R2Sonic 2026, Руководство по эксплуатации

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Page 169 of 254
Version 6.3 Rev r012
Date 05-11-2022
11.6 Basic data collection criteria
Patch test data collection does not have to be in any set order, but the order that the values
are computed, in the data collection or processing software, will be in a distinct order.
Normally, Latency is the first value that is computed, followed by Roll, Pitch and Yaw (or
heading). The solving order is important, as will be seen below.
11.7 Patch Test data collection error areas
There are many common errors, or mistakes, made during the patch test data collection.
11.7.1 Positioning
The accuracy of the positioning system is a common area where errors arise. DGPS has, at best,
a variability of ± 0.50 metres, whereas RTK variability is ±0.05metres.
A recent article, in Hydro International (‘Stop Using DGPS’; Hydro International; Volume 16,
Issue 7; Oct 2012) documents this issue very well.
The article fully details the errors that can occur by using DGPS, instead of highly accurate
positioning for the Patch Test data collection. The error increases inversely with the water
depth, i.e. the shallower the water, the larger the error that can be induced by using DGPS over
more accurate positioning.
However, many users do not have any better positioning capabilities than DGPS; how can they
still obtain valid patch test results without having centimetric accurate positioning? This is, in
large part, what this paper is concerned with. However, even with centimetric position, the
following should be followed.
11.7.2 Feature chose for the test
Where at all possible, for latency, pitch and heading data collection, a feature should be used
rather than a slope. Slopes tend to be too variable as opposed to a well-defined feature such as
a wreck, rock outcrop or pipeline.
One of the other issues, with using a slope, is that many times the shallow end of the slope
does not allow sufficient area or depth for the vessel to come about and line up for the
reciprocal run; this does not allow sufficient time for the motion sensor to settle down nor for
the helmsman to find a steady course.
It has been found that when using a slope, for the pitch calibration, that the heading angular
offset can have a large influence. If the sonar head does not track exactly the same route, up
and down the slope, the heading offset will affect the pitch angular result.