Using BathyPro™ User’s Manual Software documentation through v1.
Copyright Notice This software is copyrighted and licensed for use on one computer per copy. Triton Elics International grants permission to the purchaser to make a limited number of copies of the program for backup purposes. Additional reproduction of the programs or this manual is a violation of the copyright law. The licensee is bound by the terms and conditions set forth in the Software License Agreement and Limited Warranty that accompanies this document.
Safety Precautions Please adhere to the hardware and software precautions mentioned below. In addition, observe all safety precautions mentioned in this manual. When working with the overall system 1. Before handling components inside your computer system, exit all applications and shut down the operating system in accordance with procedures applicable to them. 2. Turn off the power to the computer and disconnect all cables that may be feeding electrical power to the system you will be working on. 3.
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LIMITED WARRANTY TRITON ELICS warrants that (a) the SOFTWARE will perform substantially in accordance with the accompanying written materials for a period of one (1) year from the date of shipment and (b) any hardware accompanying the SOFTWARE will be free from defects in materials and workmanship under normal use and service for a period of one (1) year from date of shipment. CUSTOMER REMEDIES.
Preface This book is intended for users who wish to use the BathyPro™ application program from Triton Elics to process XTF data. How this book is Organized The BathyPro techniques for processing multibeam data differ from the techniques for processing single-beam data. Accordingly, the major division of the book is along the lines of multibeam and single-beam processing techniques. Patch testing is an optional task and is only applicable to multibeam echosounders.
PREFACE .........................................................................................................................6 HOW THIS BOOK IS ORGANIZED .....................................................................................6 CHAPTER 1: GETTING STARTED WITH BATHYPROTM ......................................9 SOFTWARE INSTALLATION NOTES .................................................................................9 SOLUTIONS TO SOME COMMON PROBLEMS .......................................
SELECTING A TRANSDUCER HEAD ...............................................................................54 SELECTING RAW DATA PROCESSINGS PARAMETERS .................................................57 Navigation Processing...........................................................................................57 Attitude Processing................................................................................................60 Bathymetry Processing .....................................................
Chapter 1: Getting Started With BathyProTM Software Installation Notes Triton Elics International software typically is distributed on CD to TEI’s customers. The CD contains the current release software for the TEI products. For example, a typical software installation CD may contain folders like the ones depicted in the Windows Explorer layout. (See Figure 1. Typical listing of TEI software installation folders.
FIGURE 1. Typical listing of TEI software installation folders TEI software is compatible with Windows NT 4.0, Windows 2000, and Windows XP. The following notes will help you achieve a smooth installation of the software.
• • • • • • • • • • • Please exit from all other applications before running any of the installation programs. You will not be able to complete the installation on an NT4.0 or Windows 2000 system if you do not have administrator’s rights. All Isis “black boxes” ship with a user name Isis. In this case the Isis user name has administrator’s rights and does not require a password. Each application is installed by browsing to the appropriate folder (for example, Isis6.
• • • • To remove the software, use the Add/Remove Programs utility in the Windows Control Panel collection of utilities. The installations make two changes which are not restored when the programs are removed using Add/Remove Programs. They are: the addition of a folder called [TEIdlls] in the Windows or WINNT folder, and a modification to the PATH environment variable which adds the [TEIdlls] folder to the PATH. The [TEIdlls] folder can be safely deleted after all TEI software has been removed.
Problem: When you try to connect to a serial port in DelphSeismic or DelphMap, you may receive this message: “Serialdll.dll was previously loaded from an unexpected location…” This will only occur on a system that has had a previous version of either DelphMap or DelphSeismic installed. Solution: First close the serial server (if it’s running), then search for the following files: SERIALDLL.INI and SERIALSRV.INI (These are found in the Windows folder.) When you find these files, delete them.
Chrutlw.dll Importxt.dll ObjectToBdd.dll TeiGUIExt.dll CMGBase.dll LinearFeature.dll Palette.dll TEImpxmap.dll D24Param.dll lxtools.dll patchtst.dll Tide.dll DdsErr.dll TEImap.dll PIPETRK.DLL TimeTag.dll dxflib.dll mifutil.dll PitchYaw.dll TVGAuto.dll Encode.dll MOSAIC.DLL Printer.dll VecPropDll.dll EncodeS.dll Mpx_Country.dll profile.dll Vif2xyz.dll Geometry.dll Mpx_line.dll qtclib.dll Volume.dll geotiff.dll Mpx_main.dll SeisDemo.dll XtfTools.dll mpx_map.dll Serialdll.
of either the signal window or the pipe display in the Isis pipetracking module. Solution: This problem can occur with certain “high-end” hardware accelerated graphics cards such as ATI Rage Pro, and Voodoo 3d Fx. Right-click on the Windows Desktop, select Properties → Settings → Advanced → Troubleshooting (or Properties → Settings → Advanced → Performance), and reduce the amount of hardware acceleration that is being used. Problem: You receive an error message during installation of TEI software.
What BathyPro Does The purpose of BathyPro is to process, either interactively or in batch mode, single beam and multibeam data, resulting in output of DDS_VIF or DXF files that can be imported into DelphMap®.
The Paths for Processing Single-Beam Data Single-beam data also can be processed in automatic (batch) mode or in interactive mode. In the automatic (batch) mode, or path, of processing single-beam data, bathypro.exe again is the program to use. Each module within the larger BathyPro application performs processing specific to single-beam data. Chapter 6 explains how to use BathyPro in automatic mode to process single-beam data this way.
The DTM model is a grid of square cells. A unique depth value is assigned to each cell. This value is computed from all the beams falling in that cell according to the user’s choices: average, max, min, last, first, or from the most vertical beam. The geographical position of a cell is the center of the cell.
Chapter 2: Working with Attitude Editor BathyPro comes with a stand-alone utility called Attitude Editor. Attitude Editor is one of two such utilities that can be used to interactively clean multibeam data in an XTF file. (The other utility is Bathy Editor, the subject of Chapter 3.) Attitude Editor gives you control over the following: • • setting the maximum difference for roll, pitch, heave as criteria for flagging.
Figure 2. Typical preliminary Attitude Editor dialog box Setting Parameters in the Attitude Editor Dialog Box After the Attitude Editor program is running, you can set up your parameters for processing. To set your parameters in the Attitude Editor dialog box 1. Click Add file(s) to list… and select one or more files having the file extension XTF. The XTF file(s) must be composed of multibeam data. All files in the list will be processed. Choose Delete file from list if a specific line is not desired. 2.
3. In the manner of steps 1 and 2, continue to add XTF files until your list is complete. The Set Processing Parameters button becomes ungrayed as soon as you have specified a file for Attitude Editor to work on. 4. After you are through adding files, click Set Processing Parameters. The system displays the Attitude Corrections Settings dialog box (Figure 3). Figure 3. Attitude Corrections Settings dialog box 5.
Figure 4. Initial Processing Attitude dialog box Interpreting the Processing Attitude Display In the Processing Attitude dialog box (Figure 4), all attitude data displays in the three sections. As the figure shows, the top line of the dialog box shows the path and file name of the XTF file being processed; to the right of the file name is the elapsed processing time.
bottom of the screen there is an action area of buttons for making any attitude corrections you may feel are necessary. To enhance or suppress a parameter’s line If you want to enhance or suppress the visual representation of the attitude parameters, click on the plus or minus buttons. Units are in degrees or meters. The greater the scale numbers, the flatter the representation; the fewer the scale numbers, the more detail (more undulations) you see in the displayed lines for pitch, roll, and heave.
• • If you click the Pause button, processing pauses, the button now says Continue, and activity in the display is suspended until you click Continue. If you click Settings, Attitude Editor recalls the Attitude Correction Settings dialog box for your inspection, where you can make adjustments to Pitch, Roll, and Heave, if desired, to fine-tune the process. When the program completes, the Processing attitude… dialog box disappears Attitude Editor dialog box reappears.
Chapter 3: Working with Bathymetry Editor BathyPro comes with a stand-alone utility called Bathy Editor. Bathy Editor is one of two such utilities that can be used to interactively clean multibeam data in an XTF file. (The other utility is Attitude Editor, the subject of Chapter 2.) Bathymetry Editor (BATHEDIT.EXE) is used to detect and suppress bad beams in raw XTF data files. Bathymetry Editor will produce and output a new XTF file with beams that you have flagged as BAD.
Figure 5. Typical initial Bathymetry Editor dialog box Setting Bathymetry Editor’s Parameters After the Bathymetry Editor program is running, you can set up your parameters. To set your parameters in the Bathymetry Editor dialog box 1. Click Add file(s) to list… and select one or more files having the file extension XTF. All files in the list will be processed. Choose Delete file from list if a specific line is not desired.
Do not have your working directory be the same as the directory holding your original XTF file(s). In the course of processing, any file modifications will be written back to an XTF file of the same name that you specified from the Add file(s) to list… button. If the target XTF file is your original XTF file, it will be overwritten. Make sure, therefore, that the directories for the named XTF file(s) differ.
When you click Set Processing Parameters, the system displays the Bathymetry Correction Settings dialog box. Figure 7 shows an example of this dialog box. Figure 7. Bathymetry Correction Settings dialog box In the Bathymetry Correction Settings dialog box: • • Suppress Beam using Beam Quality — All beams flagged as bad quality by the sonar will be ignored by BathyPro.
• • • • from the vertical, will be omitted from processing. Note that this implies that the beams are being corrected using the motion sensor. Suppress Beam using Beam Number — This simply is a way of ignoring any beam that is known to be generating erroneous data. After putting a check mark next to the parameter to enable it, click Settings to display the Beam Number Selection dialog box (Figure 8) where you can select individual beams to be ignored.
or Stop. Figure 9 shows an example of Bathymetry Editor in the middle of processing a file.
Figure 9. Typical display of nearly processed bathymetry data Interpreting Displayed Processing of Bathy Data Processing of your XTF file is initiated from the Processing Bathy… dialog box (Figure 9). Reading from top to bottom in that dialog box, there is a status area, a flagged soundings area, an info flagged beam area, a legend area, a display area, and an action (buttons) area. Status Area Topmost in this part of the display is the name of the processed file and its path.
Legend Area This area is located to the left of the display area and shows the notation used to represent the qualitative value (Bad quality, Low quality, Poor quality, or flagged) of points in your data. • • • Bad quality points, displayed in magenta, are points that will be eliminated from the final, processed XTF file. Low quality points, displayed in yellow, may appear if you had checked the LOW Quality check box in the Bathymetry Correction Settings dialog box (Figure 7).
Deciding What to Process If a solid white circle or square appears in any of the five displayed swaths during processing, the program is telling you that some value you specified in the initial Bathymetry Editor dialog box has been exceeded. You can then choose to Flag Beam, Skip To Next Beam, or Flag All Beams, based on your assessment of the data.
Chapter 4: Making a DTM with BathyPro What BathyPro Does The purpose of BathyPro is to process single-beam and multibeam data, resulting in an output of DDS_VIF files or DXF files that can be imported into DelphMap as a digital terrain model (DTM).
Figure 10. Initial BathyPro Display The order of processing follows the order of the main menu items as they are laid out from left to right in the application window (Project, then Project Settings, Bathy Processing, Volume, Patch test, Windows, and Version). 2. Each time you launch a BathyPro project, the settings (including file names, processing parameters, sensor geometry and projection settings) can be saved. To restore a project, Open an existing project.
Figure 11. List of available file types to add in Project Files The kind of processing available will be determined by the type of file you choose here. Table 1 defines the capability and applicability of each file type with respect to BathyPro. TABLE 1.
Add XTF files (Single Beam from SideScan Data) processing of bathy data derived from a sidescan sonar system wherein the total water depth is derived from the sum of the towfish depth and the towfish altitude Add XTF files (Auxiliary Channel) for processing single-beam sounding data stored in any Aux field of the XTF file Add ASCII file (Multibeam Data) processing of ungridded XYZ Multibeam data in ASCII format.
Figure 12. ASCII file importation setup dialog box, with data The top half of the dialog box is a look at the first 20 lines of the raw data collected in your ASCII text file. The bottom right window, an “item #n” window, serves as a visual reminder of fields you are defining or using to describe the raw data you will be extracting. Below the raw data window (and to the left of the “item #n” window) are areas where you can define new relationships for your data.
As you click a different “item #n” entry, the contents of the Position, Description, and Unit boxes change to match the highlighted item. If there are no items to click, you will be creating them fresh. To assign a description 1. In the raw data window, visually identify the first variable you wish to extract and note how it is delimited. In Figure 12, for example, the string 07/07/2000 is a date delimited in three parts: month, day, and year. Each part is delimited by the virgule (/) character.
If you choose to skip over a usable variable in your raw data window, that’s OK — just be sure to account for the skipped variable’s position and number so that later variables appearing in the raw data window are mapped to their correct positions. You can also delete any mapped item using the Delete button. 3. After you have mapped all the variables you wish to extract, click OK.
Notice the Process All choice in the lower left area of the dialog box in Figure 13. If all data from the line is to be processed, put a check mark in the Process All box. (Process All is the default.) If you just want to work with a portion of an XTF file, and you already know which range of pings you want to work with, uncheck the box, making the First Scan and Last Scan boxes ungrayed and accessible. Then you can specify your ping range.
• • On the numeric keypad, press the slash key (/) if you want to contract everything in the list. Select the project name or file name and press the minus key (-) on the numeric keypad. This will contract just the current level containing the project name or one of its listed files. The list can’t be contracted with the minus key if you have selected a processing parameter; you must be at a higher level to use the minus key.
Figure 15. Typical Map and Projection settings dialog box The coordinate input for Figure 15 is in Northing and Easting. Data can also be in geographic coordinates.
This dialog box shows the boundaries of the area, the coordinates of the northwest corner of the area, and the grid resolution. If necessary, you can change these parameters to accommodate a larger (or smaller) area or different northwest corner. The default values will have been detected from scanning the XTF files. 2. In the Map and Projection settings dialog box you can either change input or output settings, or you can test the current settings: a.
The system displays the Test Projection Settings dialog box (Figure 16). e. In the Latitude and Longitude text boxes of the Test Projection Settings dialog box, specify values based on your survey job. f. Click Compute. A trial conversion is performed on the entered latitude and longitude, and the results in both output and input projections are displayed in the boxes. g. Click OK to dismiss the Test Projection Settings dialog box and return to the Map and Projection settings dialog box. 3.
Figure 16. Test Projection Settings dialog box with sample values Increasing the resolution increases your file size dramatically. For example, increasing resolution in an area from 0.5m x 0.5m to 0.1m x 0.1m will increase the size of the file by a factor of 25. Be conservative when increasing resolution! The resolution you select should always be equal to or greater than the resolution of your original data.
Figure 17. Typical Input Projection settings dialog box h. In the Map and Projection settings dialog box, if you clicked Change and selected a projection, the system again displays the Input Projection settings dialog box — this time with the subheading “Select UTM Zone and Hemisphere” (Figure 18); accept or change the highlighted zone and click Next.
Figure 18. UTM zone and hemisphere dialog box The type of dialog box that appears after you choose a projection type will display settings choices appropriate for the kind of projection you chose. For example, if you choose Universal Transverse Mercator for your projection type, you get the dialog box like the one shown in Figure 19, displaying datum choices.
Figure 19. Datum choices after selecting a typical projection i. Click Finish to accept or change your projection settings. j. Inspect the Output Projection and, if necessary, makes changes to the displayed values by clicking on Change next to the Output Projection. The technique is the same as in the steps for Input Projection: Select a projection type, any parameters it may require, then click Finish.
1. In the Select Datum dialog box shown in Figure 19, highlight (select) User-Defined Datum. The text boxes (right column) shown in Figure 19 become accessible for modification (Figure 20). Figure 20. User-Defined Datum fields available to be defined 2. Click Finish in the Select Datum aspect of the Input Projection settings dialog box. 3. In the available text boxes, specify the values you need that describe your user-defined datum.
a is the semi-major axis, and where b is the semi-minor axis. The relationship can be described as shown in this equation. f = (a-b) / a Units for the Datum shift parameters shown in Figure 20 are meters (m) for the T values (translation parameters) and seconds of degrees (") for R values (rotation parameters). 4. Click Finish to commit your values to the system. To check your sensor geometry settings 1.
Figure 21. Boat Geometric settings dialog box Note that if the Set Default Values (from XTF Header File) box is checked, then the offsets will be read from the XTF file header. Also note that you can add a fixed layback offset if you wish to override the layback value that is stored in the XTF file.
2. Inspect the values stated in the dialog box to confirm that they are the same as shown in your notes. If they’re not, type the values in the boxes you wish to use and click OK. The Set Default Values (from XTF Header File) box initially is checked, making all text boxes inaccessible. Uncheck this box if you need to access the text boxes to change values.
are included in BathyPro), you can do so from the Select Processings dialog box (Figure 24). If the data already has been processed using Attitude Editor and Bathymetry Editor, then leave the Attitude processing and Bathymetry processing boxes unchecked. Be sure you have used the output of Bathymetry Editor as the input of BathyPro. This section describes how to provide processing parameters to the file types you have added to your project files.
Figure 23. Transducer Selection (from Select processings dialog) 3. Choose one of the three head choices and click OK to select the transducer and close the dialog box. If you only have a single head, choose Head 1or Any heads as your transducer. Any heads is the default.
Figure 24. Select processings dialog box (for XTF multibeam file) Any additional parameters you select while you are in the Select processings dialog box will be applied to the transducer you chose.
Selecting Raw Data Processings Parameters Raw data processing parameters are used with many BathyPro sessions. These parameters appear at the top of the list of available parameters in the Select processings dialog box (Figure 24).
The process is repeated for each group of three points until the end of the line. If the smoothing factor is increased, let’s say, to 4, then the process is iterated four times. Figure 25 depicts the dynamics of the smoothing method. Point2 Point4 new position of Point3 Point1 Point3 new position of Point2 Figure 25. Smoothing of navigation done by shifting points After selecting the heading source Ship Gyro, Sensor or CMG, select a suitable smoothing value for smoothing the heading.
Figure 26. Navigation Processings Settings dialog box TABLE 2. Parameter XY position Navigation Processings Settings parameters Parameter Meanings You choose an XY position setting depending on whether you wish to use the Ship position or the Sensor position from the XTF file. • • • June 2004 Ship: The Ship position should only be used in special cases. For example, when there is both a towed sensor and a hull-mounted sensor in use, choosing Ship position is appropriate.
Heading You choose a Heading setting depending on whether you wish to use the Ship Gyro, the Sensor, or the CMG (course made good) values from the XTF file. • • • • Speed Limits Ship Gyro: For most hull-mounted systems, the Ship Gyro data is required. Sensor: This is appropriate for a towed system with a heading sensor mounted in the fish. CMG: If neither the Ship Gyro nor Sensor option is available, then choose CMG (Course made good). Filter Strength: This is a single digit in the range 1-9.
Figure 27. Attitude Correction Settings dialog box In order to make useful entries here, the user needs to know something about the conditions that existed at the time the data were acquired. Factors such as a small vessel operating in rough weather, or a motion sensor with a slow update rate, might cause the default values to be too small. However, in the majority of cases the default values will be correct.
• • • • • • Suppress Beam using Angle from vertical — Put a check mark next to this parameter if you want to specify which beams, based on their angles from the vertical, will be omitted from processing. Note that this implies that the beams are being corrected using the motion sensor. Suppress Beam using Beam Number — This simply is a way of ignoring any beam that is known to be generating erroneous data.
Figure 28. Bathymetry Correction Settings dialog box Selecting Soundings Processing Parameters Soundings parameters are grouped in the Soundings Processings panel of the Select processings dialog box (Figure 24).
Gridding Soundings Clicking the Settings… button to this parameter leads to the Settings Geoencoding Type and File name dialog box (Figure 29). Figure 29. Geoencoding settings dialog box The types of geoencoding determine how BathyPro treats soundings that fall within the same cell, where the size of the cell is determined by the resolution set in Map and Projection settings.
If you choose a file name that already exists, the new data will be merged into the existing file if the projection and encoding type match. To disable this feature, choose Select… and put a check mark next to Overwrite existing image... in the Select geoencoded image output file name dialog box. • Select… : Click this button on the Settings Geoencoding Type and File name dialog box to specify the name and location of the DDS_VIF image file to be saved; then click OK to save it.
choose which units to express the Z value (in meters, US Survey Feet, Feet, Inches, or Fathoms). The saved file can be either in DXF or TXT format. Store Flagged Soundings Clicking on Settings… in the Select processings dialog for this parameter leads to a Generate Soundings File dialog box for flagged files (Figure 31). Figure 31. Store flagged soundings Use this option to save the flagged soundings to be rejected by BathyPro.
Store Hardware Bad Soundings Clicking on Settings… in the Select processings dialog for this parameter leads to a Generate Soundings File dialog box for generating a file that will contain all the soundings flagged by the sonar as being bad. The saved file can be either in DXF or TXT format. Decimation does not apply here. Figure 32.
Tide Correction Clicking the Settings… button to this parameter leads to the Tide editor dialog box (Figure 33). It gives you a way to enter a table of tidal corrections based on the time synchronized from the navigation (GPS) time. You can either type in the values in the dialog box or you can import a tide table from an ASCII file. Figure 33. Typical Tide editor dialog box To set up tide processing 1.
2. Enter a Tide height (in meters) in the top, right-hand box. 3. Click Next to continue entering tide data pairs, if more pairs are desired. The system determines the time interval based on the differences between your entered values of time (or, if you press Next without entering an additional value, the system sets the interval to five minutes). 4. From the Interpolation model combination box, choose Spline or Linear. Alternatively, you can import a table of tidal values from an ASCII text file.
Figure 34. Sample speed entries in Properties for speed of sound Speed correction values can be specified either manually or from an ASCII file. If you provide the data from an ASCII file, the file extension is SPD. The format for this kind of data is shown in Table 4.
TABLE 4. Depth (meters) SPD speed correction file format Speed of Sound (meters/second) 10.000000 1500.000000 20.000000 1510.000000 30.000000 1520.000000 40.000000 1510.000000 BathyPro will extend the Sound Velocity table to the deepest soundings. However, it is always good practice to take a sound velocity cast in the deepest section of the survey area.
Figure 35. Grid processings dialog box (for DDS_VIF Grid files) If you have enabled Gridding Soundings in the Select Processing dialog box, BathyPro makes available four more processing choices in the Processings on Gridded Data panel: • Fill Gaps filter • Smooth filter • Isocurves extraction • Generate soundings chart The fill gaps filter will reduce or remove any gaps in the data. Without modifying any existing values, the smoothing filter will actually modify the data, producing a smoother DTM.
Figure 36. Fill Filter Settings dialog box In this dialog box you have four entities you can influence here: • • • • Median Filter — A median filter requires that there be a minimum number of neighboring cells containing accepted data within the selected filter dimensions. The function then calculates a value for the empty cell based on the median value of those cells.
Smooth Filter Clicking the Settings… button to this parameter leads to the Smooth Filter Settings dialog box (Figure 37). The effect of this process is to apply a low pass filter to the DTM, removing spikes and bumps. If you know that the area you are surveying really does contain bumps or peaks, you should use this process with care. Figure 36 shows the dialog box. Figure 37.
Isocurves Extraction Clicking the Settings… button to this parameter leads to the Isocurves settings dialog box (Figure 38). This dialog box allows you to set the contour (isocurve) spacing, to select the name and location of the DXF file containing the contours, and to adjust the amount of smoothing that is applied to the contours. Figure 38.
• • Processing Settings — You can select the isocurve interval and the maximum number of curves between two curves. The latter parameter prevents unreadable numbers of curves in areas of high relief. Isocurves output file — You can choose a different name and location for the DXF file that will contain the isocurve data. (The default directory is \Windows\Temp for the current drive.) Use the Select… button to make any desired changes to file’s name and/or location.
Saving to each (or all) of those file types is not automatic; you have to specify parameters for processing, with corresponding file names to hold the processed data, before processing will be saved to DDS_VIF, DXF, or XYZ formats. completed, you get a DDS_VIF (generating a DTM), and also contour and soundings files, if selected. An ASCII sounding file can also be created in the process. Figure 40.
BathyPro processes your XTF file(s). 2. From the main menu, choose Project → Save. BathyPro saves your project file having the same file name as your XTF file but having a file extension of DTM. 3. From the main menu, choose Project → Exit. BathyPro exits. The file you saved can be reopened whenever you choose — perhaps, for instance, if you decide later to work some more on that project (adding, deleting, reprocessing files, etc.).
Figure 41. Settings Volume Computation Parameters dialog box The Select buttons for Primary Surface Image and Secondary Surface Image shown in the dialog box of Figure 41 lead to their own Open dialog boxes where you can specify a geoencoded DDS_VIF file as input. 2. For each of the image types, click Select and specify a DDS_VIF file to use and click OK. When you specify a DDS_VIF file for the Volume Image parameter, the system displays a Save button instead of an OK button. 3.
BathyPro computes the volume. As it does so, status messages appear in the main status window of the application (Figure 43) and also in a separate child window called Volume Computation Results (Figure 42). Figure 42. Typical Volume Computation Results window The Volume Computation Results window acts as a temporary log file.
Figure 43. Volume successfully computed sample status 6. Dismiss the Volume Computation Results window by clicking OK at the bottom or the X in the upper right corner. 7. From the main menu, choose Volume. The last entry in that menu now says Stop Compute Volume instead of Compute Volume. 8. Click Stop Compute Volume when processing completes as shown in the Status window. You now can do another volume computation, do additional BathyPro processing, or exit.
Chapter 5: Real Time BathyPro Real-time BathyPro is a software module that generates a digital terrain mosaic (DTM) “on the fly” from multibeam bathymetry as it is being recorded or played back. The mosaic begins as a process launched from Isis. Behind the scenes, BathyPro then creates the mosaic, which DelphMap then displays. Because the resulting mosaic is a DDS_VIF file, it can be manipulated and further enhanced in DelphMap. Creating a Real-Time Digital Terrain Mosaic You must have Isis version 5.
Figure 44.
your current imagery file with the DTM (or have the program output the DTM to a new file). To specify DTM settings 1. In the Bathypro Real Time dialog box (Figure 44) click Settings… next to the DTM file entity. The system displays the Settings geoencoding Type and File name dialog box (Figure 45). Figure 45. Settings Geoencoding Type and File name dialog box This is the same dialog box used to set up gridding soundings.
Figure 46. Select geoencoded image output file name dialog box 4. Specify your DDS_VIF file name to contain the DTM and click Save. The system reserves your specified file name to hold the DTM that you will create, dismisses the “Select geoencoded image output file name” dialog box, and returns focus to the “Settings geoencoding Type and File name” dialog box. 5. In the “Settings geoencoding Type and File name” dialog box click OK.
Figure 47. Typical map and projection settings 2. In the North-West Origin in Input Projection Coordinate Units portion of the “Map and Projection settings” dialog box: a. Uncheck the Set Default Limit box to make the Boundaries portion of the dialog box accessible. b. In the Boundaries portion of the dialog box specify east-west and north-south distances large enough to cover the area to be mosaicked.
3. In the North-West Origin in Input Projection Coordinate Units portion of the “Map and Projection settings” dialog box, specify valid latitude and longitude values for the DTM data to be made. 4. Similarly, in the Output Projection portion of the “Map and Projection settings” dialog box, check to see that values listed there are correct for your data. Especially check to see that your zone number is correct for the longitude settings you specified and to verify the proper hemisphere as north or south.
Figure 49. Datum selected for output projection The system returns focus to the “Bathypro Real Time” dialog box. 6. In the “Bathypro Real Time” dialog box click START to have DelphMap render the line being recorded or played back as a DTM. If you are working in real time, then you must be writing a file in Isis. An XTF file must exist at the time this happening, either in real time or as a file being played back.
7. If you had paused the playback in Isis prior to clicking START, unpause the playback in Isis so that DelphMap can render the image. 8. If you are playing back a file in Isis, choose the next line from your data set to be played back; as each line finishes, choose successive lines until all lines have been played back. Figure 50 shows a typical, completed digital terrain model rendered in DelphMap. Figure 50.
CHAPTER 6: Processing Single-Beam Data Unlike the earlier chapters in this book which dealt with processing multibeam data in BathyPro, this chapter is limited to a discussion of how to process singlebeam data. Starting with BathyPro version 1.00.028, BathyPro now has the ability to process single-beam echo sounder data recorded in an XTF file. Single-beam data should be recorded in one or more of the auxiliary data channels (AUX 1 to AUX6).
2. Right-click on the Project Files folder and select Add XTF files (Auxiliary Channel)… from the drop-down menu. 3. Browse to the folder containing the files you want to process. 4. Select the file(s) and click Open. BathyPro reports: Project initialization. Please wait… followed by Project Initialization successful. 5. Set up Project Settings in the normal way (‘Providing Project Settings to BathyPro'). 6. In the Menu Bar click Bathy Processing → Select Processings…. 7.
Adding to TIN model data from: d:\cogc\ogccsamp.xtf 36 beams have been stored Beginning Convert TIN Model To DTM DTM successfully created Finished processing project 04:04:03 January 19, 2000 This is a log for a single line. For a valid TIN (Triangular Irregular Network) model to be calculated, a minimum of three adjacent lines would need to be processed. At this point a DDS_VIF file containing the TIN model has been created.
Figure 51. Single Beam Edit program dialog box 2. Click File → Load and browse to get the file containing the data. The file opens in the top window of the Single Beam program. 3. Click Settings and select the auxiliary channel(s) to be edited. A maximum of two channels in one XTF file can be processed. 4. At the bottom of each channel box is a box where you should enter the maximum variation from the mean that you will accept in the data.
variation value, right-click on the file name, and click Edit. The new settings will be reflected in the blue lines. 8. Moving your pointer along the displayed data displays the actual value of the data at each point; right-clicking on the display cancels the point; leftclicking again restores the point. The eight buttons along the bottom of the screen are replay controls. In order, they are: Go to Start, Fast Reverse, Reverse, Stop, Forward, Fast Forward. 9. Press the Forward button.
or position. Accurate values are critical in order to process multibeam data correctly. To confirm alignment of the IMU sensor with the sonar transducer and to verify delay times applied to the time-tagged sensor data, a patch test needs to be conducted.
Figure 52. Typical offsets for navigation receptors on a vessel Prior to system calibration, all sensors will need to be accurately measured from a reference point (Figure 52). In theory, the reference point can be anywhere on the vessel, but usually it is defined at the sonar head. Using the sonar head as the center of a coordinate system, measure all offsets relative to the head. Use the water line as a 0 point in the Z plane, with positive values below the waterline.
needed, you have an option to use the default values from Isis (from the XTF file) or to enter new values in the *.GEO file of BathyPro. Consider the following vectors shown in Figure 53 as an aid to setting up your Patch Test area. Roll alignment is determined by running reciprocal lines 200 to 300 meters long over a flat bottom, in the deepest part of the survey area (line A – B).
Figure 53. Two ways of visualizing Patch Test lines to be done To do the roll test (per Figure 53) • In a flat, deep section of the Patch Test area, run line A to B and then B to A at a constant survey speed (for example, 4 knots). To do the latency test (per Figure 53) • Run line C to D slowly (2 knots) and then quickly (6 knots). Both runs must be done in the same direction. To do the pitch test (per Figure 53) • Run line C to D and then D to C, both at a constant survey speed.
Implementing Your Test Approach After you have acquired the data over your Patch Test area, you are ready to use the BathyPro Patch Test tool. The Patch Test program can be used to derive roll, latency, pitch, and yaw offsets that can be applied during data acquisition and processing. BathyPro Patch Test You perform the patch test on each of four parameters: Roll, Latency, Pitch, Yaw. The test should be conducted in that order, one parameter at a time. To do a Patch Test in BathyPro 1.
The system does some processing and displays the message Project initialization Successful in the right-hand window. 3. Click on Project Settings → Map and Projection settings…. Verify that the displayed projection settings are correct; if need be, modify them and click OK when you are satisfied that all parameters are correct. Default settings are those stored in the XTF file header. 4. Click on Project Settings → Sensor geometry settings….
Navigation processing Check XY position (ship or sensor). Enter filter strength. Check heading (gyro, sensor, CMG). Enter filter strength. Enter ship min/max Attitude processing (optional) Enter maximum threshold. Bathymetry processing (optional) Select sonar settings for beam quality, slant range and swath angle, depth filter and gradient filter. When you have completed the above three items, click OK (not the Process button). Figure 55.
6. Click OK in the Select processing dialog box. 7. From BathyPro’s main menu, choose Patch Test →Roll, Pitch, Yaw, Latency with Multibeam Data. The system displays the Patch Test dialog box with these mutually exclusive choices: Roll, Latency, Pitch, and Yaw (Figure 56). Figure 56. Patch Test and Channel Selection dialog box 8. Starting with Roll as your first attitude parameter to be tested, click RUN. The system displays the Select patch test line 1 dialog box, with Process All checked. 9.
Figure 57. Example of a roll test completed during a patch test 11. In the Patch Test dialog box: a. Click the Patch Area button, then use your trackball to draw a small rectangle in an appropriate area of the GIS image. This area will be used to derive the offset values for the appropriate test and can be changed by selecting a new area. In general, outer beams should be selected for roll and yaw tests, and nadir beams should be used for latency and pitch tests.
c. After the first iteration, narrow the range and decrease the step to get finer resolution of offsets. 12. The effect of the computed offset value on the data can be examined prior to saving the value. Enter the computed number into the Offset Value field adjacent to the GIS window and click on the Apply button. The data in the adjacent window will be corrected for this offset, whereas the other window will show uncorrected data. 13.
Figure 58. Location of updated fields in Boat Geometry dialog box after completing a Patch Test A log should be kept when collecting data for the patch test (example form shown in Table 5). It is important to track any deviations of the results over time, to ensure no changes or damage to the mount have been introduced.
TABLE 5. Patch test results, cumulatively tracked over time Time File Name Heading Speed Patch Test Segment Run Number 1345 198-1345 320 4.2 ROLL 1 1352 198-1352 140 4.1 ROLL 1 1356 198-1356 320 4.1 ROLL 2 1401 198-1401 140 4.1 ROLL 2 1405 198-1405 277 4.1 PITCH 1 1409 198-1409 106 4.2 PITCH 1 1417 198-1417 277 4.
The system computes a hyperbola from the paired contact and XTF files. From this, the system builds a record of numerical latency from the set of generated hyperbolas. You need at least two CON/XTF pairs to generate a latency number (in milliseconds). The more CON/XTF pairs you have, the more accurate the latency output. To do a latency test using sidescan sonar data (per Figure 53) 1. From BathyPro’s main menu, choose Patch Test → Latency with SideScan Imagery Data.
If a contact file already has the same primary name as the XTF file and the CON/XTF pair reside in the same directory, the system properly pairs them for processing. It’s a good idea to select (highlight) all applicable contact files at one time for processing. That way, the system can determine the best order to process the files. This speeds up the processing.
the main output Figure 60. Example of a finished latency test for 8 CON/XTF pairs As each pair of CON/XTF files is processed, the latency number gains accuracy. The effect of this converging accuracy can be observed in the two windows to the right of the Processed files window. In both windows, the referenced target (the subject of the most recently generated hyperbola) is symbolized by a blue box with a red or green x in it.
should be “reasonable” in the sense that it should be small enough to be believable. As a rule of thumb, if you get a number larger than, say, 5000 ms (5 seconds), then your latency value probably lacks credibility. You may want to check your offsets and rerun the patch test to see if you can generate a more believable latency value. The most critical offset is the along-track translation offset between the antenna and the transducer position.
To change detection settings 1. Click Detection Settings in the Geometry and Detection Settings dialog box. The system displays the Detection Settings dialog box (Figure 62). Figure 62. Detection Settings dialog box The enabled default is Automatic, which means you will allow BathyPro to detect all echoes (major, distinct sonar returns). If you accept the default, you are making no change in the detection settings. 2.
To change geometry settings 1. Click Geometry Settings in the Geometry and Detection Settings dialog box. The system displays the Boat Geometric settings dialog box. Refer to Figure 21 for the settings that control this aspect of the program. 2. Click OK to allow these changes to influence the hyperbola processing. To change navigation settings 1. Click Navigation Settings in the Geometry and Detection Settings dialog box. The system displays the Navigation Processing Settings dialog box.
