What is Time of Arrival

Particle Swarm Optimization (PSO) is a newly appeared technique for evolutionary computation. It was originated as a simulation for a simplified social system such as the behavior of bird flocking or fish schooling. An improved PSO algorithm (IPSO) is introduced to solve the nonlinear optimization for indoor positioning. The algorithm achieves the optimal coordinates through iterative searching. Compared with standard PSO algorithm, the algorithm converges faster and can find the global best position. The error of position estimated by this algorithm is smaller than that estimated in Taylor Series Expansion (TSE) and Genetic Algorithm (GA). Thus this algorithm is proven to be a fast and effective method in solving nonlinear optimization for indoor positioning.