Tatsuya KUBOTA

Seismology, Subduction zone dynamics, Tsunami generation and propagation

• Generation mechanisms of the 2011 Tohoku-Oki EQ and related EQs
• Ocean bottom pressure observation and dynamic tsunami generation
• Offshore tsunami propagation process
• Real-time tsunami forecasting using offshore tsunami data

Education

• 04/2014 - 03/2017 Ph.D., Graduate School of Science, Tohoku University
• 04/2011 - 03/2013 M.Sc., Graduate School of Science, Tohoku University
• 04/2007 - 03/2011 B.Sc., Faculty of Science, Tohoku University

Employment

• 04/2019 - Present Research Fellow, National Research Institute for Earth Science and Desaster Resilience
• 04/2017 - 03/2019 Associate Research Fellow, National Research Institute for Earth Science and Desaster Resilience

Peer-reviewed
2022
• Kubota, T., Saito, T., & Hino, R. (2022). A new mechanical perspective on a shallow megathrust near-trench slip from the high-resolution fault model of the 2011 Tohoku-Oki earthquake. Progress in Earth and Planetary Science, 9, 68. https://doi.org/10.1186/s40645-022-00524-0 [Link] [Dataset 10.5281/zenodo.7104297] [Preprint on Research Square 10.21203/rs.3.rs-1714847/v1]
• Kubota, T., Saito, T., & Nishida, K. (2022). Global fast-traveling tsunamis driven by atmospheric Lamb waves on the 2022 Tonga eruption. Science, 377, 91–94. https://doi.org/10.1126/science.abo4364 [Link] [Free-to-Read Link] [Preprint on EarthArXiv 10.31223/X5KP8M]
  **Press Release [Link]Global Tsunami Generation and Propagation Mechanism was Elucidated Following the January 2022 Tonga Eruption
• Kubo, H., Kubota, T., Suzuki, W., Aoi, S., Sandanbata, S., Chikasada, N., & Ueda, H. (2022). Ocean-wave phenomenon around Japan due to the 2022 Tonga eruption observed by the wide and dense ocean-bottom pressure gauge networks. Earth, Planets, and Space, 74, 104. https://doi.org/10.1186/s40623-022-01663-w [Link]
• Hino, R., Kubota, T., Chikasada, N. Y., Ohta, Y., & Otsuka, H. (2022). Assessment of S-net seafloor pressure data quality in view of seafloor geodesy. Progress in Earth and Planetary Science, 9, 73. https://doi.org/10.1186/s40645-022-00526-y [Link] [Preprint on Research Square 10.21203/rs.3.rs-2040866/v1]
2021
• Kubota, T., Saito, T., Fukao, Y., Sugioka, H., Ito, A., Tonegawa, T., Shiobara, H., & Yamashita, M. (2021). Earthquake rupture and tsunami generation of the 2015 Mw 5.9 Bonin event revealed by in-situ pressure gauge array observations and integrated seismic and tsunami wave simulation. Geophysical Research Letters, 48, e2021GL095915. https://doi.org/10.1029/2021GL095915 [Link] [Draft_PDF] [Figure EPS Files]
• Kubota, T., Saito, T., Chikasada, N. Y., & Sandanbata, O. (2021). Meteotsunami observed by the deep-ocean seafloor pressure gauge network off northeastern Japan. Geophysical Research Letters, 48, e2021094255. https://doi.org/10.1029/2021GL094255 [Link] [Preprint] [Draft_PDF] [Figure EPS Files]
• Kubota, T., Kubo, H., Yoshida, K., Chikasada, N. Y., Suzuki, W., Nakamura, T., & Tsushima, H. (2021). Improving the constraint on the Mw 7.1 2016 off-Fukushima shallow normal-faulting earthquake with the high azimuthal coverage tsunami data from the S-net wide and dense network: Implication for the stress regime in the Tohoku overriding plate. Journal of Geophysical Research: Solid Earth, 126, e2021JB02223. https://doi.org/10.1029/2021JB022223 [Link] [Preprint] [Draft_PDF] [Figure EPS Files]
• Kubota, T., Saito, T., Tsushima, H., Hino, R., Ohta, Y., Suzuki S, & Inazu D. (2021). Extracting near-field seismograms from ocean-bottom pressure gauge inside the focal area: application to the 2011 Mw 9.1 Tohoku-Oki earthquake. Geophysical Research Letters, 48, e2020GL091664. https://doi.org/10.1029/2020GL091664 [Link] [Preprint] [Draft_PDF] [Figure EPS Files] [Dataset 10.5281/zenodo.4420394]
• Fukao, Y., Kubota, T., Sugioka, H., Ito, A., Tonegawa, T., Shiobara, H., Yamashita, M., & Saito, T. (2021). Detection of "rapid" aseismic slip at the Izu-Bonin Trench. Journal of Geophysical Research: Solid Earth, 126, e2021JB022132. https://doi.org/10.1029/2021JB022132 [Link]
• Du, Y., Ma, S., Kubota, T., & Saito, T. (2021). Impulsive tsunami and large runup along the Sanriku coast of Japan produced by an inelastic wedge deformation model. Journal of Geophysical Research: Solid Earth, 126, e2021JB022098. https://doi.org/10.1029/2021JB022098 [Link]
• Saito, T., Kubota, T., Chikasada N. Y, Tanaka, Y., & Sandanbata, O. (2021). Meteorological tsunami generation due to sea-surface pressure change: Three-dimensional theory and synthetics of ocean-bottom pressure change. Journal of Geophysical Research: Oceans, 126, e2020JC017011. https://doi.org/10.1029/2020JC017011 [Link] [Preprint]
2020
• Kubota, T., Saito, T., Chikasada, N. Y., & Suzuki, W. (2020). Ultra-broadband seismic and tsunami wave observation of high-sampling ocean-bottom pressure gauge covering periods from seconds to hours. Earth and Space Science, 7, e2020EA001197. https://doi.org/10.1029/2020EA001197 [Link] [Draft_PDF] [Figure EPS Files] [Dataset 10.17598/nied.0018]
• Kubota, T., Saito, T., & Suzuki, W. (2020). Millimeter-scale tsunami detected by a wide and dense observation array in the deep ocean: fault modeling of an Mw 6.0 interplate earthquake off Sanriku, NE Japan. Geophysical Research Letters, 47, e2019GL085842. https://doi.org/10.1029/2019GL085842 [Link] [Draft_PDF] [Figure EPS Files]
• Saito, T., & Kubota, T. (2020). Tsunami modeling for the deep sea and inside focal areas. Annual Review of Earth and Planetary Sciences, 48, 121–145. https://doi.org/10.1146/annurev-earth-071719-054845 [Link]
• Takemura, S., Okuwaki, R., Kubota, T., Shiomi, K. Kimura, T. & Noda A. (2020). Centroid moment tensor inversions of offshore earthquakes using a three-dimensional velocity structure model: slip distributions on the plate boundary along the Nankai Trough. Geophysical Journal International, 222, 1109–1125. https://doi.org/10.1093/gji/ggaa238 [Link]
2019
• Kubota, T., Hino, R., Inazu, D., & Suzuki, S. (2019). Fault model of the 2012 doublet earthquake, near the up-dip end of the 2011 Tohoku-Oki earthquake, based on a near-field tsunami: implications for intraplate stress state. Progress in Earth and Planetary Science, 6, 67. https://doi.org/10.1186/s40645-019-0313-y [Link] [Draft_PDF] [Figure EPS Files] [Dataset]
• Takemura, S., Noda, A., Kubota, T., Asano, Y., Matsuzawa, T., & Shiomi, K. (2019). Migrations and clusters of shallow very low frequency earthquakes in the regions surrounding shear stress accumulation peaks along the Nankai Trough. Geophysical Research Letters, 46, 11830–11840. https://doi.org/10.1029/2019GL084666 [Link]
2018
• Kubota, T., Saito, T., Ito, Y., Kaneko, Y., Wallace, L. M., Suzuki, S., Hino, R., & Henrys, S. (2018). Using tsunami waves reflected at the coast to improve offshore earthquake source parameters: application to the 2016 Mw 7.1 Te Araroa earthquake, New Zealand. Journal of Geophysical Research: Solid Earth, 123, 8767-8779. https://doi.org/10.1029/2018JB015832 [Link] [Draft_PDF] [Figure EPS Files] [Dataset]
  **Figure in this paper was chosen as a cover of the issue. [Link]
• Kubota, T., Suzuki, W., Nakamura, T., Chikasada, N. Y., Aoi, S., Takahashi, N., & Hino, R. (2018). Tsunami source inversion using time-derivative waveform of offshore pressure records to reduce the effects of non-tsunami components. Geophysical Journal International, 215, 1200–1214. https://doi.org/10.1093/gji/ggy345 [Link] [Draft_PDF] [Figure EPS Files]
2017
• Kubota, T., Saito, T., Suzuki, W., & Hino, R. (2017). Estimation of seismic centroid moment tensor using ocean bottom pressure gauges as seismometers. Geophysical Research Letters, 44, 10907–10915. https://doi.org/10.1002/2017GL075386 [Link] [Draft_PDF] [Figure EPS Files]
• Kubota, T., Hino, R., Inazu, D., Ito, Y., Iinuma, T., Ohta, Y., Suzuki, S., & Suzuki, K. (2017). Coseismic slip model of offshore moderate interplate earthquakes on March 9, 2011 in Tohoku using tsunami waveforms. Earth and Planetary Science Letters, 458, 241–251. https://doi.org/10.1016/j.epsl.2016.10.047 [Link] [Draft_PDF] [Figure EPS Files]
  [Slip model for Foreshock #1] [Slip model for Foreshock #2]
2015
• Kubota, T., Hino, R., Inazu, D., Ito, Y., & Iinuma T. (2015). Complicated rupture process of the Mw 7.0 intraslab strike-slip earthquake in the Tohoku region on 10 July 2011 revealed by near-field pressure records. Geophysical Research Letters, 42, 9733–9739. https://doi.org/10.1002/2015GL066101 [Link] [Draft_PDF] [Figure EPS Files]

Presentations including domestic meetings and workshops (in Japanese) are here
2022
• Kubota, T., Saito, T., & Nishida, K. (2022). Global tsunami propagation driven by atmospheric waves on the 2022 Hunga-Tonga eruption. AGU Fall Meeting 2022, Chicago & Online, Hybrid.
• Fukao, Y., Kubota, T., Sugioka, H., & Furue, R. (2022). A “rapid” aseismic slip multiplet of Mw7.1 in the Izu-Bonin Trench. AGU Fall Meeting 2022, Chicago & Online, Hybrid.
• Inoue, T., Ito, Y., Kubota, T., Shiomi, K., & Ohta, Y. (2022). Estimation of a fault model and detail duration for the 2017-2018 slow slip event in the Nankai subduction zone using ocean bottom pressure. AGU Fall Meeting 2022, Chicago & Online, Hybrid.
• Otsuka, H., Ohta, Y., Hino, R., Kubota, T., & Inazu, D. (2022). An attempt of transient tectonic signals detection from DONET seafloor pressure record using principal component analysis. AGU Fall Meeting 2022, Chicago & Online, Hybrid.
• Kubota, T., Saito T., & Nishida, K. (2022). Global ocean-bottom pressure observation of tsunami generated by atmospheric pressure waves on the 2022 Tonga eruption. JpGU Meeting 2022, U09-P02, Makuhari. [Abstract]
• Fukao, Y., Kubota, T., Sugioka, H., & Furue, R. (2022). Frequent occurrence of “rapid” aseismic slip events at the Izu-Bonin Trench. JpGU Meeting 2022, SSS03-03, Makuhari. [Abstract]
• Otsuka, H., Ohta, Y., Hino, R., Kubota, T., & Inazu, D. (2022). PCA-based noise reduction of seafloor pressure data to improve tectonic transient signal detection -Application to DONET long-term continuous data. JpGU Meeting 2022, SSS03-04, Makuhari. [Abstract]
• Hino, R., Kubota, T., Chikasada, N., Ohta, Y. & Otsuka, H. (2022). Noise level of S-net seafloor pressure records in geodetic frequency band. Ocean Sciences Meeting 2022, OT18, Online. [Abstract]
• Otsuka, H., Ohta, Y., Hino, R., Kubota, T., & Inazu, D. (2022). Assessment of non-tidal oceanographic component contributions to OBP time series in DONET, southwest margin of Japan. Ocean Sciences Meeting 2022, OT18, Online. [Abstract]
2021
• Kubota, T., Saito, T., Tsushima, H., Hino, R., Ohta, Y., Suzuki, S., & Inazu, D. (2021). Extracting near-field in-situ ground motion waveforms with large displacements of the 2011 Tohoku-Oki earthquake from ocean bottom pressure change inside the focal area. AGU 2021 Fall Meeting, S53B-04, New Orleans & Online, Hybrid. [Abstract]
• Kim, S.B., Saito, T., Kubota, T., & Chang, S.-J. (2021). Slip distribution of the 2003 Tokachi-Oki earthquake estimated using ocean-bottom pressure gauges inside the focal area. AGU 2021 Fall Meeting, NH25B-0574, New Orleans & Online, Hybrid. [Abstract]
• Suzuki, W., Kubota, T., Nakamura, T., Chikasada, N. Y., Takahashi, N., Miyoshi, T., & Aoi, S. (2021). Development of intergrated visualization system for tsunami forecast information. 17WCEE, 5e-0001, Online.
• Kubota, T., Kubo, H., Chikasada, N. Y., Yoshida, K., Suzuki, W. & Nakamura, T. (2021). Improving the constraint of the 2016 Off-Fukushima shallow normal-faulting earthquake with the high-coverage tsunami data from the S-net wide network: implication on the crustal stress in the overriding plate. JpGU Meeting 2021, SSS02-P01, Online. [Abstract]
2020
• Kubota, T., Saito, T., Fukao, Y., Sugioka, H., Ito, A., Tonegawa, T., Shiobara, H., & Yamashita, M. (2020). Rupture and tsunami generation process of the 2015 Mw 5.9 Bonin earthquake revealed by in-situ pressure gauge array observations and an integrated simulation of seismic and tsunami waves. AGU 2020 Fall Meeting, S055-0013, Online. [Abstract] [iPoster]
• Fukao, Y., Kubota, T., Sugioka, H., Ito, A., Tonegawa, T., Yamashita, M., Shiobara, H., & Saito, T. (2020). Detection of “rapid” aseismic slip that bridges a gap between seismic slip and slow slip. AGU Fall Meeting 2020, S033-08, Online. [Abstract]
• Otsuka, H., Ohta, Y., Hino, R., Kubota, T., & Inazu, D. (2020). The ability of the non-tidal oceanographic model for the ocean bottom pressure time series in the dense observation networks around Japan :toward understanding the transient crustal deformation. AGU Fall Meeting 2020, T003-0021, Online. [Abstract]
• Kubota, T., Saito, T., & Suzuki, W. (2020). Millimeter-scale tsunami of an M6 earthquake observed by the nearest-field pressure gauge array: a fault modeling and stress drop estimation. JpGU-AGU Joint Meeting 2020, SSS03-01, Makuhari, Japan. (Invited) [Abstract] [iPoster]
• Kubota, T., Chikasada, N. Y., Tsushima, H., Suzuki, W., Nakamura, T., & Kubo, H. (2020). Tsunami analysis using the S-net pressure gauge records during the Mw 7.0 Off-Fukushima earthquake on 22 Novenver 2016 to reduce the effects of tsunami-irrelevant pressure components. JpGU-AGU Joint Meeting 2020, HDS08-11, Makuhari, Japan. [Abstract] [iPoster]
• Fukao, Y., Sugioka, H., Ito, A., Tonegawa, T., Yamashita, M., Shiobara, H., Kubota, T., & Saito, T. (2020). Strain release by “rapid” aseismic slip at the Izu-Bonin trench. JpGU-AGU Joint Meeting 2020, SSS03-09, Makuhari, Japan. [Abstract]
• Takemura, S., Okuwaki, R., Kubota, T., Shiomi K., Kimura, T., & Noda, A. (2020). CMT inversion of offshore earthquakes along the Nankai Trough: Separated distributions of slow and regular earthquakes on the plate boundary. JpGU-AGU Joint Meeting 2020, SCG58-P01, Makuhari, Japan. [Abstract]
• Kubota, T., Saito, T., & Suzuki, W. (2020). Fault modeling and stress drop estimation based on millimeter-scale tsunami records of an M6 earthquake detected by the dense and wide pressure gauge array. EGU General Assembly 2020, EGU2020-11999, Online. https://doi.org/10.5194/egusphere-egu2020-11999 [Abstract]
• Du, Y., Ma, S., Kubota, T., Saito, T. (2020). Can inelastic wedge deformation explain the large tsunami runup of the 1896 Sanriku earthquake? SSA 2020 Annual Meeting, Albuquerque, New Mexico. [Abstract]
2019
• Kubota, T., Saito, T., Chikasada N. Y., & Suzuki, W. (2019). Ultra-broadband observations of seismic and tsunami waves of ocean bottom pressure gauges off the NE Japan and spectral analysis combined with the records of seismometers and tide gauges. AGU 2019 Fall Meeting, S33D-0607, San Francisco. [Abstract]
• Takemura, S., Asano, Y., Matsuzawa, T., Noda, A., Kubota, T., & Shiomi, K. (2019). Spatiotemporal variations of shallow very low-frequency earthquake activities along the Nankai Trough. 27th IUGG General Assembly, JS04p-081, Montreal. [Abstract]
2018
• Kubota, T., Saito, T., Ito, Y., Kaneko, Y., Wallace, L. M., Suzuki, S., Hino, R., & Henrys, S. (2018). Utilizing coastal-reflected tsunami waves observed by the ocean bottom pressure gauges to improve offshore earthquake source parameters: Application to the 2016 Te Araroa earthquake, New Zealand (Mw 7.0). AGU 2018 Fall Meeting, T51I-0294, Washington, D.C. [Abstract]
• Chikasada, N. Y., Kubota, T., Nakamura, T., Baba, T., Saito, T., & Suzuki, W. (2018). Appropriate evaluation of deep ocean bottom pressure changes caused by short wavelength tsunami. AGU 2018 Fall Meeting, NH34B-06, Washington, D.C. [Abstract]
• Kubota, T., Saito, T., Ito, Y., Kaneko, Y., Wallace, L. M., Suzuki, S., Hino, R., & Henrys, S. (2018). Combining tsunami waves reflected at the coast with the direct tsunami waves: Fault modelling of the 2016 Te Araroa earthquake, New Zealand. 10th ACES international workshop, O31-2, Awaji Island, Japan. [Abstract]
• Chikasada, N. Y., Kubota, T., Nakamura, T., Baba, T., Saito, T., & Suzuki, W. (2018). Observation of ocean bottom pressure changes caused by short wavelength ocean wave. 10th ACES international workshop, O32-4, Awaji Island. [Abstract]
• Kubota, T., Takemura, S., & Saito, T. (2018). Numerical experiments for estimating CMT solutions using inland and offshore seismic networks in Tohoku. AOGS 2018, SE27-A006, Honolulu.
2017
• Kubota, T., Saito, T., Suzuki, W., & Hino, R. (2017). Challenge for the accurate CMT estimation of the offshore earthquakes using ocean bottom pressure gauges as seismometers. AGU 2017 Fall Meeting, S34B-01, New Orleans. [Abstract]
• Kubota, T., Hino, R., Ohta, Y., & Suzuki, S. (2017). The seismotectonic implications of source models of M-7 class earthquakes before and after the 2011 Tohoku-Oki Earthquake using offshore tsunami records. IAG-IASPEI 2017, J02-P-14, Kobe, Japan. [Abstract]
2015
• Kubota, T., Hino, R., Ohta, Y., Suzuki, S., & Inazu, D. (2015). Fault model of the intraplate doublet on Dec. 7 2012 derived from nearand far-field tsunami records and its implication for the post-2011 stress state. AGU 2015 Fall Meeting, T21D-2861, San Francisco. [Abstract]
• Suzuki, S., Hino, R., Ito, Y., Kubota, T., & Inazu, D. (2015). Long-term continuous observation of vertical gradient of water temperature on the deep seafloor. AGU 2015 Fall Meeting, S31A-2734, San Francisco. [Abstract]
2014
• Kubota, T., Hino, R., & Iinuma, T. (2014). Fault modeling of the Mw 7.0 shallow intra-slab strike-slip earthquake occurred on 2011 July 10th using near-field tsunami record. AGU 2014 Fall Meeting, T41B-4610, San Francisco. [Abstract]
• Ito, Y., Wallace, L. M., Henrys, S. A., Mochizuki, K., Williams, C. A., Hino, R., Ichihara, H., Inazu, D., Suzuki, S., Yagi, T., Kubota, T., Haijima, D., Fry, B., & Bannister, S. (2014). Transient crustal deformation due to slow slip observed on ocean bottom pressure recorders in the Hikurangi margin, AGU 2014 Fall Meeting, T51A-4599, San Francisco. [Abstract]
• Nakahigashi, K., Machida, Y., Shimbo, T., Yamada, T., Mochizuki, K., Shiobara, H., Shinohara, M., Murai, Y., Hino, R., Azuma, R., Suzuki, K., Kubota, T., Hasegawa, K., Sato, T., Takada,H., Uehira, K. & Yakiwara, H. (2014). Spatial distribution of earthquakes around the southern end of the co-seismic slip of the 2011 Tohoku Earthquake. AGU 2014 Fall Meeting, S13D-4503, San Francisco. [Abstract]
• Kubota, T., Hino, R., & Iinuma, T., Ito, Y. (2014). Fault Modeling of the M-7 Class Earthquakes Using the Records of Ocean Bottom Pressure Gauges. GENAH 2014 International Syuposium on Geodesy for Earthquake and Natural Hazards, P-59, Matsushima, Miyagi, Japan. [Link]
2012
• Kubota, T., Hino, R., Inazu, D., Saito, T., Iinuma, T., Suzuki, S., Ito, Y., Ohta, Y., & Suzuki, K. (2012). Source models of M-7 class earthquakes in the rupture area of the 2011 Tohoku-Oki Earthquake by near-field tsunami modeling. AGU 2012 Fall Meeting, T13B-2594, San Francisco. [Abstract]
• Kubota, T., Hino, R., Inazu, D., Saito, T., Iinuma, T., Suzuki, S., Ohta, Y., Ito, Y., & Suzuki, K. (2012). Tsunami Source of M-7 class earthquakes near the epicenter of the 2011 Tohoku-Oki Earthquake using near-field tsunami data. G-COE symposium 2012 Achievements of G-COE Program for Earth and Planetary Dynamics and the Future Perspective, P02-07, Sendai, Japan.

Awards

• NISTEP Selection (The Researchers with Nice Step), National Institute of Science and Technology Policy [Link]
• Paper Award 2020, SSJ [Link]
• Student outstanding presentation award, JpGU 2016 Meeting
• Student outstanding presentation award, SSJ 2012 Fall Meeting
• Best Student Poster Award, G-COE Symposium 2012

Invited talks

• Kubota et al. (2022). AGU Fall Meeting 2022.
• Kubota et al. (2020). JpGU-AGU Joint Meeting 2020, SSS03-01.

Conference conver

• 2021 Session Convener, JpGU Meeting 2022 S-SS03: Seismological advances in the ocean [Link]
• 2021 Session Co-convener, JpGU Meeting 2021 S-SS02: Seismological advances in the ocean [Link]
• 2020 Session Co-convener, JpGU-AGU Meeting 2020 H-DS08: Tsunami and tsunami forecast [Link]
• 2019 Session Co-convener, JpGU Meeting 2019 H-DS13: Tsunami and tsunami forecast [Link]

Committee service

• 2020/04-2022/03 Committee member, "Zisin" editorial committee, Seismological Society Japan (SSJ)

Offshore ocean bottom observations

• 03/2017 KH17-J02, R/V Hakuhomaru OBP/ADM deployment/retrieval (Off Miyagi)
• 09/2015 KR15-15, R/V Kairei OBP/ADM deployment/retrieval (Off Miyagi)
• 05/2015 KS15-03, R/V Shinseimaru OBP/ADM deployment/retrieval, GNSS-A (Off Miyagi)
• 05/2014 TAN1405, R/V Tangaroa OBP deployment/retrieval (Hikurangi, New Zealand)
• 02/2013 KR13-04, R/V Kairei ADM deployment/retrieval (Off Miyagi)
• 10/2011 KH11-9-Leg2, R/V Hakuhomaru OBS/OBP deployment/retrieval, GNSS-A (Off Miyagi)
• 09/2011 Chartered, Shinseimaru OBS deployment (Off Miyagi)
• 04/2011 Chartered Kaikomaru No.7 OBS/OBP deployment, GNSS-A (Off Aomori)
• 02/2011 KH11-2, Hakuhomaru OBS/Airgun survey (Off Southern Kanto)
*OBS: Ocean bottom seismometer, OBP: Ocean bottom pressure gauge, ADM: Acoustic distance meter, GNSS-A: GNSS-Acoustic combined positioning