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Code Block
titlegeolocate.m
borderStylesolid
if constraintType
  warning('Trying speed of light')
  constraintType = 0;
  % switch the constraint type and try again
  [locest,actual,error,regarea,distNearestLandmark,target_id,constraintType,inRegion\] = geolocate(file,extension,hullbool, constraintType, bestlineTable);
  return;
else
  % find the badPairs that lead to no region, write them to stdout
  badPairs = analyzeNoRegion( measurements )
  %error(\['No SOL intersection region for ', char(file)\])
  region = \[NaN NaN\];
  locest = \[NaN NaN\];
  error = NaN;
  regarea = NaN;
  results = \[target_id error; distNearestLandmark regarea; locest; actual; region\];
  dlmwrite(\[char(file),char(extension)\],results,' ');
  return;
end;

I've managed to resolve most of the NaNs by eliminating "bad pairs". Bullets below explain the activity:

  • There were a total of 67 NaN values for multilateration.
  • Now only 14 NaN values remain for multilateration: 11 are common with trilateration and 3 are unique.
  • 39 NaNs removed by keeping number of estimates (thumbs down) = 10.
  • 14 NaNs removed by keeping number of estimates (thumbs down) = 4.

A sample of "bad pairs" from target "132.248.120.214" is below. Each line contains four values separated by white-space. First line contains: target-lat target-long id rtt. All other lines contain: landmark-lat landmark-long rtt id.

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