Multilateration Algebraic GPS Equations (S. Bancroft method)

Calculates the position of a receiver given the time delay of arrival to at least 4 satellites in 3D (or at least 3 satellites in 2D).

Calculates the position of a receiver given the time delay of arrival to at least 4 satellites in 3D (or at least 3 satellites in 2D).

INPUTS:

1. satPos is Cartesian location of satellites (in 1D, 2D, or 3D). Each row is the position of one satellite.
2. tVals is the arrival time of the signal = distance from
3. satellite to reciever + offset b

OUTPUTS:

1. eX estimated position of the user
2. eb estimate of the offset time b

Implements the solution of Stephen Bancroft, "An Algebraic Solution of the GPS Equations," in IEEE Transactions on Aerospace and Electronic Systems, vol. AES-21, no. 1, pp. 56-59, Jan. 1985, doi: 10.1109/TAES.1985.310538. https://ieeexplore.ieee.org/document/4104017

pdf athttps://cas.tudelft.nl/Education/courses/ee4c03/assignments/indoor_loc/Bancroft85loc.pdf

Aaron T. Becker, University of Houston

Version 1.0.2: Feb 23, 2021 initial submission

Version 1.0.3: Feb 05, 2023 updated by adjusting the documentation