Mlr
multilateration solution based on https://github.com/kamalshadi/Localization python library
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
from_points
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)
])
=> #<struct Mlr::ResultPoint2D x=59.103629855759586, y=59.10363763568137>from_array
detect point from Array of Arrays
# 3xN (2d result)
Mlr.from_array([
[0, 100, 50],
[100, 100, 50],
[100, 0, 50]
])
=> #<struct Mlr::ResultPoint2D x=59.103629855759586, y=59.10363763568137>
# or 4xN (3d result)
Mlr.from_array([
[0, 100, 0, 50],
[100, 100, 100, 50],
[100, 0, 200, 50]
])
=> #<struct Mlr::ResultPoint3D x=56.699519667205976, y=56.69946167965226, z=99.99998609719331>