## % variance); PlotCrlb2DErrorEllipse([x(i,j) y(i,j)], Crlb2D_CovMatrix); hold on; end end

% External functions: ComputeCrlb2D_TDOA

%                     PlotCrlb2D_ErrorEllipse

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% Calculate the variance for the TDOA
measurements s^2

variance=(stddev.*1e-9).^2;

% Convert from degrees to radians
angle=angle.*pi./180;

% Calculate the CRLB covariance matrix at
each given point

xx,j_max=size(angle); for i=1:1:i_max

for j=1:1:j_max
emitter=x(i,j) y(i,j) 0;

Crlb2D_CovMatrix = ComputeCrlb2D_TDOA(sensor1,
sensor2, emitter, variance);

PlotCrlb2DErrorEllipse(x(i,j) y(i,j),
Crlb2D_CovMatrix);

hold on;

end

end

function PlotCrlb2D_ScanPhase(sensor1,

% Plot CRLB error ellipses

%

% PlotCrlb2D_ScanPhase(sensor1, sensor2,

%

% Output parameters: none

%

% Input parameters: sensor1 – nx3 matrix
specifying n sensor1 xyz-position(s) m

%                   sensor2 – nx3 matrix
specifying n sensor2 xyz-position(s) m

%                   stddev  – Standard deviation deg for the Aperture
Angle

%                             measurements

plot

%                             the error ellipse

%                   angle   – vector specifying at which angles deg to
plot

%                             the error ellipse

%

% Output files: none

%

% Input files: none

%

% External functions:
ComputeCrlb2D_ScanPhase

%                     PlotCrlb2D_ErrorEllipse

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% Author:

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Institute:

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Country:

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% Calculate the variance for the Aperture

variance=(stddev.*pi./180).^2;

% Convert from degrees to radians
angle=angle.*pi./180;

% Calculate the CRLB covariance matrix at
each given point

xx,j_max=size(angle); for i=1:1:i_max

for j=1:1:j_max
y(i,j) 0;

Crlb2D_CovMatrix =
ComputeCrlb2D_ScanPhase(sensor1, sensor2, …

emitter, variance);
PlotCrlb2DErrorEllipse(x(i,j) y(i,j), Crlb2D_CovMatrix);

hold on;

end

end

function PlotCrlb2D_AOA(sensor, stddev,

% Plot CRLB error ellipses

%

angle)

%

% Output parameters: none

%

% Input parameters: sensor – nx3 matrix
specifying n sensor xyz-position(s) m

%                   stddev – Standard deviation
deg for the AOA measurements

%                   radius – vector specifying at

%                            the error ellipse

%                   angle  – vector specifying at which angles deg to
plot

%                            the error ellipse

%

% Output files: none

%

% Input files: none

%

% External functions: ComputeCrlb2D_AOA

%                     PlotCrlb2D_ErrorEllipse

%