The Argos-CLS Kalman Filter: Error Structures and State-Space Modelling Relative to Fastloc GPS Data
Fig 3
Optimal state-space modelled (SSM) Argos location data (black) overlaid with GPS locations (red) for the focal A) bearded seal and B) ringed seal.
* denotes optimal model was constructed using the error structures derived from data in [10]. Modelled location and GPS point estimates are shown as black and red dots, respectively. For each tripEstimation model, the underlying time-spent along the full path estimate is shown in purple (obscured in the bearded seal plot in favour of displaying point estimates). Black boxes highlight areas of departure by each model from the true path. Modelled location estimates for the bearded seal fitted well with GPS locations with the exception of two areas, at the very northerly edge of its trajectory, and just south of Prins Karls Forland. Note the sparse numbers of GPS location estimates for the ringed seal, particularly during transit movements between fjords. Although there were ~50% fewer Argos location estimates for the ringed seal, all models reconstructed some aspects of these transit movements despite showing a number of erroneous land locations. The exception was the tripEstimation modelled data, presumably due to the effects of incorporating a land mask during the modelling process.