multilateration 0.0.1

data/.gitignore

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+*.gem
+*.rbc
+.bundle
+.config
+.yardoc
+Gemfile.lock
+InstalledFiles
+_yardoc
+coverage
+doc/
+lib/bundler/man
+pkg
+rdoc
+spec/reports
+test/tmp
+test/version_tmp
+tmp

data/.rspec

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+--color
+--format progress

data/Gemfile

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+source 'https://rubygems.org'
+
+# Specify your gem's dependencies in multilateration.gemspec
+gemspec

data/LICENSE.txt

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+Copyright (c) 2013 Arron Mabrey
+
+MIT License
+
+Permission is hereby granted, free of charge, to any person obtaining
+a copy of this software and associated documentation files (the
+"Software"), to deal in the Software without restriction, including
+without limitation the rights to use, copy, modify, merge, publish,
+distribute, sublicense, and/or sell copies of the Software, and to
+permit persons to whom the Software is furnished to do so, subject to
+the following conditions:
+
+The above copyright notice and this permission notice shall be
+included in all copies or substantial portions of the Software.
+
+THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE
+LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION
+OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION
+WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE.

data/README.md

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+# Multilateration
+
+TODO: Write a gem description
+
+## Installation
+
+Add this line to your application's Gemfile:
+
+    gem 'multilateration'
+
+And then execute:
+
+    $ bundle
+
+Or install it yourself as:
+
+    $ gem install multilateration
+
+## Usage
+
+TODO: Write usage instructions here
+
+## Contributing
+
+1. Fork it
+2. Create your feature branch (`git checkout -b my-new-feature`)
+3. Commit your changes (`git commit -am 'Add some feature'`)
+4. Push to the branch (`git push origin my-new-feature`)
+5. Create new Pull Request

data/Rakefile

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+require "bundler/gem_tasks"

data/lib/multilateration.rb

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+require "matrix"
+require "forwardable"
+
+require "multilateration/version"
+require "multilateration/solver"
+require "multilateration/emitter"
+require "multilateration/receiver"
+require "multilateration/time_of_arrival_strategies/source_vector_distance"
+
+module Multilateration
+  # Your code goes here...
+end

data/lib/multilateration/emitter.rb

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+module Multilateration
+  class Emitter
+  end
+end

data/lib/multilateration/receiver.rb

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+module Multilateration
+  class Receiver
+  end
+end

data/lib/multilateration/solver.rb

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+module Multilateration
+  class Solver
+    attr_reader :receivers, :wave_speed, :time_of_arrival_strategy
+    private :receivers, :wave_speed, :time_of_arrival_strategy
+
+    def initialize(unsorted_receivers, time_of_arrival_strategy)
+      @receivers  = unsorted_receivers.sort_by { |r| time_of_arrival_strategy.toa(r) }
+      @wave_speed = time_of_arrival_strategy.wave_speed
+      @time_of_arrival_strategy = time_of_arrival_strategy
+    end
+
+    def solved_vector
+      Vector.elements (ai_matrix * bi_matrix).flat_map.to_a
+    end
+
+    private
+
+    def ai_matrix
+      Matrix.rows(middle_receivers.map { |i| ai(i) }).inverse
+    end
+
+    def bi_matrix
+      Matrix.columns([middle_receivers.map { |i| bi(i) }])
+    end
+
+    def ai(i)
+      2*(   ( distance(tdoa_between_receivers_first_and_last) * ( i             - first_receiver )) \
+          - ( distance(tdoa_between_receivers_first_and(i))   * ( last_receiver - first_receiver )) )
+    end
+
+    def bi(i)
+        ( distance(tdoa_between_receivers_first_and(i))   * ( distance_sq(tdoa_between_receivers_first_and_last) - inner_product_sq(last_receiver)                  )) \
+      + ( inner_product_sq(first_receiver)                * ( distance(tdoa_between_receivers_first_and(i))      - distance(tdoa_between_receivers_first_and_last)  )) \
+      + ( distance(tdoa_between_receivers_first_and_last) * ( inner_product_sq(i)                                - distance_sq(tdoa_between_receivers_first_and(i)) ))
+    end
+
+    def middle_receivers
+      receivers - [first_receiver, last_receiver]
+    end
+
+    def first_receiver
+      receivers.first
+    end
+
+    def last_receiver
+      receivers.last
+    end
+
+    def tdoa_between_receivers_first_and_last
+      tdoa_between_receivers_first_and(last_receiver)
+    end
+
+    def tdoa_between_receivers_first_and(other_receiver)
+      time_of_arrival_strategy.tdoa(other_receiver, first_receiver)
+    end
+
+    def distance(time, exp=1)
+      (wave_speed**exp) * (time**exp)
+    end
+
+    def distance_sq(time)
+      distance(time, 2)
+    end
+
+    def inner_product_sq(vector)
+      vector.inner_product(vector)
+    end
+
+  end
+end

data/lib/multilateration/time_of_arrival_strategies/source_vector_distance.rb

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+module Multilateration
+  module TimeOfArrivalStrategies
+    class SourceVectorDistance
+      attr_reader :source_vector, :wave_speed
+      private :source_vector
+
+      def initialize(source_vector, wave_speed=1)
+        @source_vector = source_vector
+        @wave_speed    = wave_speed
+      end
+
+      def tdoa(vector_a, vector_b)
+        toa(vector_a) - toa(vector_b)
+      end
+
+      def toa(target_vector)
+        distance_between_source_vector_and(target_vector) / wave_speed
+      end
+
+      private
+
+      def distance_between_source_vector_and(target_vector)
+        Math.sqrt((target_vector - source_vector).map { |component| component.abs**2 }.reduce(&:+))
+      end
+    end
+  end
+end

data/lib/multilateration/version.rb

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+module Multilateration
+  VERSION = "0.0.1"
+end

data/multilateration.gemspec

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+# coding: utf-8
+lib = File.expand_path('../lib', __FILE__)
+$LOAD_PATH.unshift(lib) unless $LOAD_PATH.include?(lib)
+require 'multilateration/version'
+
+Gem::Specification.new do |spec|
+  spec.name          = "multilateration"
+  spec.version       = Multilateration::VERSION
+  spec.authors       = ["Arron Mabrey"]
+  spec.email         = ["arron@mabreys.com"]
+  spec.description   = %q{Solves for the location of an unknown signal emitter by using the signal TDOA between multiple signal receivers with known locations.}
+  spec.summary       = %q{Solves for the location of an unknown signal emitter by using the signal TDOA between multiple signal receivers with known locations.}
+  spec.homepage      = ""
+  spec.license       = "MIT"
+
+  spec.files         = `git ls-files`.split($/)
+  spec.executables   = spec.files.grep(%r{^bin/}) { |f| File.basename(f) }
+  spec.test_files    = spec.files.grep(%r{^(test|spec|features)/})
+  spec.require_paths = ["lib"]
+
+  spec.add_development_dependency "bundler", "~> 1.3"
+  spec.add_development_dependency "rake"
+  spec.add_development_dependency "rspec"
+end

data/spec/multilateration/emitter_spec.rb

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+require 'spec_helper'
+
+describe Multilateration::Emitter do
+end

data/spec/multilateration/receiver_spec.rb

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+require 'spec_helper'
+
+describe Multilateration::Receiver do
+end

data/spec/multilateration/solver_spec.rb

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+require 'spec_helper'
+
+describe Multilateration::Solver do
+  describe "#solved_vector" do
+    let(:source_vector)    { Vector[-20,5,120.2]   }
+    let(:reciver_vector_0) { Vector[0,25,1]        }
+    let(:reciver_vector_1) { Vector[50,20.34,2]    }
+    let(:reciver_vector_2) { Vector[50,50,33]      }
+    let(:reciver_vector_3) { Vector[23,75,4]       }
+    let(:reciver_vector_4) { Vector[100,-100,-5.5] }
+    let(:time_of_arrival_strategy) { Multilateration::TimeOfArrivalStrategies::SourceVectorDistance.new(source_vector) }
+    let(:recivers) { [reciver_vector_0, reciver_vector_1, reciver_vector_2, reciver_vector_3, reciver_vector_4] }
+
+    subject(:solved_vector) { described_class.new(recivers, time_of_arrival_strategy).solved_vector }
+
+    specify { expect( solved_vector.magnitude ).to be_within(0.0000000000001).of(source_vector.magnitude) }
+  end
+end

data/spec/multilateration/time_of_arrival_strategies/source_vector_distance_spec.rb

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+require 'spec_helper'
+
+describe Multilateration::TimeOfArrivalStrategies::SourceVectorDistance do
+end

data/spec/spec_helper.rb

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+require 'multilateration'
+
+# This file was generated by the `rspec --init` command. Conventionally, all
+# specs live under a `spec` directory, which RSpec adds to the `$LOAD_PATH`.
+# Require this file using `require "spec_helper"` to ensure that it is only
+# loaded once.
+#
+# See http://rubydoc.info/gems/rspec-core/RSpec/Core/Configuration
+RSpec.configure do |config|
+  config.treat_symbols_as_metadata_keys_with_true_values = true
+  config.run_all_when_everything_filtered = true
+  config.filter_run :focus
+
+  # Run specs in random order to surface order dependencies. If you find an
+  # order dependency and want to debug it, you can fix the order by providing
+  # the seed, which is printed after each run.
+  #     --seed 1234
+  config.order = 'random'
+end

metadata

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+--- !ruby/object:Gem::Specification
+name: multilateration
+version: !ruby/object:Gem::Version
+  version: 0.0.1
+  prerelease: 
+platform: ruby
+authors:
+- Arron Mabrey
+autorequire: 
+bindir: bin
+cert_chain: []
+date: 2013-11-18 00:00:00.000000000 Z
+dependencies:
+- !ruby/object:Gem::Dependency
+  name: bundler
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ~>
+      - !ruby/object:Gem::Version
+        version: '1.3'
+- !ruby/object:Gem::Dependency
+  name: rake
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+- !ruby/object:Gem::Dependency
+  name: rspec
+  requirement: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+  type: :development
+  prerelease: false
+  version_requirements: !ruby/object:Gem::Requirement
+    none: false
+    requirements:
+    - - ! '>='
+      - !ruby/object:Gem::Version
+        version: '0'
+description: Solves for the location of an unknown signal emitter by using the signal
+  TDOA between multiple signal receivers with known locations.
+email:
+- arron@mabreys.com
+executables: []
+extensions: []
+extra_rdoc_files: []
+files:
+- .gitignore
+- .rspec
+- Gemfile
+- LICENSE.txt
+- README.md
+- Rakefile
+- lib/multilateration.rb
+- lib/multilateration/emitter.rb
+- lib/multilateration/receiver.rb
+- lib/multilateration/solver.rb
+- lib/multilateration/time_of_arrival_strategies/source_vector_distance.rb
+- lib/multilateration/version.rb
+- multilateration.gemspec
+- spec/multilateration/emitter_spec.rb
+- spec/multilateration/receiver_spec.rb
+- spec/multilateration/solver_spec.rb
+- spec/multilateration/time_of_arrival_strategies/source_vector_distance_spec.rb
+- spec/spec_helper.rb
+homepage: ''
+licenses:
+- MIT
+post_install_message: 
+rdoc_options: []
+require_paths:
+- lib
+required_ruby_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+required_rubygems_version: !ruby/object:Gem::Requirement
+  none: false
+  requirements:
+  - - ! '>='
+    - !ruby/object:Gem::Version
+      version: '0'
+requirements: []
+rubyforge_project: 
+rubygems_version: 1.8.23
+signing_key: 
+specification_version: 3
+summary: Solves for the location of an unknown signal emitter by using the signal
+  TDOA between multiple signal receivers with known locations.
+test_files:
+- spec/multilateration/emitter_spec.rb
+- spec/multilateration/receiver_spec.rb
+- spec/multilateration/solver_spec.rb
+- spec/multilateration/time_of_arrival_strategies/source_vector_distance_spec.rb
+- spec/spec_helper.rb