Well, I am in a similar situation~ and have not been able to find a remedy myself
My state has decriminalized false reporting to Child Services- but maybe your state hasn't. Contact the agencies who have been called on you and ask them if you can file complaint about false reports. (If they are in fact false.)
Other things I have done is keep record of all incidents. (For me it is xspouse not xgrandparent). Be willing to disprove allegations by cooperating fully with all agencies. I have done voluntary drug tests, gathered documents from school, neighbors, family. I have gone through filing a Restraining Order, having my child assigned a "minor's attorney"<expensive option though> and have also gone to court more than once. It still hasn't stopped.
In my situation- as long as xspouse alleges things that could be detrimental to my child, I have to go through being checked out. I've just gotten used to the fact that at any time day or night people may visit my home to check. At some point it begins to go in my favor because I get positive reports or conclusions from various agencies. The problem is that my xspouse keeps getting away with it saying he is a concerned parent. (Suddenly!
)
You don't say what the father thinks about this? Does he know what his grandmother is doing/saying? Have you told him this has been upsetting for the children?
Try looking into having your children in therapy~ Not a legal recourse, BUT it will certainly help them deal with the emotional upset and it will create history and documentation of what this is doing to the children. In the future this will be useful if you file in court for modification of visitation (to try to have visitation removed).
Otherwise- I'm sorry to say authorities and even court don't put this topic as a priority- At least not in my state/county.
I was advised to get restraining order, which I did. It didn't stop- then I was advised to hire a criminal attorney and press charges. I am still struggling to pay the family law attorney, so a criminal attorney is not possible at the moment.
I hope others have some concrete legal advise for you. Good Luck!