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Improving GNSS-acoustic positioning by optimizing the ship’s track lines and observation combinations

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Abstract

The position of a seafloor geodetic station can be determined by combining Global Navigation Satellite System (GNSS) and acoustic technologies, called GNSS-acoustic positioning. The precision of GNSS-acoustic positioning, a technique that employs the distance intersection, is determined by the positioning geometry formed by the ship’s track lines with respect to the seafloor station and the errors in the measurements. In the context of a shallow sea trial, we studied three key techniques in GNSS-acoustic positioning: the optimal geometric configuration, differencing techniques for acoustic observations and depth constraints offered by pressure gauges. The results showed that the optimal geometric configuration is a circular track with a radius of \( \sqrt 2 \) times the depth plus an overhead cross-track with a length of the circle diameter. Differenced observations can improve the horizontal positioning precision but will worsen the vertical positioning precision due to the change in the geometric configuration and the elimination of vertical information if the number of observations is limited. The proposed difference strategy, that is, applying a symmetric location difference operator to the circular track and an undifference operator to the cross-track, can effectively improve the horizontal precision and avoid vertical defects. By using relative depth observations from two pressure gauges as constraints, the vertical defects of GNSS-acoustic positioning can be improved, achieving a better vertical positioning precision. Applying the proposed methods to high-quality GNSS and acoustic observations, the positioning precision of a shallow seafloor geodetic station can be better than 2 cm.

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Data availability

All data included in this study are available upon reasonable request from the corresponding author.

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Acknowledgements

We thank Harbin Engineering University and National Deep Sea Centre of China for their help and participation in the sea trial. The authors gratefully acknowledge the editor and anonymous reviewers for their careful work and thoughtful suggestions that have helped improve this paper substantially. This research was funded by the National Key Research and Development Program of China (Grant No. 2016YFB0501703) and Basic Scientific Fund for National Public Research Institutes of China (Grant No. 2018Q04).

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Authors and Affiliations

  1. School of Geodesy and Geomatics, Wuhan University, Wuhan, 430079, China

    Guanxu Chen & Jingnan Liu

  2. First Institute of Oceanography, Ministry of Natural Resources, Qingdao, 266061, China

    Guanxu Chen, Yang Liu & Yanxiong Liu

  3. GNSS Research Center, Wuhan University, Wuhan, 430079, China

    Jingnan Liu

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  1. Guanxu Chen
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  2. Yang Liu
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Contributions

All authors contributed to the study conception and design. Material preparation, data collection and analysis were performed by GC, YL (Yang Liu) and YXL (Yanxiong Liu). The first draft of the manuscript was written by GC, and all authors commented on previous versions of the manuscript. All authors read and approved the final manuscript.

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Correspondence to Yanxiong Liu.

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Chen, G., Liu, Y., Liu, Y. et al. Improving GNSS-acoustic positioning by optimizing the ship’s track lines and observation combinations. J Geod 94, 61 (2020). https://doi.org/10.1007/s00190-020-01389-1

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