Abstract: GNSS-A joint positioning technology is the main way to determine the coordinates of seafloor geodetic control points. The position error of transducer is considered to be a non-ignorable error source in the process of GNSS-A joint positioning. To solve this problem, the following three parameter estimation methods can be used:①least-squares (LS) estimation, which ignores the influence of transducer position error; ②improved least-squares (ILS) estimation, which incorporates the transducer position error into the random part of the acoustic ranging error; ③total least-squares (TLS) estimation, which introduces the transducer position error into the underwater acoustic positioning model. Through Monte Carlo simulation, the above three parameter estimation methods are analyzed from the aspects of estimation bias, effectiveness and computational efficiency. The results show that the LS estimation principle is simple and the computational efficiency is the highest. The TLS estimation has the smallest estimation deviation and is the most effective, but it has the lowest computational efficiency and poor convergence reliability. As a compromise scheme, the ILS estimation reduces the estimation bias and improves the validity compared with the LS estimation, improves the computational efficiency and enhances the convergence reliability compared with the TLS estimation.

Key words: stochastic model, GNSS-A, marine PNT system, EIV model, statistics analysis