It's a simle Tdoa (Time Difference of Arrival) test implementation.
There's a thread in "Form1.cs" which operates in every 1-second. At first it inits Anchor ID and locations as below;
m_Tri.AnchorAdd(100, 0, 0, 0);
m_Tri.AnchorAdd(101, 2000, 0, 2000);
m_Tri.AnchorAdd(102, 2000, 2000, 0);
m_Tri.AnchorAdd(103, 0, 2000, 2000);
m_Tri.AnchorAdd(104, 0, 0, 2000);
This is our moving test object, at initial position;
double x = -2000, y = 1000, z = 0;
In every one second test object move along x-direction
x += 100;
After reaching 2000, it resets the locations to initial position
if (x > 2000) x = -1000;
By this code you can compare fed and calculated x,y,z
For mathematical background please refer my stackoverflow mesage; https://math.stackexchange.com/a/2489798/495743