multilat-solver 2.0.0

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.

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, custom adapterd via 'with_output()'
• Calibration: None, Linear, Quadratic, Cubic;
• GPS: ENU → GPS via pymap3d; frequency throttling; message type (GPS / Position / Both)
• Config: Python API or YAML config file; CLI: multilat_solver --config config.yaml

Installation

pip install multilat_solver

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

Run from YAML config

multilat_solver --config config.yaml
multilat_solver --config config.yaml --logs /path/to/logs

Config specifies anchors, origin, input/output adapters, and optional logging.dir / logging.level. Default log directory: ~/.multilat_solver/logs. Example: config_examples/example_cli.yaml. See Quick Start.

Documentation

• Quick Start — minimal setup, anchor formats, basic example with UDP server and client
• 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/send_data.py + examples/for_docs.py — UDP distance simulator + localizer (run send_data first, then for_docs); see Quick Start
• 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