My questions concern's utilizing a workhorse RDI doppler to "smooth" USBL positions.
!. How can you calibrate an RDI Doppler in NaviPac, or can you?
2. How do I ensure that I am using the corrected doppler positions rather then the USBL positions?
3. When utilizing NaviScan for collection of Multi-Beam data, how can I ensure that NaviScan uses the corrected doppler positions rather then the sometimes jumpy USBL positions?
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Reply #1
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Both NaviPac and NaviScan includes a DVL Calibration program. Itloads the recorded files (Survey files in NaviPac and SBD files from NaviScan) and allows you to estimate the mounting errors.
Similar function can be found in NaviEdit data editor
In NaviPac you assign the DVL to an object - eg. ROV. A second object will be created called ROV: DL Fitlered - this second represents the Kalman Filtered position with the DVL used.
Make sure that you send the raw position to NaviScan - not the filtered. Instead interface the DVL into NaviScan.
In NaviEdit you will then use the DVL data in the Kalman Filter to obtain the best result