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Multilanguage (C#/Matlab/Rust) library for solving navigation (2D/3D) & geodetic problems: Multilateration (true range), Time-Of-Arrival (TOA), Time-Difference-Of-Arrival (TDOA), Angle-Of-Arrival AOA (Direction-Of-Arrival, DOA); Direct & inverse geodetic problems: Vincenty equations, Haversine formula; Virtual Long Baseline navigation (VLBL) etc.

License: GNU General Public License v3.0

C# 48.69% Rust 22.00% MATLAB 29.31%

haversine vincenty-formula vincenty-direct vincenty-inverse haversine-formula toa tdoa geolocation navigation nelder-mead

ucnlnav's Introduction

Latest news:

21-JAN-2021
- DOP calculation routines added (C#)
19-AUG-2020
- Angle-of-arrival routines added (C#/Rust/Matlab)
- Hooke-Jeeves algorithm added in Matlab version for TOA/TDOA problems

UCNLNav

This library contains routines for:

Solving geodetic problems (C#/Rust/Matlab)
Solving TDOA & TOA positioning/navigation problems in 2D & 3D (C#/Rust/Matlab)
Solving AOA (angle of arrival) navigation problem in 2D (C#/Rust/Matlab)
Algorithms for Virtual Long Baseline positioning (C#)

Example of TDOA problem

Known times of arrival to/from base points with known locations
Known target depth

Calculated residual function:

Residual function and estimated target location:

Nelder-Mead vs. Hooke-Jeeves on TDOA 2D problem:

The pics above are generated by a script from this library.

HISTORY

21-JAN-2021

DOP calculation routines added (C#)

19-AUG-2020 Update

Some bugfixes and small improvements
Added AOA (Angle of arrival) estimation routines, for more info, please, see Matlab demo script:
- AOA estimation with noisy TOA measurements

23-JAN-2020 Update:

Added partial implementation of the library in Matlab. To test the functionality, please, use:

30-NOV-2019 Update:

Added partial implementation of the library in Rust:
- All the functionality from Algorithms.cs & from Navigation.cs

22-NOV-2019 Update:

In GeoPoints.cs new classes for metric point (MPoint and MPoint3D)
In Navigation.cs new methods for calculating centroids of clouds of MPoint and MPoint3D, converting between local and geographic coordinate systems, methods for calculating statistics (CEP, SEP, STD, MRSE, DRMS)

26-AUG-2019 Update:

Routines for VLBL (Virtual long baseline) positioning
TDOA solution in 3D

Please, let us know that our work is useful for you: star this repository =)

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ucnlnav's Issues

Computed value in eps_tdoa3d

In the computed value returned by eps_tdoa3d (in rust), as all the intermediate elements are summed squared, shouldn't the square root be returned?

The c# solution is using and targeting an old .NET framework.

Fixed in this PR where project files has been upgraded to the SDK format and the library is multi targeting net451, net48 and net5.0

Precision Threshold

I have a doubt regarding the value of the precision threshold for the termination of the iteration. Why did you choose '1E-8' as the precision threshold value? Can I change it into my own value? In what perspective, you choose that value.

TDOA solution in 3D

Can you please update your code with including the solution for solving TDOA in 3D?

Case study for Localization algorithm

Is there any case study for this localization algorithm using Nelder-Mead method to refer so that it can be implemented in some real-life scenarios? Can you please share any case study papers based on this or any other similar things with you?

Vincenty inverse

In the vincenty inverse function (I've only checked the rust code), when cos_sq_alpha is not different from 0.0 then cos_sq_alpha is set to 0.0, it should be cos_2_sigma_m which is set to 0.0 according to http://www.movable-type.co.uk/scripts/latlong-vincenty.html

It would also be better to compare cos_sq_alpha to be less than an epsilon value than equality to 0.0

is_finished = (it_cnt < max_iterations) && (tmp1.sqrt() <= precision_threshold);

shouldn't it be ?

is_finished = (it_cnt > max_iterations) || (tmp1.sqrt() <= precision_threshold);