Fig. 11
From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space model
Standard deviations in the vertical positions for various sampling intervals using actual observational data at G19. a Standard deviations in the vertical positions for various sampling intervals estimated using the EKF-based GNSS-A positioning method are shown by points and solid curves. Expected values for the standard deviations are the positions for the sampling interval of 60Â s. Colors indicate the observation cruises. Dotted lines show RMSs of the vertical positions estimated using the classical GNSS-A positioning method. b The standard deviations shown in a are normalized by the positions estimated by the classical GNSS-A positioning method