Abstract
Global navigation satellite system/acoustic (GNSS/A) underwater positioning technique is widely used in the fields of marine scientific research and engineering applications. The conventional single-differenced (SD) positioning method generally treats the position of acoustic transducer obtained by GNSS positioning as known without error. However, error inevitably exists in the estimation of the transducer’s position determined by GNSS positioning, and the precision varies at different epochs. Ignoring the errors of acoustic transducer coordinates will lead to a worse estimation of the position of seafloor transponder. In this contribution, a joint adjustment method for precise GNSS/A underwater positioning is presented based on single-differenced observations. The positions of both transducer and transponder are treated as unknown parameters, and the positions of acoustic transducer are considered as virtual observations. The Helmert variance component estimation is used to adjust the weight ratio of two heterogeneous observations. To verify the performance of the proposed method, two field experiments were carried out. The lake experiment results show that the positioning accuracy with the proposed method can be improved by approximately 49% compared with the SD positioning method. The sea experiment results further demonstrate that the proposed method can perform much better than the SD positioning method, with the standard deviation values of coordinate components better than 0.06 m and the root mean square errors of the acoustic ranging residuals better than 0.02 m.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
References
Spiess, F.N.: Suboceanic geodetic measurements. IEEE Trans. Geosci. Remote Sens. GE-23(4), 502–510 (1985). https://doi.org/10.1109/TGRS.1985.289441
Spiess, F.N., Chadwell, C.D., Hildebrand, J.A., et al.: Precise GPS/acoustic positioning of seafloor reference points for tectonic studies. Phys. Earth Planet. Inter. 108(2), 101–112 (1998). https://doi.org/10.1016/S0031-9201(98)00089-2
Fujita, M., Ishikawa, T., Mochizuki, M., et al.: GPS/acoustic seafloor geodetic observation: method of data analysis and its application. Earth Planets Space 58, 265–275 (2006). https://doi.org/10.1186/BF03351923
Yang, Y., Qin, X.: Resilient observation models for seafloor geodetic positioning. J. Geodesy 95(7), 1–13 (2021). https://doi.org/10.1007/s00190-021-01531-7
Yamada, T., Ando, M., Keiichi., et al.: Error evaluation in acoustic positioning of a single transponder for seafloor crustal deformation measurements. Earth Planets Space 54(9), 871–881 (2002). https://doi.org/10.1186/BF03352435
Kato, T., Terada, Y., Ito, K., et al.: Tsunami due to the 2004 September 5th off the Kii peninsula earthquake, Japan, recorded by a new GPS buoy. Earth Planets Space 57(4), 297–301 (2005). https://doi.org/10.1186/BF03352566
Watanabe, SI., Sato, M., Sata, Mariko., et al.: Evidence of viscoelastic deformation following the 2011 Tohoku-Oki earthquake was revealed from seafloor geodetic observation. Geophys. Res. Lett. 41, 5789–5796 (2014). https://doi.org/10.1002/2014GL 061134
Petersen, F., Kopp, H., Lange, D., et al.: Measuring tectonic seafloor deformation and strain-build up with acoustic direct-path ranging. J. Geodyn. 124, 14–24 (2019). https://doi.org/10.1016/j.jog.2019.01.002
Chen, G., Liu, Y., Liu, X., et al.: Adjustment of transducer lever arm offset and sound speed bias for GNSS-acoustic positioning. Remote Sens. 11(13), 16000000000000006 (2019). https://doi.org/10.3390/rs11131606
Nie, Z., Wang, B., Wang, Z., et al.: An offshore real-time precise point positioning technique based on a single set of BeiDou short-message communication devices. J. Geodesy 94, 78 (2020). https://doi.org/10.1007/s00190-020-01411-6
Chadwell, C.D., Sweeney, A.D.: Acoustic ray-trace equations for seafloor geodesy. Mar. Geodesy 33, 164–186 (2010). https://doi.org/10.1080/01490419.2010.492283
Sakic, P., Ballu, V., Royer, J., et al.: A multi-obsServation least-squares inversion for GNSS-acoustic seafloor positioning. Remote Sens. 12, 1–19 (2020). https://doi.org/10.3390/rs12030448
Xu, P., Ando, M., Tadokoro, K., et al.: Precise three-dimensional seafloor geodetic deformation measurements using different techniques. Earth Planets Space 57(9), 795–808 (2005). https://doi.org/10.1186/BF03351859
Yang, Y., Xu, T., Xue, S., et al.: Progresses and prospects in developing marine geodetic datum and marine navigation of China. Acta. Geod. Cartogr. Sin. 46, 1–8 (2017). https://doi.org/10.11947/j.AGCS.2017.20160519
Chen, G., Liu, Y., Liu, X., et al.: Improving GNSS-acoustic positioning by optimizing the ship's track lines and observation combinations. J. Geodesy 94(6) (2020). https://doi.org/10.1007/s00190-020-01389-1
Xue, S., Yang, Y., Yang, W.: Single-differenced models for GNSS-acoustic seafloor point positioning. J. Geodesy 96, 38 (2022). https://doi.org/10.1007/s00190-022-01613-0
Acknowledgments
This study was supported by the National Nature Science Foundation of China (No.42174020); Financially supported by Laoshan Laboratory (No.LSKJ202205101); Shandong Natural Science Foundation Project (ZR2021MD031).
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2024 Aerospace Information Research Institute
About this paper
Cite this paper
Sun, Z., Wang, Z., Nie, Z. (2024). A Joint Adjustment Method for Precise GNSS/Acoustic Underwater Positioning Based on Single-Differenced Observations. In: Yang, C., Xie, J. (eds) China Satellite Navigation Conference (CSNC 2024) Proceedings. CSNC 2024. Lecture Notes in Electrical Engineering, vol 1092. Springer, Singapore. https://doi.org/10.1007/978-981-99-6928-9_32
Download citation
DOI: https://doi.org/10.1007/978-981-99-6928-9_32
Published:
Publisher Name: Springer, Singapore
Print ISBN: 978-981-99-6927-2
Online ISBN: 978-981-99-6928-9
eBook Packages: EngineeringEngineering (R0)