*3.1. Model Environment*

There are multiple sets of acoustic sensor arrays in the detection range, denoted as *S*1:*<sup>Q</sup>* = *s*1, ··· ,*sq*, ··· ,*sQ* , *<sup>q</sup>* <sup>∈</sup> {1, 2, ··· , *<sup>Q</sup>*}, where *sq* <sup>=</sup> *sq*,1, ··· ,*sq*,*j*, ··· ,*sq*,*<sup>N</sup>* , *j* ∈ {1, ··· , *N*}. Each *sq*,*<sup>j</sup>* can be defined as *sq*,*<sup>j</sup>* = ' *xq*,*j*, *yq*,*<sup>j</sup>* ( , in 2-dimensional space.

Assuming a single target state of position is x*<sup>i</sup>* = (*xi*, *yi*), each set of sensors consists of two acoustic sensors.
