## 3 Results
### GNSS Positioning Test Results  
This section reports data collected under static and kinematic conditions to evaluate the geolocation performance of the GNSS receivers studied. Table 9 shows the real-time static Single Point Positioning (SPP) values of the GNSS receivers of the Deeper Smart Sonar CHIRP+ (Deeper GNSS CHIRP+), Deeper Smart Sonar Pro+ 2 (Deeper GNSS Pro+ 2) and G \(>\) S \(>\) P Sys (G \(>\) S \(>\) P Sys). The observation time for the three devices was 8 h (28,800 s). The value of \(\Delta\), in the components North (\(\Delta\)N), East (\(\Delta\)E) and Up (\(\Delta\)U), represents the mean distance between the surveyed point P and FATA (known coordinates). \(\sigma\) is the standard deviation of the GNSS positioning of the receivers in P in the components North (\(\sigma\)N), East (\(\sigma\)E) and Up (\(\sigma\)U). For easier graphical evaluation, Figure 11 shows the real-time static planimetric SPP accuracy (\(\Delta\)2D) of the G \(>\) S \(>\) P Sys during an observation time of 1 h (3600 s). In blue is reported the best positioning recorded during the 8 h of observation and in orange the worst positioning. The accuracy was calculated using the formula:  
\[\Delta\mathrm{2D}=\sqrt{\Delta\mathrm{E}^{2}+\Delta\mathrm{N}^{2}} \tag{9}\]  
For comparison, Figures 12 and 13 in Appendix A show the real-time static SPP planimetric positioning accuracy of the Deeper Smart Sonar CHIRP+ and the Deeper Smart Sonar Pro+ 2. Figure 12 shows the Signal-to-Noise Ratio (SNR) of the G \(>\) S \(>\) P Sys. A high SNR corresponds to better measurement. The images show the SNR for L1 and L2 for best and worst positioning expressed in Figure 11 (for 3600 s). Figure 14 (in Appendix A), shows the SNR values for the Huawei P30 Pro (for L1 and L5) for comparison. Figure 11: Accuracy (best and worst) in real-time static planimetric SPP of the G \(>\) S \(>\) P Sys during 3600 s. \begin{table}
\begin{tabular}{c c c c c c c c c} \hline
**Device** & **Positioning** & **Obs. Time (s)** & **AN (m)** & **\(\Delta\)E (m)** & **\(\Delta\)U (m)** & **\(\sigma\)N (m)** & **\(\sigma\)E (m)** & **\(\sigma\)U (m)** & **THU (m)** \\ \hline Deeper GNSS CHIRP+ & SPP & 28,800 & 2.621 & 0.761 & ND & 0.877 & 0.624 & ND & 2.150 \\ Deeper GNSS Pro+ 2 & SPP & 28,800 & 3.537 & 1.706 & ND & 0.674 & 0.980 & ND & 2.401 \\ G \(>\) S \(>\) P Sys & SPP & 28,800 & 2.484 & 0.570 & 2.018 & 0.194 & 0.199 & 0.659 & 0.487 \\ \hline \end{tabular}
\end{table} 
Table 9: Performance in real-time static SPP of Deeper Smart Sonar CHIRP+, Deeper Smart Sonar Pro+ 2 and G \(>\) S \(>\) P Sys. Table 10 shows the GNSS static positioning data, post-processed in static and PPP mode of the G > S > P Sys. The values of \(\Delta\) and \(\sigma\) are based on observations of 5 min (300 s), 15 min (900 s), 30 min (1800 s) and 1 h (3600 s) of eight samples collected during 8 h of observation. Figure 12: For the G > S > P Sys: (**a**) Best SNR for L1; (**b**) worst SNR for L1; (**c**) best SNR for L2; (**d**) worst SNR for L2. For easier interpretation, Figure 13 shows a synthetic diagram representing the evolution of the accuracy in static planimetric post-processing positioning of the G \(>\) S \(>\) P Sys during 3600 s. In grey are represented the data post-processed in static mode and in yellow the data post-processed in PPP mode. For completeness, Figure 14 (in Appendix A) shows the diagram of 3D positioning accuracy. Tables 11 and 12 show the data regarding the GNSS kinematic positioning tests of the Deeper Smart Sonar CHIRP+, the Deeper Smart Sonar Pro+ 2 and the G \(>\) S \(>\) P Sys. In particular Table 11 shows the data from the test performed in the sea and Table 12 shows the data from the test performed in the pool. Based on the tests performed, for the Deeper Smart Sonars (CHIRP+ and Pro+ 2) the SPP data of the sea test are reported. For the G \(>\) S \(>\) P Sys the SPP, PPP-kinematic and PPK data for the sea and pool tests are reported.