Algorithm 1. PPC—Polar-Points Centroid Model

Data Input

$m\ge 2$ is the number of receivers. $C_k\left(x_k,y_k\right)$, $k=1,2,\dots ,m$, is the planar position of each receiver. $r_k,k=1,2,\dots ,m$, is the signal range of each receiver to an emitter.

Procedure

1: for each $k=1,2,3,\dots ,m$

2: $\forall k,j:1,2,\dots ,m/k\ne j$, by (d-6) and (d-7), for each receiver position $C_k$, used as pole-points, compute all combinations of polar-points $P_{kj}\left(x_{pkj},y_{pkj}\right)$ and $Q_{kj}\left(x_{qkj},y_{qkj}\right)$ with the respective receiver at position $C_j$ and signal range $r_j$.

3: store the points $P_{kj}$ and $Q_{kj}$ in the set $\left(S\leftarrow S{\displaystyle \cup }\left\{P_{kj},Q_{kj}\right\}\right)$.

4: end for

5: Apply (d-9) in the set $S$, compute the location estimation, $E_{xy}\left(E_x,E_y\right)$, of the emitter.

Information Output

6: Emitter location estimation $E_{xy}\left(E_x,E_y\right)$.