Function source_crlb 

pub fn source_crlb(
    sensors: &[Sensor],
    source_position_m: &[f64],
    propagation_speed_m_s: f64,
    timing_sigma_s: f64,
) -> Result<SourceCrlb, SourceLocalizationError>

Compute a timing CRLB for a proposed source location.

The covariance is (H^T H)^-1 * timing_sigma_s^2, where each row is the ToA timing derivative at source_position_m.

Errors

Returns SourceLocalizationError::InvalidInput for malformed, non-finite, non-positive, or inconsistent inputs. Returns SourceLocalizationError::Geometry when the shared DOP machinery finds too few sensors or a singular timing design. A source coincident with a sensor is SourceLocalizationError::InvalidInput.