Seafloor Information System

The Operator Station Software for all echo sounders

SIS

SIS

SEAFLOOR INFORMATION SYSTEM

Product description This document presents a brief technical description of the Kongsberg Seafloor Information System.

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About this document

Rev Date Written by Approved by

13.10.06 TA TP A

Original issue

20.10.06 TA TP B

Minor changes.

© 2006 Kongsberg Maritime AS. The information contained in this document is subject to change without prior notice. Kongsberg Maritime AS shall not be liable for errors contained herein or for incidental or consequential damages in connection with the furnishing, performance, or use of this document. All rights reserved. No part of this work covered by the copyright hereon may be reproduced or otherwise copied without prior permission from Kongsberg Maritime AS.

Strandpromenaden 50P.O.Box 111N-3191 Horten,Norway

Kongsberg Maritime ASTelephone: +47 33 02 38 00Telefax: +47 33 04 44 24

E-mail: subsea@kongsberg.comwww.kongsberg.com

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Contents

1. INTRODUCTION....................................................................................................6 Scope .................................................................................................................................6 Abbreviations ....................................................................................................................6

2. SYSTEM DESCRIPTION.......................................................................................7

3. THE MAIN USER INTERFACE ...........................................................................8 SIS windows......................................................................................................................9

Geographical Display...............................................................................................10

Beam Intensity .........................................................................................................14

Time series ...............................................................................................................15

Crosstrack.................................................................................................................15

Waterfall...................................................................................................................16

Colour coded depth ..................................................................................................16

Sound velocity profile ..............................................................................................17

Runtime parameters .................................................................................................18

Mini runtime parameters ..........................................................................................18

Installation parameters .............................................................................................19

New survey...............................................................................................................19

Survey administration ..............................................................................................20

Message service .......................................................................................................21

Seabed image ...........................................................................................................22

Sensor layout ............................................................................................................23

Calibration................................................................................................................23

Scope display ...........................................................................................................24

Numerical display ....................................................................................................25

Helmsman’s display .................................................................................................26

Planning module.......................................................................................................27

Stave display ............................................................................................................28

Water column ...........................................................................................................28

Sound velocity profile editor....................................................................................29

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4. SURVEYING WITH RTK....................................................................................30

5. GRID ENGINE.......................................................................................................33

6. SISDB ......................................................................................................................34

7. REAL TIME DATA CLEANING ........................................................................35

8. CUBE.......................................................................................................................40

9. KSGPL ....................................................................................................................41

10. SIS IMPORT & EXPORT.................................................................................43

11. CUSTOMER SUPPORT ...................................................................................48

Introduction ..............................................................................................................48

Installation................................................................................................................48

Documentation and training.....................................................................................48

Service......................................................................................................................49

FEMME....................................................................................................................49

Warranty and maintenance contract.........................................................................49

References Further information about the SIS system supplied may be found in the following manuals:

• SIS Product specification; 859-164878 • SIS Operator Manual; 850-164709 • SIS On-line help; 859-164739 • SIS Installation procedure; 851-164891

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1. INTRODUCTION

Scope This document describes the main features of the Seafloor Information System, SIS.

Abbreviations ABDC Area Based Date Clearing CCU Central Command Unit, the software unit that

controls all echo sounders. CPU Cell Processing Unit DAF dKart ASCII fileDTM Digital Terrain ModelEA A type of singlebeam echo sounder. EM A type of multibeam echo sounder. GUI Graphical User Interface HDDS Handle Data Distribution System, read from disk

the data written by the DDS and process the data to XYZ.

IRLS Iterated Reweighted Least Squares KSGPL Kongsberg SIS Graphic Programming Language LBDC Line Based Date Clearing LOD Level of detail PPS Pulse per second PU Processor unit RTDC Real Time Data Cleaning, the real time

processing tool in SIS. RTK Real-time kinematic SIS Seafloor Information System, the new front-end

for all echo sounders. SISDB SIS Database, the database used by SIS to store

parameters in. UDP User Datagram Protocol

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2. SYSTEM DESCRIPTION This document describes the main features of the Seafloor Information System (SIS). SIS is Kongsberg Operator Station software for all echo sounders, and its main features are:

• Control of both single- and multibeam echo sounders. • Real Time Data Cleaning module. This module is capable of

doing both line- and area based real time data processing. The area based processing uses all points from all survey lines in the area to flag out (not delete) the invalid soundings.

• Real time terrain models are built from the cleaned dataset. • 3D-displays using OpenGL. • C-MAP/S-57 background maps, DXF and GeoTIFF files can

be used as underlay for the survey. • Import of XYZ-data from other sources (such as Neptune)

can be used as background maps. • Runs on Linux™ and Windows XP™, compiled natively on

both platforms (no software converters used).

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3. THE MAIN USER INTERFACE

Figure 1: The Main User Interface in SIS

In the main user interface shown, there are seven frames. Each frame can display one window. SIS has many windows which can be placed in any of the seven frames. The operator can choose freely the layout of the frames and which window to display in each frame. He can save his own favourite setup and fetch it again whenever he likes.

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The frames are designed to never overlap. This makes it impossible to hide one window behind another. The operator can change the size of the frames by moving the slide-bars. There are four frames to the left, two in the middle and one to the right. The menu bar at the top contains common actions such as save/read settings, exit etc. The next menu bar contains basic controls for all echosounders. The rightmost pull down list shows the name of the survey that is currently being logged to. The second rightmost pull down list displays all the echo sounders SIS has detected on the network at start-up. All multi-beam echo sounders announce their presence on the network when they are active and SIS detects them automatically. The data displayed in the main user interface is from the echo sounder that has currently been selected from this list. The pull down list to the left of the detected list shows all detected echo sounders that have not yet been started. By selecting an echo sounder from this list, it will be started and subsequently removed from the list. To the right there are three buttons: Logging, Pinging and LineCnt. Pinging activates the echo sounder (starts sending sound into the water), Logging starts logging the data to disk, and LineCnt creates a new line without having to stop the logging and start it again (i.e. close the current line and create a new line instantly). These operations are also available as keyboard shortcuts on the F-keys.

SIS windows The windows available in the SIS display are:

• Geographical Display • Time series • Beam intensity • Crosstrack • Waterfall • Colour coded depth • Sound velocity profile • Runtime parameters • Mini runtime parameters • Installation parameters

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• New survey • Survey administration • Message service • Seabed image • Sensor layout • Calibration • Scope display • Numerical display • Helmsman display • Planning module • Stave display • Water column (EM3002, EM710 and later echo sounder

models) • Sound velocity profile edition

Geographical Display The Geographical window is used to display all geographical data such as: • Terrain models from surveys • C-MAP/S-57 background maps • DXF- and GeoTIFF files • Terrain models generated from ASCII xyz-files • Geographical net (geographic and projection net) • Other kinds of background data from ASCII-files.

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Figure 2: Geographical window with C-MAP background map

It is possible to display several terrain models at the same time, both the terrain model generated by the current survey and terrain models from previous surveys. If the data is in ASCII xyz-files, a terrain model can be generated and displayed as background data. Important survey quality information such as depth difference in each grid cell and number of points per grid cell can be displayed.

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Figure 3: Geographical window

SIS uses projection coordinates to display the data. Projection set-up is done in a dedicated GUI. User-defined projection can be made, or choose from a wide range of predefined projections. A 7-parameter datum transformation is also available. All displays use OpenGL for smooth rendering. In the geographical window the operator can zoom, pan and rotate the 3D-terrain model in any direction. Zoom and pan operations are very fast. This is because the terrain model is constructed in different levels of detail, so that the geographical window will always choose the correct level of detail, based on the current map scale.

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Figure 4: An example of the display options in Geographical window

The Geographical window can display various information. The operator can select the display from a long list of features.

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There are five different depth-values which can be displayed:

• Z: The distance from the water surface to the seafloor.

• Zt: Tide corrected depths where the tide input is either real time tide on Ethernet or serial line, or from a file with predicted tides.

• Zv: The distance from the vertical datum to the seafloor if RTK and a geoid model are used (see figure 26).

• Zg: The distance from the seafloor to the geoid if RTK and a geoid model are used (see figure 26).

• Zr: The distance from the seafloor to the ellipsoid if RTK is used (geoid model not required).

All of these depths are calculated and stored in the terrain model in real time.

For each grid cell the operator can choose if he wants to see the minimum, median or maximum depth. Note that SIS calculates the median depth, not the mean depth for each cell. The mean depth is an artificial depth which has not been measured, but the median is a real, quality controlled measured depth.

Beam Intensity The Beam intensity window shows the signal strength for each beam. Blue means amplitude detection and red is phase detection. Green indicates the quality for each measurement.

Figure 5: Beam intensity window

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Time series The Time series window is used to display different kinds of time series. In Figure 6 we see heave, roll and pitch from the active sensor, but we can also display:

• Depths from four beams selected by the user

• Depth below keel • Depth from the centre beam • EM and EA depths for comparison • Height • Backscatter from four beams selected by

the user • Heave, roll and pitch from active and/or

inactive motion sensor

Figure 6: Time series window

Crosstrack The Crosstrack window shows the depth from each beam, and the x-axis can either be meters or beams. Blue is amplitude detection and red is phase detection.

Figure 7: Crosstrack window, depth 80 m below the keel.

The Crosstrack window has its own menu for setting display parameters. It is quite extensive in order to provide the operator with exactly the wanted information.

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Waterfall The Waterfall window is fully implemented with 3D capabilities. The operator can zoom, pan and rotate freely in 3D, and the z-axis can be exaggerated to see small objects better.

Figure 8: Waterfall window

Colour coded depth The Colour coded depth window shows the depth from each beam directly. The y-axis is always time and the x-axis is always beam number.

Figure 9: Colour coded depth window

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Sound velocity profile

The current sound speed profile in use by the PU is shown in the Sound velocity profile window. SIS uses the depths generated in the EM Processing Unit which means that the depths have already been corrected for sound speed profile.

Figure 10: Sound velocity profile window

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Runtime parameters The Runtime parameter window contains all the parameters that can be changed by the operator while the EM is logging data. This includes setting for sector coverage, sound speed profile, filtering etc. In addition the operator may also set the parameters employed by the Real Time Data Cleaning module using the dialogue shown. This is described in chapter 7.

Mini runtime parameters

Figure 11: Mini runtime parameters window

The Mini-Runtime window contains some of the most commonly used runtime parameters. This window makes it easy for the operator to access the parameters he changes most often, and the size of the window makes it easy to fit into the screen setup.

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Installation parameters The Installation parameters window is used to set constant installation parameters such as the distance from the reference point to the sonar head, motion reference unit and the position sensors. These parameters are normally set only once, but may need some calibration before they are determined.

Figure 12: Installation parameters window

New survey In the New survey window the user creates a new survey. A new survey can be of a predefined type which makes it easy to define the projection, background data and storage location for the survey. Normally only the survey name and a comment are required.

Figure 13: New survey window

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Survey administration In the Survey administration window the operator can define survey types. A survey type defines such settings as projection, background data to display and where the survey shall be stored on disk. Normally the default set-up can be used, but the operator is free to define any of these parameters at will. Using survey templates will accelerate and simplify the task for the operator, and ensure the survey is carried out in correspondence with the prevailing requirements.

Figure 14: Survey administration window

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Message service All messages from SIS are stored in the SIS database SISDB. The operator can open the Message window and see all messages that have arrived, with timestamp. He can mask certain types of messages and write the messages to a file. He can also choose a time frame within which the messages will be displayed. The Message window makes it easy to detect the source of any error that occurs during a survey. If i.e. the position is lost, it will be noted in the Messages and can then later be investigated.

Figure 15: Message window

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Seabed image Seabed data is logged in SIS, and SIS has a seabed image display. The resolution in across-direction (x-axis) is depending upon the size of the window, the width of the swath and the resolution of the sonar. In the across direction data is grided to give the highest possible resolution, and then each and every ping is stacked on top of each other in this display. In the show/hide menu the operator has a number of options to control this window. Output to EPC grey scale plotter is also supported.

Figure 16: Seabed image window

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Sensor layout

Figure 17: Sensor layout window

The Sensor Layout window gives a graphical presentation of the sensor locations on the ship. This is very useful to verify installation parameters.

Calibration

The Calibration window displays a cross section of data from selected survey lines.

To obtain data for calibration, set the Geographical view in calibration mode, select at least two lines and draw cross section. In the Calibration window it is possible to change values for roll, pitch, heading and time, and immediately see the impact on the displayed data.

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Figure 18: Calibration window

Scope display

Figure 19: Scope display window

The scope display is mainly used for test purposes. The time series of the amplitude and the phase signal for one selected beam can be shown as an A-scope.

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Numerical display

The numerical window shows 27 different parameters at any time. The operator can choose from a list which parameter to display in any of the 27 fields.

The numerical display all parameters, in the figure above, shows all the different parameters in the Numerical window to the left.

Figure 20: Numerical display window and numerical display all parameters

The window also presents error checking results. If a parameter exceeds its limits, the background colour will change to yellow (warning) or red (error). This makes it possible to detect problems with the equipment (i.e. if the PPS occasionally drops out). Errors found in the Numerical window are logged in the Message window. The operator can change the limits for i.e. position quality at will, and define the type of warning he wants (sound, pop-up, none).

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Helmsman’s display The Helmsman’s window is usually used together with the Planning module.

Figure 21: Helmsman’s window

When the operator has selected a planned line for surveying, the Helmsman’s window will show status information to the helmsman:

• Current position • Speed over ground (SOG) • Course over ground (COG) • Depth below keel (DPT) • Direction of planned line (desired track, DTK) • Course to beginning of planned line (Course Made Good,

CMG) • Distance to planned line (crosstrack error, XTE) • Estimated time to end of line (ETA) • Distance to end of line (DST)

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There is also a history of XTE and a graphic presentation of the XTE and the operator can choose which of these parameters to display.

Planning module In the Planning mode, the operator can create planned lines, define the survey area and fill it with parallel lines. He can save the planned lines to a planned job, and read a planned job from disk.

Figure 22: Planning window

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Stave display

Figure 23: Stave display window

The stave display gives a graphical presentation of the time series of the measured amplitude level (before beamforming) for all receiver channels. This raw data display can be helpful for validating the receiver channels, to check for interference from other systems and to monitor air bubbles below the transducer.

Water column

Figure 24: Water column window

The water column display shows the beamformed data (amplitudes) for the water column including the detected bottom. The display is similar to a sector sonar image, and will show targets (habitat, objects etc) in the water column.

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Sound velocity profile editor

The sound velocity editor allows the operator to edit the sound speed in a number of ways.

Figure 25: Sound velocity profile editor window

The operator can inspect and change the data. Often the sensor provides more samples than needed, and the profile can be thinned to speed up processing. Also the profile can be extended to full ocean depth either automatically or by merging another profile. AML, Valeport and Morse probes can be read by SIS directly.

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4. SURVEYING WITH RTK If heights are extracted from the positioning system, geoid models can be used. The figure below shows the various distances used in the geoid calculations.

Figure 26: The RTK/geoid model

A: Distance from the echo sounder to the seafloor. B: Distance from the antenna to the ellipsoid. C: Motion corrected distance (depth) from water surface to seafloor. D: Motion corrected distance (height) from water surface to ellipsoid. E: Distance from the sea surface to the vertical reference (tide). F: Distance from the ellipsoid to the geoid (geoid undulation), positive if the geoid is above the ellipsoid. G: Distance from the geoid to the vertical reference, positive if the vertical reference is above the geoid. A is the measured distance from the echosounder to the seafloor. This distance is corrected using the installation parameters and the motion sensor to C, which is then the distance from the water surface to the seafloor.

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Because the heave sensor only reacts to fast changes, the water surface is really defined by the 0-level of the heave sensor. The RTK-system gives the distance from the antenna to the ellipsoid (B). This distance is corrected using the installation parameters and the motion sensor to D, which is the distance from the sea surface to the ellipsoid. Note that both the EM and the RTK is now referred to the same vertical level, the sea surface. The geoid model contains the distance from the ellipsoid to the geoid (geoid undulation) and the distance from the geoid to the vertical reference. The tide E is then computed like this: E = D - F - G. H is the distance from the vertical reference to the seafloor and can now be computed like this: H = C - E. I is the distance from the seafloor to the geoid and is computed like this: I = G - H. The next figure shows the layout of the geoid file. This layout is chosen to fit to “rivers” where the geoid undulation and vertical reference is known at crossprofiles along the river (the vertical lines are then the riverbanks). It is then possible to define several “rivers” in one file thus allowing general areas to be defined. The file format is then like this:

Figure 27: Layout of the RTK/geoid model

1 latitude(degrees) longitude(degrees) F(meters) G(meters) 2 latitude(degrees) longitude(degrees) F(meters) G(meters) 3 latitude(degrees) longitude(degrees) F(meters) G(meters)

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The line starting with 2 is optional. The crossprofile may be defined using two or three points. The first point has the id 1 and the last point the id 3. If there is a middle point, it has the id 2. An area is defined between two crossprofiles. A model (“river”) must always have at least two crossprofiles. Several models (“rivers”) in the same file shall be separated by an empty line. The geoid undulation F and the vertical reference G is interpolated using straight lines between crossprofiles.

When RTK is in use, note that the distance from the seafloor to the geoid can be calculated even without the geoid model. This distance can always be shown in the Geographical window, and data cleaning can be done on this surface in real time since it is always corrected for tide errors.

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5. GRID ENGINE The Grid Engine in SIS is the process responsible for creating a correct Digital Terrain Model, DTM.

The DTM constructed has a lot of sophisticated features: • It is a bin-model which means that all depths are assigned to

a predefined bin. A bin is a predefined geographical area, typical 1x1 meter for shallow water and perhaps 50x50 meters for deep water.

• For each depth, the total propagation error is calculated. This is stored in the GridEngine for each depth.

• The correct grazing angle is calculated. When a DTM has been constructed, the correct angle between each sounding and the seafloor is calculated. This makes improved processing possible.

• For each depth, the GridEngine stores five different depth values: Z: the distance from the surface to the seafloor as measured by the echosounder Zt: tide corrected depth where the tide is read either from a file of predicted tides or from a serial line or network Zv: the distance from the vertical reference to the seafloor calculated from RTK and geoid measurements Zg: the distance from the geoid to the seafloor calculated from RTK and geoid measurements Zr: the distance from the seafloor to the ellipsoid calculated from the RTK measurements (geoid model not required)

• For every bin, the minimum, maximum and median depth is available. Note that because the GridEngine is capable of storing all depths, it can report the correct median value which is a true measured depth rather than the mean value which is a computed depth.

• True Level of Detail is created. This means that zoom and pan operations can be performed very, very fast because the display can always ask for only the exact data to display based on the current map scale and area.

• Data processing will be done in the GridEngine. Because it has access to all depths in an area, it can process data both from the current line and previous lines.

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• Seabed Image data is also available in the GridEngine. This means that seabed image data can be processed and displayed in the GridEngine.

Figure 28: Display grid Level of Detail

6. SISDB Using a database makes it possible to exchange data with other applications, and to use standard applications and tools to browse the content of the database.

To store parameter settings in SIS, a database – SISDB – is used. The database server is Microsoft Desktop Engine (a light version of SQL Server) or PostgreSQL on Linux.

Note that only parameter settings are stored in the database, not the logged data.

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7. REAL TIME DATA CLEANING When data arrives in the Grid Engine, it may be cleaned in real time. Depths may be flagged out (i.e. marked invalid), but never deleted. Their status can always be changed if necessary. The Real Time Data Cleaning (RTDC) module operates in two steps: • As the data arrives, it will be organized as pings in an array.

Then processing will be performed on these pings in the array. This is known as Line Based Data Cleaning because the processing only looks at data from the current line. Naturally LBDC is not good enough for proper data cleaning because errors caused by i.e. sound speed profiles will not be found. However, LBDC can be used for flagging out obvious errors (spikes).

• After LBDC the data will be put into the Processing grid. In this area, the data from the previous lines will be read back and reprocessed together with the new data. This is called Area Based Data Cleaning because all data from the same area is processed together. ABDC gives us the possibility to find errors in i.e. sound speed profiles and installation angles.

Figure 29: Real time data cleaning setup window

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Before we start the ABDC routine, the Grid Engine will try to split and merge the processing cells into processing units, and it’s actually a processing unit that is used to create a surface. If a processing grid cell has very few points, we try to merge it with its neighbours to create a bigger area with sufficient points. If there are too many points, we split again. In Figure 30 we see the white cells that are empty and the dark cells that contain enough points. On the edge of the processing area there are some shaded cells with too few points to do a good processing. The user can choose to automatically delete all points inside such cells.

Figure 30: Process grid split into processing units

The first thing to do in ABDC is to create a most likely reference surface in each processing unit. Traditionally this has been simply the mean depth value for the cell which means that the reference surface would always be a flat surface. In SIS we prefer to let the Grid Engine construct a far more reliable surface that will increase accuracy of the terrain model considerably. The surface is a curved surface constructed by using a first, second or third degree polynome. Such a surface will in most cases follow the terrain in a far better way than a flat surface only.

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Figure 31: The curved surface used in ABDC

The method used to construct the reference surface is called Iterated Reweighted Least Squares (IRLS). We try to construct a surface as close as possible to most of the points. Each point is then given a weight depending upon its distance to the surface. Points close to the surface is given more weight than points further away.

• At start, all points are given the same weight (which means that the first run is the same as a Least-Squares Method).

• Then we start the loop and run until we either reach a maximum number of iterations or until the difference between the current and the previous surface is very small: − Fit the surface using the current weights. − Calculate the residuals (distance from surface to point) for

each point. − Check for convergence. − Adjust the Tukey estimator.

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− Evaluate new weights. − The Tukey estimator is found from a predefined function

like the one shown in the figure below.

Figure 32:The Tukey estimator

The Tukey estimator constructs a curve for the point weighting, based on its distance to the surface. In the figure we see that the red curve is a Tukey factor of 1 which means that the weighting drops fast when the residue increases. A Tukey factor of 3 gives a lower weighting loss. The operator can set the polynome order and the Tukey factor himself. When the surface has been constructed for each processing unit, we can flag out points based on the result:

• Remove depths inside processing units that have too few points to construct a surface

• Residue depth rule: Each depth has a distance to the constructed surface. This distance is called the residue. If the residue exceeds a calculated limit, it will be flagged out. The limit is given by the depth multiplied with a given factor, usually the accuracy of the echosounder. In this way the rule will adapt to changing depths.

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• Residue vertical error rule: Each depth has a vertical error estimate. This error estimate is multiplied with the factor and the result gives a limit. If the residue is larger than this limit, the point is flagged out. This rule is also adaptive because the vertical error will change with the range and beam pointing angle.

• Residue vertical average error rule: In each cell the average vertical error is calculated, and the average vertical error for the CPU is then calculated. Then a limit is calculated from this average vertical error in the CPU multiplied with factor. If the residue is larger than this limit, the point is flagged out. Note that it is the average vertical error for the CPU that is used, not the cell’s value.

• Residue std. rule: The standard deviation of the residues is also calculated. This is the standard deviation in the CPU, not the cell. A limit is then set by multiplying factor to this standard deviation. Residues larger than this limit are flagged out.

• Grazing angle: For each depth the angle between the beam and the bottom surface is calculated. Then the parameter Min. angle can be set and all depths where the angle is less than this limit are flagged out.

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8. CUBE

CUBE is a terrain modeling algorithm from University of New Hampshire (Larry Mayer, Brian Calder). It provides a fast method for generating a terrain model which will indicate to the operator whether there are any errors in the data.

CUBE defines a regular grid, in which it attempts to generate depths for each node. (Note that the depths for each node is computed from the neighboring depths.)

CUBE will try to keep several hypotheses for each node, one of which contains the most likely depth, and the probability of this being correct.

If the survey contains no errors, there should be only one hypothesis for each node.

Based on the implementation of CUBE, statistical information may be available to the operator. (Note that CUBE does not store the depths, only statistics about the depths.)

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9. KSGPL The Kongsberg SIS Graphical Programming Language is a powerful extension to SIS allowing the user to make the Geographical window display chosen geographical information.

Figure 33: How to use KSGPL

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The KSGPL protocol defines a set of ASCII datagrams that are sent between a user programmed application and the Geographical window in SIS. The user application opens an UDP connection to the Geographical window and writes ASCII text string to this connection. These KSGPL strings can be used to send lines, points and pictures to the Geographical window, and to define the position to an earlier defined object such as a ship. These objects will then be drawn in the Geographical window. Many attributes can be set by the operator and the user application to control these objects, before and after they are sent to the Geographical window. The operator may edit objects sent to the Geographical window. He can split, join, add, delete and move lines, add, delete and move points. The user’s actions are sent back to the user application which can then decide what to do next. The user application is responsible for storing the data. This allows the programmer to decide where the data is stored, in a file or in any database system already in use. The user application can also decide to add its own user interface so that more information can be added to the objects added by the operator. KSGPL is used to add background data to the Geographical window. It’s not possible to edit the background data when added to the Geographical window.

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10. SIS IMPORT & EXPORT The Import/Export... is accessed from the File drop-down menu.

The following options are available in the Import/Export dialogue: • Data types: The following data types can be imported:

- 3D Models: The user can import AutoCAD (*.dxf), Inventor (*.iv) or VRML (*.wrl).

- Surveys: The user can import either raw data files or already gridded data. (Raw data can be reprocessed with new settings.)

- KSGPL: The user can import background KSGPL files (*.bgksgpl).

- Background Images: Imports background images [GEOTIF (*.geotiff, *.tiff, *tif)].

• Import...: Activates import of data (further details below). • Raw Data Files: Makes feasible import of raw data files. • Export Selected: Activates export of data (further details

below). • Remove Selected: Loaded or ’set to be loaded’ data can be

unloaded by selecting the listed data items to the right and

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clicking this button. (No files will be deleted on disk even if e.g. a survey has been reprocessed)

• Undo All: Undo actions. (As above; no files deleted on disk.) • Delete Processing Data: Removes internally used files when

a survey is no longer subject to processing and only used for visualization.

• Background Images: Background images can be imported by selecting the “Background Images” radio button and pressing the “Import” button. This will launch a dialog box where one can import a GeoTIFF file. This is an ordinary TIFF image file with the georeference information in the TIFF file header, and will be shown on the screen.

Import of the different data types

Pressing the Import... button will launch the corresponding import dialogue box.

• 3D Models: Browse for the wanted 3D model file(s). The

imported 3D model(s) will be listed to the right when successfully processed/loaded.

• Surveys (already gridded): Browse for the directory where the already gridded survey is located.

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• Surveys (Raw Data files): Raw data files can be reprocessed/gridded with different settings.

• KSGPL: Browse for the wanted KSGPL background file.

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Export of the selected data files Select survey data to be exported. Then press Export... button to launch the Export Survey dialogue box.

Survey name: Name of the survey to be exported. Raw Data Location: Browses for the disk location where the raw data files (.all files) are stored for the current survey. (This is only needed for export of a Neptune Rule file.) Output Type field: Selects output type of the data to be exported to file. The options are: • Little Endian: Binary PC format file. • Big Endian: Binary Unix format file. • ASCII: Format details are written into the file itself. • Neptune Rule: Creates a rule file to be imported into

Neptune post-processing. (This setting overrides the Point Set and Variable settings.)

• DAF Geo. coord: Creates an ASCII file with geographical coordinates in DAF format.

• DAF Contours: Creates at an ASCII file with contour lines in DAF format.

Point Set field: Selects points to be exported, all, valid or invalid. Variable field: Selects exported depth value.

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DAF Export When exporting either of the DAF formats, three additional Point Set variables are enabled. To create the file, one of these must be selected. User may select which LOD to be used. When selecting DAF Contours, user must specify how to create the contours. The contours will be calculated for a set of depths. The user may select a predefined list of depths, edit a selected list of depths, or create a new set of depths. For instance, creating contours at 1, 5, 10 and 15 meters, every 2 meters, every 5 meters and so on. The predefined sets can be altered or new ones can be added by editing the right-most ‘Depth List’ field and pressing ‘New’ or ‘Save’. Pressing ‘Delete’ removes the selected set. DAF contours can be displayed in Neptune and other applications that support the DAF format.

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11. CUSTOMER SUPPORT

Introduction As a major supplier of multibeam echo sounders with many years of experience, Kongsberg Maritime has developed a marketing and service organization tuned to customer needs.

Installation As part of the discussions with the client Kongsberg Maritime will - free of charge and without any obligations - give advice regarding the practical installation of the system. We will also - upon request - prepare proposals for the supply of complete instrument packages and/or systems. A project manager will usually be appointed to supervise the delivery, installation and testing of larger instrumentation systems. The installation and final testing of a system should be done according to Kongsberg Maritime’s documentation. If required, Kongsberg Maritime field engineers can be made available to: • Supervise the installation. • Perform the measurement of final location and attitude of the

transducers and/or sensors. • Perform system check-out and final testing.

Documentation and training The system is delivered with complete documentation for installation, operation and maintenance. If required, the manuals are prepared to reflect the actual system on the client’s vessel. Kongsberg Maritime can conduct the training of operators and maintenance personnel to the extent required by the client. Such training courses can take place on the vessel, on any of Kongsberg Maritime’s facilities, or any other location decided by the client.

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Service The Kongsberg Maritime service department has a 24 hour duty arrangement, and can thus be contacted by telephone at any time. The service department will assist in solving all problems that may be encountered during the operation of the system, whether the problem is caused by finger trouble, insufficient documentation, software bugs or equipment breakdown.

FEMME A forum for users of Kongsberg Maritime’s multibeam echo sounder systems (FEMME), with the aim of improving communication both between the users and Kongsberg Maritime, but also between the system users, is arranged at approximately 18 months intervals. Close to 100% user participation has been experienced at these meetings.

Warranty and maintenance contract The normal warranty period of the system is 24 months after delivery. A system maintenance contract tailored to fit the needs of the client is available. This contract can be defined so that it covers repair work only, or complete support for preventive maintenance, repair work, and system upgrading of both hardware and software as the system design is improved by Kongsberg Maritime.

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E 2006 Kongsberg Maritime

1. INTRODUCTIONScopeAbbreviations

2. SYSTEM DESCRIPTION 3. THE MAIN USER INTERFACESIS windows

4. SURVEYING WITH RTK5. GRID ENGINE7. REAL TIME DATA CLEANING8. CUBE9. KSGPL10. SIS IMPORT & EXPORT11. CUSTOMER SUPPORT