Algorithm 2. CHC—Convex Hull Centroid Model Algorithm

Data Input

$m>2$ 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: Execute the steps 1 until 4 of algorithm Polar Points Centroid Model.

2: Apply (d-8), find the convex hull polygon for all polar-points in $S$. The obtained polygon is the minimal convex polygon that involves all interest points in $S$. This polygon constitutes the ROI.

3: Exclude all polar-points on the boundary of this convex polygon, called bad polar-points, from $S$.

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

Information Output

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