Acoustic range measurement performance for Forest Lake 2004 experiment.
(a) vehicle trajectory (from GPS) for a mission in which two Scouts were
held stationary and a third Scout executed a long excursion to facilitate acoustic
modem performance evaluation. (b)-(c) round-trip acoustic range measurements
from the mobile kayak to each of the two stationary kayaks, as compared
to GPS. Reliable ranging is indicated out to 400 meters range, which exceeded
our performance expectations given the very shallow water in the Lake and the
mounting position of the transducer so close to the kayak hull. (d) range errors
for round-trip acoustic ranging measurements, expressed as relative percentage
error.