Crossing Bearings: Locating an Emitter You Cannot See

You have separated the emitters — now, where are they? Two lines of bearing cross at a point, and that point is almost never where the emitter actually is. We build geolocation from great-circle intersection up through CEP, then attack the assumption that quietly ruins most implementations: a single constant bearing error. The real uncertainty comes from the Cramér-Rao lower bound and depends on SNR, baseline length in wavelengths, and off-boresight angle — and the honest output is a likelihood surface, not a pin.