Following on from the above, can someone check to ensure that I have correct figures and that I am doing this right because the figures are coming up incorrect when I run them through a java multilateration program that I got of the paper below (pdf attached). (I converted to java to work with my software)

The figures I get are

x=0

ti=19.0

tk=24.0

tj=24.0

tl=28.0

x=0
y=-49
z=0

package DataCalculations;import java.lang.Math;public class Multilateration { public double calcCord(int rNum, char cord) { OrgData og = new OrgData(); double ti = og.getValue(rNum), tk = og.getValue(rNum + 1), tj = og .getValue(rNum + 2), tl = og.getValue(rNum + 3); // invoke toa figures from database System.out.println("\nti="+ti); System.out.println("\ntk="+tk); System.out.println("\ntj="+tj); System.out.println("\ntl="+tl); double xi = 1, xk = 0, xj = 10, xl =0; double yi = 1, yk = 1, yj = 0, yl = 0; double zi = 0, zk = 0, zj = 0, zl = 0; double xji = xj - xi; double xki = xk - xi; double xjk = xj - xk; double xlk = xl - xk; double xik = xi = xk; double yji = yj - yi; double yki = yk - yi; double yjk = yj - yk; double ylk = yl - yk; double yik = yi - yk; double zji = zj - zi; double zki = zk - zi; double zik = zi - zk; double zjk = zj - zk; double zlk = zl - zk; double rij = Math.abs((10*(ti - tj))/33); double rik = Math.abs((10*(ti - tk))/33); double rkj = Math.abs((10*(tk - tj))/33); double rkl = Math.abs((10*(tk - tl))/33); double s9 = rik * xji - rij * xki; double s10 = rij * yki - rik * yji; double s11 = rik * zji - rij * zki; double s12 = (rik * (rij * rij + xi * xi - xj * xj + yi * yi - yj * yj + zi * zi - zj * zj) - rij * (rik * rik + xi * xi - xk * xk + yi * yi - yk * yk + zi * zi - zk * zk)) / 2; double s13 = rkl * xjk - rkj * xlk; double s14 = rkj * ylk - rkl * yjk; double s15 = rkl * zjk - rkj * zlk; double s16 = (rkl * (rkj * rkj + xk * xk - xj * xj + yk * yk + zk * zk - zj * zj) - rkj * (rkl * rkl + xk * xk - xl * xl + yk * yk - yl * yl + zk * zk - zl * zl)) / 2; double a = s9 / s10; double b = s11 / s10; double c = s12 / s10; double d = s13 / s14; double e = s15 / s14; double f = s16 / s14; double g = (e - b) / (a - d); double h = (f - c) / (a - d); double i = (a * g) + b; double j = (a * h) + c; double k = rik * rik + xi * xi - xk * xk + yi * yi - yk * yk + zi - zk * zk + 2 * j * yki; double l = 2 * (g * xki + i * yki + zki); double m = 4 * rik * rik * (g * g + i * i + l) - l * l; double n = 8 * rik * rik * (g * (xi - h) + i * (yi - j) + zi) + 2 * l * k; double o = 4 * rik * rik * ((xi - h) * (xi - h) + (yi - j) * (yi - j) + zi * zi) - k * k; double s28 = n / (2 * m); double s29 = (o / m); double s30 = (s28 * s28) - s29; double root = Math.sqrt(s30); if (cord == 'x'){ int x; x = this.getX(g, zl, h); System.out.println("\nx="+x); return x; } if (cord == 'y'){ int y; y = this.getY(a, this.getX(g, zl, h), b, this.getZ(s28,root), c); System.out.println("\ny="+y); return y; } if (cord == 'z'){ int z; z = this.getZ(s28,root); System.out.println("\nz="+z); return z; } return -1; } int getZ(double s28, double root) { int z1 = (int) (s28 + root); return z1; } // int z2=(int)(s28-root); // int getX(double g, double z1, double h) { int x1 = (int) (g * z1 + h); return x1; } // int x2=(int)(g*z2+h); // int getY(double a, double x1, double b, double z1, double c) { int y1 = (int) (a * x1 + b * z1 + c); return y1; } // int y2=(int)(a*x2+b*z2+c); }

In the screen shot, is see two RX4's and no RX2. That doesn't seem correct.
What is the program supposed to do??
Take in a set a DTOA data and generate a position estimate?

The program comes from the tutorial below
It algorithm and equation derivation are at the start of the paper. A-Synthesizable-VHDL-Model-of-th.pdf

0

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Your drawing has X1, X2, X3, X4And your program has i, j, k, l l (el) in indistinguishable from 1 (one) in this font.And your values don't seem to match. double xi = 1, xk = 0, xj = 10, xl =0; double yi = 1, yk = 1, yj = 0, yl = 0; double zi = 0, zk = 0, zj = 0, zl = 0;Shouldn't all the values be 0 or 10. You have three 1's in there.

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