Front Page

Page 1 of 2

Starfix.MBECalib

Multibeam Calibration Module

Software Version 1.03.02. / 20 March 2002

Help Version 24 March 2002
(c) Copyright 2001

Revision History

The master version of this Help is controlled under the Fugro Development Group Central Version Management System at :-

Software Version

Date

Description

1.01.01

20 Sept 200

Initial version

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhB5B8.htm

7/29/2007

Front Page

Page 2 of 2

06 Dec 2000

Next Revision

1.02.12

21 Sept 2001

Next Revision

1.4.0

23 Nov 2001

Automatic Calibration Included

1.03.02

20 Mar 2002

Data selection and Cast Included

Copyright

The copyright in this document is the property of Fugro, who supplies this document on the express terms that it is to be treated
in confidence and it may not be copied, used, or disclosed to others except as authorized in writing by Fugro.

Conditions of Use
Although Fugro has taken due care in the preparation of this documentation and the associated software, no responsibility is
accepted for the use or reliability of either. Due to the continuing development nature of these systems, information in this
documentation is subject to periodic updates without notice and does not represent a commitment on the part of Fugro.
WARNING: This help is supplied as is to Fugro operating companies worldwide. If they see fit to edit the electronic form
of this without prior approval from the originator, then any responsibility for statements in this document is cancelled.
The only exception is for repagination requirements when using other than A4 paper to print this.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhB5B8.htm

7/29/2007

Introduction

Page 1 of 6

Introduction

Introduction
When the MBE, motion sensor and gyro are installed on a vessel, there is always going to be some residual misalignment between the
sensors. During survey operations the MBE data, with appropriate offset corrections, needs to be relative to true vertical. Any deviations in
roll will translate to depth measurement errors in the outer beams, increasing with beam angle. Deviations on pitch will result in along track
position errors.
Similarly yaw offsets between the planes of the MBE transmit beam and the alignment of the vessel reported by the gyro will result in
position errors on the soundings from the outer beams. These errors will increase both with beam angle off nadir and water depth.
If the data collection system is not synchronized to GPS time, it is also necessary to determine the latency of the positioning system. The
difference in time from the moment when a position is valid until the position message is sent to the data collection system must be
determined. Commonly used DGPS receivers have latencies ranging from 200 milliseconds to over one second. If the data collection system
does not correct for this latency, the result is a speed dependent position error in the data.
The purpose of the calibration tool is to allow the user to efficiently analyze swath alignment error and to produce calibration values that can
be used by other processing software to produce properly corrected bathymetric surfaces. The calibration will not include rapid time varying
corrections, but systematic static offsets in the attitude sensors. It is therefore not the MBE that is calibrated, but rather the sensors that give
input to the MBE (Gyro, roll, pitch, heave etc.).
The latency, pitch, roll and yaw offsets can be determined by collecting and processing some defined data sets. These data sets are selected to
isolate and let the system quantify the discrete errors.

Calibration
The key feature of this calibration tool will be the ability to use several uncalibrated, overlapping and/or crossing bathymetric swaths to define
the general shape of the sea floor and to use a cross-section from these swaths to quickly judge the effects of various calibration adjustments.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

7/29/2007

Introduction

Page 2 of 6

Calibration Data Acquisition.

The calibration can be done with any data set with overlapping data. However, the proper calibration should be done by running a number of
calibration lines for that purpose only. These lines must be stored separately and marked clearly.
The way the lines are run is essential for a good calibration result. The lines should be run at the beginning of the survey to check that the
correction values in use are okay. The calibration lines should also be run again in the latter half of the survey, these lines do not have to be
processed for correction values onboard, but are available as a final check during the post processing. The data set (correction values and time
of change) should be noted if calibration values are entered into the MBE during the survey, so that the post processors can see when, and to
what, the calibration values were changed.

Latency
Latency Measurement
For position latency determination, a survey line should be set over a well-defined feature, such as a rock outcrop, pipeline or a significant
slope. If a slope is used, it should be as straight as possible across track, and at least a 10% gradient. The line should be run twice in the same
direction, once at the slowest possible speed and once at the highest speed consistent with good data from the MBE. Latency offset will
appear as a feature position offset (or contour shift for a slope) along track between the processed data sets.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

7/29/2007

Introduction

Page 3 of 6

Pitch

Pitch Error Measurement

Find a steep slope with little variation in the horizontal planes. This means that the slope is steep in a profile along the line, but as flat as
possible in a profile normal to the line at any point in the slope. This ideal situation is not easy to find, but the most important factor is to have
a homogeneous steep slope underneath the vessel. Run the two lines at the same speed in the opposite direction.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

7/29/2007

Introduction

Page 4 of 6

Roll

Roll Error Measurement

To determine the roll offset, a survey line should be defined in an area with a flat and featureless seabed. Two sets of data should be collected
from the line, one in each direction. If the motion and position corrected data sets are viewed in cross section, a roll offset will result in the
data sets matching at nadir, but diverging with increasing beam angle off nadir.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

7/29/2007

Introduction

Page 5 of 6

Heading

Heading (Yaw) Error Measurement

Yaw offset can be determined by running two parallel lines over a feature with different off-track distances or even better: once passing the
feature at Port, once at Starboard, or normal to a slope. These lines should be run in the same direction, at the same speed. The position or
contour offsets from the overlapping data between the two lines can be used to determine the yaw installation offset.
In all cases, since the magnitude of the errors increases with water depth, the calibration should be run at the greatest depths where suitable
terrain and features can be found.

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

7/29/2007

Introduction

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhF03.htm

Page 6 of 6

7/29/2007

Introduction

Page 1 of 2

Introduction

Before the Calibration program is started, one should be aware of all the relevant NEL settings in Starfix.Proc.
The MBECalib program works with NON-processed Multibeam data. At the moment data is loaded for calibration purposes, the program will
read all relevant Starfix.Proc NEL settings and will apply the defined processing parameters to the selected data in the MBECalib program.
Relevant NEL records which need to exist (Mandatory) to run the MBECalib program are (In Starfix.Proc display order).

Optional
Mandatory
Optional

Mandatory

Mandatory
Optional
Mandatory

Mandatory
Mandatory

DRAFT SYSTEMS
VessselDraft
To find the draft settings for the Multibeam system
HEADING SYSTEMS
HeadingDevice
To select the correct Vessel & Heading device name
HEAVE SYSTEMS
HeaveDevice
To select the correct Vessel & Heave device name
MULTIBEAM SYSTEMS
To select the correct Vessel & MBE device name. Pitch, Roll & Heading misalignments
MBEDevice
will be add as soon as the values are obtained with MBECalib.
To select the correct Vessel & MBE device name. One need to enable/disable the relevant
devices which need to be used for processing purposes (Heave, Pitch, Roll et.). If the
MBEProc
dataset need to be corrected for refraction, the choice need can be made between SVP &
CAST3D.
MBETrace2D
To find the 2D Trace setting at the time of importing data in MBECalib
PITCH/ROLL SYSTEMS
PitchRollDevice
To select the correct Vessel, Pitch & Roll device name
POSITIONING SYSTEMS
To select the correct Vessel & Position device name. Latency misalignment will be add to
PositionDevice
the Latency field as soon the Latency is calibrated in MBECalib
PositionOffset
To read the offsets of the PositionDevice to be used

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhAA1A.htm

7/29/2007

Introduction

Optional
Optional
Optional
Optional
Optional
Optional
Mandatory

Page 2 of 2

SOUNDER SYSTEMS
SounderDevice
To select the correct Vessel & Sounder device name
SQUAT SYSTEMS
VesselSquat
To select the correct Vessel & SquatFileName
SUBSEA SYSTEMS
SubSeaDepthDevice
To select the correct Vessel & SubSeaDepth device name
TIDAL DATA
TideStation
To read the files with Tidal data to be used
VELOCITY SYSTEMS
VelocityReference
To read the correct VelocityFileName
CastReference
To read the correct CastFileName
GENERAL PROJECT SETTINGS
Geodesy Reference
To select the Geodesy file to be used

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hhAA1A.htm

7/29/2007

Page 1 of 27

MBE Calibration Start

Start-up the MBECalib program from the Fugro Control menu, Windows Start menu or double-click the executable which can be found in
\Fugro\Starfix\MultiBeam\mbecalib.exe
Fugro Control Menu

Windows Start Menu

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 2 of 27

Select a Project

Once started the MBECalibration program, the MBE Calibration GUI (Graphical User Interface) will be displayed on screen. A description of
the Menu Items and Toolbar buttons can be found here

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 3 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 4 of 27

The MBECalib program will start up at the current project of Starfix.Proc. A different project could be selected by File =>Select Project
from the Menu Items. A message window is shown and a project can be selected.

If the project, you want to calibrate, is not available in the project list, you need to go to Starfix.Proc first to create a new or add an existing
project.
When the project is selected, one need to select the data to be used for calibration purposes.

Data for Calibration

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 5 of 27

One can select the data to be used for calibration by either pressing the

button or File => Open.

The next window will be shown to select the data.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 6 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 7 of 27

In the "Available" window, all logging sessions are displayed from the current project. One can select the lines, to be used for calibration
purposes, with the selection arrow. If a mistake is made, one can de-select a line by using the de-selection arrow. As soon as the correct lines
are selected, press the "Next" button to see the NEL information of the selected data.

NEL Info

Once the lines for calibration are selected and the "Next" button is pressed, the next window will be shown.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 8 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 9 of 27

In this window, all selected items from the Starfix.Proc NEL: file is show. In this case, no SubSeaDepth Device is selected in the MBEProc
NEL. If a SubSeaDepth was selected, it would not only be visible in the SubSeaDepth list, but also the MBE type would have been ROV
instead of Hull mounted. If the settings are correct, one need to press the "Next" button to do the POS file ceck.

POS File Check

When the settings of the NEL info are correct, one can check the data input in the next window.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 10 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 11 of 27

In this window, one can check if the input POS files are processed or not. The user will be prompted with the message "Processed" or "Raw".
It is recommended to process (Despike, C-O corrections etc.) all input POS files except MBE first, before they are used as the input for the
Multibeam calibration. Once the check is done, one need to press the "Next" button to Load the lines which will be used for calibration.

Load Lines

When the input POS files are processed and all settings are OK, the data can be loaded for the items to be calibrated. The user will be
prompted with the lines selected for loading. If the user is not satisfied with the selected lines, one can select to go back by pressing the
"Back" botton till the "Project" window is visible and different lines could be selected.
If these are the lines we want to use, press the "Finish" button and the data will be loaded and one can start with the Line Selection for the
different calibration purposes.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 12 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 13 of 27

Line Selection

To make sure that the correct areas will be selected for the different calibration purpose, one need to know ho to do this for: Latency, Pitch,
Roll and Heading
An indication of the seabed structure can be obtained by creating a Longitudinal or Cross Profile over the data set. With the (Slice Profile)
button on the lower right of the GUI, an area can be defined to see the data in Profile View. The profile area is highlighted in the data set and
can be moved throughout the Plan View and will be updated in the Profile View at the same time. The Slice can be configured in 2 or 3 point
mode. In 2-point mode, a line could be selected with a selectable width. In 3-point mode an area can be defined. If the selection is in 3-point
mode and another area need to be defined, one need to delete the slice first with the button, before a new one can be defined.
In the image below, a profile is presented of the (Blue line) selected area.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 14 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 15 of 27

A steep slope is visible in the Profile View, which could be used for the calibration of Latency, Pitch and Heading. For the Roll calibration, a
flat seabed need to be found.
The buttons

need to be used to define the calibration area for Latency, Pitch, Roll and Heave respectively.

By activating one of these buttons, an area can be selected by a slice (define start point by a left mouse click and keep the mouse button down
till the end point is defined). The slice defines the start and end scan of all the line selected and will be displayed in a single color.

In this example, an area for Latency is selected to calibrate. Once the program is finished with the data selection, used for the Latency
calibration, the next GUI will be displayed

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 16 of 27

The Compass View in this GUI represents the average speed and average heading of the selected area per line. The speed differences are
defined by different line lengths whilst the heading is displayed by the absolute angle in the compass. By moving the cursor in the compass,
speed and heading will be displayed.
The program will highlight the best possible option based on the Set Criteria

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

button. If the user do not agree with this solution,

7/29/2007

Page 17 of 27

one can set different Criteria or just select another selection of lines. When the user agree with the selected lines, press the
and the lines to calibrate for Latency will be copied to the Legend of the Multibeam Calibration GUI.

button

The same exercise need to be done for Pitch, Roll and Heading and could be checked if a pair of lines is available in the Legend (Not
specified will disappear). Once all parameters are selected, the Automatic Calibration

button can be activated.

Automatic Calibration

When the lines for Calibration are selected, one will see the next GUI on screen

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 18 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 19 of 27

In the legend, the lines used for Latency, Pitch and Roll calibration are displayed. In this case, lines for Heading calibration are not defined.
In the "Recalc Parameters" window, the values for Latency, Pitch, Roll and Heading are read from the next Starfix.Proc NEL records.
PositionDevice NEL

Latency

MBEDevice NEL

Pitch
Roll
Heading

The Automatic Calibration program can only be activated by pressing the Automatic Calibration
available in the Legend of the Multibeam Calibration GUI.

button, if at least one pair of lines is

When Automatic Calibration is activated, a new GUI will appear containing 3 Tabs:
z

Data Fine Tune

Semi Automatic Calibration

Full Automatic Calibration

Data Fine Tune

At the Line Selection stage, a pair of lines is selected for calibration purposes. Because this is a rough selection, one can select the data set of
the selected lines more accurate in the Data Fine Tune tab. The data, used for calibration, is visualised as a Top View and as a Profile per line.
In this case, Latency is chosen as the item to calibrate. The area chosen at the Line Selection stage are visualised as transparent colors, whilst
the Fine Tune points are displayed as normal colors.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 20 of 27

In the Parameter window , one can select the item for Fine Tuning in the pull-down menu. Once the item is selected, the next characteristics
are displayed of the lines to calibrate: Heading, Speed, Number of Points and the Surface of the Area.
The area to calibrate can be changed by moving the "Scans" or "Beams" sliders . The Scan numbers are represented above the slider and will
change if the slider is moved. The same occurs for the Beam sliders. At the same moment as the number of Scans or Beams are changed, the
values in Number of Points and the Area (m^2) are changed and the two profiles are updated.
When the final selection is made, one is ready to do the actual calibration by using on of the two options:
z

Semi Automatic Calibration

Full Automatic Calibration

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 21 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 22 of 27

Semi Automatic Calibration

When the Semi Automatic Calibration mode is activated, the Current value in the Parameter window is read from the Starfix.Proc
PositionDevice.NEL (Latency) and MBEDevice.NEL (Pitch, Roll & Heading) files The Current value, From and To are displayed in the
pertinent Units . In this example, only data for Latency calibration is available. If at the Line Selection stage, data for Latency, Pitch, Roll and
Heading is selected, these could be selected as well for calibration purposes (green highlight is the item to calibrate).
The program default is using 11 Steps multiplied by the Stepsize and centered around the Current value. In the table next, an example is given
for all available Stepsizes, Current value 0 and 11 Steps.
Stepsize
1.000
0.500
0.250
0.100
0.050
0.025
0.010

Current
value
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000
0.0000

From

To

-5.0000
-2.5000
-1.2500
-0.5000
-0.2500
-0.1250
-0.0500

5.0000
2.5000
1.2500
0.5000
0.2500
0.1250
0.0500

An appropriate profile of the two calibration lines will be drawn. Parameters to calibrate can be selected.A start value (From), end value (To)
and Stepsize can be selected. The step size has to be chosen from a fixed drop down list, ranging from 1.0 to 0.01. As an original default, 11
steps should be chosen. The initial Stepsize will depend on the parameter and the current value. The start and end value is calculated based on
the current value being the center of the range. Start and End value is rounded to the step size. When the loop is activated by the
button, the program will recalculate the data based upon the values from start to end, incremented by the step size. For each
value it will calculate (and display ) an error value.After each calculation step, the display will be updated to show the calculated lines for the
current parameter.A list will show all the calculated values and its error value. The entry with the minimum value will be highlighted.
Parameter values resulting in too little overlap (with respect to the minimal required overlap) are ignored.When the calculation process is

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 23 of 27

finished or aborted half way, the parameter value that resulted in the smallest error is passed to the Current Value box. This will only be
done if a minimum in the data can be found. Otherwise, the original settings will stay. If the minimum was a so-called valley minimum ,
the step size is automatically decreased to the next value. In the graphics view, the calibration lines will be drawn using this minimum value.
When all items are calibrated and one is satisfied with the results, quit the program by pressing
. The values from the Current
Value box will be copied to the Recalc Parameter box and all data in the Plan View and the Profile View of the Multibeam Calibration GUI
will be re-calculated with the appropriate corrections.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 24 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 25 of 27

Full Automatic Calibration

An appropriate profile of the two calibration lines is drawn. All the parameters that have to be calibrated can be selected. The program will
iterative try to find the optimum value for the parameter based on an error between the two datasets.If the first configured parameter is done,
the second etc is calculated, using the value (Estimate) found in the previous step. The Full Automatic Calibration program will calibrate the
data in order of Latency, Pitch, Roll and Heading. After the last step, one should not forget to "Apply" the "Estimate" to "Current" before the
program is stopped.
When all items are calibrated and one is satisfied with the results, quit the program by pressing
. The values from the Current
Value box will be copied to the Recalc Parameter box and all data in the Plan View and the Profile View of the Multibeam Calibration GUI
will be re-calculated with the appropriate corrections.

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 26 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Page 27 of 27

file://C:\DOCUME~1\kmorris\LOCALS~1\Temp\2O6ECGYV.htm

7/29/2007

Select a Project Menu&Toolbar

Page 1 of 4

Menu Items & Toolbar Buttons

Menu Items & Toolbar Buttons at the Project Selection stage

Menu Item
File

Sub Menu Item

Select Project
Open
Reload Nel
Exit

Shortcut
Ctrl+S
Ctrl+O
Ctrl+X

Remark
Select a project from the Starfix.Proc database
Starts-up the Data for Calibration GUI
Reloading the NEL file, if settings are changed in Starfix.Proc NEL file
Quit the MBE Calibration program

View

Status Bar

Show or Hide Status Bar at the bottom side of the GUI

Tools

Preferences

En/Disable loading contours at the moment data is loaded. It is recommended to

switch contours off. (time consuming)

Help

About MBECalib
Help Topics
Hot Keys

Application Version, Copyright etc.

Help file for MBE Calibration program
Summary of all Hot Keys available for MBE Calibration

Toolbar Buttons

Remark
Starts-up the Data for Calibration GUI
Help file for MBE Calibration program

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hh6E74.htm

7/29/2007

Select a Project Menu&Toolbar

Page 2 of 4

Back

Menu Items & Toolbar Buttons when data is loaded

Menu Item
File

Sub Menu Item

Open
Close All
Save Nel
Reload All
Exit

View

Status Bar

Tools

Auto Calib
Single Beam
Loading
Report
Preferences

Window

Shortcut
Ctrl+O

Ctrl+X

Remark
Starts-up the Data for Calibration GUI
Closing the Selected (Active) Project
Will save the calibration results in PositioDevice.NEL and MBEDevice.NEL
Reloading all selected POS files
Quit the MBE Calibration program
Show or Hide Status Bar at the bottom side of the GUI

Ctrl+A
Ctrl+B

Starts-up the Automatic Calibration program

Start-up a GUI to select Single Beam Echosounder data

Ctrl+R
Ctrl+P

Create a Report file with the MBECalib results, inclusive images

En/Disable loading contours at the moment data is loaded. It is recommended to
switch contours off. (time consuming)

New
Cascade
Tile

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hh6E74.htm

7/29/2007

Select a Project Menu&Toolbar

Page 3 of 4

Arrange Icons
Help

About MBECalib
Help Topics
Hot Keys

Toolbar Buttons

Application Version, Copyright etc.

Help file for MBE Calibration program
Summary of all Hot Keys available for MBE Calibration
Remark
Starts-up the Data for Calibration GUI
Here, one can set the Display preferences for the MBECalib program
Arrange/Tile Windows
Help file for MBE Calibration program
Starts-up the Automatic Calibration program
Create a Report file with the MBECalib results, inclusive images

Back

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hh6E74.htm

7/29/2007

Select a Project Menu&Toolbar

file://C:\Documents and Settings\kmorris\Local Settings\Temp\~hh6E74.htm

Page 4 of 4

7/29/2007