Development of a kinematic GNSS-Acoustic positioning method based on a state-space model

Earth, Planets and Space

Table 2 1σ standard deviations (std.) of the vertical array displacements assuming a laterally stratified SSS

Site name	Date	Conventional array positioning			EKF-based array positioning
Site name	Date	Std. (cm)	Corrected std. (cm)	Difference std. (cm)	Std. (cm)	Corrected std. (cm)	Difference std. (cm)
G04	September 22, 2012	10.23	7.32	4.41	10.05	7.02	3.15
G04	August 12, 2013	11.96	9.88	9.62	9.95	7.28	2.96
G04	November 4, 2013	12.50	10.72	4.17	12.10	10.24	2.44
G04	March 7, 2015	6.82	6.25	6.31	5.73	5.09	2.96
G04	November 3, 2015	7.13	7.98	5.34	6.48	7.48	3.85
G04	May 14, 2016	10.60	9.96	10.50	9.71	8.79	7.36
G10	September 13, 2012	17.83	14.30	12.81	14.18	8.29	3.93
G10	November 29, 2012	16.78	15.64	13.75	15.31	15.92	6.39
G10	July 29, 2013	14.95	12.13	8.27	13.54	10.87	3.94
G10	March 4, 2014	11.52	12.48	10.19	9.52	10.88	4.65
G10	September 20, 2014	8.43	7.08	5.40	8.09	6.45	3.14
G10	November 20, 2015	11.07	10.31	8.89	9.81	8.90	4.16
G10	May 20, 2016	13.65	12.35	9.98	12.50	11.25	5.73
G15	March 1, 2014	17.47	9.28	7.87	17.04	8.12	3.20
G15	November 9, 2015	10.99	11.70	11.02	8.12	8.97	3.97
G15	May 7, 2016	15.69	11.44	12.15	13.97	9.31	7.82
G19	September 6, 2012	13.47	12.40	10.58	14.59	16.00	5.85
G19	July 25, 2013	22.19	12.52	11.96	19.99	10.45	6.01
G19	February 26, 2014	11.23	8.46	5.87	10.83	7.94	3.59
G19	February 28, 2015	10.74	10.56	11.86	7.78	7.42	4.71
G19	November 15, 2015	9.22	8.07	8.27	7.97	6.50	4.24
G19	May 2, 2016	11.22	12.25	11.72	7.92	8.93	4.81
Average		12.53	10.59	9.13	11.14	9.18	4.50
Standard deviation		3.65	2.36	2.80	3.56	2.65	1.43

Columns 3 and 6 (std.) show simple standard deviations for solutions in the vertical component, while columns 4 and 7 (corrected std.) show standard deviations for solutions in the vertical component corrected by subtraction of the acoustic transducer positions. Columns 5 and 8 (difference std.) show standard deviations for differential sequences of the solutions in the vertical component