Figure when sensors move after each other a mirror

Figure 4.2  
CEP-contours for the TDOA method. Left figure shows sensors moving next
to each other. Right figure shows sensors moving after each other. The sensor
distance is

10 km, the trajectory length is 7.2 km, and the number of
measurements is 361. The error in the measured TDOA is set to 50 ns.

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Figure 4.2 (left) shows
CEP-contours when sensors move next to each
other. The CEP-contours are symmetric around the central sensor line and the
central middle line. The geolocation accuracy is very poor along the central
sensor line, while the error goes to infinity along the central middle line,
i.e., geolocation is not possible here. This is consistent with the predictions
in Section 2.2.2.1, see Figure 2.12a). The geolocation accuracy is best along
the tilted (45º) line. Here the geolocation error is about 10 m at 10 km
distance, increasing to 100 m at 50 km distance, and 500 m at 100 km distance
from the sensors. No mirror image is created when the sensors move next to each
other.

 

Figure 4.2 (right) shows
CEP-contours when sensors move after each
other. The CEP-contours are symmetric around the central sensor line and the
central middle line. The geolocation error goes to infinity along the central
sensor line, i.e., geolocation is not possible here. This is consistent with
the predictions in Section 2.2.2.1, see Figure 2.11a). The geolocation accuracy
is best along the central middle line. Here the geolocation error is about 5 m
at 10 km distance, increasing to 70 m at 50 km distance, and 300 m at 100 km
distance from the sensors. The geolocation accuracy is better when the sensors
move after each other compared to when they move next to each other. This is
consistent with earlier findings 8. Note that when sensors move after each
other a mirror image is created (Section 2.2.1.1).

 

Figure 4.3 (left) shows
CEP-contours when sensors move along the tilted
(45º) line. The geolocation accuracy is very poor along the central sensor
line and along the line that the sensors move along. This is consistent with
the predictions in Section 2.2.2.1, see Figure 2.13a). The

CEP-contours appear as a somewhat distorted
version of the case when the sensors move next to each other. Geolocation
accuracies are close to what is achieved when sensors move after each other,
with geolocation errors about 5 m at 10 km distance, increasing to 80 m at 50
km distance, and 300 m at 100 km distance from the sensors. No mirror image is
created.