Improvement of determinating seafloor benchmark position with large-scale horizontal heterogeneity in the ocean area

Abstract:

The most critical issue in reducing the accuracy of seafloor positioning system, GPS/Acoustic technique, is large-scale thermal gradient of sound-speed structure [Muto et al., 2008] due to the ocean current. For example, Kuroshio Current, near our observation station, forms this structure. To improve the accuracy of seafloor benchmark position (SBP), we need to directly measure the structure frequently, or estimate it from travel time residual. The former, we repeatedly measure the sound-speed at Kuroshio axis using Underway CTD and try to apply analysis method of seafloor positioning [Yasuda et al., 2015 AGU meeting]. The latter, however, we cannot estimate the structure using travel time residual until now. Accordingly, in this study, we focus on azimuthal dependence of Estimated Mean Sound-Speed (EMSS). EMSS is defined as distance between vessel position and estimated SBP divided by travel time. If thermal gradient exists and SBP is true, EMSS should have azimuthal dependence with the assumption of horizontal layered sound-speed structure in our previous analysis method. We use the data at KMC located on the central part of Nankai Trough, Japan on Jan. 28, 2015, because on that day KMC was on the north edge of Kuroshio, where we expect that thermal gradient exists. In our analysis method, the hyper parameter (μ value) weights travel time residual and rate of change of sound speed structure. However, EMSS derived from μ value determined by Ikuta et al. [2008] does not have azimuthal dependence, that is, we cannot estimate thermal gradient. Thus, we expect SBP has a large bias. Therefore, in this study, we use another μ value and examine whether EMSS has azimuthal dependence or not. With the μ value of this study, which is 1 order of magnitude smaller than the previous value, EMSS has azimuthal dependence that is consistent with observation day’s thermal gradient. This result shows that we can estimate the thermal gradient adequately. This SBP displaces 25.6 cm to the north and 11.8 cm to the east compared to previous SBP. This displacement reduces the bias of SBP and RMS of horizontal component in time series to 1/3. Therefore, determination of SBP is suitable when the thermal gradient exists on observation day and EMSS has azimuthal dependence for redetermination of μ value.