Localization

Introduction

Localization package provides tools for multilateration and triangulation in 2D and 3D

Installation

Use pip to install the package:

pip install localization

Usage

Typical usage of the package is:

import localization as lx

To initilaize new localization Project use:

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

Currently two modes are supported:

• 2D
• 3D

Also three solvers can be used:

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

To add anchors to the project use:

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

where name denote user provided label of the anchor and is the location of the anchor provided in tuple, e.g., (120,60).

To add 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 target object like:

t.add_measure(<anchore_lable>,<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.

Here is a sample use of the package for three anchors and one target scenario:

import localization as lx

P=lx.Project(mode='2D',solver='LSE')


P.add_anchor('anchore_A',(0,100))
P.add_anchor('anchore_B',(100,100))
P.add_anchor('anchore_C',(100,0))

t,label=P.add_target()

t.add_measure('anchore_A',50)
t.add_measure('anchore_B',50)
t.add_measure('anchore_C',50)

P.solve()

# Then the target location is:

t.loc