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20% and 5.99% overhead for code size and execution time, respectively.Continuous positioning and tracking of multi-pedestrian targets is a common concern for large indoor space security, emergency evacuation, location services, and other application areas. Among the sensors used for positioning, the ultra-wide band (UW is a critical way to achieve high-precision indoor positioning. However, due to the existence of indoor Non-Line-of-Sight (NLOS) error, a single positioning system can no longer meet the requirement for positioning ac