Data Selection for Automatic of Multibeam Echo Sounder to Inertial Measurement Unit Boresight Angles

摘要

The automatic calibration method described in this essay provides an integrated framework for performing a reliable and objective estimation and assessment of lever-arms and boresight angles. This method, based on the estimation of calibration parameters through the resolution of observation equations, is able to deliver boresight and lever-arm estimates as well as their precision. The use of such a method should save a significant amount of survey time at sea, and will provide objective estimates of the calibration parameters precision. In this sense, the method incorporates the calibration procedure and the calibration report, for survey quality control purposes. The results of the automatic procedure may not be very different from those obtained from a patch test under very good conditions by experienced hydrographers. However, the automatic method's most significant added value is that it provides quality control parameters, i.e., the precision of the estimated boresight and lever-arm estimates. Automatic boresight calibration methods are like other calibration methods: sensitive to the data selection used for the estimation procedure. This essay focused on this problem and provided an appropriate method based on an observability criterion of the boresight effect on surface elements. The application of such data selection process is an important component of boresight calibration methods, which play a key role in reducing the size of the optimization problem of boresight estimation.