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SensorPositons: (Dim x M) matrix, each column is a sensor position and first column is the reference sensor the sensors should not lie in one plane or line r: a (M-1) x 1 vector of TDOA measurements times signal propagation speed M is t

SensorPositons: (Dim x M) matrix, each column is a sensor position and first column is the reference sensor the sensors should not lie in one plane or line r: a (M-1) x 1 vector of TDOA measurements times signal propagation speed M is t