Kesan perubahan atitud bot ke atas data hidrografi pemerum gema berbilang transduser

Abstract

The accuracy level of hydrographic data for a multi-transducer echo sounder must be in standard order so that a true seabed mapping can be obtained with correct and accurate profiles. However, a sea wave can effect the boat's attitude, generating errors in the data. This study is mainly concerned with the errors correction that exist due to the attitude changes of the boat which are yaw, roll and pitch. Several of the derived formulas using right-handed order and Euler angles law have been used to model the errors and this is follow-up by the errors correction. Some combinations of the Euler angles that have been established are 1-2-3, 1-3-2, 2- 1-3, 2-3- 1, 3- 1-2 and 3-2-1 where 1 is pitch, 2 is roll and 3 is yaw. The selection of Euler angles 3-2-1 sequence is not only recommended by the international maritime convention, but this sequence is the most optimum and systematic for a multitransducer echo sounder hydrographic data correction. The correction computation based on Euler angles 3-2-1 sequence shows that the largest error is yaw, followed by roll and pitch respectively.