Precision of the long baseline acoustic navigation system used by Pegasus.
Haskell, Margaret F.
Schnebele, Kurt J.
Collins, Curtis A.
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A least squares algorithm is developed to solve for the trajectory and transponder array coordinates of the current velocity profiler, Pegasus. Measurement residuals and parameter precision are computed for data quality analysis. Travel times from a maximum of four seafloor transponders, pressure sensor depths, and transponder positions are input with their respective accuracy estimates. The algorithm is used to analyze a 2250 m profile from the Monterey Canyon with four transponders, one of which had not been positioned. This transponder's unknown position is found and problems in the other array coordinated identified. Transponder coordinate precision improves by factors of ten in the horizontal and five in depth, to about 13 m (DRMS) and 2 m (lo) respectively. Trajectory precision is about 7 m (Drms) horizontal, with high correlation between points. Thus, the precision of horizontal velocity components
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