MB-System Unix Manual Page: mbhysweeppreprocess

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    mbhysweeppreprocess
    Section:  MB-System 5.0  (1)
    Updated:  3 June 2013
    Index

    NAME

    mbhysweeppreprocess - performs preprocessing of multibeam data
    in the Hysweep HSX format (MBIO format 201).

    VERSION

    Version 5.0

    SYNOPSIS

    mbhysweeppreprocess
    [-Aoffsettype/x/y/z/t -Brollbias/pitchbias/headingbias
    -Dsonardepthfile -Idatalist
    -Jprojection  -L
    -Mnavformat -Nnavfile
    -Ttimelag
    -H -V]

    DESCRIPTION

    mbhysweeppreprocess reads a Hysweep HSX (format 201) file, interpolates the
    asynchronous navigation and attitude onto the multibeam data,
    and writes a new HSX file with that information correctly embedded
    in the multibeam data. The user must specify a projection for the easting-northing
    navigation used in HSX files. This program can also fix various problems
    with multibeam data, and allows for lever arm correction of offsets between the
    sonar, the motion sensor, and the positioning sensor (provided the navigation
    and attitude data included in the HSX file are uncorrected for sensor offsets)..

    AUTHORSHIP

    David W. Caress (caress@mbari.org)

      Monterey Bay Aquarium Research Institute

    Dale N. Chayes (dale@ldeo.columbia.edu)

      Lamont-Doherty Earth Observatory

    OPTIONS

    -A

    type/offsetx/offsety/offsetz/offsett

    This option sets the spatial and time offset for a sensor relative to a reference
    point on the survey platform (by convention usually close to the center of mass and rotation).
    If type = 1, the offsets pertain to the survey sonar. If type = 2, the offsets
    pertain to the source of the attitude data, usually an MRU or INS. If type = 3, the
    offsets pertain to the source of the position or navigation data. The time offsets are
    referenced against the sonar data, thus the sonar time offset will usually be zero. If any
    of these offsets are defined, then mbhysweeppreprocess will use lever arm calculations
    to determine the x, y, and z offsets associated with the platform attitude for each ping, and
    add those to the sonar navigation and depth values.
    -B

    rollbias/pitchbias/headingbias

    This option sets roll, pitch, and heading bias values to be applied before merging the attitude
    and heading data with the sonar data while calculating bathymetry.
    -D

    sonardepthfile

    This option causes mbhysweeppreprocess to read a sonar depth time series from the specified
    file and use that data in place of any sonar depth (DFT) records present in the HSX file. The
    sonar depth data must be in an ascii format of the form:

        yyyy:mm:dd:hh:mm:ss.sss zzzz.zzz

    where yyyy=year, mm=month, dd=day, hh=hour, mm=minute, ss.sss = seconds, and zzzz.zzz = sonar depth in meters.
    -F

    format

    Sets the format of the input file specified with the -I option. This is normally omitted unless
    the input filename does not conform to the MB-System file naming conventions. For this
    program, the only relevant options are format = 201 for an HSX format file, or
    format= -1 for a datalist referencing multiple format 201 files.
    -H

    This "help" flag cause the program to print out a description
    of its operation and then exit immediately.
    -I

    infile

    Sets the input file path. If format > 0 (set with the
    -f option or mbdefaults) then the swath sonar data contained in infile
    is read and processed. If format < 0, then infile
    is assumed to be an ascii file containing a list of the input swath sonar
    data files to be processed and their formats.  The program will read
    the data in each one of these files.
    In the infile file, each
    data file should be followed by a data format identifier, e.g.:

        datafile1 201

        datafile2 201

    This program only reads Hysweep HSX format data files (MBIO
    format 201).
    -J

    projection

    The Hypack and Hysweep software packages operate with navigation in a user-defined
    projected coordinate system. Resultantly, HSX format files contain positions in a
    projected coordinate system rather than longitude and latitude in geographic
    coordinates. Generally, the HSX files do not contain any description of the projection
    used to obtain the eastings and northings in those files. This option allows a
    user to specifiy the projection used to translate the eastings and northings back
    into longitude and latitude. If this option is not specified, MB-System will
    assume the data are associated with UTM zone 1 north. The projection identifier must
    conform to the same usage as with projections specified for mbgrid.
    For  instance, to fully specify a particular northern UTM zone, set projection = UTMXXN
    where XX gives the UTM zone (defined from 01 to 60). As an example, a northern UTM
    zone 12 projection can be specified using -JUTM12N.  Southern UTM zones are specified as
    UTMXXS. The European Petroleum Survey Group (EPSG) has defined a large number of PCS's
    used worldwide and assigned number id's to each; one can also specify the northern
    UTM zone 12 projection using its EPSG designation, or -Jepsg32612. The complete list
    of projected coordinate systems supported by MB-System is given in the mbgrid
    manual page.
    -L

    This option causes the program to list the timetags of bathymetry,
    navigation, attitude, and other data records.
    -M

    navformat

    Sets the input navigation file format used by the file specified with the
    -N option.

     At present, the only option for the navigation file format is navformat=1:

        yyyy:mm:dd:hh:mm:ss.sss sssss.sss eeeeeeee.eee nnnnnnnn.nnn zzzz.zzz aaa.aaa hhh.hhh

    where yyyy=year, mm=month, dd=day, hh=hour, mm=minute, ss.sss = seconds, sssss.sss = seconds
    from the start of the year, eeeeeeee.eee = easting in meters, nnnnnnnnn.nnn = northing in
    meters, zzzz.zzz = sonar depth in meters, and hhh.hhh = heading in degrees.
    Default: navformat=1.
    -N

    navfile

    The program will read navigation from the file navfile
    and merge those data with the multibeam data in the HSX file.
    If a timelag model is specified using
    -Ttimelag, the time lag will be applied to the navigation and
    attitude data before merging with the sonar data. The navigation and attitude
    data from navfile will also be embedded in asynchronous data records
    in the output format 201 data. Any pre-existing navigation data records will
    remain unchanged in the data stream. However, the HSX file header will be altered
    to show the newly merged data as "enabled" and the original, asynchronous data
    as not enabled.
    -T

    timelag

    This option specifies a timelag value in seconds to be applied
    to the navigation and attitude data prior to it being merged with the
    bathymetry. If timelag is a valid path to a file containing time
    stamp and time lag pairs, then these data will be read and the time lag
    applied to particular records will be interpolated by time.
    -V

    This option increases the verbosity of mbhysweeppreprocess with
    respect to informational output to the shell.

    EXAMPLES

    Suppose that one has logged a set of five HSX files incorporating
    multibeam sonar data, navigation, attitude, heading, and altitude data,
    but not sonar depth data, all from an ROV platform. Further suppose
    that a datalist file named datalist_hsx.mb-1 references those
    files, and that a separate text file named  ROVnav.txt includes
    an improved vehicle navigation, including the sonar depth. Finally,
    suppose that the existing sensor offsets are known, but have not
    been applied to any of the existing data

    In order to merge the better navigation and sonar depth before
    starting MB-System processing, do something like:

        mbhysweeppreprocess -I datalist_hsx.mb-1             -A1/0.42/2.005/-1.34/0.0             -A2/0.46/0.22/0.55/0.0             -A3/0.46/0.22/0.55/0.0             -JUTM01N -NROVnav.txt

    The program will output something like the following:

        Data available for merging:

            Navigation (northing easting sonardepth altitude heading): 120959

            Sonar depth (sonardepth):                                  0

            Time lag:                                                  0

        Offsets to be applied:

               X (m)   Y (m)   Z (m)   T (sec)

             Roll bias:       0.000

             Pitch bias:      0.000

             Heading bias:    0.000

             Sonar:    0.420    2.005   -1.340    0.000

             MRU:      0.420    2.005   -1.340    0.000

             Nav:      0.420    2.005   -1.340    0.000

        Data records read from: 000_2004.HSX

             Positions (POS):                   2651

             Positions ignored (POS):           0

             Heading (GYR):                     19486

             Attitude (HCP):                    15752

             Echosounder (altitude) (EC1):      2651

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               24438

             Other:                             64978

        Data records read from: 000_2048.HSX

             Positions (POS):                   2967

             Positions ignored (POS):           0

             Heading (GYR):                     21942

             Attitude (HCP):                    17771

             Echosounder (altitude) (EC1):      2967

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               25363

             Other:                             71010

        Data records read from: 000_2138.HSX

             Positions (POS):                   2573

             Positions ignored (POS):           0

             Heading (GYR):                     18936

             Attitude (HCP):                    15307

             Echosounder (altitude) (EC1):      2573

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               23398

             Other:                             62787

        Data records read from: 000_2221.HSX

             Positions (POS):                   2824

             Positions ignored (POS):           0

             Heading (GYR):                     20863

             Attitude (HCP):                    16907

             Echosounder (altitude) (EC1):      2824

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               23993

             Other:                             67411

        Data records read from: 000_2308.HSX

             Positions (POS):                   2657

             Positions ignored (POS):           0

             Heading (GYR):                     19571

             Attitude (HCP):                    15818

             Echosounder (altitude) (EC1):      2657

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               24009

             Other:                             64712

        Total data records read from: datalist_hsx.mb-1

             Positions (POS):                   13672

             Positions ignored (POS):           0

             Heading (GYR):                     100798

             Attitude (HCP):                    81555

             Echosounder (altitude) (EC1):      13672

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               121201

             Other:                             330898

        Data records written to: 000_2004.mb201

             Positions (POS):                   2651

             Positions ignored (POS):           0

             Heading (GYR):                     19486

             Attitude (HCP):                    15752

             Echosounder (altitude) (EC1):      2651

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               24438

             Other:                             0

        Data records written to: 000_2048.mb201

             Positions (POS):                   2967

             Positions ignored (POS):           0

             Heading (GYR):                     21942

             Attitude (HCP):                    17771

             Echosounder (altitude) (EC1):      2967

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               25363

             Other:                             0

        Data records written to: 000_2138.mb201

             Positions (POS):                   2573

             Positions ignored (POS):           0

             Heading (GYR):                     18936

             Attitude (HCP):                    15307

             Echosounder (altitude) (EC1):      2573

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               23398

             Other:                             0

        Data records written to: 000_2221.mb201

             Positions (POS):                   2824

             Positions ignored (POS):           0

             Heading (GYR):                     20863

             Attitude (HCP):                    16907

             Echosounder (altitude) (EC1):      2824

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               23993

             Other:                             0

        Data records written to: 000_2308.mb201

             Positions (POS):                   2657

             Positions ignored (POS):           0

             Heading (GYR):                     19571

             Attitude (HCP):                    15818

             Echosounder (altitude) (EC1):      2657

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               24009

             Other:                             0

        Total data records written from: datalist_hsx.mb-1

             Positions (POS):                   13672

             Positions ignored (POS):           0

             Heading (GYR):                     100798

             Attitude (HCP):                    81555

             Echosounder (altitude) (EC1):      13672

             Dynamic draft (DFT):               0

             Raw multibeam (RMB):               121201

             Other:                             0

    SEE ALSO

    mbsystem(1), mbformat(1), mbinfo(1)

    BUGS

    At this point, the HSX i/o module and preprocessor are only tested with a single
    survey of R2Sonic data.

     Index

    NAME
    VERSION
    SYNOPSIS
    DESCRIPTION
    AUTHORSHIP
    OPTIONS
    EXAMPLES
    SEE ALSO
    BUGS

Last Updated: 3 June 2013

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