GAPS
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User Guide
6.5.5
LBL R
ANGE
This tool is available in real-time mode for LBL data.
This tool draws a circular arc of a certain length with a radius equal to the range computed by
the LBL device. When several ranges are drawn from the beacons to the positioning device,
one can visually estimate the accuracy of the positioning and contributing beacons.
Access the tool via the Equipment toolbar button
or the mobile properties window.
The objective is to visually check the residuals of the range to the transponders to help
determine whether sound velocity is under-estimated or over-estimated.
The range residuals are the difference between the following distances:
●
Acoustic distances measured by RAMSES
●
Distances computed by RAMSES between the acoustic-inertial position of the vehicle
and the known position of the received transponder
Figure 50 - Example of under-estimated (left) and over-estimated (right) sound velocity
Figure 51 - Range circular arcs from the beacons to the positioning system
MU-GAPS-AN-005-H - November 2019
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