{
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   "cell_type": "code",
   "execution_count": 1,
   "id": "689613d2",
   "metadata": {},
   "outputs": [
    {
     "name": "stdout",
     "output_type": "stream",
     "text": [
      "80.58750000000002\n",
      "(array([8.97705408, 4.95      , 0.        ]), array([-8.97705408,  4.95      ,  0.        ]))\n"
     ]
    }
   ],
   "source": [
    "import numpy  \n",
    "from math import sqrt as square\n",
    "from numpy import sqrt, dot, cross                       \n",
    "from numpy.linalg import norm  \n",
    "\n",
    "#rssi = [rssi, max_rssi, min_rssi, gamma]\n",
    "\n",
    "def dist(rssi):\n",
    "    rssi = list(map(float, rssi))\n",
    "    return square(abs(rssi[0]-rssi[1]))*rssi[3]/square(abs(rssi[0]-rssi[2]))\n",
    "\n",
    "def sol(x1,x2,x3,rssi1,rssi2,rssi3):\n",
    "    r1 = dist(rssi1)\n",
    "    r2 = dist(rssi2)\n",
    "    r3 = dist(rssi3)\n",
    "    x1=numpy.array(x1)\n",
    "    x2=numpy.array(x2)\n",
    "    x3=numpy.array(x3)\n",
    "    temp1 = x2-x1                                        \n",
    "    e_x = temp1/norm(temp1)                              \n",
    "    temp2 = x3-x1                                        \n",
    "    i = dot(e_x,temp2)                                   \n",
    "    temp3 = temp2 - i*e_x                                \n",
    "    e_y = temp3/norm(temp3)                              \n",
    "    e_z = cross(e_x,e_y)                                 \n",
    "    d = norm(x2-x1)                                      \n",
    "    j = dot(e_y,temp2)                                   \n",
    "    x = (r1*r1 - r2*r2 + d*d) / (2*d)                    \n",
    "    y = (r1*r1 - r3*r3 -2*i*x + i*i + j*j) / (2*j)       \n",
    "    temp4 = r1*r1 - x*x - y*y \n",
    "    print(temp4)\n",
    "    if temp4<0:                                          \n",
    "        return \"Нет пересечения!\"\n",
    "    z = sqrt(temp4)                                      \n",
    "    p_12_a = x1 + x*e_x + y*e_y + z*e_z                  \n",
    "    p_12_b = x1 + x*e_x + y*e_y - z*e_z                  \n",
    "    return p_12_a,p_12_b\n",
    "\n",
    "\n",
    "print(sol([0,0,1],[0,0,-1],[0,10,0],[50,100,0,10.3],[50,100,0,10.3],[50,100,0,10.3]))"
   ]
  },
  {
   "cell_type": "code",
   "execution_count": null,
   "id": "0a68f35a",
   "metadata": {},
   "outputs": [],
   "source": []
  }
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