Ask HN: What is the most accurate 3D indoor positioning method in small spaces?

I am working on an idea which requires three dimensional location data from somehow "tagged" smallish objects (around the size of a brick) moving within defined spaces of 5-20 cubic meters. What are some standard solutions for this kind of projects? Where to start? Can it be done affordably?

The needed frequency of updated positions is around 100hz and accuracy of 1cm or better would be ideal. If you have done something similar to this, I'd be more than happy to hear! Computer vision and use of cameras is something that I'd rather avoid.