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The Matlab scripts for five positioning algorithms regarding UWB localization. The five algorithms are Extended Kalman Filter (EKF), Unscented Kalman Filter (UKF), Taylor Series-based location estimation, Trilateration, and Multilateration methods.
Maths and Matlab code to multilaterate an undefined point in 3D space, based on reception times of 4+ microphones receiving an impulse created by an emitter at that point... Advanced Bird Watching!