Algorithm 3. Method 3

Input: $\mathit{s}\mathit{e}\mathit{n}\mathit{s}\mathit{o}\mathit{r}.\mathit{c}\mathit{o}\mathit{o}\mathit{r}\mathit{d}=\left[\begin{array}{cccc}{\mathit{x}}_{H_1}& {\mathit{x}}_{H_2}& \dots & {\mathit{x}}_{H_N}\end{array}\right]$,     $\mathit{T}\mathit{D}\mathit{O}\mathit{A}= \left[\begin{array}{ccccc}TDOA1& TDOA2& \dots & TDOAm& TDOA1\end{array}\right]$, $maximum depth/height$ Calculate estimated position using Guess 0 algorithm if XY distance from middle of sensor geometry > 100 * geometry radius or Z > 2 * max_depth_or_height do   Calculate estimated position using Method 1 algorithm end Output: Final estimated position