3.1.2. Angle of Arrival

For sensor 1, AOA can be expressed as:

$$AOA\_{q,1} = \arctan\left(\frac{y\_i - y\_{q,1}}{x\_i - x\_{q,1}}\right). \tag{15}$$

For ease of understanding, the TDOA and AOA are illustrated in the positioning system of Figure 1, where: *TDOA*= *MN velocity o f sound* , *AOA*=*α*.

**Figure 1.** A pair of sensor array model diagrams.
