Updated 24 Feb 2021
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: satPos: is Cartesian location of satellites (in 1D, 2D or 3D)
tVals: is the arrival time of the signal = distance from
satellite to receiver + offset b
OUTPUTS: eX: estimated position of the user
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.
Aaron Becker, Feb 22, 2021
Aaron T. Becker's Robot Swarm Lab (2021). Multilateration Algebraic GPS Equations (S. Bancroft method) (https://www.mathworks.com/matlabcentral/fileexchange/87744-multilateration-algebraic-gps-equations-s-bancroft-method), MATLAB Central File Exchange. Retrieved .
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