US Patent 7363191 Estimation methods for wave speed

Robust methods are developed to provide bounds and probability distributions for the locations of objects as well as for associated variables that affect the accuracy of the location such as the positions of stations, the measurements, and errors in the speed of signal propagation. Realistic prior probability distributions of pertinent variables are permitted for the locations of stations, the speed of signal propagation, and errors in measurements. Bounds and probability distributions can be obtained without making any assumption of linearity. The sequential methods used for location are applicable in other applications in which a function of the probability distribution is desired for variables that are related to measurements.