Enhancing Coordinate Accuracy in 3-D UWB Indoor Positioning Systems

This study utilized ultra-wideband (UWB) communication technology integrated with the two-way ranging algorithm. The Kalman filter and the least squares-based error compensation algorithm were applied, and the drift-offset error correction (DOEC) algorithm was proposed to obtain accurate ranging values. Based on the DOEC algorithm, two anchor arrays employing the angle of arrival (AoA) were introduced to calculate the 3D coordinates of the tag’s position. The results indicate that the DOEC algorithm significantly reduced the positioning error, with the average static positioning error decreasing from 0.76 m to 0.069 m, representing a 90.92% reduction. Similarly, the average dynamic positioning error decreased from 1.08 m to 0.23 m, reflecting a 78.21% reduction.