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Homework
Q1: (15 point) We have studied localization over many lectures in this course. This
question will give you a chance to write a solver function to convert obtained distance
measurements into locations. The task is to localize the position of 5 tags. You are given a file
“positioning.mat”, which provides the position of 4 anchors (a 4×2matrix) and the distance
from each tag to the anchor (a 5 × 4 matrix). All distances and positions are measured in
centimeters. Your goal is to use these distance measurements and anchor positions to solve
for each tag’s position location. You are also given a starter code “HW2_startercode.m”
which sets up everything for you, except the solver itself. The starter code is in Matlab but
you can rewite with python as well. In python, you can use module “python-scipy” to read
a .mat file. Only python and matlab will be accepted for this homework.
For this question, you need to implement “function positioning(x, dist, anchors)”. You
also need to provide a screenshot which gives the calculated positions of every tag.
Q2: (10 + 5 points) The distance measurements are not mathematically accurate, but
rather erroneous ranging measurements. This question will show you how a small precision
error dilutes to a significant location error based on the geometry of the anchors and the
tag.