Description

The multi-hop anchor optimizer optimizes a set of estimated anchor positions based on these anchor postions and all available ranges. This algorithm can be particularly usefull in NLoS (Non-Line-of-Sight) conditions and is typically run after Multi-hop anchor initializer.

Principles of Multi-hop anchor optimizer

The Multi-hop anchor optimizer algorithm is based on the concept of a spring network, where springs exert forces on each other, eventually reaching a balanced state. In a general sense, it comprises the subsequent procedural stages:

1. Acquire ranges between anchors and initial estimated positions
2. Calculate uncertaintity of correct range
3. Optimize using advanced Quasi-Newtonian solver

Advantages of Multi-hop anchor initializer

1. Reduced installation time
2. Robust results even Non-Line-of-Sight (NLoS) conditions
3. Scability
4. Detection of “good” anchors

input: Set of ranges between anchors, position of the anchors
output: Set of 2D anchor positions 

Supported languages

1. Python

Supported hardware

This algorithm is meant to be runned in the cloud* and therefore supports every hardware which enables to determine the ranges between anchors.

^{*By “in the cloud,” we mean it’s not designed for embedded hardware.}