Fig. 1

YAPS performance in different settings. The four plots show the combined effect of burst interval properties with a varying track lengths, b probabilities of multipath p(MP), c shifts out-of-array and d temporal receiver resolution. Each panel shows the results for random burst interval (blue), known random burst interval (purple) and stable burst interval (green) and for different mean burst intervals (x-axis). Each dot represents the median error of one track. Each combination of settings was run on 50 tracks. When not under variation, track length, p(MP), shift and resolution were respectively fixed at 5000, 2.5%, 0 and 200 \(\upmu\)s. The line on top of the data is a LOcally Estimated Scatterplot Smoothing (LOESS) smoother with 95%-confidence interval showing respectively the general pattern (i.e. average value per setting) and the uncertainty on the smoother. To enhance the visualisation, median errors above 25 m are not shown. The maximum occurring median errors are 46 (a), 68 (b), 66 (c) and 21 m (d)