...
It is seen that Trilateration with no constraints has a median value of ~ 412km, while CBG with Tri-lateration is closer to 250km.
...
Comparison with the Apollonius Geolocation Algorithm
We also evaluated the performance of the Apollonius geolocation algorithm that uses tangential circles rather than the intersecting circles of tri-lateration. In this case we had successes with 105 targets. The frequency and cumulative distributions are seen in Figure 1. It is seen that Apollonius performs similarly to Tri-lateration with a median error of about 449ms.
...
We then compared our modified CBG using tri-lateration with CBG using Multi-lateration. The distributions are shown below, and more details are in the spreadsheet.
It is seen that the two dsitributions are very similar with multi-lateration having a smaller median error. It also has a higher success rate (see the table below).
...