Multibeam Sonar Theory of Operation

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Multibeam Sonar Theory of Operation Detection Processing and Range Calculations There are also rotational motions around the axis of each of these coordinates (see Figure Chapter 4 - -13): • Rotation about the x-direction is called pitch. • Rotation about the y-direction is called roll. • Rotation about the z-direction is called yaw. Figure Chapter 4 - -13: Rotations about the Ship Center of Mass Copyright © 2000 L-3 Communications SeaBeam Instruments Page 4-15 No portion of this document may be reproduced without the expressed written permission of L-3 Communications SeaBeam Instruments
Detection Processing and Range Calculations Multibeam Sonar Theory of Operation The effect of rotation about each of these directions is illustrated in Figure Chapter 4 - -14. The degree of rotation is measured as an angle. Figure Chapter 4 - -14: Roll, Pitch, and Yaw Angles Between time slices, the ship moves in each of these six different ways: surge, sway, and heave of its center of mass, and roll, pitch, and yaw about its center of mass. In other words, the ship has six degrees of freedom to its motion. The SEA BEAM 2100 accepts input from two measurement systems that constantly monitor all six degrees of freedom: • The Navigation instrument records the position of the ship (latitude, longitude, and heading at time of ping) associated with surge, sway, and yaw motions. • The Vertical Reference Unit (VRU) records roll, pitch, and heave information. Of these instrument readings, the roll and pitch values from the VRU are necessary for per-timeslice processing. The VRU, however, does not make measurements with the frequency of the time slices. Obtaining unique and accurate values that correspond to the times of the time slices requires linear interpolations from the two nearest VRU measurements. Page 4-16 Copyright © 2000 L-3 Communications SeaBeam Instruments No portion of this document may be reproduced without the expressed written permission of L-3 Communications SeaBeam Instruments
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Multibeam Sonar Theory of Operation

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