Figure other. The CEP-contours are symmetric around the central

Figure 4.2  CEP-contours for the TDOA method. Left figure shows sensors moving nextto each other. Right figure shows sensors moving after each other. The sensordistance is10 km, the trajectory length is 7.

2 km, and the number ofmeasurements is 361. The error in the measured TDOA is set to 50 ns. Figure 4.2 (left) showsCEP-contours when sensors move next to eachother. The CEP-contours are symmetric around the central sensor line and thecentral middle line. The geolocation accuracy is very poor along the centralsensor line, while the error goes to infinity along the central middle line,i.e., geolocation is not possible here.

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This is consistent with the predictionsin Section 2.2.2.1, see Figure 2.

12a). The geolocation accuracy is best alongthe tilted (45º) line. Here the geolocation error is about 10 m at 10 kmdistance, increasing to 100 m at 50 km distance, and 500 m at 100 km distancefrom the sensors. No mirror image is created when the sensors move next to eachother.

 Figure 4.2 (right) showsCEP-contours when sensors move after eachother. The CEP-contours are symmetric around the central sensor line and thecentral middle line. The geolocation error goes to infinity along the centralsensor line, i.e.

, geolocation is not possible here. This is consistent withthe predictions in Section 2.2.2.1, see Figure 2.

11a). The geolocation accuracyis best along the central middle line. Here the geolocation error is about 5 mat 10 km distance, increasing to 70 m at 50 km distance, and 300 m at 100 kmdistance from the sensors. The geolocation accuracy is better when the sensorsmove after each other compared to when they move next to each other.

This isconsistent with earlier findings 8. Note that when sensors move after eachother a mirror image is created (Section 2.2.1.1). Figure 4.3 (left) showsCEP-contours when sensors move along the tilted(45º) line. The geolocation accuracy is very poor along the central sensorline and along the line that the sensors move along.

This is consistent withthe predictions in Section 2.2.2.1, see Figure 2.13a). TheCEP-contours appear as a somewhat distortedversion of the case when the sensors move next to each other.

Geolocationaccuracies 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 50km distance, and 300 m at 100 km distance from the sensors. No mirror image iscreated.