Fig. 10
From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space model
Positioning results for the synthetic data at site G19 considering unresponsive transponders. Array positioning results for the synthetic data at G19 are shown. The synthetic data for a–c assume a vertical array displacement of 0.5 m, while those for d–f assume the vertical array displacements are zero. Black triangles show the solutions for the conventional array positioning method, fixing the vertical array displacements, and orange crosses show the solutions for the conventional array positioning method estimating the vertical array displacements. Colored dots show the solutions for the EKF-based array positioning method assuming a laterally stratified SSS, and the colors represent the number of responsive seafloor transponders at the corresponding acoustic ping