UWB-based 3D Localization using Least Squares Trilateration with Combination of Median Filter and Kalman Filter Article Swipe
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· 2025
· Open Access
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· DOI: https://doi.org/10.1088/1742-6596/2998/1/012022
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 outliers and Kalman filter for data smoothing before being processed by Least Squares Trilateration algorithm to obtain the UWB tag estimated position. From the first experiment, the results showed a 99.69% improvement in terms of maximum error reduction, an 84.48% improvement in average distance error reduction, and a 99.25% improvement in standard deviation error reduction across the x, y, and z axes. From the second experiment, results showed improved trajectory smoothness after filtering. However, from both experiments, the challenge of obtaining accurate estimates of the z-axis position is addressed in the results and discussion section. Future works will focus on advanced signal processing techniques and improve the calibration of sensor devices.
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- https://doi.org/10.1088/1742-6596/2998/1/012022
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- diamond
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- 1
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