{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,10,12]],"date-time":"2025-10-12T01:35:19Z","timestamp":1760232919983,"version":"build-2065373602"},"reference-count":25,"publisher":"MDPI AG","issue":"24","license":[{"start":{"date-parts":[[2022,12,8]],"date-time":"2022-12-08T00:00:00Z","timestamp":1670457600000},"content-version":"vor","delay-in-days":0,"URL":"https:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"name":"National Key Research and Development Program","award":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"],"award-info":[{"award-number":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"]}]},{"name":"The Basic scientific research of the Chinese Academy of Surveying and Mapping","award":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"],"award-info":[{"award-number":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"]}]},{"name":"the Science and Technology Project of the Natural Resources Department of Hebei Province","award":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"],"award-info":[{"award-number":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"]}]},{"name":"Technical Innovation Guidance Program of Hebei Province for the Winter Olympics","award":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"],"award-info":[{"award-number":["2021YFB3900803","AR2102","13000022P00EEC410090F","21477603D"]}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Sensors"],"abstract":"<jats:p>As an indispensable type of information, location data are used in various industries. Ultrawideband (UWB) technology has been used for indoor location estimation due to its excellent ranging performance. However, the accuracy of the location estimation results is heavily affected by the deployment of base stations; in particular, the base station deployment space is limited in certain scenarios. In underground mines, base stations must be placed on the roof to ensure signal coverage, which is almost coplanar in nature. Existing indoor positioning solutions suffer from both difficulties in the correct convergence of results and poor positioning accuracy under coplanar base-station conditions. To correctly estimate position in coplanar base-station scenarios, this paper proposes a novel iterative method. Based on the Newton iteration method, a selection range for the initial value and iterative convergence control conditions were derived to improve the convergence performance of the algorithm. In this paper, we mathematically analyze the impact of the localization solution for coplanar base stations and derive the expression for the localization accuracy performance. The proposed method demonstrated a positioning accuracy of 5 cm in the experimental campaign for the comparative analysis, with the multi-epoch observation results being stable within 10 cm. Furthermore, it was found that, when base stations are coplanar, the test point accuracy can be improved by an average of 63.54% compared to the conventional positioning algorithm. In the base-station coplanar deployment scenario, the upper bound of the CDF convergence in the proposed method outperformed the conventional positioning algorithm by about 30%.<\/jats:p>","DOI":"10.3390\/s22249634","type":"journal-article","created":{"date-parts":[[2022,12,9]],"date-time":"2022-12-09T03:59:46Z","timestamp":1670558386000},"page":"9634","update-policy":"https:\/\/doi.org\/10.3390\/mdpi_crossmark_policy","source":"Crossref","is-referenced-by-count":9,"title":["An Indoor UWB 3D Positioning Method for Coplanar Base Stations"],"prefix":"10.3390","volume":"22","author":[{"given":"Ning","family":"Zhou","sequence":"first","affiliation":[{"name":"Chinese Academy of Surveying and Mapping, Beijing 100036, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Minghao","family":"Si","sequence":"additional","affiliation":[{"name":"School of Environmental Science and Spatial Informatics, China University of Mining and Technology, Xuzhou 221116, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Dehai","family":"Li","sequence":"additional","affiliation":[{"name":"Chinese Academy of Surveying and Mapping, Beijing 100036, China"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Chee Kiat","family":"Seow","sequence":"additional","affiliation":[{"name":"School of Computing Science, University of Glasgow, Sir Alwyn Williams Building, Glasgow G12 8RZ, UK"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"given":"Jinzhong","family":"Mi","sequence":"additional","affiliation":[{"name":"Chinese Academy of Surveying and Mapping, Beijing 100036, China"}],"role":[{"role":"author","vocabulary":"crossref"}]}],"member":"1968","published-online":{"date-parts":[[2022,12,8]]},"reference":[{"key":"ref_1","doi-asserted-by":"crossref","first-page":"534","DOI":"10.1016\/j.phpro.2012.02.078","article-title":"Accurate TOA-Based UWB Localization System in Coal Mine Based on WSN","volume":"24","author":"Cheng","year":"2012","journal-title":"Phys. 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