“…An important property of IoT is the location of the Things, such as applications for the pedestrian/vehicle navigation, logistics management, industrial equipment monitoring and venue supervision [1]- [6]. The Global Positioning System (GPS) itself is not enough in IoT applications because in these complicated environments (such as the urban areas and the buildings), the satellite signal can be blocked sometimes that might lead to very large errors or even localization suspend [7], [8]. Thus, different types of localization systems or methods are developed to overcome the weaknesses of satellite positioning system, such as using Wireless Sensor Network (WSN) [6], [9]- [14], base-station [15]- [19], Wi-Fi/Bluetooth [1], [2], [20]- [22] and ultra-wide bandwidth (UWB) signal [3], [22]- [26].…”