Objectives In the global navigation satellite system(GNSS)/acoustic positioning system, the transducer position needs to be obtained by rotating the GNSS(global navigation satellite system)receiver position through the offset parameter and attitude observation information. The measurement error of the offset parameter will inevitably affect the position of the transducer and thus the positioning accuracy of the seafloor control point. If the offset parameter is taken as unknown to be solved together with the seafloor control point coordinates without considering the priori information of the offset parameters, the problem of unreliable results of the observation equation due to the strong correlation between the parameters.

Methods First, a Bayesian estimation model of GNSS-A was proposed, the influence of offset parameter error on positioning results is analyzed. Second, we derive the correlation between the position parameters and the offset parameters, explain the reasons for the ill-posed observation equation theoretically, and then a Bayesian estimation model based on prior information of offset parameters is established.

Results and Conclusions The result shows that the model can improve the equation's ill-posed problem caused by the strong correlation between the parameters, and can effectively improve the accuracy of the three-dimensional coordinates and offset parameters of the seafloor control points.