Examples of 2-D multilateration are short wave radio long distance communications through the Earth's atmosphere, acoustic wave propagation in the sound fixing and ranging channel of the oceans and the LORAN navigation system.
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clustering needs to segregate members of various clusters contributing to various models of solving, i.e. fixed locations, oscillating locations and moving locations
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There are many robust linear algebra methods that can solve for the values of (x,y,z), such as Gaussian Elimination.
The bearings are derived from the differences in the time of arrival at the microphones.