Table 1 Estimated process noise values using actual data at G04, G10, G15 and G19
From: Development of a kinematic GNSS-Acoustic positioning method based on a state-space model
Site name | Date | Laterally stratified SSS (s/s1/2) | Horizontally gradient SSS (s/s1/2) | ||
|---|---|---|---|---|---|
σ_NTD | σ_NTD | σ_G(EW) | σ_G(NS) | ||
G04 | September 22, 2012 | 2.07 × 10−3 | 2.06 × 10−3 | 1.87 × 10−3 | 2.10 × 10−3 |
G04 | August 12, 2013 | 2.05 × 10−3 | 1.79 × 10−3 | 1.77 × 10−3 | 1.69 × 10−3 |
G04 | November 4, 2013 | 1.61 × 10−3 | 1.61 × 10−3 | 2.05 × 10−3 | 2.17 × 10−3 |
G04 | March 7, 2015 | 1.73 × 10−3 | 1.74 × 10−3 | 1.35 × 10−3 | 1.41 × 10−3 |
G04 | November 3, 2015 | 1.50 × 10−3 | 1.50 × 10−3 | 1.59 × 10−3 | 1.88 × 10−3 |
G04 | May 14, 2016 | 2.66 × 10−3 | 2.58 × 10−3 | 1.91 × 10−3 | 2.08 × 10−3 |
G10 | September 13, 2012 | 1.85 × 10−3 | 1.87 × 10−3 | 2.15 × 10−3 | 1.72 × 10−3 |
G10 | November 29, 2012 | 2.98 × 10−3 | 2.42 × 10−3 | 2.19 × 10−3 | 1.86 × 10−3 |
G10 | July 29, 2013 | 2.04 × 10−3 | 1.62 × 10−3 | 1.81 × 10−3 | 1.66 × 10−3 |
G10 | March 4, 2014 | 2.37 × 10−3 | 2.28 × 10−3 | 2.22 × 10−3 | 2.48 × 10−3 |
G10 | September 20, 2014 | 1.69 × 10−3 | 1.67 × 10−3 | 1.74 × 10−3 | 1.74 × 10−3 |
G10 | November 20, 2015 | 1.77 × 10−3 | 1.74 × 10−3 | 2.33 × 10−3 | 2.41E−03 |
G10 | May 20, 2016 | 2.11 × 10−3 | 2.02 × 10−3 | 2.42 × 10−3 | 2.18 × 10−3 |
G15 | March 1, 2014 | 1.88 × 10−3 | 1.85 × 10−3 | 1.67 × 10−3 | 1.42 × 10−3 |
G15 | November 9, 2015 | 1.81 × 10−3 | 1.67 × 10−3 | 2.11 × 10−3 | 1.94 × 10−3 |
G15 | May 7, 2016 | 1.85 × 10−3 | 1.57 × 10−3 | 1.85 × 10−3 | 1.63 × 10−3 |
G19 | September 6, 2012 | 2.33 × 10−3 | 2.09 × 10−3 | 2.19 × 10−3 | 2.26 × 10−3 |
G19 | July 25, 2013 | 2.05 × 10−3 | 1.86 × 10−3 | 1.97 × 10−3 | 1.82 × 10−3 |
G19 | February 26, 2014 | 3.01 × 10−3 | 3.00 × 10−3 | 1.80 × 10−3 | 1.71 × 10−3 |
G19 | February 28, 2015 | 2.05 × 10−3 | 1.99 × 10−3 | 1.62 × 10−3 | 1.82 × 10−3 |
G19 | November 15, 2015 | 2.19 × 10−3 | 2.14 × 10−3 | 2.15 × 10−3 | 1.90 × 10−3 |
G19 | May 2, 2016 | 1.70 × 10−3 | 1.65 × 10−3 | 1.68 × 10−3 | 1.89 × 10−3 |
Average | 2.06 × 10−3 | 1.94 × 10−3 | 1.93 × 10−3 | 1.90 × 10−3 | |
Standard deviation | 0.40 × 10−3 | 0.36 × 10−3 | 0.26 × 10−3 | 0.28 × 10−3 | |