def calcPosition_Trilateration(d,nSensor,nAnchor,sigma,radiorange,iteN,type):
print "Trilaterationによる位置計算を開始"
locSensorNs = []
RMSDs =[]
for i in range(iteN):
[posX,locX,disX,conX,noisyDisX,trueDisX,estPosX,cLevel] = problems.createProblem_random(d,nSensor,nAnchor,sigma,radiorange,i+100)
if type==1:tri.localizeByTrilateration(nSensor,nAnchor,locX,conX,estPosX,noisyDisX,cLevel)
[nLocSensor,preLocSensor] = helper.analyseLocalizability(nSensor,nAnchor,locX)
locSensorNs.append(nLocSensor)
rmsd = helper.calcRMSD(nSensor,locX,posX,estPosX)
RMSDs.append(rmsd)
print nLocSensor
print rmsd
perLocSensor = sum(locSensorNs)/nSensor/iteN
perMinLocSensor = min(locSensorNs)/nSensor
perMaxLocSensor = max(locSensorNs)/nSensor
[aveRMSD,minRMSD,maxRMSD] = helper.analyseRMSDs(RMSDs)
RMSDsModified = [elem for elem in RMSDs if elem<1]
[aveRMSD_modified,a,b]= helper.analyseRMSDs(RMSDsModified)
return [perLocSensor,perMinLocSensor,perMaxLocSensor,aveRMSD,minRMSD,maxRMSD,aveRMSD_modified]
