Enhancement of Range-Based $3\mathrm{D}$ Positioning via Angle of Arrival Information

$A$ bstract-The use of $3\mathrm{D}$ positioning relies on trilateration and triangulation in particular. Trilateration calculations use distance measurement to determine the three-dimensional coordinates of unknown positions and Triangulation is the process of determining the location of a point by forming triangles to it from known points. The authors present new methods to reduce the amount of errors based on the angle of arrival (AOA) measured between the transmitter and sensors. The proposal of AOA range-based method leads us to the best accurate solution to deal with the amount of errors.