Localization

The Localization package provides tools for multilateration and triangulation in 2D, 3D, and on the Earth’s surface. The current Earth model supported by the package is called ‘Earth1’, which models the Earth as an ideal sphere with a radius of 6378.1 kilometers.

Original repo: https://github.com/kamalshadi/Localization

Typical usage of the package:

import localization as lx

To initialize a new localization Project, use:

P = lx.Project(mode=<mode>, solver=<solver>)

Currently, three modes are supported:

1. 2D

2. 3D

3. Earth1

And three solvers can be utilized:

1. LSE for least square error

2. LSE_GC for least square error with geometric constraints. Geometric constraints force the solutions to be in the intersection areas of all multilateration circles.

3. CCA for the centroid method, i.e., the solution will be the centroid of the intersection area. If no common intersection area exists, the area with the maximum overlap is used.

To add anchors to the project, use:

P.add_anchor(<name>, <loc>)

where name denotes the user-provided label of the anchor and <loc> is the location of the anchor provided as a tuple, e.g., (120, 60).

To add a target, use:

t, label = P.add_target()

T is the target object, and label is the package-provided label for the target.

Distance measurements must be added to the target object like:

t.add_measure(<anchor_label>, <measured_distance>)

Finally, running P.solve() will locate all targets. You can access the estimated location of the target t by t.loc. t.loc is a point object. Point object B has “x”, “y”, “z” coordinates available by B.x, B.y, B.z respectively.

Installation

Install the package via pip:

pip install localization

Contact: kamal.shadi85@gmail.com

An Example