用于时延的三维定位，可用，麦克风阵列最好是立体面，这样不会出现奇异值(Three dimensional positioning for time delay is available, and microphone arrays are preferably stereo surfaces, so that no singular values appear)

数值计算答案，Chan三维定位算法，大家加油。(Scientific Computing's answer.)

对比了三种经典算法，用于二维定位，分析了精度(Three classical algorithms are compared for two dimensional positioning, and the accuracy is analyzed.)