en Autonomous Systems Autonomous Systems Only For Articles of ELECRiS 2024 Only For Articles of ELECRiS 2024 <span style="font-size:10.0pt"><span new="" roman="" style="font-family:" times="">Accurate 3D Localization is very important for a wide range of applications, such as indoor navigation, industrial robotics, and motion tracking. This research focuses on indoor 3D positioning systems using ultra-wideband (UWB) devices.&nbsp; </span></span><span lang="EN-MY" style="font-size:10.0pt"><span new="" roman="" style="font-family:" times="">Two localization experiments were conducted using the Least Squares Trilateration method. In the first experiment, anchors were at the same height, while in the second, they were at varying heights. The lowest percentage errors in the first experiment were 0% at the x-axis, 0.21% at the y-axis, and 19.75% at the z-axis. In the second experiment, the lowest percentage errors in the experiment were 1.98% at the x-axis, 0.68% at the y-axis, and 17.86% at the z-axis, demonstrating improved accuracy with varied anchor heights at the axis.</span></span><span style="font-size:10.0pt"><span new="" roman="" style="font-family:" times=""> This work shows the z-axis measurements are unreliable and noisy due to the limited intersection of signal waves of each anchor in a same height anchors setup.</span></span> 3D Localization System, Ultra-Wideband, Trilateration. 203 213 http://ijeee.iust.ac.ir/browse.php?a_code=A-10-5526-1&slc_lang=en&sid=1 Muhammad Naqib Mohd Shukri muhamadnaqib@studentmail.unimap.edu.my 1800319475328460016538 1800319475328460016538 No Faculty of Electrical Engineering & Technology, Universiti Malaysia Perlis (UniMAP), Kampus Alam Pauh Putra 02600 Arau Perlis, Malaysia. Syed Muhammad Mamduh Syed Zakaria smmamduh@unimap.edu.my 1800319475328460016539 1800319475328460016539 Yes Faculty of Electronic Engineering & Technology, Universiti Malaysia Perlis (UniMAP), Kampus Alam Pauh Putra 02600 Arau Perlis, Malaysia. Ahmad Shakaff Ali Yeon ahmadshakaff@unimap.edu.my 1800319475328460016540 1800319475328460016540 No Faculty of Electrical Engineering & Technology, Universiti Malaysia Perlis (UniMAP), Kampus Alam Pauh Putra 02600 Arau Perlis, Malaysia. Ammar Zakaria ammarzakaria@unimap.edu.my 1800319475328460016541 1800319475328460016541 No Faculty of Electrical Engineering & Technology, Universiti Malaysia Perlis (UniMAP), Kampus Alam Pauh Putra 02600 Arau Perlis, Malaysia. Latifah Munirah Kamarudin latifahmunirah@unimap.edu.my 1800319475328460016542 1800319475328460016542 No Faculty of Electronic Engineering & Technology, University Malaysia Perlis (UniMAP), Campus Alam Pauh Putra 02600 Arau Perlis