2022 Volume 33 Issue 2 Pages 41-50
Acoustic positioning, a common method used for determining the position of underwater objects such as submersibles and robots, involves positional error. The RMSH (root mean square of horizontal distance from a seafloor reference point) was on the order of tens of meters when the target was grounded on the seafloor. Normalized values by the water depth at all diving events were almost within approximately 0.8 %, and within approximately 0.5 % after exclusion of outliers. In case for an acoustic mapping using a moving vehicle, remember the error mentioned above from acoustic positioning system, and also an error from inertial navigation system and position deviations caused by "positioning corrections" due to the data processing process. These positioning errors probably affect the compilation of multiple data sets and their secondary use in other analyses. Since the acoustic positioning data becomes used wide, the primary analysts using acoustic data would be required to keep a record of the errors quantitatively as possible for secondary users.
