Performance Improvement of Multiple Anchors for Three-Dimensional Indoor Positioning Using UWB Wireless Communications

With the increasing demand for positioning systems in multi-story buildings, these systems not only need to provide coordinates but also accurately indicate the vertical floor level of objects. This paper explores the performance of multiple anchors in three-dimensional (3D) indoor positioning using Ultra Wide-Band (UWB) communication technology. Experimental results show that the combinations with 4 and 5 anchors yield the smallest errors of 9.8 and 8.6 cm, respectively, while the largest errors are 13.9 and 13.3 cm, respectively. Furthermore, we investigated which anchors contribute the highest improvement in positioning performance. Experimental results indicate that among the proposed anchors, \({\text{A}}_{4}\) exhibits the best positioning improvement percentage at 34%, while anchor \({\text{A}}_{2}\) has the poorest performance at 1%.