning research field because of its outstanding performance in nonlinear and non-Gaussian estimations. Aiming at mitigating the accuracy decreasing caused by the particle degradation and impoverishment in traditional Sequential Monte Carlo (SMC) positioning, we propose a method to integrate the firefly and particle algorithm for multistage optimization. The proposed algorithm not only enhances the searching ability of particles of initialization but also makes the particles propagate out of the local optimal condition in the sequential estimations. In addition, to prevent particles from falling into the oscillatory situation and find the global optimization faster, a decreasing function is designed to improve the reliability of the particle propagation. Real indoor experiments are carried out, and results demonstrate that the positioning accuracy can be improved up to 36%, and the number of needed particles is significantly reduced.