Multibeam Echo Sounders-IMU Automatic Boresight Calibration on Natural Surfaces |
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Authors: | Nicolas Seube Rabine Keyetieu |
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Institution: | 1. CIDCO, Rimouski, Quebec, Canadanicolas.seube@cidco.ca;3. CIDCO France, Brest, France |
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Abstract: | ABSTRACTThis paper details a new boresight calibration method for multibeam echo sounder systems This method is based on an automatic data selection algorithm, followed by a boresight least squares adjustment This method, called MIBAC (MultiBeam-IMU Boresight Automatic Calibration), takes in input overlapping survey strips following a simple line pattern over a regular slope. We first construct a boresight error observability criterion, used to select automatically the most sensitive soundings to boresight errors. From these soundings, we perform a 3D adjustment of the boresight angle, thus taking into account the coupling between angles. From a statistical analysis of the adjustment results, we derive the boresight angle precision. Numerical results obtained with four different multibeam echo sounder systems are presented and compared to those of a patch test calibration method. Finally, we demonstrate the performances of MIBAC through a standard deviation along the surface normal approach computed by principal component analysis. |
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Keywords: | Boresight calibration inertial measurement system multibeam echo sounder |
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