Localisation error coordinate frame.

The figure shows the localisation and error estimate of a single click from the pinger trial (see below) which was detected on the north and the west hydrophone cluster, but not the south one. The largest error is in the estimation of range e₁, so this is aligned with a unit vector from the centre of the array. The other (smaller) errors e₂ and e₃ are aligned with the horizontal and vertical angle measurements.