Auto-position and location engine problem

Hi everyone,

I am wondering how auto-position works. I haven’t learned JAVA yet so I can’t understand the Android app code. Could anyone explain a general algorithm which auto-position uses? Can we achieve the Z axis information by auto-position?Thanks.

Also, I want to know how tag calculates its location, like its algorithm and what anchors’ data it needs to calculate the information.If anchors are at the same height(followed by the auto-position instruction),how does tag calculate its height?

What’s more, can I alternative the ranging algorithm on the PANS with my own ranging function and how?because I want to use the Android app,web manager function but I want to use SDS-TWR as ranging algorithm.

Last question, can I download the source code of web manager from a website since I haven’t got my raspberry.