Decision rules for determining terrestrial movement and the consequences for filtering high-resolution GPS tracks – A case study using the African Lion (Panthera leo)

Abstract The combined use of Global Positioning System (GPS) technology and motion sensors within the discipline of movement ecology has increased over recent years. This is particularly the case for instrumented wildlife, with many studies now opting to record parameters at high (infra-second) sampling frequency. However, the detail with which GPS loggers can elucidate fine-scale movement depends on the precision and accuracy of fixes, with accuracy (specifically, location error and fix success rate) being affected by signal reception. We hypothesised that animal behaviour was the main factor affecting fix inaccuracy (particularly for collar-mounted tags sampling at high frequency). In conjunction to this, inherent GPS positional noise (‘jitter’), would be most apparent during GPS fixes for non-moving locations, thereby producing disproportionate error during rest periods. A Movement Verified Filtering (MVF) protocol was constructed to compare GPS-derived speed data to dynamic body acceleration (DBA). This was collected by a simultaneously deployed tri-axial accelerometer, to provide a computationally quick method for identifying genuine travelling movement. This method was tested on 11 free-ranging lions ( Panthera leo ) within the Kgalagadi Transfrontier park in the Kalahari Desert, fitted with collar-mounted GPS units and tri-axial motion sensors (Daily Diary; DD) recording at 1 and 40 Hz, respectively. The findings support the hypothesis and show that distance moved estimates were, on average, overestimated by > 80 % prior to GPS screening. We present the conceptual and mathematical protocols for screening fix inaccuracy within high resolution GPS datasets. We demonstrate the importance that MVF has for avoiding inaccurate and biased estimates of movement and caution the accuracy of findings from previous studies that employed minimal GPS pre-processing . Throughout, we address the applicability of comparing fine-scale indices of GPS- and motion sensor-borne data in tandem to qualify animal behaviour.