calculate_tpu

HSTB.kluster.modules.tpu.calculate_tpu(roll, raw_beam_angles, beam_angles, acrosstrack_offset, depth_offset, surf_sound_speed, datum_uncertainty=None, tpu_dict=None, quality_factor=None, north_position_error=None, east_position_error=None, down_position_error=None, roll_error=None, pitch_error=None, heading_error=None, roll_in_degrees=True, raw_beam_angles_in_degrees=True, beam_angles_in_degrees=False, qf_type='ifremer', vert_ref='ellipse', tpu_image=False)

Use the Tpu class to calculate total propagated uncertainty (horizontal and vertical) for the provided sounder data. Designed to be used with Kluster.

Parameters

  • roll (Union[DataArray, array]) – roll value at ping time

  • raw_beam_angles (Union[DataArray, array]) – raw beam angles

  • beam_angles (Union[DataArray, array]) – corrected beam angles, for attitude and mounting angles

  • acrosstrack_offset (Union[DataArray, array]) – offset in meters to each beam in across track direction (+ STBD)

  • depth_offset (Union[DataArray, array]) – offset in meters down to each sounding (+ DOWN)

  • surf_sound_speed (Union[DataArray, array]) – surface sound speed sensor

  • datum_uncertainty (Union[DataArray, array, None]) – uncertainty associated with the vertical datum transformation, a beamwise value or a scalar value, optional, if not provided uses the value in the tpu_dict

  • tpu_dict (Optional[dict]) – dictionary of options that you want to use to override the defaults in the Tpu attributes

  • quality_factor (Union[DataArray, array, None]) – sonar uncertainty provided as a quality factor, can either be Kongsberg std dev or Kongsberg reported Ifremer quality factor

  • north_position_error (Union[DataArray, array, None]) – pospac reported rms north position error

  • east_position_error (Union[DataArray, array, None]) – pospac reported rms east position error

  • down_position_error (Union[DataArray, array, None]) – pospac reported rms down position error

  • roll_error (Union[DataArray, array, None]) – pospac reported rms roll error in degrees

  • pitch_error (Union[DataArray, array, None]) – pospac reported rms pitch error in degrees

  • heading_error (Union[DataArray, array, None]) – pospac reported rms heading error in degrees

  • roll_in_degrees (bool) – whether or not the provided roll is in degrees (True) or radians (False)

  • raw_beam_angles_in_degrees (bool) – whether or not the provided raw_beam_angles are in degrees (True) or radians (False)

  • beam_angles_in_degrees (bool) – whether or not the provided beam_angles are in degrees (True) or radians (False)

  • qf_type (str) – whether or not the provided quality factor is Ifremer (‘ifremer’) or Kongsberg std dev (‘kongsberg’)

  • vert_ref (str) – vertical reference of the survey, one of ‘ellipse’, ‘waterline’, ‘NOAA MLLW’, ‘NOAA MHW’

  • tpu_image (Union[str, bool]) – either False to generate no image, or True to generate and show an image, or a string path if the image is to be saved directly to file

Returns

[total vertical uncertainty in meters for each sounding (time, beam), total horizontal uncertainty in meters for each sounding (time, beam)]

Return type

list