## 2 Materials and Methods
### Tests and Datasets Creation
#### 2.3.2 Dynamic Datasets  
To construct the datasets for the evaluation of Deeper Smart Sonar Pro+ 2 and CHIRP+ and the G > S > P Sys in kinematic positioning, a sea test and a test in an open pool were performed.  
The sea test was performed on the coast of Mar Grande, Taranto, Italy (Lat.: 40\({}^{\circ}\)25\({}^{\prime}\)23.32\({}^{\prime\prime}\) N; Long.: 17\({}^{\circ}\)12\({}^{\prime}\)53.01\({}^{\prime\prime}\) E). The place is rich in beaches, has shallow water for many metres and is protected by breakwaters. The purpose of the test was to compare the planimetric positioning performance of the Deeper Smart Sonars and the G > S > P Sys. The test consisted of moving the devices along a straight path of approximately 11.50 metres from point A to point B. The points were identified by inserting stakes and to facilitate the operator, additional intermediate stakes were inserted to form a corridor. For comparison, the path was surveyed using traditional methods and a GNSS survey.  
The pool test (Figure 2a) was conducted to study in detail the performance of the G > S > P Sys considered to be more precise and accurate than the Deeper Smart Sonars after the first tests. In the test, the G > S > P Sys surveyed the four sides of a rectangular swimming pool (largest side = 8.95 m, smallest side = 4.47 m, surface area-40.01 sqm) using the edges of the structure as a guide. For comparison, the pool was surveyed using traditional methods (rigid metric ruler, metric roll, laser distance meter, etc.) and a static GNSS survey.  
To conduct the tests, the instrumentation was mounted on a small floating platform (prototype zero) built for experimental purposes (Figure 2b). The platform allowed flotation via the high-density foam base, waterproofing and control of the instrumentation via the transparent container, the possibility of mounting both the G > S > P Sys antenna and the smartphone on the stand, and continuous contact between the Deeper Smart Sonars and water using a part of \"flexible arm mount 2.0\" by Deeper UAB.  
The sea test produced five datasets: (i) Deeper Smart Sonar CHIRP+ with the planimetric positioning data in real-time in SPP, (ii) Deeper Smart Sonar Pro+ 2 with the planimetric positioning data in real-time in SPP, (iii) G > S > P Sys with the planimetric positioning data  
\begin{table}
\begin{tabular}{c c c c c} \hline \hline
**Device** & **Positioning** & **Obs. Time (s)** &
\begin{tabular}{c} **Data** \\ **Sample (no.)** \\ \end{tabular} & **Main Data** \\ \hline Deeper GNSS CHIRP+ & SPP & 28,800 & 28,800 & Latitude, longitude \\ \hline Deeper GNSS Pro+ 2 & SPP & 28,800 & 28,800 & Latitude, longitude \\ \hline \multirow{4}{*}{G > S > P Sys} & \multirow{2}{*}{Post-Processing Static} & \multirow{2}{*}{28,800} & \multirow{2}{*}{28,800} & Latitude, \\  & & & & & ellipsoid height \\ \cline{1-1}  & & & & & latitude, \\ \cline{1-1}  & & & & & ellipsoid height \\ \cline{1-1}  & & & & & latitude, \\ \cline{1-1}  & & & & & ellipsoid height \\ \hline \hline \end{tabular}
\end{table}
Table 3: Static datasets composition.  
in real-time in SPP, (iv) G \(>\) S \(>\) P Sys with the planimetric positioning data in PPP-kinematic, (v) G \(>\) S \(>\) P Sys with the planimetric positioning data in PPK.  
The pool test produced three datasets containing the 3D positioning data for the G \(>\) S \(>\) P Sys in real-time in SPP, in PPP-kinematic and in PPK.  
Table 4 shows the composition of the dynamic datasets built in the sea test and Table 5 shows the composition of the dynamic datasets built in the pool test.