1.1 KiB
MDS-MAP localization simulation
This project simulates localization in an ad-hoc/sensor network using MDS-MAP and two anchor-only baselines: circular lateration (nonlinear least squares) and square lateration (min-max bounds).
Install and run
Use Python 3.10 or newer:
python -m pip install -r requirements.txt
python scripts/run_single.py
python scripts/run_remote_carlo.py
pytest
The default experiment places 4 anchors and 16 unknown nodes in a 100 m
square, uses a 55 m radio range, Gaussian ranging noise, and 30 repetitions.
Outputs are written to results/figures and results/tables. Edit
config/default.yaml to change the experiment. A connected graph is required
for shortest-path completion; increase radio_range if a random run is
disconnected.
The position figure compares actual unknown positions with all estimates and anchors. The error-distribution figure is a histogram over all unknown nodes and repetitions. The metrics CSV contains RMSE, MAE, mean, standard deviation, median, maximum, and 95th percentile errors for every repetition and method.