trilateration.c File Reference

#include "trilateration.h"
#include "math/pprz_algebra_float.h"

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Functions
int	trilateration_init (struct Anchor *anchors)
	Init internal trilateration structures. More...
int	trilateration_compute (struct Anchor *anchors, struct EnuCoor_f *pos)
	Compute trilateration based on the latest measurments. More...

Variables
static float	P [3][3]
static float	Ex [3]
static float	Ey [3]
static float	Ez [3]
static float	D
static float	I
static float	J
bool	init_failed

Detailed Description

Author

Gautier Hattenberger Trilateration algorithm https://en.wikipedia.org/wiki/Trilateration

Definition in file trilateration.c.

Function Documentation

trilateration_compute()

int trilateration_compute	(	struct Anchor *	anchors,
		struct EnuCoor_f *	pos
	)

Compute trilateration based on the latest measurments.

Parameters

[in]	anchors	array of anchors with updated distance measurements
[out]	pos	computed position

Returns

error status (0 for valid position)

Definition at line 87 of file trilateration.c.

References D, d2, Anchor::distance, Ex, Ey, Ez, I, init_failed, J, P, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by check_and_compute_data().

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trilateration_init()

int trilateration_init

(

struct Anchor *

anchors

)

Init internal trilateration structures.

Parameters

[in]

anchors

array of anchors with their location

Definition at line 39 of file trilateration.c.

References D, Ex, Ey, Ez, float_vect_add(), float_vect_diff(), float_vect_dot_product(), float_vect_norm(), float_vect_sdiv(), float_vect_smul(), init_failed, J, P, Anchor::pos, EnuCoor_f::x, EnuCoor_f::y, and EnuCoor_f::z.

Referenced by dw1000_arduino_init().

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Variable Documentation

D

float D

static

Definition at line 35 of file trilateration.c.

Referenced by calculate_edge_displacement(), fit_linear_model(), fit_linear_model_OF(), fit_linear_model_prior(), get_entropy(), PID_divergence_control(), predict_value(), RANSAC_linear_model(), recursive_least_squares_batch(), trilateration_compute(), and trilateration_init().

Ex

float Ex[3]

static

Definition at line 33 of file trilateration.c.

Referenced by error_output(), trilateration_compute(), and trilateration_init().

Ey

float Ey[3]

static

Definition at line 33 of file trilateration.c.

Referenced by trilateration_compute(), and trilateration_init().

Ez

float Ez[3]

static

Definition at line 33 of file trilateration.c.

Referenced by trilateration_compute(), and trilateration_init().

I

float I

static

Definition at line 35 of file trilateration.c.

Referenced by gvf_parametric_control_2D(), and trilateration_compute().

init_failed

bool init_failed

Definition at line 37 of file trilateration.c.

Referenced by trilateration_compute(), and trilateration_init().

J

float J

static

Definition at line 35 of file trilateration.c.

Referenced by gvf_parametric_control_2D(), kalmanEstimation(), trilateration_compute(), and trilateration_init().

P

float P[3][3]

static

Definition at line 31 of file trilateration.c.

Referenced by calc_model(), ins_flow_update(), lla_of_ecef_d(), lla_of_ecef_f(), nav_line_osam_run(), PID_divergence_control(), recursive_least_squares(), sum_EFF_MAT_RW(), trilateration_compute(), trilateration_init(), update_alt_conf(), update_biased_z_conf(), update_obs_height(), and update_vz_conf().