“…Considering one of the sensors as the “reference sensor,” the following formula relates the travel time to reach the reference sensor, t ref , with the time differences, Δt ref, j , between the reference sensor and the other receiver transducers: Substituting Equation into Equation , it leads to the following system of four nonlinear equations: which can be solved for the four unknowns ( x AE , y AE , t ref , c g ) by following the linearisation process reported in De Simone et al Each wireless node was designed to continuously acquire data from the ADC and seek for a signal sample crossing a predefined threshold (see Section 3.2). The time information, t i , was obtained through a time synchronisation of the ADC sampling clock with a clock coherent with the GNSS signal available from the GNSS receiver.…”