Fig. 4From: Novel maximum likelihood approach for passive detection and localisation of multiple emittersTarget localisation performance for scenario 1. The TALA RMSE (black circles), gTALA RMSE (white circles), and the CRLB RMSE (black triangles). The percentage differences between the performance of the TALA and (i) the CRLB (black diamonds) and (ii) the gTALA (white diamonds). Results are averaged over all 1000 simulations. a P d =1.0. b P d =0.9. c P d =0.8Back to article page