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. 2017 Oct 30;7:14294. doi: 10.1038/s41598-017-14278-z

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© The Author(s) 2017

Open Access This article is licensed under a Creative Commons Attribution 4.0 International License, which permits use, sharing, adaptation, distribution and reproduction in any medium or format, as long as you give appropriate credit to the original author(s) and the source, provide a link to the Creative Commons license, and indicate if changes were made. The images or other third party material in this article are included in the article’s Creative Commons license, unless indicated otherwise in a credit line to the material. If material is not included in the article’s Creative Commons license and your intended use is not permitted by statutory regulation or exceeds the permitted use, you will need to obtain permission directly from the copyright holder. To view a copy of this license, visit http://creativecommons.org/licenses/by/4.0/.

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Effect of probability of missing detections (p(NA)) on relative track length. Mean relative track length differences between true and estimated track (±5^th and 95^th percentile; TDOA (◊); YAPS (●)). Negative values indicate that estimated tracks are shorter than true and vice versa. Each panel show results from level of probability of multipath (p(MP)): (a) 0.00, (b) 0.01, (c) 0.02, (d) 0.03, (e) 0.04 and (f) 0.05. Horizontal lines (- - -) indicating 0% and −100% are given for reference.