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I have a question about positioning techniques using the TWR ranging technique.

I checked the code using TWR technique to find the distance between each anchor and tag through the uwb_twr_tag.c file of src in lps-node-firmware-master.

What I'm curious about here is that what is the positioning technique(e.g., trilateration) and the location of the code, after the distance between the anchors and the tag is obtained.

Thank you.

Hi!

After the distance has been received the measurement is send to the extended kalman filter here which is being processed in the kalman filter with it's measurement model in here. The paper on which this is based on can be found on the top of the .c file. Also we have documentation how the kalman filter is implemented here