GAPS - User Guide
Blue: USBL computation with a single transponder on the seabed
Red: L/USBL/INS computation with a single transponder on the seabed
Green: L/USBL/INS computation with 3 transponders on the seabed
Positioning accuracy for the vessel (water depth = 500 m)
Transponder # USBL LBL L/USBL/INS
1 0.95 N.A. 0.31
2 0.67 N.A. 0.22
3 0.55 0.43 0.14
5 0.43 0.33 0.11
10 0.3 0.23 0.08
Fixed transponders are placed in order to give maximum observability for surface positioning.
Vessel position is centered into the field of transponders.
Subsea array size (distance between subsea fixed transponders) is in same order of magnitude than water depth.
USBL SNR = 30 dB, N = 100 (number of USBL recurrences for the box-in of fixed transponders).
Figure 71 - Performances of the various modes
138 MU-GAPS-AN-005-H - November 2019
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