Table 2 Instrument parameters for the field test

Acoustic system

Signal frequency

Max range

Ranging accuracy

Data update rate

8–16 kHz

3 000 m

1 m

0.25 Hz

SINS with

FOG-IMU

(Laser-IMU^¶)

Gyro drift

Gyro ARW

Acc bias

Acc VRW

Data update rate

\({{0.02{ (0}{{.003) (^\circ )}}} \mathord{\left/ {\vphantom {{0.02{ (0}{{.003) (^\circ )}}} {\text{h}}}} \right. \kern-0pt} {\text{h}}}\)

\({{0.005(0.001)\;(^\circ )} \mathord{\left/ {\vphantom {{0.005(0.001)\;(^\circ )} {\text{h}}}} \right. \kern-0pt} {\text{h}}}^{{\tfrac{1}{2}}}\)

\(50(20) \times 10^{ - 6} \;g{ (}g{ = }9.7803{\text{ m/s}}^{{2}} )\)

\(10(5)\; \times g \times 10^{ - 6} {\text{ Hz}}^{{ - \tfrac{1}{2}}}\)

\(100(200)\;{\text{Hz}}\)

GPS

Position accuracy

0.1 m @1 Hz (RTK)

PS

Accuracy

0.05 m @ 1 Hz