The Implementation of Positioning System with Trilateration of Haversine Distance

In this paper, a new approach has been developed and implemented in the field of trilateration positioning. Due to the curvature form of Earth's surface, the error that would occur if the distances were calculated with planar equations, would have eliminated with using spherical equations. The distance between the transmitter and the receiver radios, which is obtained from Received Signal Strength Indicator (RSSI) of Receiver Radio Modules (RRM), is transferred to the Trilateration matrix by Haversine distance equations. The measurements were taken within the university campus over six different Transmitter Radio Module (TRM) points with an average distance of 500 meters with RRMs. The Trilateration positioning was performed both Euclidean distance and Haversine distance equations to compare results. When evaluate the amount of deviation between calculated and the actual TRM positions, the deviation of the distance error is 70,75016m for Haversine model and the deviation of distance error is 71,1763m for Euclidean model, under equivalent situations.