USBL Calibration / How To Page 1 of 49

USBL Calibration / How To

This part describes the procedure to perform USBL Calibrations and to process the results in
QINSy. Additionally theoretical background is provided.

Index:

1. What is an USBL system and which variables will be calibrated?

1.1 Reference Points and Systems
1.2 Parameters Checked and Calibrated
1.2.1 Transducer Offset C-Os: dX, dY and dZ
1.2.2 Roll, Pitch and Alignment C-Os: Rx, Ry and Rz
1.2.3 Scale factor
2. USBL acquisition patterns
2.1 Acquisition pattern for DP vessels
2.1.1 Four-Quadrant method
2.1.2 Spin check
2.1.3 Z-check
2.2 Acquisition pattern for non-DP vessels
2.2.1 Fixed aft looking transducer head
2.2.2 Omni or tracking transducer head
3 USBL calibration utility
3.1 Calibrate USBL data
3.1.1 LSA Calibration
3.1.2 Spin Check
3.1.3 Z-Check
4 Calibration report
5 Enter calibrated values in database
Appendix I Report
Appendix II - USBL Theory

1 What is an USBL system and which variables will be calibrated?

An USBL (Ultra Short Base Line) system is an underwater navigation system that measures range
and bearing to a transponder. Range and bearing are derived from phase difference measurements
of the return acoustic signal arriving at the orthogonal transducer elements. Real world coordinates
of the transponder are calculated by applying the range and bearing to the known real-world
coordinates of the USBL transducer. The latter coordinates are computed through the measured
offsets from the GPS antenna and the application of vessel gyro pitch and roll.

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1.1 Reference Points and Systems

In considering what is to be calibrated, it is important to understand the various reference points

and systems involved.

USBL Reference Point (URP)

is defined as the location on the vessel to which the X,Y and Z output of the USBL is referenced. It
has an associated vessel local reference system in which the Yv axis is deemed to be parallel to the
centreline of the vessel through the bow. The Xv axis is horizontally perpendicular to the Yv axis,
and the Zv axis vertically perpendicular.

Centre of the transducer array

that has an associated local reference system in which the Ya axis is aligned, as closely as possible,
parallel to the centreline of the vessel through the bow. The Xa axis is horizontally perpendicular to
the Ya axis, and the Za axis vertically perpendicular. The centre of transducer array may, or may
not, be coincident with the URP. If it is NOT coincident with the URP, it is assumed that the offset
between the two has been entered in the USBL System itself. In QINSy the XYZ output of the USBL
is always assumed referenced to the URP.

QINSy Vessel Reference Point

A point selected on the vessel to which all other points of interest are related by offset
measurements. In the vessel local reference system, the reference point has coordinates 0, 0, 0.
Often the QINSy vessel reference point is selected to be coincident with the turning point (COG -
center of gravity) of the vessel.

Local Reference System (LRS)

the origin of which is the QINSy Vessel Reference Position, with the YLRS axis deemed to be
parallel to the centreline of the vessel through the bow. The XLRS axis is horizontally perpendicular
to the YLRS axis, and the ZLRS axis is always perpendicular to the geoid. The Reference Position
may, or may not, be selected to be coincident with the URP.

In mounting a USBL transducer, the planes of the hydrophone array are oriented parallel, as far as
possible, with corresponding planes of the vessel reference system, i.e. the Xa axis is coincident
with the Xv, and so on. As the vessel pitches and rolls, these planes rotate about the URP. Since a
vessel rotates around its centre of gravity (COG), it is good sense to locate the URP at the COG.

"Apparent" position of a transponder/beacon with respect to the transducer array is given in

relation to this rotating URP reference system and is expressed in terms of Xa, Ya, and Za. If the
centre of the hydrophone array is coincident with the URP, Xa = Xv, Ya = Yv, and Za = Zv.

In order to translate "apparent" position into XYZ coordinates measured in the local reference
system (LRS), the following corrections must be computed and applied to Xa, Ya, and Za to yield
XLRS, YLRS, and ZLRS. These corrections compensate for:

1. Vessel pitch and roll.

2. Array offset from a reference point, e.g. the centre of gravity (COG).
3. Array translation due to a combination of array offset and vessel pitch and roll motion.

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Note: The USBL calibration program assumes that the centre of the transducer array is coincident
with the URP, or that any corrections for array offset from the URP have been applied in the USBL
sensor itself. When offsets are applied, the USBL X, Y, and Z output is not referenced to the USBL-
transducer but to the URP (USBL Reference Position).

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1.2 Parameters Checked and Calibrated

Given that assumption, the following parameters are checked and corrections computed:

1.2.1 Transducer Offset C-Os: dX, dY and dZ

Non-coincidence of the centre of the transducer array and the URP that may be due to mounting
errors, or measurement errors in determining offsets between the two.

1.2.2 Roll, Pitch and Alignment C-Os: Rx, Ry and Rz

Alignment errors in Roll (RX), Pitch (RY), and alignment (RZ) may be due to:

1. The planes of the transducer hydrophone array may not be exactly parallel with the planes of
the vessel URP reference system, leading to errors in determination of incidence angles reduced
back to the LRS, and hence in bearings between transducer and transponder/beacon.

2. The entered gyro C-O may not be exactly correct, introducing error.

3. Pitch and roll angles measured by the VRU may be in error, either due to misalignment or mis-
calibration of the VRU itself.

4. The value of the Grid Convergence used may be in error.

1.2.3 Scale factor

The entered value for speed of sound in water may be in error, thereby affecting the computation
of range, and hence XYZ coordinates. Prior to USBL data acquisition, a sound velocity profile should
be acquired, so that the average value for the speed of sound in the whole water column and at
transducer depth can be calculated.

NOTE: The roll and pitch angles are closely related to the X and Y offsets; an offset error can be
seen as a mounting angle error and vice versa. It is important that the offset values of the USBL
system on the vessel are very accurate.

Refer to Appendix II for more information about USBL measurement theory, and what parameters
are being calibrated.

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2 USBL acquisition patterns

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2.1 Acquisition pattern for DP vessels

The most common acquisition pattern for dynamically positioned (DP) vessels is the Four-Quadrant
method. The Spin-Check and the Z-Check are checks for the X, Y offsets and the Z offset. While a
triangular acquisition pattern is frequently used, it is recommended to perform a Four-Quadrant
acquisition if possible. If other patterns are used the USBL Calibration Utility will still calculate
calibration values, but these may be less accurate.

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2.1.1 Four-Quadrant method

With the Four-Quadrant method measurements are made at five different locations relative to the
transponder beacon. The following actions must be taken to conduct a good USBL acquisition.

• Acquire data at four locations around the beacon and one above the beacon. In Figure 1 the blue
dot is the beacon position, the red dots are the USBL transducer positions. Measurements should
be made on reciprocal headings at each location. With opposite heading (the arrows represent
ships heading) the total number of measurements is 10.

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Figure 1: Four Quadrant method

• Apply tidal corrections during the recording otherwise there will be an error in the Z offset, unless
an accurate height is defined (e.g. RTK heights).

• Measure in two opposite headings, this will eliminated roll and pitch errors (see Figures 2 and 3).
First complete one round with the same heading and then execute the second round with a
reversed heading. If you swap the heading on each point instead of performing two rounds, there
is the potential to introduce gyro error as it takes time for the gyro to settle; each heading
deviation will influence the results of the calibration.

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Figure 2: Roll error: similar error in the starboard direction, equal and opposite errors in down direction

Figure 3: Pitch error: similar error in forward direction, equal and opposite errors in down direction

• Horizontal distance to beacon must be half the water depth to a maximum of 500 meters, for
example with a water depth of 50 meters the horizontal distance should be 25 meters.

• The orientation of the vessel towards the beacon should be perpendicular or in continuation of
the heading (see Figure 4).

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Figure 4: vessel orientation towards the beacon

• Minimise acoustic noise. It is better to drift a little bit and use the thrusters as little as possible
instead of using them at full force just to try and stay on the same position.

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2.1.2 Spin check

To check whether the calibrated values (scale factor, roll, pitch and heave) are still valid a Spin-
Check can be performed. The vessel must be placed above the beacon and a slow 360 degrees
rotation must be performed.

An assumption is made that X/Y/Z values output by the USBL system are referenced to the USBL
Reference Point (URP). The URP can be the centre of the transducer array, or it can be coincident
with any other location on the vessel. The second possibility means that corrections for transducer
offset to the URP have already been applied within the USBL system itself. However, it is likely that
errors were made in installing the transducer and/or in measuring offsets between transducer and
URP.

This calibrate option uses surface positioning and USBL fix data from the spin field manoeuvre to
calculate C-O values that correct for any errors in achieving coincidence of the USBL transducer
and the URP. C-O values, dX and dY, are computed as follows:

1. Compute the easting and northing of the transponder in the absolute reference system for each
fix using antenna coordinates calculated from surface navigation as the starting coordinate.
2. Compute the mean of all the transponder positions.
3. Compute dE and dN between each individual transponder position and the mean transponder
position.
4. Translate dE and dN values in the absolute reference system to dX and dY values in the local

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reference system.
5. Mean all the resulting dX/dY values. These values represent the offsets FROM the URP TO the
true location of the USBL transducer, the signs being consistent with the established convention,
i.e. Fwd=+ve, Stb=+ve.

Having obtained dX and dY offset values, the choice of how they are to be applied remains. Two
solutions are possible:
either:
dX and dY values can be added to the offset values measured FROM the vessel reference point TO
the URP. In effect this creates a new URP coincident with the vessel reference point. X/Y/Z values
can then be converted to absolute coordinates and applied to the absolute coordinates of the vessel
reference point to yield absolute coordinates for the transponder location.
or:
dX and dY values can be interpreted as C-O values to be applied to the X/Y/Z values output by the
USBL. Since both C-O values and USBL X/Y/Z measurements are made in the vessel local reference
system, signs of C-Os remain the same irrespective of vessel heading.

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2.1.3 Z-check

Whilst sitting above the transponder the vessel echosounder depth and the USBL Z reading should
be observed simultaneously. This option compares only "Z" values read out of the USBL and depth
readings from the echosounder to check the transducer offset from the vessel reference point in
the Z-axis. The assumption is made that the echosounder readings are correct values for depth.
The USBL "Z" values are measured between the transducer and the receiver/transmitter element in
the transponder. Depth values obtained from the echosounder record the vertical separation from
either transducer to seabed, or sea surface to seabed, depending upon whether the reference plane
set in the echosounder is the transducer or sea surface. The plane for depth reference used in the
calibration program is the URP (USBL Reference Point). Therefore echosounder values that refer to
sea surface must first be corrected for the draft of the transducer to yield "computed" depth values
measured between echosounder transducer and seabed, and secondly, these values can then be
referenced to the URP by entering the offset distance FROM the URP TO the echosounder
transducer (+=Down).

One other correction needs to be made. Since USBL depth measurements are made between URP
and the receiver/transmitter element of the transponder, and corrected echosounder values are
given for the vertical separation from the vessel reference to seabed, a correction for the vertical
separation FROM the transponder TO the seabed must be made. This distance is always positive
(+=Down). In this way, echosounder measured depths and USBL measured depths can be
compared directly.

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2.2 Acquisition pattern for non-DP vessels

If the vessel is not fitted with a DP system, it is almost impossible to hold the vessel statically in
place whilst observations are being made. Therefore the vessel must be sailed around or across the

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transponder in a predefined pattern to ensure balanced USBL data is obtained. The type of pattern
sailed varies according to the type of the transducer head. To ensure that effect of time difference
between surface navigation data and USBL data are kept to a minimum the vessel should be sailed
slowly along its predefined course.

The two patterns described below are known to be in use. However it is unknown what the
accuracy of the results will be.

2.2.1 Fixed aft looking transducer head

The pattern shown in Figure 3 is centred on the position of the seabed USBL transponder.

Data is gathered while the vessel is slowly steaming away from the transponder, this is shown as a
solid line in the figure. Data gathering should start when the vessel has passed over the
transponder and steady acoustic updates are being received.

Data collection should continue until the vessel has reached a distance equivalent to 3 or 4 times
the water depth or until the acoustic readings are seen to becoming erratic, whichever is the
sooner.

Figure 5: Acquisition pattern for fixed aft looking transducer head

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2.2.2 Omni or tracking transducer head

The pattern is centred on the position of the seabed USBL transponder (see Figure 4). The point of
closest approach of all the lines is to be approximately equivalent to the water depth. The lines
start and end approximately 3 to 4 times the water depth away from the transponder.

The pattern provides an even balance between lines where the transponder is to port or starboard
of the vessel. This will result in observation from the vessel to the transponder in all quadrants
being observed

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Figure 6: Acquisition pattern for omni or tracking transducer head.

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3 USBL calibration utility

After the USBL data is recorded, the “USBL Calibration Utility” is used to calculate calibration
values.

step 1) Go to the QINSy console and press right mouse button in the bottom pane. Select “Add /
remove QPS programs”, the following window will appear (see Figure 7). Select “USBL Calibration
Utility”.

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Figure 7: Add / Remove QPS programs

step 2) The USBL Calibration Utility icon is now available in the QINSy console. Start the USBL
Calibration Utility by clicking on the icon. The following window will appear (see Figure 8).

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Figure 8: USBL Calibration Utility

The window consists of the following panes.

A. Dataset selection
B. Alignments
C. Geographic display

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D. Numeric display

In the Dataset Selection pane, the databases that are selected for the particular calibration or
acquisition are displayed. Each database can be disabled, or enabled, if needed.

The Alignments pane displays the adjustments for Scale Factor, Roll, Pitch and Heading. These are
only variables to be calibrated, unless the offsets for X, Y and Z are incorrect. These values can
also be adjusted if they are incorrect.

In the geographic display pane, vessel positions and beacon positions are displayed. The beacon
positions can change when USBL calibrations are applied.

The numeric display gives information for each beacon position together with the vessel position.

Regardless of the acquisition pattern, the calibrated values are always calculated with the least
square adjustment.

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3.1 Calibrate USBL data

Take the following steps to derive calibration figures:

step 1) Select “File” from the menu bar and then select “Open”. A standard windows browser
window will appear. Select the databases that were saved during the acquisition phase. The
following window will be displayed (see Figure 9).

Figure 9: Import Databases

step 2) Select “Next” to continue, and the following window will be displayed (see Figure 10)

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Figure 10 USBL System Selection

step 3) Select the items to be used for the USBL calibration, and select “Next” to continue. The
following window will appear (see Figure 11).

Figure 11 Supplemental System Selection

step 4) Select the systems that will be used for the calibration (Figure 11). Select “Finish” to
complete the selection.

step 5) The selected data is now visible in the geographic display and in the dataset selection
window. The red observations are the vessel positions, and the blue observations are the beacon
positions (see Figure 12).

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Figure 12: USBL observations

A green error ellipse is displayed in the geographic pane (see Figure 13). The ellipse represents a
95% confidence region; the smaller the ellipse size the smaller the combined error.

Figure 13: Error ellipse

Obviously large outliers can be excluded from the dataset. The excluded data will not affect the

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calibration anymore. To select these outliers:

step 6) Go to “Edit” on the menu bar and select “De-select observations”.

step 7) Using the left mouse button, draw a polygon around the data that should excluded from
the least square adjustment (see Figure 14). Press Enter to complete the polygon shape.

Figure 14: Remove outliers from dataset

The data is not deleted but is excluded from the dataset. Do the following steps to include the data
to the dataset.

step 8) Go to the dataset selection pane

step 9) Select with the right-mouse button the dataset that must be reset.

step 10) Select “Reset selection” from the menu that appears. All observation from that dataset
will be active again.

In the “Alignments” pane the alignments of the transducer are displayed in the form of sliders (see
Figure 15).

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Figure 15: Transducer alignments

There are four options to display the transponder positions in the geographic pane. These options
are selected from the pull down menu.

z No corrections
z Manually set values
z USBL calibration results
z QINSy database settings

The “Manually set values” option can be used to manually find the calibration values. Using this
option is also very useful to see the effect of wrong values when the sliders are used.

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3.1.1 LSA Calibration

The LSA Calibration is used for calibrating the roll, pitch and heading error. LSA stands for Least
Square Adjustments. To start the LSA Calibration:

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Figure 16: Least Squares Calibration

step 1) Go to “Calibrations” on the men bar and select “Least Squares”, the following window will
appear (see Figure 16). The displayed transponder positions will automatically use “USBL
calibration results” option.

step 2) Select “No corrections” from the pull down menu. The least square adjustment will be
calculated from the values that are set in the alignments pane. For example, if “QINSy database
settings” is chosen the corrections will be calculated for the values that are set in the QINSy
database.

step 3) Select “Apply” and then “Close” to close the Least Squares Calibration.

An example alignment with or without USBL calibrated results is shown in figure 17.

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Figure 17: No corrections applied and corrections applied

The roll, pitch and heading correction must be entered in the DbSetup to be effective.

To check whether the corrections are applied correctly, the databases can be replayed with the
corrections entered in the databases.

When the USBL Calibration Utility is started select the “QINSy database settings” in the Alignments
pane. This should give the same result as when USBL corrections are applied.

Back to Index

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3.1.2 Spin Check

The Spin Check can be used to check whether the mounting offsets of the transducer are correct
with the corrections for the roll, pitch and heading. The corrections for the roll, pitch and heading
should already be applied in the QINSy database. An error in roll or pitch can look the same as an
error in X or Y offset

step 1) Select a database that contains USBL data acquired with a Spin Check manoeuvre. Follow
steps 1 to 4 from chapter 3.1.

step 2) To display the results with the QINSy settings, select “QINSy database settings” in the
Alignments pane.

step 3) To start the Spin Check calibration go to “Calibrations” on the menu bar and select “Spin
Check”, the following window appears (see Figure 18)

Figure 18: Spin Check calibration

step 4) Select “QINSy database settings” for which the corrections should be calculated. This way
it is possible to check whether the entered settings in the QINSy database are correct.

step 5) Select “Apply” and then “Close” to finish the Spin Check calibration.

Depending on the size of the offset error a decision can be made whether or not to repeat the LSA
Calibration.

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3.1.3 Z-Check

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The Z-Check is used to calibrate the Z offset of the USBL transducer on the vessel. This option
compares only Z values read out of the USBL and depth readings from the echosounder (see Figure
19). Make sure that tide is applied if no accurate height is defined. It is recommended to use the
same data that is acquired with the Spin Check manoeuvre.

Figure 19: Z-Check, compare echosounder depths with USBL depths

step 1) Go to ”Calibrations” on the menu bar and select “Z-Check”, the following window will
appear (see Figure 20)

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Figure 20: Z-Check calibration

step 2) Select “QINSy database settings” from the pull down menu. The calibration will use these
settings to calibrate the Z offset of the USBL transducer.

If no echosounder is defined in DbSetup a manual depth will be used to calibrate the Z offset,
otherwise an echosounder can be chosen from the “Supplemental System Selection” window during
the import of a database.

With an echosounder system defined in DbSetup the mean depth value will be displayed.

step 3) With manual depth the depth from the water surface to the seabed must be entered, this
includes a tide value.

step 4) The “Transponder Height” is the height of the transponder above the seabed.

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4 Calibration report

For each different calibration a calibration report can be generated by selecting “View” on the menu
bar and then “Show Report”. The following window appears (see Figure 21).

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Figure 21: USBL calibration report

The report presents the calibration results and the properties of the USBL Calibration Utility. An
example of a calibration report is shown in Appendix I.

Back to Index

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5 Enter calibrated values in database

When the calibration is finished, the calibrated values must be entered in the template database
(database that will be used to record data)

step 1) From the QINSy Console, click on Setup in the upper panel. In the resulting Template
Manager dialog, open the template database with “Database Setup”

step 2) Double click on the USBL system from the tree list, and the system definition wizard will
appear.

step 3) The second page of the wizard is titled “USBL System Parameters” (see Figure 22). On this
page the roll, pitch and heading parameters are set. In particular, enter the Transducer roll, pitch
and heading alignment corrections.

Figure 22: USBL system parameters

step 4) To modify the mounting offsets select the button pointed out with 4, the following window
appears (see Figure 23)

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Figure 23: Edit variable node

In this window modify the X, Y and Z position of the node at which the USBL transducer is located.

step 5) On the next page of the wizard (see Figure 24) the sound velocity can be modified.

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Figure 24: USBL system accuracy parameters

The “Used velocity” is the velocity that is used in the USBL unit, the “Calibrated velocity” is the
velocity that will be used by QINSy. The scale factor, which is calculated by the USBL Calibration
Utility, will be used to modify the calibrated velocity.

Calibrated velocity = used velocity X scale factor.

step 6) When the calibrated values are insert in the template database, the database can be
closed and the modified fields will be saved.

step 7) Go online with the template database.

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Appendix I

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Appendix II – USBL Theory

Index:

6 USBL CALIBRATION
6.1 DEFINITIONS
6.1.1 Transducer
6.1.2 Transponder
6.1.3 Beacon/Pinger
6.1.4 Hydrophone
6.1.5 Responder
6.2 BASIC THEORY
6.2.1 Introduction
6.2.2 Measuring Incidence Angle
6.2.3 Position Computed from Incidence Angle and Depth
6.2.4 Position Computed from Incidence Angle and Range
6.2.5 Position from Incidence Angle, Range, and Depth
6.2.6 Corrections to Apparent Position
[Link] Vessel Pitch and Roll
[Link] Array Offset and Translation due to Vessel Motion
6.2.7 Parameters checked in USBL Calibration
[Link] Transducer Offset C-Os: dX, dY and dZ
[Link] Roll, Pitch and Alignment C-Os: Rx, Ry and Rz
[Link] Scale Factor

6 USBL CALIBRATION

6.1 DEFINITIONS

6.1.1 Transducer

A transmitter/receiver, often hull-mounted, which sends out an interrogation signal on one

frequency and receives a reply on a second frequency, often spaced only 0.5kHz apart. The polar
diagram is usually hemispherical or omni-directional.

6.1.2 Transponder

A receiver/transmitter, installed on the seabed or a submersible (relay), which, on receipt of an

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interrogation signal (command) on one frequency, sends out a reply signal on a second frequency.
The polar diagram is usually hemispherical or omni-directional. The transducer and transponder
work in conjunction with each other.

6.1.3 Beacon/Pinger

A transmitter attached to the seabed or a submersible, which continually sends out a pulse on a
particular frequency, i.e. free running. The polar diagram is omni-directional or hemispherical.

6.1.4 Hydrophone

A directional or omni-directional receiver, hull-mounted, which is capable of receiving a reply from

either a transponder or a beacon/pinger.

6.1.5 Responder

A transmitter, fitted to a submersible or on the seabed, which can be triggered by a hard-wired

external control signal (command) to transmit an interrogation signal for receipt by a transducer or
hydrophone. The polar diagram is omni-directional or hemispherical. Often used in the hyperbolic
mode in acoustically noisy environments.

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6.2 BASIC THEORY

6.2.1 Introduction

A typical USBL acoustic positioning system requires a surface vessel with a hull-mounted
transducer comprising an array of hydrophones, arranged so that they form two orthogonal planes
with at least one hydrophone common to both planes. If a transponder/responder or beacon
(pinger) is mounted on the seabed, on a submersible vehicle, or on some underwater structure,
the time of arrival of the signals from the transponder/beacon at the various hydrophones of the
array will yield the slant ranges/bearings between the two and lead to the calculation of the
position of the surface vessel relative to the transponder or beacon.

Ranges are derived from the one- or two-way time of travel of an acoustic signal between
transducer and responder/transponder. This requires that the time of signal emission and reception
be known.

Bearings may be derived from differences in reception time of an acoustic signal at the orthogonal
hydrophones of the transducer array. Differences in reception time are translated into incidence
angles, measured between the XZ plane and the acoustic source, and the YZ plane and the
acoustic source. Bearings are then derived from incidence angles.

Four modes of computing position are available with USBL systems:

1. Beacon (pinger) mode requiring depth input and incidence angle.

2. Transponder mode requiring range (from two way travel time) and incidence angle.
3. Responder mode requiring range (from one way travel time) and incidence angle.

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4. Transponder/responder mode with depth giving improved accuracy by combining slant range
and depth with incidence angle.
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6.2.2 Measuring Incidence Angle

USBL systems rely on a phase difference, or phase comparison, of the acoustic signal at the
elements of the transducer in order to determine the angle of incidence of the acoustic signal with
the plane of the transducer array.

Dealing with the single plane through two sensors of the transducer and the acoustic source, Figure
25 illustrates how the mechanical angle of incidence is determined from the phase difference
measured between the two receiving sensors spaced a distance, b, apart. If the baseline, b, is
always much less than the distance to the acoustic signal source, the acoustic wave fronts are
essentially planar and the mechanical angle is given by:

Θm = cos-1dT/k

Figure 25: Measuring Mechanical Incidence Angle

where dT = electrical phase difference

Θm = mechanical incidence angle

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k = 2πfob/v (stiffness factor)

fo = acoustic signal carrier frequency
b = baseline length between sensors
v = velocity of sound in water

The incidence angle Θm can be visualized as the vertex angle of a conical surface whose axis is
formed by the baseline of the two sensors. Since direction between acoustic source and transducer
cannot be determined from phase comparison between only two sensors, a third sensor is required
within the transducer array whose baseline, formed with one of the first two sensors, is orthogonal
to the first baseline. Incidence angle measured for this second baseline, can again be visualized as
the vertex angle of a conical surface whose axis is formed by the baseline of the two sensors. The
two angles of incidence are designated Θmx and Θmy. Direction between transducer and acoustic
source is given by the intersection of the two conical surfaces as depicted in Figure 26. Although
two directions result from such an

Figure 26: Determination of Bearing from Intersection of Conical Srfaces

intersection, one is easily eliminated since it is known that the acoustic source lies beneath the
surface vessel. If one of the baselines of the transducer array is oriented in the direction of the

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vessel's centreline, and the vessel is considered motionless such that the transducer hydrophone
array is horizontal, the planes of the array will be coincident with the "X", "Y", and "Z" axes of the
local reference system. Having determined direction, apparent position of the sub-sea
transponder /beacon can be computed if either depth or slant range is known. If both depth and
slant range are known, there will be less uncertainty about the final computed coordinates for the
transponder/beacon.

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6.2.3 Position Computed from Incidence Angle and Depth

Range cannot be measured if the sub-sea acoustic source is a beacon. Therefore, to determine the
position of the beacon with respect to the vessel-mounted transducer, the vertical separation of the
two, h, must be known. Moreover, since the incidence angles, Θmx and Θmy do not necessarily lie
in the XZ and YZ planes of the array, a conversion may be required before the results represent
horizontal displacements away from the reference beacon. The apparent horizontal displacements
Xa and Ya shown in Figure 26 are expressed as a fraction of the vertical separation, h, and shown
to be:

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Figure 27: Spatial Relationship of Transponder/Beacon to Transducer

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6.2.4 Position Computed from Incidence Angle and Range

If a transponder is used instead of a beacon, it can be interrogated by the transducer, and the two-
way travel time determined. Range is then given by:

R = vt/2

where t = time elapsed between transmission of interrogation pulse and reception of the reply
pulse from the transponder.

v = velocity of sound in water.

The incidence angles Θmx and Θmy are as before. Xa and Ya are now given by:

Xa = RcosΘmx

Ya = RcosΘmy

Za = R(1 - cos2Θmx - cos2Θmy)1/2

Note that Za should equal h.

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6.2.5 Position from Incidence Angle, Range, and Depth

As illustrated above, position can be computed with incidence angle and either depth or range.
However, if both range and depth are known, the range of uncertainty is greatly reduced as shown
in Figure 27. This additional accuracy can be used to great advantage at wide incidence angles
away from the Z-axis of the transducer.

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Figure 28: Diagrammatix Analysis of Uncertainties in USBL Position Determination

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6.2.6 Corrections to Apparent Position

Position computed using formulas detailed above assume a motionless vessel with the transducer
hydrophone array in a horizontal plane. There are a number of corrections to be applied to the
"apparent" position. In describing these corrections, it is important to note here the definitions of
the various reference systems involved.

The USBL Reference Point (URP)

is defined as the location on the vessel to which the X,Y and Z output of the USBL is referenced to.
It has an associated vessel reference system in which the Yv axis is deemed to be parallel to the
centreline of the vessel through the bow. The Xv axis is horizontally perpendicular to the Yv axis,
and the Zv axis vertically perpendicular. The URP may be coincident with the center of the
transducer array. Whether coincident with the array or not, the URP may be coincident with the
vessel's centre of gravity (COG), with the vessel Reference Position, or with any other point on the
vessel.

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Centre of the transducer array

that has an associated reference system in which the Ya axis is deemed to be parallel to the
centreline of the vessel through the bow. The Xa axis is horizontally perpendicular to the Ya axis,
and the Za axis vertically perpendicular. The centre of transducer array may, or may not, be
coincident with the URP. If it is not coincident with the URP, it is assumed that the offset between
the two has been entered in the USBL System itself; in QINSy the XYZ output of the USBL is
always assumed referenced to the URP.

The Local Reference System (LRS),

the origin of which is the QINSy vessel Reference Position, with the YLRS axis deemed to be
parallel to the centreline of the vessel through the bow. The XLRS axis is horizontally perpendicular
to the YLRS axis, and the ZLRS axis is always perpendicular to the geoid. The Reference Position
may, or may not, be selected to be coincident with the URP.

In mounting a USBL transducer, the planes of the hydrophone array are oriented parallel, as far as
possible, with corresponding planes of the vessel reference system, i.e. the Xa axis is coincident
with the Xv, and so on. As the vessel pitches and rolls, these planes rotate about the URP. Since a
vessel rotates around its centre of gravity (COG), it is good sense to locate the URP at the COG;
this is the reason why the URP (USBL reference point) is coincident with the COG on many vessels.
We shall assume for the sake of argument that the URP is coincident with the COG. "Apparent"
position of a transponder/beacon with respect to the transducer array is given in relation to this
rotating URP reference system and is expressed in terms of Xa, Ya, and Za. If the centre of the
hydrophone array is coincident with the URP, Xa = Xv, Ya = Yv, and Za = Zv.

In order to translate "apparent" position into XYZ coordinates measured in the Local Reference
System (LRS), the following corrections must be computed and applied to Xa, Ya, and Za to yield
XLRS, YLRS, and ZLRS. These corrections compensate for:

1. Vessel pitch and roll.

2. Array offset from a reference point, e.g. the centre of gravity (COG).
3. Array translation due to a combination of array offset and vessel pitch and roll motion.
4. Subsea transponder/responder/beacon offset from the designated target.

Note: The USBL calibration program assumes that the centre of the transducer array is coincident
with the URP, or that any corrections for array offset from the URP have been applied in the USBL
sensor itself. When offsets are applied, the USBL X, Y, and Z output is not referenced to the USBL-
transducer but to the URP (USBL Reference Position). On many vessels the URP is coincident with
the COG, which is the assumption we made earlier.

Despite the fact that QINSy uses only the XYZ output of the USBL which is referenced to the URP,
and is technically uninterested in how offsets between the URP and transducer array are corrected
for, it is interesting to examine these corrections for the sake of clarity.

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Figure 29 : Geometry of USBL Position Referencing With and Without Pitch and Roll

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[Link] Vessel Pitch and Roll

Figure 29 illustrates the three dimensional geometry of the vessel-mounted hydrophone array in
relation to a sub-sea acoustic source, firstly with the array horizontal and secondly with the
introduction of pitch and roll. Both diagrams assume the transducer has no X/Y and Z offsets from
the URP; in other words, the URP is coincident with the transducer and Xa = Xv, Ya = Yv, and Za =
Zv. A vertical reference unit (VRU) is required to measure the vessel's attitude with respect to the
true horizontal plane of the vessel at the same instant as the subsea acoustic measurement. Pitch
and roll angles, Θp and Θr, are measured in the YZ and XZ planes of the vessel respectively; pitch
as a rotation around the X-axis, roll as a rotation around the Y-axis. They are applied to correct the
apparent mechanical angles of incidence.

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Figure 30: Corrections to 'X' Coordinate due to Roll

Initially considering the corrections for vessel roll only, Figure 6 illustrates the corrections made to
both starboard and to port. If the measured angle, Θr, is considered negative when the vessel rolls
to starboard and positive when the roll is to port, the corrected X coordinate is given by the
expression:

XLRS = h tan[tan-1(Xa/h) - Θr]

where h = the vertical separation between transducer array and acoustic source
(transponder/beacon).

Θmx = the incidence angle measured between the Z axis of the transducer array and the acoustic
source.

Xa = the "apparent" X coordinate measured perpendicular to the Z axis of the transducer array at
a depth h.

XLRS = the corrected X coordinate measured perpendicular to the true Z axis through the vessel
URP, at a point, h, below the transducer.

Similarly considering vessel pitch, the corrected Y coordinate is given by the following if the
measured angle, Θp, is considered negative when pitch is bow down and positive when pitch is bow
up:

YLRS = h tan[tan-1(Xa/h) - Θp]

Obviously errors made in measuring the pitch and roll angles, whether due to misalignment or mis-
calibration of the VRU unit, will impact the computation of X, Y, Z coordinates.

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[Link] Array Offset and Translation due to Vessel Motion

The centre of the transducer hydrophone array may not be coincident with the vessel reference.
Where the transducer is offset from the reference, corrections additional to vessel pitch and roll
must be taken into account in computations of X, Y, and Z

Figure 31: Array Offset and Translation due to Vessel Roll

coordinates measured between the transducer and an acoustic source. Taking the co-ordinate
transformation from hydrophone array to vessel coordinates in two stages, the translation due to
pitch in the YZ plane is examined first.

Remembering our assumption that the URP and COG are coincident, Figure 7 shows the centre of
the transducer array offset from the URP/Vessel COG by Xo and Zo. The translation is
accomplished in two stages. Firstly a linear coordinate transformation effectively reduces the centre
of transducer array back to the URP/COG. The true X and Z coordinates are given by:

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Xv = Xa + Xo

Zv = Za + Zo

where Xa = the "apparent" X coordinate measured perpendicular to the Z axis of the transducer
array.

Xo = the "X" offset measured between centre of array and the vessel URP.

Xv = the "apparent" X coordinate measured perpendicular to the Z axis of the transducer array
translated back to the vessel URP.

Za = the "apparent" Z coordinate measured perpendicular to the X axis of the transducer array.

Zo = the "Z" offset measured between centre of array and the vessel URP.

Zv = the "apparent" Z coordinate measured perpendicular to the axis of the transducer array
translated back to the vessel URP.

The second coordinate transformation translates the array measurements into vessel coordinates,
and involves the angular rotation, Θr, due to roll about the Y-axis. Vessel coordinates can be
expressed as:

XLRS = XvcosΘr + ZvsinΘr

ZLRS = -XvsinΘr + ZvcosΘr

where XLRS = the corrected X coordinate measured perpendicular to the true Z axis through the
vessel LRS (Local Reference System).

ZLRS = the corrected Z coordinate measured perpendicular to the true X axis through the vessel
LRS.

Similar equations can be developed for vessel pitch, Θp, to yield YLRS.

Errors made in determining the offset between URP and transducer, whether due to residual errors
in the installation or in measuring the actual offset, will therefore impact the computation of X, Y, Z
coordinates.

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6.2.7 Parameters checked in USBL Calibration

As noted above, the QINSy USBL calibration program assumes that the centre of the transducer
array has been installed coincident with the URP, or that corrections for non-coincidence have been
accounted for within the USBL sensor itself. X, Y, and Z values output by the USBL sensor are thus
referenced to the URP (USBL Reference point). Given that assumption, the following parameters
are checked and corrections computed:

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[Link] Transducer Offset C-Os: dX, dY and dZ

Non-coincidence of the centre of the transducer array and the URP that may be due to mounting
errors or measurement errors in determining offsets between the two.

[Link] Roll, Pitch and Alignment C-Os: Rx, Ry and Rz

Alignment errors may be due to:

1. The planes of the transducer hydrophone array may not be exactly parallel with the planes of
the vessel URP reference system, leading to errors in determination of incidence angles
reduced back to the LRS, and hence in bearings between transducer and
transponder/beacon.
2. The entered gyro C-O may not be exactly correct, introducing error.
3. Pitch and roll angles measured by the VRU may be in error, either due to misalignment or
mis-calibration of the VRU itself.
4. The value of the Grid Convergence used may be in error.

[Link] Scale Factor

The entered value for speed of sound in water may be in error, thereby affecting the computation
of range, and hence XYZ coordinates.

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See also

z USBL Calibration Utility

z File
z Edit
z Calibrations
z View

© 19-11-2004 QPS BV

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