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Accurate estimates of historical changes in sea surface temperatures (SSTs) and their uncertainties are important for documenting and understanding historical changes in climate. A source of uncertainty that has not previously been quantified in historical SST estimates stems from position errors. A Bayesian inference framework is proposed for quantifying errors in reported positions and their implications on SST estimates. The analysis framework is applied to data from the International Comprehensive Ocean-Atmosphere Data Set (ICOADS3.0) in 1885, a time when astronomical and chronometer estimation of position was common, but predating the use of radio signals. Focus is upon a subset of 943 ship tracks from ICOADS3.0 that report their position every two hours to a precision of 0.01{\deg} longitude and latitude. These data are interpreted as positions determined by dead reckoning that are periodically updated by celestial correction techniques. The posterior medians of uncertainties in celestial correction are 33.1 km (0.30{\deg} on the equator) in longitude and 24.4 km (0.22{\deg}) in latitude, respectively. The posterior medians of two-hourly dead reckoning uncertainties are 19.2% for ship speed and 13.2{\deg} for ship heading, leading to random position uncertainties with median 0.18{\deg} (20 km on the equator) in longitude and 0.15{\deg} (17 km) in latitude. Reported ship tracks also contain systematic position uncertainties relating to precursor dead-reckoning positions not being updated after obtaining celestial position estimates, indicating that more accurate positions can be provided for SST observations. Finally, we translate position errors into SST uncertainties by sampling an ensemble of SSTs from the Multi-scale Ultra-high resolution Sea Surface Temperature (MURSST) data set.

This paper deals with the scanner exterior calibration algorithm when the scanner is arranged by the robot and the object scanned is fixed on a rotate device in the Robot Remanufacturing System. The method of calibrating the relationship between the scanner coordinate and the robot Tool0, such as the rotation, R x , Ry, Rz, and the transformation X, Y, Z is studied. The data of Tool0 can be directly obtained from the relationship with the robot base-coordinate. So, the coordinate relationship between the scanner coordinate and the robot base coordinate can be easily gotten. This paper explains the basic algorithm theory, computing method, data collecting process and the resulted data in detail. The calibration algorithm is deduced under the orthogonal coordinate.