function [CRLB] = TDOALocCRLB(SensorPositions,SourceLocation,Q)
% SensorPositons: (Dim x M) matrix, each column is a sensor position and
% first column is the reference sensor
% M is the number of sensors and should be at least Dim+2
% the sensors should not lie in one plane or line
% SourceLocation: (Dim x 1) vector of the estimated source location
% Q: the covariance matrix of the TDOA (range difference) vector
% CRLB: (Dim x Dim) CRLB matrix of the estimated source localization
%
% The program can be used for 2D(Dim=2) or 3D(Dim=3) localization
%
%
% Ming Sun, K. C. Ho 08-01-2009
%
% Copyright (C) 2009
% Computational Intelligence Signal Processing Laboratory
% University of Missouri
% Columbia, MO 65211, USA.
% hod@missouri.edu
%
M = length(Q) + 1;
if (M