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Qinsy

Multibeam Echosounder

 


Parent Item

System:

List with all available multibeam and multi-transducer echosounder systems that exist in the current selected QINSy database.
(see General Layout Information about loading a QINSy database).
Because different types of multibeam echosounder systems are supported (Ro/Theta, X/Y/Z, Profilers) and multi-transducer systems, some items below may not be applicable for the concerned type.

Beam Number:

  • NONE, or leave <Empty>
    None of the selected 'Beam' sub items will be used.
  • NADIR
    The nadir beam will be used for the selected 'Beam' sub items.
    This is the beam that has its footprint right beneath the transducer. It is determined dynamically, because of the current roll of the vessel.
  • CENTER
    The center beam will be used for the selected 'Beam' sub items.
    Formula used to calculate the center beam number is: (Number of Beams + 1) divided by 2
  • ALL
    The selected sub items will be repeated for all available beams
  • Enter individual beam number, and/or comma and/or hyphen (or double-dot) separated.
    For example: "20-230" or "1,5,10,20-30" or "1-10,120,230-240", or "60..70, 80..90".
    Lowest possible beam number is 1. The selected sub items will be repeated for each defined beam number.
Computation:

This option to select a computation is only needed for transducer node sub items (e.g. Td Easting, Td Northing, Td Height + Depth, etc)

  • The first entry is always [Priority List]
  • The rest of the list will show all available computations, as defined in the Computation Setup of the current QINSy database.

Note that when the layout is used for Export (offline), you can not select entry [Priority List], you must select a 'real' computation from the list.

Sub ItemDescriptionValue TypeProperties
CommentUser-defined free texttext

Text Format:

  • Normal Text
    Your own free plain text
  • Binary
    Enter one or more ASCII character codes, comma or space separated, in the range between 1 and 127.
    For example '2' for a binary STX character, '3' for a binary ETX character, or '13, 10' for CR+LF.
    See table ASCII Codes for an overview of all possible characters.

  • New Line
    Same as Binary, but already formatted as '13, 10' (meaning CR+LF) and without a possible Field Delimiter.
    A Field Delimiter may be present when your layout purpose is for Export or ASCII Logging.

Name

Name of the selected system, as defined in Db Setup

text
Ping TimeTime of the last transmitted ping (part of the message)time
Sound Velocity

Sound velocity.
This value is decoded from the header data, coming from the system itself, and will be used to calculate sub item Beam Slant Range from the decoded travel time.
Notice that it does not mean that QINSy is using this value to calculate the actual footprint. Under normal circumstance QINSy uses the sound-velocity profile for ray-tracing, as defined in the Controller's Echosounder Settings.

double

Unit:

  • Meters/Second (default)
  • Knots
    Nautical miles per hour (1 NM equals 1852.0 meters)
  • Feet/Second
    International feet per second (1 foot equals 0.3048 meters)
  • Kilometers/Hour
  • Miles/Hour
    International (or Land) miles per hour (1 mile equals 1609.344 meters)
Sample RateThe number of samples per second (Hz).
If this value is > 0, it will be used to calculate the Beam Slant Range
integer
Status Flag

Additional status information decoded from the header data.
Only used by a limited amount of systems.
Value will be 0 (zero) by default, or when the system does not support it.
Bit 0 (first bit from right to left) will be set (decimal 1) in case of a CodaOctopus Echoscope, and it reports tilt angles but this is achieved on receive only.
Bit 1 (2nd bit) will be set (decimal 2) in case of a RIEGL V-Line or a HDS600 Laser Scanner, and when its PPS signal is okay.

integer

Ping Number

Increasing number.
This value is decoded from the header data, coming from the echosounder system itself.

integer

Number of Beams

The total number of beams.
This value is decoded from the header data, coming from the echosounder system itself.

integer

Ping Age

The difference between the triggering time and the time of the last transmitted ping (see Ping Time above).
Normally always a positive value in seconds.

The calculation of the age value while exporting differs from an online situation:

It will be the difference between the time of the current observation and the previous one.

Formula:

  • Online (Display, Driver, Log File): Age = Triggering time - Observation time
  • Offline (Export): Age = Observation time - Previous observation time

double

Ping Rate

Number of pings per second (Hz), as reported by the unit. Notice that not all echosounders (or laser scanner units) do report this value, in that case you will see a value of zero.

double
Beams Per SecondThe number of beams per second.
Formula: Number of Beams * Ping Rate
integer
reserved1

Undocumented integer value. Useful for debugging purposes. Normally zero (0).

(Only updated by a few drivers: LEICA, Z+F and Quanergy Laser Scanning driver)

integer
reserved4

Undocumented floating value. Useful for debugging purposes. Normally zero (0).

(Only updated by a few drivers: LEICA, Z+F and Quanergy Laser Scanning driver)

double
Td Name

The name of the node, as defined in Db Setup.
This node is selected as transducer in the echosounder system setup on the 2nd wizard page.

text


Td Easting

The easting of the transducer node, as calculated by the selected computation. The easting is always on Survey Datum.

Notice that the Td position for multi-transducer systems depends on the selected beam number.

double
Td Northing

The northing of the transducer node, as calculated by the selected computation. The northing is always on Survey Datum.

Notice that the Td position for multi-transducer systems depends on the selected beam number.

double
Td Latitude

The latitude of the transducer node, as calculated by the selected computation. Latitude is default on Survey Datum, but WGS84 (or ITRF2008) can also be selected.

Notice that the Td position for multi-transducer systems depends on the selected beam number.

geo

Datum:

  • Survey Datum (default)
  • WGS84
    Assumption is that the WGS84 (or ITRF2008) datum is part of the Geodetic Setting in DB Setup

Td Longitude

The longitude of the transducer node, as calculated by the selected computation. Longitude is default on Survey Datum, but WGS84 (or ITRF2008) can also be selected.

Notice that the Td position for multi-transducer systems depends on the selected beam number.

geo

Datum:

  • Survey Datum (default)
  • WGS84
    Assumption is that the WGS84 (or ITRF2008) datum is part of the Geodetic Setting in DB Setup

Td Height

The height of the transducer node, as calculated by the selected computation.

Height is by default on Chart Datum, but Survey Datum, WGS84 (or ITRF2008), the Actual Water Level, the Mean Water Level, or the Geoid Model Level may be selected.

Notice that the Td position for multi-transducer systems depends on the selected beam number.

double

Datum:

  • Survey Datum
    Height value will be on the selected survey datum ellipsoid, e.g ED50.
    Survey datum (or Horizontal Datum) is set in the Geodetic Configuration as Project CRS. (CRS = Coordinate Reference System)
  • WGS84
    Height value on the WGS'84 datum.
    Note that WGS84 (or ITRF2008) must be one of the two selected CRS's in the Geodetic Configuration.
  • Chart Datum (default)
    Height value on the selected vertical datum e.g NAP, De Min Geoide.
    Chart Datum (or Vertical Datum) is set in the Geodetic configuration as Vertical CRS.
  • Actual Water Level
    Height value above the actual water (or sea) level.
    The following formula is used: Geoid Level + Tide + Swell
    The swell is derived from the roll, pitch and heave of the reference node, and the offset of the selected node to the reference node.
    The heave value of the reference node can be monitored under the heave column of the Height Aiding driver.
  • Mean Water Level
    Height value above 'mean' water (or sea) level.
    The following formula is used: Geoid Model + Level Model + Offset
  • Geoid Model Level
    Height value above input geoid model. Only used in case of river height model

Td Height + Depth

A combination of the transducer height (on Chart Datum), and the raw depth value.

For multibeam systems the 'depth' is calculated using the slant range and corrected for the beam angle, the current roll of the vessel and the mounting roll offset for the RX transducer, as defined in Db Setup.

Notice that this value is not as accurate as the final DTM Results (actual calculated footprint value) because SVP ray-tracing is not taken into account nor the mounting pitch offset as defined in Db Setup, but it gives a good indication of the current depth.

  • Type Ro/Theta (e.g. Reson Seabat)
  • Type Profiler (e.g. Tritech Seaking)
    Depth = (Travel Time) * Sound Velocity * *cos*(Beam Angle)
  • Type X/Y/Z (e.g. EM3000 in X-Y-Z Mode)
    Depth = Beam dZ
  • Type Multi-Tx (e.g. Atlas Bomasweep, Simrad EA-MCU, Navitronics)
    Depth = Travel Time * Sound Velocity
double
Td Sound Velocity

The value will be the interpolated/extrapolated sound velocity from the current sound velocity profile at the actual water level depth for the multibeam transducer node.

double




Beam Time

For most MBE system types this is the same as the Ping Time.
Except for Profilers, each profiler beam has its own timestamp.
(A beam time delay is part of the profiler data message)

time

Beam Number

Beam number. Lowest value is 1.

integer

Beam Travel Time

(Item not applicable for MBE system type X/Y/Z).
This is the one-way travel time in samples.
If Sample Rate is zero, than it's the one-way travel time in seconds

double

Beam Slant Range

The Beam Slant Range is calculated according the following formula, which depends on the MBE system type:

  • Type Ro/Theta (e.g. Reson Seabat)
    Slant Range = (Travel Time / Sample Rate) * Sound Velocity
  • Type X/Y/Z (e.g. EM3000 in X-Y-Z Mode)
    Slant Range = Square Root (dX * dX + dY * dY + dZ * dZ)
  • Type Profiler (e.g. Tritech Seaking)
    Slant Range = Travel Time * Sound Velocity
    (Sample Rate is zero)
  • Type Multi-Tx (e.g. Atlas Bomasweep, Simrad EA-MCU, Navitronics)
    Slant Range = Travel Time * Sound Velocity
    (Sample Rate is zero)
double
Beam Tilt Angle

The beam tilt angle only accounts for MBE type Rho/Theta, and will be empty for other types of mbe systems.
The value is the correction for pitch-steering, which can be enabled when the mbe system is interfaced to a motion sensor, feeding pitch.

double

Beam dX

The value is the x-component for a MBE type X/Y/Z system, and will be empty for other types of mbe systems.double
Beam dY

The value is the y-component for a MBE type X/Y/Z system, and will be empty for other mbe systems.

double
Beam dZ

The value is the z-component for a MBE type X/Y/Z system, and will be empty for other mbe systems.

double
Beam Angle

The beam angle in degrees as reported by the MBE unit, which is only applicable for MBE type Rho/Theta systems.

Example Rho/Theta Type:
Suppose you have an 8125 MBE system (240 beams, beam angle interval 0.5°), then beam angle for (outer port) beam 1: -59.75°, beam 2: \59.25°, beam 3: -58.75°, etc.., and beam angle for (outer starboard) beam 239: +59.25° and beam 240: +59.75°.

In case your MBE is type X/Y/Z, the angle will be calculated using the reported Beam X, Y and Z value and depends on the selected Reference property.

Value will be zero for MTX type systems.

double

Reference:

  • Horizontal
    Horizontal angle of the Beam X, Y and Z vector and always in the range of 0°..360°.
    Formula: Angle = Atan (Beam X / Beam Y)
  • Vertical
    Vertical angle of the Beam X, Y and Z vector and always in the range of -180°..+180°.
    Formula: Angle = Atan ( Sqrt (Beam X^2 + Beam Y^2) / Beam Z)

The reference property is only used when your MBE type system is X/Y/Z.
For other type systems it has no effect
on the Beam Angle value.

Beam Delay

Beam correction time in seconds.
For most MBE system types this value will be zero, i.e. that the Beam Time is the same as the Ping Time. For profilers this delay is used to calculate the actual Beam Time, by adding the value to the Ping Time.

double
Beam QualityA value between 0 and 255.integer
Beam IntensityAn indicator for the beam intensity or reflectivity.double

Beam Tx Sector Nr


integer
Beam Detection Nr
integer