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Taking the Multibeam Jump A rough guide based on experiments with RESON multibeam echosounders 2011 RESON User Conference Jean-Guy Nistad & Mathieu Rondeau.

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Presentation on theme: "Taking the Multibeam Jump A rough guide based on experiments with RESON multibeam echosounders 2011 RESON User Conference Jean-Guy Nistad & Mathieu Rondeau."— Presentation transcript:

1 Taking the Multibeam Jump A rough guide based on experiments with RESON multibeam echosounders 2011 RESON User Conference Jean-Guy Nistad & Mathieu Rondeau

2 Introduction Example of survey well suited for small enterprises: bridge pier mapping

3 Introduction Integrated (IMU + MBES), portable, pole-mounted solutions used on vessels of opportunity RESON Hydrobat (source: RESON)

4 Introduction Problem: multibeam integration is complex Solution: share lessons from experiences with Seabat 7125 integration Three requirements are of importance: 1.Measure all relative locations and sensor orientations 2.Be aware of the sensor connection layout 3.Anticipate the data processing workflow

5 Lever arms & orientations Scenario 1 Y X m X Z 0.674m m 0.596m m 1.648m 0.665m m m SeaBat 7125 POS/MV 320 Reference Point Y X Y Z

6 Lever arms & orientations Y vessel Z vessel R + X vessel Z vessel T Defining the Ship Reference Frame Pitch Roll +

7 Lever arms & orientations Scenario 2 Y Y X Z X Y Z X m m m m m 0.275m m Centre of gravity

8 Lever arms & orientations X vessel Y vessel Az Y vessel Z vessel R + + X vessel Z vessel T + Measuring the IMU mounting angles Heading Pitch Roll

9 Lever arms & orientations Measuring the sonar mounting angles Heading Pitch Roll X vessel Y vessel Az + X vessel Z vessel T + Y vessel Z vessel + R 30° starboard tilt

10 Lever arms & orientations X vessel Y vessel Incidence of 90° starboard rotation of the IMU X IMU Y IMU Az + Only detected with the 30° sonar tilt!

11 Lever arms & orientations Roll stabilization issue with 30° sonar tilt Quay side wall Seabed ? Missed side wall No roll stabilization Roll stabilization

12 Lever arms & orientations Almost same as scenario 2 Simulating an integrated pole-mounted system Scenario 3 For integrated systems, IMU – MBES are factory aligned. How then should they relate to the SRF?

13 Y sonar X sonar Az + X sonar Z sonar T + Y sonar Z sonar R + Heading Pitch Roll Lever arms & orientations Scenario 3

14 Connection Layouts Many different possible inter-sensor connection layouts How does the chosen layout affect timing latency issues?

15 Connection Layouts Full serial (RS232, RS422) + Sonar PC +=

16 Connection Layouts Serial + USB between sonar and PC += Processing Box USB

17 Connection Layouts Serial + LAN between sonar and PC += Processing Box LAN

18 Connection Layouts Serial + LAN between sonar and PC += Processing Box LAN

19 Connection Layouts Latencies will vary depending on chosen layout The conventional patch-test will solve for GPS – sonar latency but not IMU – sonar latency 1 PPS is mistakenly seen as the ultimate solution to all latency issues How does one solve for IMU latencies?

20 Source: Lockhart, Arumugan, Precise Timing and TrueHeave® in Multibeam Acquisition and Processing Timing latencies Source: GeoSwath Plus Operation Manual

21 Data Processing Workflow RESON Seabat 7125 QINSy Hypack CARIS HIPS & SIPS RESON Seabat 8101 HSX XTF PDS2000 S7K PDS Raw bathymetry More control in post-processing but harder to setup Corrected bathymetry Easier to setup but less control in post-processing

22 Conclusion Other helpful tips: Get familiar with standard hydrographic practices Get friends in the Support department! Many thanks to RESON, Applanix, CARIS & QPS


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