Hi

I like to perform a Self-Localization of a Swarm of Underwater Vehicles using Time Difference of Arrival (TDOA) of acoustic signals. I found this paper relevant for my problem but there are two major differences between my setup and the paper. First, the paper assume that the noise locations are in the far field which in my case is not true as the sources are close to other robots(underwater vehicles). Second, angles of arrival of sound source are approximately very small and same for each noise sources which is not the case in the paper. I dont have option to measure the angle of arrivals. Also the correspondence problem in my case no need to be solved as I can identify the correct correspondences of noise sources across the vehicles of the swarm with the acoustic modems signals. So my question is taking into account those assumptions differences between my set up and the paper can I apply the self localization math from the paper for my scenario?