Marine navigation method for geophysical exploration

摘要

The present invention provides a method for on-line real-time processing of processing navigational data for determining the location of sensor and receiver points in a navigational network having a number of different types of devices. Observations from these devices are obtained using a coordinate system that follows appropriate nominal sailing lines. Outlying observations are discarded using w-statistics for the observations. Any correlated observations such as compass azimuths are uncorrelated. The uncorrelated observations are then sequentially processed in an extended sequential Kalman filter, which provides the best estimate of the station coordinates. These estimated coordinates are then used to determine the location of the source and receiver points.