Table 3.

Actual position of the second object and solutions given by the PSO for the estimated TDOA.

	t12	t13	t14	t23	t24	t34
Real	2.5479	−3.6486	−8.3174	−6.1966	−10.8653	−4.6688
Average	1.9668	−4.3145	−7.5666	−6.2814	−9.5334	−3.2521
Mode	2.100	−4.200	−8.100	−6.300	−10.2000	−3.9000
Real – Average	0.5811	0.6659	−0.7508	0.0848	−1.3319	1.4167
Real – Mode	0.4479	0.5514	−0.2174	0.1034	−0.6653	−0.7688