This sensor network self-localization GUI allows the user to explore self-localization performance for arbitrary sensor networks as predicted theoretically by the Cramer-Rao bound and through simulation.  The tool supports a wide range of possible measurement types, including timing measurements (TOA or TDOA), angle measurements (AoA), and received-signal-strength measurements (RSS).  Each measurement type can be used by itself or with others to evaluate hybrid localization schemes.  Additionally, fully and sparsely connected networks may be evaluated. Screenshots: