Compensation of vehicle motion influence in a long baseline system field trial

This paper develops a method to compensate for vehicle motion during the interrogation-reception time interval between the vehicle and transponders in a long baseline (LBL) system, and evaluates the results in lake trials. The compensation method is based on Bayesian inversion which includes travel-time corrections as additional unknown parameters with prior estimates determined by interpolating the vehicle location at interrogation times from the results of a preliminary inversion using a static-vehicle model (SM). The lake trials show that average acoustic localization errors for a surface vehicle were reduced from 19 ± 14 cm error for the SM inversion to 3.4 ± 1.4 cm for the motion-compensated inversion (MM).