Fig. 2
From: Novel maximum likelihood approach for passive detection and localisation of multiple emitters
Demonstration of the TALA for the scenario with four targets. a Step 1: intersection of each pair of AOA measurements (white circles) and each pair of DDOA measurement hyperbolae (grey circles). b Step 3: intersections that are retained (white circles), and intersections that are deleted (black circles; deletion criterion 3 is not used). c Step 4: ML estimates. d Step 5: downselected ML estimates (circles), and the true target locations (triangles). Each ellipse shows the 5 standard deviation error covariance associated with each ML estimate