This data-set was used for the localization of an emitter based on Time Difference of Arrival (TDoA). 

The classical least-squares (LS) algorithm, with a limited number of TDoA measurements, has been utilized for obtaining a closed-form solution to the source localization problem. 

An extension of the classical LS algorithm has been employed in an attempt to improve the precision of the localization technique by using a larger set of TDoA estimates.