Triton Navigation User Manual
Perspective
-- Navigation Processing Guide --
Software Version 7.6
By:
Tony M. Ramirez
November, 2013
Triton Imaging Inc.
Engineering Office
2121 41st Avenue, Suite 211
Capitola, CA 95010
USA
831-722-7373
831-475-8446
sales@tritonimaginginc.com
support@tritonimaginginc.com
© 2013 TRITON
This user guide is provided as a means to become familiar with TRITON’s software through an explanation of the
options available for processing navigation data. The user interface presented in this guide is subject to change to
accommodate software upgrades and revisions. While every precaution has been taken to eliminate errors in this
guide, TRITON assumes no responsibility for errors in this document.
Users of this document are required to have a valid license for Perspective in order to activate the software.
TRITON hereby grants licensees of TRITON’s software the right to reproduce this document for internal use only.
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Table of Contents
1.0 Navigation Types ................................................................................ 1
2.0 Processing Options ............................................................................... 2
2.1 File Tree Processing .......................................................................................................................................... 2
2.1.1 Beamlines................................................................................................................................................ 2
2.1.2 Process Navigation Dialog....................................................................................................................... 3
2.1.3 Filter Boxcar Settings .............................................................................................................................. 4
2.2 Sidescan/Bathy Wizard Processing .................................................................................................................. 6
2.2.1 Sidescan Processing Wizard .................................................................................................................... 6
2.2.2 Bathymetry Processing Wizard ............................................................................................................... 6
2.3 External Navigation Processing ........................................................................................................................ 7
2.4 When and How Much To Process... ................................................................................................................. 8
3.0 Processing Workflows .......................................................................... 10
3.1 Process from File Tree (Sidescan, Bathymetry & Subbottom) ....................................................................... 10
3.2 Process in Wizard (Sidescan & Bathymetry) .................................................................................................. 11
4.0 Bad Navigation Example - Sidescan ........................................................... 12
4.1 Overview ........................................................................................................................................................ 12
4.2 Show Beamlines ............................................................................................................................................. 12
4.3 First Run of Navigation Processing ................................................................................................................. 13
4.5 Second Run of Navigation Processing ............................................................................................................ 14
4.6 Compare Results ............................................................................................................................................ 15
5.0 Bad Navigation Example - Bathymetry ....................................................... 16
5.1 Overview ........................................................................................................................................................ 16
5.2 First Run of Navigation Processing ................................................................................................................. 17
5.3 Second Run of Navigation Processing ............................................................................................................ 17
5.4 Compare Results ............................................................................................................................................ 18
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Navigation Processing
Processing navigation is an important step to obtaining clean results and some thought
should go into what parameters to use and what level of processing is necessary for the
collected data. Discussed in the following sections are how Perspective sorts and displays
the navigation data from imported raw data files, reasons to process navigation prior to
creating mosaics or DTMs, available options for navigation processing, and possible
workflows. There are also a couple examples of processing files with bad navigation at the
end of this document
1.0 Navigation Types
In Perspective, when raw data files are imported the navigation data is automatically
extracted, displayed in the map view, and placed in the file tree navigation layers. The
navigation file tree is sorted into 5 main categories:
Sidescan
Bathymetry
Singlebeam
Subbottom
Vessel
If multiple data types are available in one raw data file, importing that one data file can
populate multiple navigation data fields.
For example, if the data file comes from a Reson 7125
survey and includes both multibeam bathymetry and
sidescan data, the importing of only one raw data file will
populate the
Bathymetry
node as shown right.
- navigation for sidescan data extracted from raw data file
- navigation for bathymetry data extracted from raw data file
- navigation for singlebeam data extracted from raw data file
- navigation for subbottom data extracted from raw data file
- vessel navigation extracted from raw data file
Sidescan
navigation node and the
navigation file tree node, the
Vessel
navigation
This is very important as it allows the user to perform minimal processing on the
bathymetry navigation just to remove spikes in the data while heavily processing the
sidescan navigation to get parallel uniformly spaced beam lines for clean mosaics.
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2.0 Processing Options
2.1 File Tree Processing
One way to process navigation data is from the Navigation file tree. Once data files have
been imported and the navigation sorted into the file tree sections, navigation processing
can be accomplished be right-clicking on either an individual file or on the root file tree
node for each data type. However, before launching the navigation processing dialog, it is
often helpful to turn on "beamlines".
2.1.1 Beamlines
Beamlines allow the user to see the
instantaneous heading and extent
of the ping data. By default the
beamlines are decimated so not
every ping displays on the screen.
As shown in the image above, the Program Settings contains options for changing the
amount of decimation, line color, etc.
To view the beamlines, right-click either an individual file or on the root file tree node for
each data type and select
port and starboard beams colored differently. The example below right has beamlines
turned on for all lines with a color pallet applied so each line is a different color.
Show Beamlines
. The example below left shows a single line with
The red circles highlight areas where the beamlines are obviously not parallel and are
good locations to zoom into the image to get a better look at the beamlines for processing.
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The image right shows a good zoom level
for monitoring the effects of navigation
processing on the beamlines.
Note in this image that beamlines are not
only good for monitoring navigation
processing but also for viewing line
overlap.
2.1.2 Process Navigation Dialog
For processing navigation from the File
Tree, select the
Process Navigation
option
available by right-clicking on any tree level
in the
Navigation
layer. Selecting this will
launch the dialog shown right.
Detailed descriptions of the options
available in the
Process Navigation
dialog
for setting navigation processing
parameters are presented below.
Filter Setup
dialog (see next section for details).
Auto Update Cache
processed navigation into the cache file, important for repeat processing.
Check Intersections
subbottom navigation processing in order to see cross lines on the profiles and take
– Opens Boxcar Setting
- Writes the
- Checks for navigation line intersections. This is very important for
advantage of the Folded Profile tool. (not available for bathymetry and sidescan data)
Process
clicked as many times as the user wants to repeat the navigation processing. Please note
that to process the results from the previous navigation processing step, the navigation
source must be changed to
file as the source allowing for multiple steps of processing.
Cancel Processing
navigation from cache file.
- Click after Boxcar Settings have been made to initiate processing. This can be
Smoothed
- Cancels current processing step, does not remove saved processed
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. This will use the processed navigation in the cache
Reset
- Overwrites processed navigation in cache with raw navigation data.
Exit
- Saves processing to cache file if not already done with the auto update option, exits
processing wizard.
2.1.3 Filter Boxcar Settings
Clicking on
Process Navigation
Filter Setup
dialog will
in the
open the boxcar filter setting
dialog shown to the right.
In this dialog it is possible to
set the size of the boxcar
filter, the source of the
navigation and heading data,
plus speed filter options.
Detailed descriptions of the
options available in the
Settings
dialog for setting
Boxcar
navigation processing
parameters are presented
below.
General
Window
- sets boxcar filter size
Number of Iterations - sets the number of times the navigation is smoothed (sidescan
navigation often needs several iterations!)
Navigation Source
Sensor
Ship
- uses the position found in the XTF sensor navigation
- uses the position found in the XTF ship navigation
Heading Source
Compute CMG -
computes a heading from the Course Made Good navigation. Very
important for sonars with no heading sensor; be careful using on lines with turns,
use small boxcar filter size to prevent curved lines from becoming straight!
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