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Three-Dimensional Coordinate Error Correction for Ultrawideband Using the GRNN

Shizheng Jiang,Junyu Li,Lilong Liu,Liangke Huang,J. Fang,Y. Lv,Chuanyou Zheng,Yinhe Liao

Published 2025 in IEEE Internet of Things Journal

ABSTRACT

Ultrawideband (UWB) positioning systems are prone to significant positioning errors due to multipath effects, nonline-of-sight (NLOS) conditions, and systematic inaccuracies. Most existing UWB coordinate correction methods rely on ranging error modeling, which are often complex and time-consuming, and are mostly focused on 2-D coordinate correction. This study proposes a correction model utilizing neural networks, namely, generalized regression neural network (GRNN) and backpropagation neural network (BPNN) to directly improve the accuracy of 3-D UWB coordinates. The GRNN<sc>-</sc> and BPNN-based correction models are evaluated on three real-world datasets from static, dynamic, and NLOS experiments. All three experiments employ UWB for 3-D positioning, with reference values obtained via a total station in the static and NLOS experiments, and real-time kinematic (RTK) in the dynamic experiment. Results indicate that the GRNN model achieves substantial improvements in 3-D coordinate accuracy. For the limited UWB modules, the corrected 3-D coordinates under both static positioning and NLOS conditions achieve millimeter-level accuracy. In dynamic positioning experiments, the corrected errors in the <inline-formula> <tex-math notation="LaTeX">$X$ </tex-math></inline-formula>-axis, <inline-formula> <tex-math notation="LaTeX">$Y$ </tex-math></inline-formula>-axis, and <inline-formula> <tex-math notation="LaTeX">$Z$ </tex-math></inline-formula>-axis are all within 5 cm, with respective improvements of 79.55%, 70.45%, and 96.26%, respectively, compared to precorrection levels, achieving centimeter-level accuracy in dynamic 3-D positioning. The GRNN-based model demonstrates superior correction performance compared to the BPNN-based model, the long short-term memory (LSTM)-based model, and the commonly used traditional method, the particle filter (PF). Furthermore, the positioning errors and fluctuations can be significantly reduced when anchors are not placed on a single horizontal plane. Accordingly, introducing height differences among anchors is recommended to enhance the accuracy of 3-D UWB positioning.

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