Yeah I'm pretty sure that was it. They were getting really good classification results with simple statistical methods. Today I suspect someone would have thro

Yeah I'm pretty sure that was it. They were getting really good classification results with simple statistical methods. Today I suspect someone would have thrown a hybrid CNN-LSTM at it and gotten similar results but no explainability and 100x the processor requirements. "Try the simplest thing that might possibly work". A few μs for all that work seems high when gps could get you to ns, or adding extra observers could remove the need for prior synchronization. I guess it is a more robust answer at least, in case GPS isn't there and some of the observers got shot already.