Journal of Physics Conference Series • Vol 2998 • No 1
UWB-based 3D Localization using Least Squares Trilateration with Combination of Median Filter and Kalman Filter
April 2025 • Muhamad Naqib Mohd Shukri, Ammar Zakaria, Ahmad Shakaff Ali Yeon, Syed Muhammad Mamduh Syed Zakaria, Latifah Munirah Kamarudin, R. Visvanathan, Muham…
Abstract This study investigates the implementation of Ultra-Wideband (UWB) based 3D localization using Least Squares Trilateration algorithm with using median filter and Kalman filter. Two types of experiments were conducted indoors. First, TOF measurements between a statically placed UWB tag and its surrounding anchors were collected. Secondly, TOF measurements were collected by moving the UWB tag within the environment. TOF measurements from both experiments were then pre-processed using median filter to remove…