📡 Seismic Sensor Array: Locating an Event from Arrival Times and the Cramer-Rao Limit (2D)

A hidden underground event sends a wavefront across a map of sensor robots. Each sensor records a noisy arrival time and a Gauss-Newton solver finds the source and the unknown start time. Change the number of sensors, wave speed, clock noise and array geometry and compare the scatter with the Cramer-Rao bound, with four in-page numerical checks.