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##### Sonar simulation with 3 microphones.

##### Sonar simulation with 3 microphones.

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Simulates acoustic bearing (range and angle) estimation on an 180 degree arc. The true target follows a semi-circle of defined radius. The delays are estimated using the PHAT algorithm (phase-transform based on generalized cross-correlation). The microphones are in a straight line normally the same distant apart. The reference mic is the centre one assumed to be at (0,0)