Professional Documents
Culture Documents
MEMO
REPROCESSING NORTHUP USBL
DATA IN VBAPROC
Initial version
J. Callahan
J. Callahan
J. Callahan
08/02/2011
Rev
Description
Prepared
Checked
Approved
Date
Page i
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
CONTENTS
Page
1.
INTRODUCTION
2.
2.1
2.2
1
1
2
3.
3.1
3.2
3
4
4
4
6
Page ii
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
1.
INTRODUCTION
USBL systems output a variety of formats and modes. Commonly a USBL system is set-up to output in
Vessel Up relative coordinate mode. If at all possible this is the recommended output mode.
However, on vessels were Fugro is not allowed to effect changes to the USBL system it is sometimes
that we have to handle North Up relative coordinates. In this case, our software (Starfix.USBL) is able to
utilize the data in either North Up or Vessel Up coordinate frames. However, in post-processing, without
special processing scripts we can only work with Vessel Up relative coordinates. This can be overcome
by installing special processing scripts included in a Release Candidate.
Reprocessing of North reference data in VBAProc requires the following minimum software.
Once installed the user must following the steps as outlined in the Advice Notes document included with
the RC. This document will detail the process of preparing a VBAProc project for using these scripts and
the steps required to recompute the North Up USBL data to a beacon position.
2.
2.1
RecalcUSBLOffset
UsblDevice
UsblProc
Removal is done using the 'Remove NEL group function from the Edit menu:
Page 1
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
Select each of the groups and press the 'Remove NEL group' button
2.2
Page 2
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
The release candidate will have placed new versions of these groups in the default NEL template folder
of the Starfix Suite installation as shown below.
3.
Page 3
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
3.1
3.2
3.2.1
Proc-GeneralPurpose
RecalcUsblOffset
Proc-General Purpose
Proc-GeneralPurpose was modified to process North Up USBL data. This script takes the North UP data
and a Heading file and converts to Vessel Up relative coordinates. The Heading file used should be the
same as originally used to create the North Up data, therefore the USBL systems Heading.
Page 4
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
To determine if the UBSL data is North Up or Vessel Up the script uses the Mode field of the USBL
beacon in the USBLBeaconDevice NEL group.
Mode
Description
Cartesian
Polar
North Up
Vesse Up
16
Towed
32
Free Swimming
64
Motion
Corrected
The UsblDevice NEL group was altered to support reprocessing the USBL for refraction correction. To
correct for refraction the script needs to know where the USBL transducer is (OffsetName) and where
the data that is being processed is relative from (UsblReferenceOffset). Refraction correction is not done
during the initial processing of the data (Proc-GeneralPurpose), but at the time the position is being
calculated (RecalcUsblOffset).
Convert North Up to Vessel Up (Mode [NEL USBLBeaconDevice] has North Up flag set = 4)
Correct for Pitch, Roll, Heading & Scale Factor [NEL UsblDevice]
Page 5
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
The UsblProc NEL group was altered to support use of North Up USBL data. The change was to add a
reference to a Heading device to convert the North Up data to Vessel Up relative (HeadingDevice).
3.2.2
RecalcUSBLOffset
To recalculate the beacon position using the new NEL groups use the script supplied in the release
candidate (VBA script in the USBL node).
Page 6
MEMO
REPROCESSING NORTHUP USBL DATA IN VBAPROC
The RecalcUsblOffset NEL group was altered to support reprocessing the USBL for refraction correction.
To reprocess using refraction correction the field UseRefraction must be enabled. If enabled then the
script will use the offsets described in the UsblDevice for the sensors location (OffsetName) and where
the data in the file is relative from (UsblReferenceOffset). Using this option also requires a Cast library to
determine the sound velocity profile to use.
<DstVessel>-<DstOffsetname>-Position.pos
Page 7