Accuracy Test: 110 Meter Slant Range

The scatter of ROV positions at 100 meters covers a band about 10 meters long. About 90 percent of the error is in the transceiver measuring the relative bearing to the transponder, plus the IMU heading error. This scatter shows about +/- 2 degrees error in relative bearing, likely due to phase measurement errors.

The slant range error of about 0.5 meters is partly GPS error and partly slant range measurement due to multipath.

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