EVB1000 Trilateration Funcution

Hi, Guys
I use four anchors(anchor0~3) and one tag for positioning.
In DecaRangeRTLS_PC_Source_code_guide : 2.3.1 Trilateration Function. It is said that the program choose a solution closer to anchor3 between two solution.
Why is it required to select a closer solution?

I think when anchor3 is upper than the plane made of anchor0-anchor2 and the tag is lower than the plane made of anchor0-anchor2, the z-values are incorrectly measured

Can you explain why it’s so implemented?

The TREK trilateration function produces 2 solutions (when using 3 anchors). One of the solutions is above the plane, and the other below the plane of the anchors.

If a 4th anchor is used, then the tag-to-anchor3 range (Rtrue) (measured) is compared to the range between the estimated solution 1 and anchor 3 (R1), and to the range between estimated solution 2 and anchor 3 (R2). Whichever one of these (R1 or R2) is closer to measured range (Rtrue) that solution is selected.

This is a demo function, user can adapt further if they wish to do so. Or replace it with own algorithm,

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