calculate_uncertainty_kongsberg

HSTB.kluster.modules.tpu.calculate_uncertainty_kongsberg(depth_offset, acrosstrack_offset, quality_factor)

Use the kongsberg reported quality factor to calculate horizontal and vertical sonar uncertainty. This is the quality factor type reported in the .all range and angle datagram. Quality factor is describted as the Scaled standard deviation (sd) of the range detection divided by the detected range (dr)

Parameters

• depth_offset (Union[DataArray, array]) – 2d array (time, beam) of depth offsets relative to the transducer

• acrosstrack_offset (Union[DataArray, array]) – 2d array (time, beam) of across track offsets relative to the transducer

• quality_factor (Union[DataArray, array]) – 2d array (time, beam) of Kongsberg quality factor. Assumes it is given in the kongsberg way (Quality factor = 250*sd/dr)

Returns

• Union[xr.DataArray, np.array] – vertical uncertainty in meters for each sounding

• Union[xr.DataArray, np.array] – horizontal uncertainty in meters for each sounding