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Feasibility Analysis of Indoor 3D Localization System with UWB Using Least Squares Trilateration
Muhammad Naqib Mohd Shukri, Syed Muhammad Mamduh Syed Zakaria, Ahmad Shakaff Ali Yeon, Ammar Zakaria, Latifah Munirah Kamarudin,
Volume 21, Issue 2 (Special Issue on the 1st International Conference on ELECRiS 2024 Malaysia - June 2025)
Abstract
Accurate 3D Localization is very important for a wide range of applications, such as indoor navigation, industrial robotics, and motion tracking. This research focuses on indoor 3D positioning systems using ultra-wideband (UWB) devices.  Two localization experiments were conducted using the Least Squares Trilateration method. In the first experiment, anchors were at the same height, while in the second, they were at varying heights. The lowest percentage errors in the first experiment were 0% at the x-axis, 0.21% at the y-axis, and 19.75% at the z-axis. In the second experiment, the lowest percentage errors in the experiment were 1.98% at the x-axis, 0.68% at the y-axis, and 17.86% at the z-axis, demonstrating improved accuracy with varied anchor heights at the axis. This work shows the z-axis measurements are unreliable and noisy due to the limited intersection of signal waves of each anchor in a same height anchors setup.
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Creative Commons License
© 2022 by the authors. Licensee IUST, Tehran, Iran. This is an open access journal distributed under the terms and conditions of the Creative Commons Attribution-NonCommercial 4.0 International (CC BY-NC 4.0) license.