Manual

Dis_ID2_R = getGPS06 ( );

Dis_ID3_R = getGPS07 ( );

Dis_ID4_R = getGPS08 ( );

}

Step 3:

Calculate the position based on the information of distance measurement.

Here is the example for transponder 1( with sensor ID = 1, sensor ID = 2)

Sensor ID1 position (X1,Y1,Z1);

Sensor ID2 position (X2,Y2,Z2);

CarHeight = 225; //unit: mm the height of Constellation receiver on the robot

CarSensorDis = 300; // unit: mm the distance between the left receiver and right

// receiver on the robot

DisSensor = sqr( (X1- X2) ^ 2 + (Y1 – Y2 ) ^ 2); //the distance between two

//sensors on the transponder

L1 = Dis_ID1_L , L2 = Dis_ID2_L. L3 = Dis_ID1_R, L4 = Dis_ID2_R.

All the data must meet the following conditions

1 . abs(L1 –L2) < DisSensor

and abs(L1+L2) > DisSensor

2. abs(L3 –L4) < DisSensor

and abs(L3+L4) > DisSensor

3. abs(L1 – L3) < CarSensorDis

and abs(L1+ L3) > CarSensorDis

4. abs(L2- L4) < CarSensorDis

and abs(L2+L4) > CarSensorDis

If all the data are effective, then we should be able to calculate the position of left receiver

(xL,yL,zL) and right receiver

(xR,yR,zR) position by simple triangle functions.