A TDoA Localization Scheme for Underwater Sensor Networks with Use of Multilinear Chirp Signals

Table 3

The number of location signals is different.

order	, , )
	(3, 0, 0)	(1, 6, 0)	(2, 5, 6)
	5.4391	27.3816	24.3869
	10.7573	10.3540	34.1121
	25.2653	5.8847	15.0960
	11.6195	5.1691	10.4770
	6.1462	6.5556	29.5133
	4.3366	21.7600	25.7836
Threshold	12.594	14.8508	25.228