A Robust Estimation Method for Correcting Dynamic Draft Error in PPK GPS Elevation Using ADCP Tilt Data

AbstractMeasuring temporal and spatial variations in water level with high resolution and accuracy can provide fundamental insights into the hydrodynamics of marine and riverine systems. Real-time kinematic global positioning systems (RTK GPS), and by extension postprocessed kinematic (PPK) positioning, have provided the opportunity to achieve this goal, by allowing fast and straightforward measurements with subdecimeter accuracy. However, boat-mounted GPS are subject to movements of the water surface (e.g., waves, long-period heaves) as well as to the effects of dynamic draft. The latter contaminate the records and need to be separated and removed from the data. A method is proposed to postcorrect the elevation data using tilt information measured by an attitude sensor—in this case, an acoustic Doppler current profiler (ADCP) equipped with internal pitch and roll sensors. The technique uses iteratively reweighted least squares (IRLS) regressions to determine the position of the center of rotation (COR) o...

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