simMLE.m calcLocalizationCRB.m drawOval.m calcDError.m calcDErrorTOA.m calcError.m calcErrorTOA.m frprmn.m symrandn.m dlinmin.m minBracket.m dbrent.m nzSIGN.m N.m L2_distance.m f1dim.m df1dim.m readme.txt