Melola Discovery

← Melola Discovery

Akses terbuka Jurnal

Development of a UWB-Based Trilateration System for Multi-Mobile Node Indoor Localization

Journal of Electrical and Intelligent Systems · Vol. 1 No. 1 (2026) · hlm. 18–23

DOI
10.68129/jeis.v1i1.3
ISSN
3163-7663
Terbit
2026-04-30
Penerbit
Politeknik Elektronika Negeri Surabaya
Bahasa
eng
Lisensi
creativecommons.org/licenses/by-sa/4.0

Abstrak

Accurate indoor localization is essential for navigation and coordination in multi-agent systems, particularly in environments where Global Positioning System (GPS) signals are unavailable. While ultrawideband (UWB)-based trilateration has been widely studied, most existing works focus on single-node localization and do not explicitly address scalability in terms of computational cost and processing time. This study proposes a scalable multi-mobile node localization framework based on UWB trilateration, with a key contribution in demonstrating linear computational growth with respect to the number of mobile nodes. The system employs UWB DWM1000 modules and the Symmetrical Double-Sided Two-Way Ranging (SDS-TWR) method to estimate distances between mobile nodes and anchor nodes, followed by onboard trilateration for position estimation. Experimental validation is conducted using up to four simultaneous mobile nodes within a 10×10 m indoor environment. The results show that the proposed system maintains centimeter-level accuracy, with RMSE values of 10.08 cm, 11.46 cm, 12.25 cm, and 9.13 cm for nodes 1 to 4, respectively. More importantly, the processing time increases consistently from 55 ms (one node) to 115 ms (four nodes), exhibiting an approximately constant incremental cost of 20 ms per additional node, which confirms the linear scalability of the proposed approach. These findings highlight that the proposed system not only achieves reliable localization accuracy but also ensures predictable and efficient computational performance, making it suitable for real-time multi-node applications such as robot swarm coordination and collaborative autonomous systems.

Kata kunci

Jaringan kolaborasi para penulis

38 penulis · 118 tautan kepenulisan bersama · 7 lintas organisasi

Arahkan kursor atau ketuk sebuah nama untuk menyorot rekan penulisnya. Klik dua kali untuk membuka halaman penulis.

  • Politeknik Elektronika Negeri Surabaya
  • Institut Teknologi Sepuluh Nopember
  • University of Malaya
  • Afiliasi tidak diketahui
  • Organisasi berbeda
  • Organisasi sama
  • Afiliasi tidak diketahui
  • Garis lebih tebal = lebih banyak artikel bersama · lingkaran lebih besar = lebih banyak artikel
Tampilkan sebagai tabel
Rekan penulisOrganisasiArtikel bersama
Novie Ayub WindarkoPoliteknik Elektronika Negeri Surabaya3
Evi Nafiatus SholikhahPoliteknik Elektronika Negeri Surabaya2
Rika RokhanaPoliteknik Elektronika Negeri Surabaya2
Wirawan WirawanInstitut Teknologi Sepuluh Nopember1
Gamantyo HendrantoroInstitut Teknologi Sepuluh Nopember1
Eko Henfri BinugrohoPoliteknik Elektronika Negeri Surabaya1
Ilham Mandala PutraPoliteknik Elektronika Negeri Surabaya1
Hazlie MokhlisUniversity of Malaya1
Muhammad Nizar HabibiPoliteknik Elektronika Negeri Surabaya1
Eka PrasetyonoPoliteknik Elektronika Negeri Surabaya1
Moh. Zaenal EfendiPoliteknik Elektronika Negeri Surabaya1
Muhammad Farizky AlvianandyPoliteknik Elektronika Negeri Surabaya1
Santi AnggrainiAfiliasi tidak diketahui1
Retno SukmaningrumAfiliasi tidak diketahui1
Paulus Susetyo WardanaAfiliasi tidak diketahui1
Agrippina Waya RahmaningAfiliasi tidak diketahui1
Moch. RochmadAfiliasi tidak diketahui1
Kemalasari KemalasariAfiliasi tidak diketahui1
Hendhi HermawanAfiliasi tidak diketahui1
Zainal AriefAfiliasi tidak diketahui1
Alwansyah Muhammad Mahardhika EndrawanAfiliasi tidak diketahui1
Ali Husein AlasiryAfiliasi tidak diketahui1
Era PurwantoPoliteknik Elektronika Negeri Surabaya1
Abdillah Aziz MuntashirAfiliasi tidak diketahui1
Hanif Hasyier FAkhruddinAfiliasi tidak diketahui1
Raden Akbar Nur ApriyantoAfiliasi tidak diketahui1
Niam TamamiAfiliasi tidak diketahui1
Rizqi Fauzil AzharAfiliasi tidak diketahui1
Ahmad ZainudinAfiliasi tidak diketahui1
Bagas Mardiasyah PrakosoAfiliasi tidak diketahui1
Bima Sena Bayu DewantaraPoliteknik Elektronika Negeri Surabaya1
Bagus Nugraha Deby AriyadiAfiliasi tidak diketahui1

Afiliasi berasal dari OpenAlex; metadata OAI-PMH jurnal tidak memuatnya. Penulis tanpa ID OpenAlex dicocokkan berdasarkan nama, sehingga dua orang bisa tergabung atau satu orang bisa terpisah.

Sumber metadata: OAI-PMH (metadata jurnal) https://journals.pens.ac.id/index.php/jeis/oai, pertama di-harvest 6 Nov 2026, terakhir terlihat 8 Nov 2026.
Metadata asli (oai_dc) 
<oai_dc:dc xmlns="http://www.openarchives.org/OAI/2.0/" xmlns:dc="http://purl.org/dc/elements/1.1/" xmlns:oai_dc="http://www.openarchives.org/OAI/2.0/oai_dc/" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance" xsi:schemaLocation="http://www.openarchives.org/OAI/2.0/oai_dc/  http://www.openarchives.org/OAI/2.0/oai_dc.xsd">
	<dc:title xml:lang="en">Development of a UWB-Based Trilateration System for Multi-Mobile Node Indoor Localization</dc:title>
	<dc:creator xml:lang="en">Oktavianto, Hary</dc:creator>
	<dc:creator xml:lang="en">Wicaksana, Haniif Mulya</dc:creator>
	<dc:creator xml:lang="en">Zhafirah, Audra Annisa</dc:creator>
	<dc:creator xml:lang="en">Syafrudin, Mohammad</dc:creator>
	<dc:creator xml:lang="en">Kristalina, Prima</dc:creator>
	<dc:creator xml:lang="en">Sumantri, Bambang</dc:creator>
	<dc:subject xml:lang="en">trilateration</dc:subject>
	<dc:subject xml:lang="en">localization</dc:subject>
	<dc:subject xml:lang="en">multi node</dc:subject>
	<dc:subject xml:lang="en">ultrawideband DWM1000</dc:subject>
	<dc:description xml:lang="en">Accurate indoor localization is essential for navigation and coordination in multi-agent systems, particularly in environments where Global Positioning System (GPS) signals are unavailable. While ultrawideband (UWB)-based trilateration has been widely studied, most existing works focus on single-node localization and do not explicitly address scalability in terms of computational cost and processing time. This study proposes a scalable multi-mobile node localization framework based on UWB trilateration, with a key contribution in demonstrating linear computational growth with respect to the number of mobile nodes. The system employs UWB DWM1000 modules and the Symmetrical Double-Sided Two-Way Ranging (SDS-TWR) method to estimate distances between mobile nodes and anchor nodes, followed by onboard trilateration for position estimation. Experimental validation is conducted using up to four simultaneous mobile nodes within a 10×10 m indoor environment. The results show that the proposed system maintains centimeter-level accuracy, with RMSE values of 10.08 cm, 11.46 cm, 12.25 cm, and 9.13 cm for nodes 1 to 4, respectively. More importantly, the processing time increases consistently from 55 ms (one node) to 115 ms (four nodes), exhibiting an approximately constant incremental cost of 20 ms per additional node, which confirms the linear scalability of the proposed approach. These findings highlight that the proposed system not only achieves reliable localization accuracy but also ensures predictable and efficient computational performance, making it suitable for real-time multi-node applications such as robot swarm coordination and collaborative autonomous systems.</dc:description>
	<dc:publisher xml:lang="en">Politeknik Elektronika Negeri Surabaya</dc:publisher>
	<dc:date>2026-04-30</dc:date>
	<dc:type>info:eu-repo/semantics/article</dc:type>
	<dc:type>info:eu-repo/semantics/publishedVersion</dc:type>
	<dc:type xml:lang="en">Peer-reviewed Article</dc:type>
	<dc:format>application/pdf</dc:format>
	<dc:identifier>https://journals.pens.ac.id/jeis/article/view/39</dc:identifier>
	<dc:identifier>10.68129/jeis.v1i1.3</dc:identifier>
	<dc:source xml:lang="en">Journal of Electrical and Intelligent Systems; Vol. 1 No. 1 (2026): April; 18-23</dc:source>
	<dc:source>3163-7663</dc:source>
	<dc:language>eng</dc:language>
	<dc:relation>https://journals.pens.ac.id/jeis/article/view/39/21</dc:relation>
	<dc:rights xml:lang="en">Copyright (c) 2026 Hary Oktavianto, Haniif Mulya Wicaksana, Audra Annisa Zhafirah, Moch. Syafrudin, Prima Kristalina, Bambang Sumantri (Author)</dc:rights>
	<dc:rights xml:lang="en">https://creativecommons.org/licenses/by-sa/4.0</dc:rights>
</oai_dc:dc>