Trilateration Math on DWM1001 development board

Hi all,

I understand that Decawave is not providing the source code to their PANS 2 firmware, but I was hoping that Decawave or someone else would be able to provide the math behind their location engine?
I am working on a university research project and without this math it is very hard to complete a thorough analysis of the DWM1001 RTLS.

Thanks in advance,