Fig. 2From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space modelArray geometries for synthetic tests. a A square-formed array geometry at G08 site (depth: 3473 m), b a double-triangular array geometry at the G19 site (depth: 5724 m), c a triangular-center-formed array geometry at a synthetic site (assumed depth: 4000 m). Blue triangles in each panel represent seafloor transpondersBack to article page