Fig. 6: Plot of the energy function E(τ) for measurements derived from a noisy Doppler tone at 1.4567 GHz arriving at Nyquist sample n = 3028 over (a) the entire range of sample indices and (b) sample indices close to the true TOA. In (a) we see that the energy functional is clearly maximized in an area near the true TOA, and (b) shows that the maximum of the energy function occurs at n = 3030. Since the sampling rate for this example is 5 GHz, this corresponds to an error of 400 ps.
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