SensorPositons: (Dim x M) matrix, each column is a sensor position and first column is the reference sensor the sensors should not lie in one plane or line r: a (M-1) x 1 vector of TDOA measurements times signal propagation speed M is the number of sensors and should be at least Dim+2 Q: the covariance matrix of the r vector SourceLocation: estimated source location Note: W1 is updated 3 times (RptCnt=3) in Stage-1, however in most cases updating W1 once (RptCnt=1) is sufficient. The program can be used for 2D(Dim=2) or 3D(Dim=3) localization Ming Sun, K. C. Ho 08-01-2009 10-01-2010, revised Copyright (C) 2009 Computational Intelligence Signal Processing Laboratory University of Missouri Columbia, MO 65211, USA. hod@missouri.edu

TDOALoc.m

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