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Fig. 1. Confidence limits (95%) for the absolute range errors in simulated source localization for each technique. The traditional DOA method of data fusion (BAZ) is depicted in the left panel and that of the strictly TDOA technique (srcLoc), in the right. To construct the panels, an ensemble of 500 TDOA vectors for each 100×100  m² pixel was synthesized. The TDOA information was representative of 10  dB SNR acoustic arrivals across the array when sampled at 1  kHz. The distributions of absolute range errors were estimated for each pixel and technique. The 95% confidence limits in the range errors are mapped to color in each panel [the left (BAZ) panel was clipped at 6  km errors]. White + symbols represent sensor locations. First citation in article

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Fig. 2. Experimental array and blast sites. Sensor locations (dotted circles) and blast sites (triangles) are depicted. Distinct charges of M112 C-4, in various sizes, were detonated at each site (see text for details). Coordinates (km) are in grid 06VWR of the MRGS coordinate system. First citation in article

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Fig. 3. Normalized results of experimental source localizations for each technique. Each blast site is translated to the origin (red star) and the same translation is applied to the corresponding localization solutions (blue circles for BAZ and green triangles for srcLoc). The inset depicts a 30×30  m² box about the origin, in which 95% of the srcLoc solutions lie, but only 11% of the BAZ solutions. First citation in article