1 picture is worth 1000 words, here are a moving ones!

Here we basically demonstrate the principle of out positioning approach:

The bases send their laser sweeps, we measure the timings, convert them to 3d angles, and observe the 3d intersections.

This is made in this blender visualization:

https://github.com/HiveTracker/Kalman-Filter/blob/master/visualisation.blend

The math behind this idea is derived here:

https://docs.google.com/document/d/1RoB8TmUoQqCeUc4pgZck8kMuBPmqX-BuR-kKC7QYjg4/

Finally, the 3d models are available here:

https://github.com/HiveTracker/Kalman-Filter/blob/master/Frames