Cholesky decomposition 1 Computational modeling 1 Computational modelling 1 Cram\'er-Rao bound 1 Cram\'er-rao bound 1 Frequency estimation 1 Localisation 1 Localization 1 Location awareness 1 Ma ximum likelihoods 1 Matched field processing 1 Maximum likelihood 1 Maximum-likelihood 1 Nonline of sight 1 Receiver 1 Receivers 1 Sea surface 1 Sea surfaces 1 Sensor arrays 1 Sensors 1 Sensors array 1 Surface waters 1 Underwater acoustic Underwater acoustics 1 Water tanks 1 matched field processing 1 maximum likelihood 1 non-line-of-sight 1 underwater acoustics 1