Given an array of speakers and a set of noisy inter-speaker range estimates, we consider the problem of estimating the relative positions of the array elements. A closed-form position estimator which minimizes an equation error norm is presented and shown to be related to a multidimensional scaling analysis. The information inequality is used to bound position estimate mean square error and to gauge the accuracy of the closed-form estimator. A geometric interpretation of the bound variance is given and used in examining our simulation results.
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