Optimization of UWB anchor placement for industrial indoor localization considering obstacle-induced ranging errors

Accurate indoor localization is a key enabling technology for improving operational efficiency, enhancing worker safety, and supporting regulatory compliance in modern industrial environments. Among available technologies, ultra-wideband (UWB) has emerged as a promising solution due to its high positioning accuracy and robustness. However, its localization accuracy can be significantly degraded by Non-Line-of-Sight conditions caused by machinery, storage equipment, and structural obstacles commonly found in industrial facilities. This study addresses these limitations by proposing an obstacle-aware optimization framework for UWB anchor deployment. First, the impact of typical industrial obstacles on UWB ranging accuracy is experimentally characterized, highlighting the influence of material properties on signal degradation. Second, an optimization-based anchor placement methodology is introduced, incorporating obstacle-aware visibility modeling to evaluate anchor configurations. Third, the proposed approach is validated through experimental campaigns in a representative industrial environment. Experimental results demonstrate that incorporating obstacle-induced propagation effects into the deployment process improves localization accuracy and enables a reduction in the number of anchors required to meet performance objectives in critical areas. These findings underline the importance of integrating realistic environmental constraints into anchor deployment strategies to ensure reliable and efficient UWB-based indoor localization in complex industrial environments.