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@@ -10,14 +10,18 @@ Modern Android devices comes with all the sensors and features we need for radio
 # How the app works
 The Android app receives bearing data relative to the antenna array from the KrakenSDR software through Wi-Fi. It uses the built in GPS to determine the location, and the GPS or compass sensors in the Android device to determine our heading of movement, and from the radio bearing relative to the antenna, and the direction of movement (heading), the app calculates the estimated bearing to the transmitter. The estimated bearing is then plotted on a map from the current GPS position. You should move in the direction of this bearing to make your way towards the transmitter.
 
-In the app the red line indicates the heading of the vehicle, the light blue line is an averaged bearing, and the dark blue line points towards the estimated grid location.
+In the app the red line indicates the heading of the vehicle, the light blue line is an averaged bearing, and the dark blue line points towards the estimated grid location. The back DOA 'lobe' is the full 360 degrees of DOA data plotted, and this full data provides us more information about the quality of the bearing. A nice tight lobe pointing in a single direction indicates a very good reading. A plot with a wide lobe, or many lobes pointing in different directions indicates a poor reading due to multipath or signal blockages etc. 
 
-The triangulation feature works by overlaying a grid over a map. When bearing data is received from the KrakenSDR server, each grid cell is activated by a certain amount, depending on 360 degrees of DOA data. Grid cells that are consistently activated more strongly will show up as hotter colors on the grid (red/orange), and cells activated less strongly will show up as cooler colors (green/blue). The grid cell with the highest activation value can be considered to be the most likely location of the transmitter and will be highlighted with a circle.
+The triangulation feature works by overlaying a grid over a map. When bearing data is received from the KrakenSDR server, each grid cell is activated by a certain amount, depending on 360 degrees of DOA data. Grid cells that are consistently activated more strongly will show up as hotter colors on the grid (red/orange), and cells activated less strongly will show up as cooler colors (green/blue). The grid cell with the highest activation value can be considered to be the most likely location of the transmitter and will be highlighted with a circle. This grid heatmap algorithm for estimating the TX location naturally enhances good data, and weakens bad data.
 
 If the user moves close to the edge of the grid, the grid will automatically re-center and recalculate activations from the logged data.
 
 A quick timelapse example of a TX search is shown as a gif on the right. The red marker indicates the known TX location. You can see that as the vehicle moves, the DOA lobes generally point in the direction of the transmitter. Every now and then they may point in a random direction. This can be explained by multipath corruption being too great, or something blocking the signal, like a building, terrain or large vehicle. As the user covers more ground the estimated TX location (green circle) slowly becomes more accurate, moving towards the red marker. The red area of the grid heatmap also shrinks over time.
 
+<p align="center">
+<img src="https://user-images.githubusercontent.com/78108016/171101043-e9082e9e-decf-43ea-beb0-b8f210337159.png" width="300" align="center"/>
+</p>
+
 # Post-data collection analysis
 The App can open a log file that was saved during a live drive, or a log file that was created by the KrakenSDR server itself during an offline logging session. To open a log file simply put the log file into a folder on your Android device's SD card, and use the folder icon to open it. The folder icon is found on the main screen in the top right.