The bathymetry sensor component has a one or more of the following subcomponents, depending on its configuration:
• Transmitter: A unit that only transmits sonar beams.
• Receiver: A unit that only receives sonar signals.
• XYZ: A unit that both transmits sonar signals and receives sonar signals (also known as a transducer).
Transmitter, Receiver, and XYZ units all have the following attributes in each row of the Attributes Window:
• Date: The year and Julian day of the current swath Component Time Stamps. This is only editable in the parent bathymetry sensor component.
• Time: The hour and minute of the current swath Component Time Stamps. This is only editable in the parent bathymetry sensor component.
• X, Y, and Z: The location of the unit, measured from the reference point (0).
• X: The athwart-ship distance from the RP to the unit (positive to starboard).
• Y: The along-ship distance from the RP to the unit (positive to the bow).
• Z: The vertical distance from the RP to the unit (positive into the water).
The HIPS calibration processes (Automatic Boresight Calibration and the calibration tools in Subset Editor) calculate any required corrections to the Pitch, Roll, and Yaw values and enter them into the Δ Pitch, Δ Roll, and Δ Yaw fields. During later processing, HIPS adds the Δ Pitch, Δ Roll, and Δ Yaw values to the Pitch, Roll, and Yaw values to get the final offsets. The calibration processes do not edit the Pitch, Roll, and Yaw values, which makes it much easier for you recalibrate the system later if the initial calibration is inadequate. |
• Pitch, Roll and Yaw: The initial mounting offsets of the unit. These offsets are normally manually measured and entered by you after you install the unit.
• Pitch: This offset is positive when rotating the transducer towards the bow (bow up).
• Roll: This offset is positive when rotating the transducer away from starboard (starboard down).
• Yaw: This offset is the horizontal rotational offset and is positive for a clockwise rotation.
• Δ Pitch, Δ Roll, and Δ Yaw: The calibration offsets of the initial misalignment offsets, Pitch, Roll and Yaw. These values are normally calculated by the HIPS calibration processes. HIPS adds these values to Pitch, Roll, and Yaw to get the final offsets.
• Serial Number: The serial number of the unit.
You cannot directly change or add time stamps in the Attributes window for a Transmitter, Receiver, or XYZ component because they are synchronized with their bathymetry sensor component. To change or add these time stamps, see Adding attributes to synchronized components. |
Kongsberg sonars can add corrections to their data during acquisition. The vessel file can be set up to use these corrections instead of the ones from HIPS (that is, if its HIPS SVC Enabled property is set to False). In this case: • Set X/Y/Z to zero because the Kongsberg data acquisition has already applied static draft and shifted the swath profile to the vessel reference point. • Set Roll/Pitch/Yaw and Δ Roll/Δ Pitch/Δ Yaw to 0 because the angular mount offsets (possibly including calibration) have already been applied. If you need to run further calibration processes in HIPS and SIPS, they will update the Δ values. Conversely, if the vessel file is set up to use SVC from HIPS and SIPS (HIPS SVC Enabled = True) then set Roll/Pitch/Yaw to the angular offset values that were applied during acquisition. |