Fig. 1From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space modelSchematic image of the GNSS-Acoustic observation system. Schematic image of a GNSS-A observation system is shown; inclination angle (\(\epsilon\)), shot angle (\(\xi\)), and azimuth for the seafloor transponder (\(\phi\)) are used in equations in the main textBack to article page