build_beam_pointing_vectors

HSTB.kluster.modules.beampointingvector.build_beam_pointing_vectors(hdng, bpa, tiltangle, tx_vecs, rx_vecs, tx_reversed=False, rx_reversed=False)

Beam pointing vector is the beam specific vector that arises from the intersection of the tx ping and rx cone of sensitivity. Points at that area. Is in the geographic coordinate system, built using the tx/rx at time of ping/receive.

Two components are returned. Relative azimuth, the angle relative to vessel heading that points at the beam endpoint. Beam pointing angle, the roll corrected angle relative to the horizontal that points down at the beam endpoint.

Parameters

  • hdng (DataArray) – 2d (time, beam) heading in degrees at ping time for each beam

  • bpa (DataArray) – 2d (time, beam) receiver beam pointing angle

  • tiltangle (DataArray) – 2d (time, beam) transmitter tiltangle on ping

  • tx_vecs (DataArray) – 2 dim (time, xyz) representing tx 3d orientation in space across time

  • rx_vecs (DataArray) – 3 dim (time, beam, xyz) representing rx 3d orientation in space across time/beam

  • tx_reversed (bool) – if true, the transmitter was installed 180° offset in yaw (i.e. backwards)

  • rx_reversed (bool) – if true, the receiver was installed 180° offset in yaw (i.e. backwards)

Returns

  • xr.DataArray – 2dim (time, beam), beam-wise beam azimuth values relative to vessel heading at time of ping

  • xr.DataArray – 2 dim (time, beam) values for beampointingangle at each beam