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All Journal Journal of Electrical and Intelligent Systems (JEIS)
Mohammad Syafrudin
Politeknik Elektronika Negeri Surabaya

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Development of a UWB-Based Trilateration System for Multi-Mobile Node Indoor Localization Hary Oktavianto; Haniif Mulya Wicaksana; Audra Annisa Zhafirah; Mohammad Syafrudin; Prima Kristalina; Bambang Sumantri
Journal of Electrical and Intelligent Systems Vol. 1 No. 1 (2026): April
Publisher : Politeknik Elektronika Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.68129/jeis.v1i1.3

Abstract

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.
Design of an IoT-Based Smart Pole for Detecting Manipulation of Plantation Boundary Markers Alwansyah Muhammad Mahardhika Endrawan; Mohammad Syafrudin; Ali Husein Alasiry
Journal of Electrical and Intelligent Systems Vol. 1 No. 2 (2026): September
Publisher : Politeknik Elektronika Negeri Surabaya

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.68129/jeis.v1i2.10

Abstract

Boundary markers are vulnerable to displacement and manipulation, while conventional inspection methods are unable to provide real-time monitoring. This study proposes an Internet of Things (IoT)-based Smart Pole system integrating a uBlox NEO-M8N GNSS module, HMC5883L magnetometer, LoRa EBYTE E32 communication, SIM7600G-H cellular gateway, and a solar-powered subsystem for autonomous boundary marker monitoring. System performance was evaluated through sensor accuracy, communication reliability, and integrated testing. Results showed that the GPS module achieved an average positioning error of 1.60 m (89.33% accuracy), while the HMC5883L achieved an average orientation error of 3.11%, with a maximum MAE of 1.70° and RMSE of 2.05°. The LoRa EBYTE E32 achieved an average PDR of 97.75% with 2.25% packet loss, whereas the SIM7600G-H gateway achieved a 97.0% success rate with 3.0% communication error. The solar subsystem, consisting of a 30 W photovoltaic panel and a 12 V 7.5 Ah SLA battery, provided stable autonomous operation. Integrated testing confirmed reliable detection of displacement and orientation changes, real-time dashboard visualization, and Telegram alert delivery. These results demonstrate that the proposed Smart Pole is a reliable and energy-autonomous solution for real-time plantation boundary marker monitoring.
Co-Authors Ali Husein Alasiry Alwansyah Muhammad Mahardhika Endrawan Audra Annisa Zhafirah Bambang Sumantri Haniif Mulya Wicaksana Hary Oktavianto Prima Kristalina