http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-15T14:04:53-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2017-09-12T12:44:48-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/hydrophones/trilateration_setup/start?rev=1505245488&do=diff Trilateration Setup Below is the math for calculating the location of the pinger in the water relative to our submarine. Because we know the absolute location of the pinger in the pool, we can calculate the sub's position in the pool. [Original derivation] by Brian Moore.$h_0$$(0,0,0)$$h_x$$(\delta,0,0)$$h_y$$(0,\epsilon,0)$$h_z$$(0,0,\zeta)$$$ l_{pinger} = (x,y,z) $$$\Delta t_x$$\Delta t_y$$\Delta t_z$$h_0$$h_{x,y,z}$$p_0$$h_0$$(x,y,z)$$$ p_0 = \sqrt{x^2 + y^2 + z^2} $$$c_s$$h_{x,y,z}$$$ \Del…