UCNLNav

Latest news:

• JUN-2026

  • UTM coordinates support class

• 21-JAN-2021

  • DOP calculation routines added (C#)

• 19-AUG-2020

  • Angle-of-arrival routines added (C#/Rust/Matlab)
  • Hooke-Jeeves algorithm added in Matlab version for TOA/TDOA problems

UCNLNav

This library contains routines for:

• Solving geodetic problems (C#/Rust/Matlab)
• Solving TDOA & TOA positioning/navigation problems in 2D & 3D (C#/Rust/Matlab)
• Solving AOA (angle of arrival) navigation problem in 2D (C#/Rust/Matlab)
• Algorithms for Virtual Long Baseline positioning (C#)

Example of TDOA problem

• Known times of arrival to/from base points with known locations
• Known target depth
  
  Calculated residual function:
  
  Residual function and estimated target location:
  
  Nelder-Mead vs. Hooke-Jeeves on TDOA 2D problem:
  

The pics above are generated by a script from this library.

HISTORY

21-JAN-2021

• DOP calculation routines added (C#)

19-AUG-2020 Update

• Some bugfixes and small improvements
• Added AOA (Angle of arrival) estimation routines, for more info, please, see Matlab demo script:
  • AOA estimation with noisy TOA measurements

23-JAN-2020 Update:

• Added partial implementation of the library in Matlab. To test the functionality, please, use:
  • TOA & TDOA localisation demo script
  • Geodetic problems: Haversine vs. Vincenty demo
  • Library tests

30-NOV-2019 Update:

• Added partial implementation of the library in Rust:
  • All the functionality from Algorithms.cs & from Navigation.cs

22-NOV-2019 Update:

• In GeoPoints.cs new classes for metric point (MPoint and MPoint3D)
• In Navigation.cs new methods for calculating centroids of clouds of MPoint and MPoint3D, converting between local and geographic coordinate systems, methods for calculating statistics (CEP, SEP, STD, MRSE, DRMS)

26-AUG-2019 Update:

• Routines for VLBL (Virtual long baseline) positioning
• TDOA solution in 3D

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