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RcdMathLib_doc
Open Source Library for Linear and Non-linear Algebra
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25 #ifndef POSITIONING_ROBUST_OTF_H_
26 #define POSITIONING_ROBUST_OTF_H_
42 uint32_t exact_point[]);
98 uint8_t k, uint8_t optimal_anchors_comb[k],
99 matrix_t opt_partial_ref_matrix[k][3]);
112 uint8_t optimal_anchors_comb[k],
128 uint8_t anchors_optimal[k],
bool is_anchor(uint8_t m, matrix_t ref_matr[m][3], uint32_t point[3])
Determine if a point is an anchor or not.
void get_optimal_partial_r_noised_vec(uint8_t k, matrix_t r_noised_vec[], uint8_t optimal_anchors_comb[k], matrix_t opt_sub_r_noised_vec[k])
Compute noised distances corresponding to the optimal partial matrix.
void recog_mitigate_multipath(uint8_t k, uint8_t m, matrix_t ref_Matrix[m][3], matrix_t r_noised_vec[m], uint8_t anchors_optimal[k], matrix_t start_optimal[3])
Implement the Multipath Distance Detection and Mitigation (MDDM) algorithm.
matrix_t get_exact_distance_to_anchor(matrix_t ref_point[], uint32_t exact_point[])
Computes the exact distance between a mobile station and a reference station.
void get_optimal_partial_ref_matrix(uint8_t anchors_num, matrix_t ref_matrix[anchors_num][3], uint8_t k, uint8_t optimal_anchors_comb[k], matrix_t opt_partial_ref_matrix[k][3])
Compute the optimal partial matrix including reference points.
bool is_member(matrix_t vector, uint8_t n, matrix_t multipath[n])
Determine if a candidate is a multipath or not.
#define matrix_t
Define the data type of the matrix elements.
void sim_UWB_dist(uint8_t m, matrix_t ref_matrix[m][3], uint32_t exact_point[], matrix_t sigma, uint8_t n, matrix_t multipath[n], int seed, matrix_t r_noised_vec[])
Simulate an UWB-based localization system.