I am currently writing some code to do multilateration using TDOA and currently struggling and wondering if anyone has any reference code that can be used as a test case with some sample data that I have! At the moment I am unsure if it is the code I have written or whether it is the geometry of the points that is off.
One example group of packets that I have received is
station1 = [50.919149572907784,-1.005043823556842,90.729]; station2 = [50.8304,-1.21956,0]; station3 = [51.0569,-1.26224,100]; stations = [station2,station1,station3]; timestamps = [28704.175275109, 28704.175334203, 28704.175334875];
My code currently locates this to 50.910447339754654,-1.2347406519401736 which I am 99% sure is wrong! Does anyone have any code that can verify this at all?
One bit of code I am testing against and get very similar results is https://github.com/bistromath/gr-air-modes/blob/master/python/mlat.py