Table 2.

Comparison of Standard Deviation (SD) and Maximum Error (ME) values (in degrees) between the arrays of Figure 1 and Figure 6 for noise-affected measurements (AWGN) at different PSNR values. Actuated pulse band: [30–40] kHz.

	Standard Cluster								Shaped Sensors Optimal Cluster
	CC		GM-CC		GCC		GM-GCC		CC		GM-CC		GCC		GM-GCC
PSNR	SD	ME	SD	ME	SD	ME	SD	ME	SD	ME	SD	ME	SD	ME	SD	ME
60 dB	1.27	2.12	1.21	2.12	1.28	2.12	1.2	2.12	2.7	4.53	2.71	4.53	2.69	4.53	2.68	4.53
40 dB	1.8	6.39	1.6	5.56	1.21	2.65	1.17	2.65	2.74	6.24	2.73	6.38	2.68	5	2.68	5
35 dB	2.68	8.83	2.26	8.83	1.25	3.66	1.23	3.66	2.83	7.04	2.79	6.91	2.69	5.48	2.69	5.48
30 dB	4.24	13.2	3.54	12	1.66	10.9	1.57	10.2	3.07	9.64	2.96	9.64	2.71	6.66	2.7	6.31
28 dB	5.18	17.2	4.31	15.5	1.99	13.7	1.86	12.6	3.24	10.4	3.05	10.5	2.75	9.12	2.72	8.96
27 dB	5.78	21.9	4.72	17	2.49	19.5	2.2	18.1	3.4	11	3.23	11	2.79	8.87	2.77	9.15
26 dB	6.48	22.8	5.28	19.8	2.81	20.6	2.46	15.2	3.47	10.2	3.25	11.3	2.88	11.3	2.83	9.99
24 dB	8	27.8	6.67	27.3	3.65	25	3.21	25	3.88	13.2	3.57	13	2.98	15.5	2.91	15.7