The paper explains triangulation in simple geometric terms: sensors measure angles, not distances, and their bearing lines intersect to form small polygons where a transmitter might be. When more than one transmitter is present, this becomes more complex, and traditional two-sensor approaches no longer suffice. The authors show that by using at least three sensors and carefully analysing how their bearing paths intersect, it is possible to separate the different triangulation areas and link them to individual transmitters.

A key innovation is how the algorithm handles “bearing accuracy” and error. Each sensor has a small uncertainty (divergence) in its angle measurement, so instead of a single line, each bearing becomes a narrow sector, and the overlaps between sectors form quadrilaterals that represent potential signal locations. By systematically analysing these quadrilaterals and their relationships, the method identifies robust triangulation areas even in challenging conditions.

For UnderSec, this approach contributes to a better understanding of where signals are likely to come from in complex environments, including coastal or underwater-adjacent areas where multiple sources may operate simultaneously. It supports more reliable localisation within the Area of Interest and provides a foundation for higher-level decision-making tools that can prioritise responses and further analysis.