中文说明：
利用TOA与最小二乘法直接求解（具有独立创新性），TDOA是利用拉格朗日法求解，而且里面的定位图解做得特别好，分别有一点定位，多点定位的的三维视觉图。
English Description：
TOA and least square method are used to solve the problem directly (with independent innovation). TDOA is solved by Lagrange method, and the positioning diagram in it is very good. There are three-dimensional visual maps of one point positioning and multi-point positioning respectively.