Fig. 6
From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space model
Numerical test for sensitivity of the normalized travel-time residual to the sound speed and to the vertical displacement. a Schematic image for the numerical test. Five seafloor transponders located along the horizontal axis, and the sea-surface platform located at the horizontal distance of zero. b The normalized travel-time residual for each transponder given a perturbation in the average sound speed. The color shows the perturbation in the average sound speed. c The normalized travel-time residual for each transponder given a perturbation in the vertical displacement. The color shows the perturbation in the vertical displacement