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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.

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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

23-JAN-2020 Update:

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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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.

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