Multilateration: the process of determining locations of points by measurement of distances from known points.
This C++ sample uses a nonlinear least squares solver from Ceres to solve for the multilateration problem.
A Matlab script is also provided to generate some sample data to test with.
Trilateration: 3 beacons
Multilateration: > 3 beacons
See below for more on the multilateration problem: https://en.wikipedia.org/wiki/Multilateration
Dependencies: Ceres - http://ceres-solver.org/index.html
Instructions:
git clone https://github.com/hjamal3/multilateration.git
cd multilateration
mkdir build
cd build
cmake ..
make
./multilateration