Evaluation of the method of estimating the center positions of transponder array via constraining the geometry of transponder array

For the precise GPS/Acoustic seafloor positioning, we evaluate a new method for estimating the position of transponders. Conventionally we estimate three−dimensional coordinates of each transponder independently. With this new method, in contrast to conventional method, we estimate movement of center position of transponder array via constraining the geometry of array. The best estimated geometry used in this method is calculated using all data obtained by sailing observation up to the present. As a result of new method, the variability of estimated positions is reduced and the precision in estimating the crustal velocity was improved.