en عمومى General پژوهشي Research paper <span style="font-size:10.0pt"><span new="" roman="" style="font-family:" times="">This paper addresses the challenge of mitigating positioning errors in Ultra-Wide Band (UWB) networks. We propose an adapted tree approach that compensates for error effects, leading to improved accuracy in both Line-of-Sight (LOS) and Non-Line-of-Sight (NLOS) environments. The ranging errors are classified into two types, LOS and NLOS condition errors, and the adapted tree approach starts with splitting the study based on the presence of these conditions. The ranging error values are studied in different distances and intervals are identified based on the standard deviation error criterion. The positioning results are presented and analyzed, showing that utilizing the adapted tree leads to an average error mitigation of about 53.4 cm in the LOS condition and about 133 cm in the NLOS condition. The results demonstrate the effectiveness of the adapted tree approach in error mitigation for both LOS and NLOS conditions. Furthermore, the EKF estimation method is found to be the most accurate estimator. Finally, the proposed approach is applied on a moving tag, achieving an accuracy of about 20.8 cm for LOS and 24.1 cm for NLOS conditions through the EKF method.</span></span> Indoor Positioning Systems, Real-Time Locating Systems, Error Mitigation, Extended Kalman Filter 0 0 http://jocee.kntu.ac.ir/browse.php?a_code=A-10-521-2&slc_lang=en&sid=1 Mohammad Mahdi Saberi saberi_mo@elec.iust.ac.ir 1003194753284600417 1003194753284600417 No Mohammad Azimi Mohammad_azimi@elec.iust.ac.ir 1003194753284600418 1003194753284600418 No Mohammad Mahdi Shahnavaz m.m.Shahnavaz@gmail.com 1003194753284600419 1003194753284600419 No Saeed Ebadollahi s_ebadollahi@iust.ac.ir 1003194753284600420 1003194753284600420 Yes Hamidreza Najafi hrnajafi@xthermo.com 1003194753284600421 1003194753284600421 No Mohammad Amin Sobati Sobati@iust.ac.ir 1003194753284600422 1003194753284600422 No