Is there any documentation explaining the trilateration algorithm implemented in TREK1000 solution (DecaRangeRTLS_PC_3p6) ?
The algorithm is described in chapter 3 RANGING ALGORITHM in the DECARANGE RTLS ARM SOURCE CODE which is part of the TREK download package.
The chapter 3 RANGING ALGORITHM in the DECARANGE RTLS ARM SOURCE CODE was refered to. But it explains the ranging between the nodes. We wanted to know more detail about the trilateration implemented in DecaRangeRTLS_PC_Source_Code which uses the range information from 3 or 4 nodes.
The TREK source code describes what TREK does. TREK is using an algorithm trilateral based on 3 ranges. So all the details on how it’s done are in the source code guide.
There is no name for the algorithm , eg is not a a Kalman solver.
I also suspect that the TREK algorithmn would not be of any use for you anyway as it only supports 3-4 anchors.
I have explained to you before that there is not one trilateral solution what suits all as each environment and application is different. So you really would have to decide on what approach to take. There are a good few examples on the web, just some research.
As I mentioned to you before, a good few customers use a variant of extended Kalman filtering , while others use a graph based method, namely gtsam: http://borg.cc.gatech.edu/?destination=node%2F299 and others experiment with SALMA: Single-anchor Localization System using Multipath Assistance While others use for example https://github.com/lemmingapex/trilateration
We have been doing lot of reading on this as our environment also needs 3-4 anchors only. Just wanted to get a fair understanding about the TREK implementation in the geometric point of view as it seems to be working well. Thanks.