trilateration.h File Reference

#include "std.h"
#include "math/pprz_geodetic_float.h"

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Data Structures
struct	Anchor
	Anchor structure. More...

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...

Detailed Description

Author

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

Definition in file trilateration.h.

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Data Structure Documentation

Anchor

struct Anchor

Anchor structure.

Definition at line 34 of file trilateration.h.

Collaboration diagram for Anchor:

Data Fields
float	distance	last measured distance
uint16_t	id	anchor ID
struct EnuCoor_f	pos	position of the anchor
float	time	time of the last received data
bool	updated	new data available

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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