Multilateration is a navigation and surveillance technique based on the measurement of the times of arrival (TOAs) of energy waves (radio, acoustic, seismic, etc.) having a known propagation speed. The time origin for the TOAs is arbitrary. (By the reciprocity principle, any conceptual method that can be used for navigation can also be used for surveillance, and vice versa.) For surveillance, a subject of interest – in cooperative surveillance, often a vehicle – transmits to multiple receiving stations having synchronized 'clocks'. For navigation, multiple synchronized stations transmit to a user...