Input: fingerprint of anchor location in indoor environment and the signals
measured by target node .
Output: the target node’s location curve resulting from the operation of the algorithm.
(1) = KNN % Using the KNN algorithm to find nearest position and get the observation values;
(2) % Input the observation values ( ) to the particle filter algorithm.
(3) The filtering condition is as follows:
+ % The distance between two adjacent locations should be smaller than
             % The topology constraints.
(4) Until all times’ positioning and tracking is over, one can get the final positioning tracking curve.
Algorithm 1: Indoor pedestrian tracking.