Mlr

multilateration solution

Installation

Add this line to your application's Gemfile:

gem 'mlr'

And then execute:

$ bundle

Or install it yourself as:

$ gem install mlr

Also you need python libraries

$ pip install localization
$ pip install numpy
$ pip install scipy
$ pip install shapely

Usage

detect point from Mlr::AnchorPoint struct

# Mlr::AnchorPoint2D.new(X, Y, D)
# Mlr::AnchorPoint3D.new(X, Y, Z, D)

Mlr.from_points([
  Mlr::AnchorPoint2D.new(0, 100, 50),
  Mlr::AnchorPoint2D.new(100, 100, 50),
  Mlr::AnchorPoint2D.new(100, 0, 50)
])

detect point from Array of Arrays

# 3xN (2d result)

Mlr.from_points([
  [0, 100, 50],
  [100, 100, 50],
  [100, 0, 50]
])

# or 4xN (3d result)
Mlr.from_points([
  [0, 100, 0, 50],
  [100, 100, 100, 50],
  [100, 0, 200, 50]
])