SKD-05 array simulator

Mock data

Seed GNSS Clock sync Ranging Heading Positions

IMU bearing estimate, inside range IMU bearing estimate, outside range Acoustic arrival-time estimate True source Pair intersection · leave-one-out

Ground truth Bearing rays Link labels

Node positions and headings

Node	Fix	E m	N m	σ m	Mag °	Survey °	→ target °	Heading

Node-to-node links

Pair	RSSI dBm	Ranged m	σ m	From positions m	Residual m	Fit

Against truth

Window

Source solve

Node	Trigger s	Bearing °	σ °	Peak m/s²	Acoustic s	Peak Pa

No nodes yet Window

Node health

IMU triggers

Node	Count	Latest s	Peak m/s²

Threshold 2 m/s² above rest gravity for three samples, the firmware's rule. Bearings need a per-node heading, which real data does not carry yet, so no source solve is drawn.