multilat-solver 0.0.0

Universal MultiLateration Localization System with flexible input/output adapters

MultiLat Localizer

Universal multilateration localization with pluggable input/output adapters for distance measurements and position output.

Version: 1.0.0

Features

• Inputs: Serial (UWB/RTK-DW1000), MQTT, UDP, File; custom adapters via with_input()
• Outputs: MAVLink, MAVROS (ROS2), UDP, File, Console; multiple outputs at once
• Calibration: None, Linear, Quadratic, Cubic
• GPS: ENU → GPS via pymap3d; frequency throttling; message type (GPS / Position / Both)
• Config: Python API only (no config files)

Installation

pip install multilat_solver

Optional: pip install multilat_solver[mqtt] (MQTT), multilat_solver[ros2] (ROS2), .[dev] (development).

Quick Start

from multilat_solver import ConfigBuilder, MultiLatLocalizerApp, CalibrationType
from multilat_solver.common_types import MessageType
from multilat_solver.output_adapters import ConsoleOutputAdapter
import logging

logging.basicConfig(level=logging.INFO, format="%(levelname)s %(name)s: %(message)s")

config = (ConfigBuilder()
    .with_localization(
        anchor_positions={1: (0, 0, 0), 2: (3, 0, 0), 3: (0, 3, 0)},
        calibration_type=CalibrationType.LINEAR,
        calibration_params=[1.0, 0.0],
    )
    .with_serial_input(port="/dev/ttyUSB0", baud=460800)
    .with_output("console", ConsoleOutputAdapter(format="human", message_type=MessageType.BOTH, frequency=10))
    .build())

app = MultiLatLocalizerApp(config)
app.run()

Documentation

• Configuration · Input adapters · Output adapters
• Calibration · Examples · Custom adapters

Adapters

Input	Description
Serial	Binary protocol (UWB/RTK-DW1000)
MQTT	JSON over MQTT [mqtt]
UDP	JSON over UDP
File	JSON file polling

Output	Description
MAVLink	ArduPilot/PX4
MAVROS	ROS2 topics [ros2]
UDP	JSON over UDP
File	JSONL file
Console	Human or JSON

Examples

• examples/basic_usage.py — Serial in, console/file/MAVLink out
• examples/multi_output.py — Multiple outputs
• examples/mavlink_input_with_sim.py — MAVLink distances in + simulator
• examples/uavcan_input_mavlink_output.py — Custom UAVCAN input → MAVLink out

Development

git clone https://github.com/Innopolis-UAV-Team/multilat_solver
cd multilat_solver
pip install -e ".[dev]"
pytest

Layout: src/multilat_solver/ — core.py, config.py, app.py, input_adapters.py, output_adapters.py, common_types.py.