Abstract
The accuracy of underwater acoustic positioning is significantly influenced by observing geometry configuration and sound speed variation. The geometric configuration includes the sailing track of the surface vessel as well as the geometry of the seafloor array, all of which are relevant to data processing and error analysis. In this paper, we study how to reduce the influence of sound speed error on underwater positioning based on geometric configuration. For the single point positioning model, an integrated sound speed compensation approach considering the vessel track is proposed to improve positioning accuracy. For the seafloor geodetic network, a network positioning model with virtual seafloor baseline constraints is proposed to improve positioning accuracy. Acoustic positioning experiments conducted in the South China Sea and Japanese open data verify the effectiveness of presented methods. The results show that there is significant diurnal sound speed variation in the South China Sea. The discrepancies between positioning results of different data sets are reduced by sound speed compensation, and the standard deviations of horizontal components are better than 10 cm. The positioning accuracy of repeated surveys in Japanese geodetic network is improved with virtual baseline constraints. Compared with solutions with no virtual baseline constraints, the standard deviation of array center coordinate series is reduced by 8.7%, 21.3%, and 57.1% for the east, north, and up components when dealing with long-term GNSS-A data.
Published Version
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