Managing Outputs
Definition
| > | Output |
Outputs enable computation of positioning data required by imaging devices (MBES, SSS or other sensors) according to their external orientation. These outputs take in consideration the misalignment (boresight) between these devices and the XV1, XV2 and XV3 frame. It is possible to do position computations on different vehicle monitoring points. The output file contains a result data channel for each monitoring point.
The number of monitoring points is not limited. Data is referenced in a user frame (XU1, XU2, XU3) which is misaligned with respect to the vehicle frame (XV1, XV2, XV3).
When creating a new output, a label is automatically added as “output-xx” where xx is a number which is automatically incremented.
| > | Label |
A label is a channel identifier in the result file. It is made of 12 characters and the allowed characters are: [“a”…”z”, “A”…”Z”, “0”…”9”, “_”, “-“]
| > | Sampling |
Sampling of computed data is managed by the Output rate and Synchronized output set points. Output rate creates a regular data sampling while Synchronized output creates computation results synchronous with external data (e.g. event marker data from a camera).
| > | Output rate |
An output rate is the time between two navigation points in the output file. You choose also the time interval in which you have this output rate. Several intervals with different output rates can be inserted in the processing of one single file. The time interval is defined by a starting time and an ending time. You choose a time interval in the file. The time interval cannot be longer than the actual size of the file. You define an output rate of the navigation points.
| > | Synchronized output |
You can request that the results of the output file be synchronized with a specified data file for a given monitoring point.
| > | Strategy |
An optimal choice of output rates allows to seriously reduce the size of the output file and to keep a high resolution of the data in the interval of interest. For example, during a sidescan sonar survey, outputs are sampled at 0.01 s (100 Hz) in straight trajectories and at 1 s (1 Hz) during transits and turns.
When the project is created Delph INS Subsea prepares some Output entry for the lever arms where the offset is not (0, 0, 0) and when the four lever arms are null only one Output entry is created (primary lever arm).
Result File Contents Description
The result file contains the following information:
| > | Navigation (Position, Attitude, Geographic speed) |
| > | Speed (User reference frame speeds, Speed over ground, Course over ground) |
| > | ALIX status |
| > | Sensor status |