http://robosub-vm.eecs.wsu.edu/wiki/ 2026-04-13T04:42:45-0700 http://robosub-vm.eecs.wsu.edu/wiki/ http://robosub-vm.eecs.wsu.edu/wiki/lib/tpl/codowik/images/favicon.ico text/html 2017-10-07T20:04:50-0700 Anonymous (anonymous@undisclosed.example.com) http://robosub-vm.eecs.wsu.edu/wiki/cs/hydrophones/multilateration/start?rev=1507431890&do=diff Multilateration Previous derivations on this topic were made in years passed to enable calculations with limited numbers of hydrophone channels. This page provides a generalized algorithm for locating a pinger in 3D in a robust, linear manner with an arbitrary number of arbitrarily placed hydrophones. This solution is an unambiguous, precise result that evaluates at all distances and does not require that the signal originate in the far-field.$h_0$$h_1$$h_n$$n>1$$h_0$$h_0 = (0,0,0)$$h_1$$h_1 …