After a knock in the right direction from Kevin, I found a slight error in the Multilateration routines. When simplifying U, we chose points on the edge of the tank to solve for. The point which is at the top right of the tank was wrong. I was solving for x^2+y^2 = 1. I should have been solving for x^2 + y^2 = d^2. Fixed that, and now the results are a lot more accurate. No more inaccuracies around the outsides of the tank. Somewhere near +/-0.2mm. Too small to measure.
Still the largest problem is the number of false detects. I have started rewriting the code, but because of this silly error today, I have not had any time to continue rewriting the rest of the code.
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