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Triangulate multiple line-of-sight detections

estimates the position of a target in a global Cartesian coordinate frame by triangulating a
set of angle-only `estPos`

= triangulateLOS(`detections`

)`detections`

. Angle-only detections are also known as
line-of-sight (LOS) detections. For more details, see Algorithms.

`[`

also returns `estPos`

,`estCov`

] = triangulateLOS(`detections`

)`estCov`

, the covariance of the error in target position.
The function uses a Taylor-series approximation to estimate the error covariance.

Multiple angle-only or line-of-sight measurements result in lines in space. These lines
might or might not intersect because of measurement noise. `triangulateLOS`

uses a suboptimal linear least-squares method to minimize the distance of miss between
multiple detections. The formulation makes these assumptions:

All detections report measurements with approximately the same accuracy in azimuth and elevation (if measured).

The distances from the different sensors to the triangulated target are all of the same order.

[1] Blackman, Samuel, and Robert
Popoli. "*Design and analysis of modern tracking systems.*" Norwood, MA:
Artech House, 1999. (1999).